CN104521417B - A kind of intelligent grass-removing system - Google Patents
A kind of intelligent grass-removing system Download PDFInfo
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- CN104521417B CN104521417B CN201410788645.6A CN201410788645A CN104521417B CN 104521417 B CN104521417 B CN 104521417B CN 201410788645 A CN201410788645 A CN 201410788645A CN 104521417 B CN104521417 B CN 104521417B
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Abstract
A kind of intelligent grass-removing system, including: being positioned over the support of mowing area periphery, cantilever tip is provided with image collecting device, and image collecting device is connected with host computer, host computer includes client, image processing module and processor, and image processing module connects client and processor；Processor connects hay mover by Zig Bee wireless communication module；Hay mover includes that single-chip microcomputer, single-chip microcomputer are provided with GPS module, single-chip microcomputer asynthesis thing monitoring modular, photoelectric encoder, driving module and voltage transformation module；Photoelectric encoder is arranged on the motor gear driving inside modules；Described single-chip microcomputer connects wireless communication module；Hay mover top cover is rectangle top cover, and hay mover top cover is divided into two parts along hay mover craspedodrome direction: anterior and rear portion；Described hay mover top cover front portion is that the first material is made；Hay mover back part of top cover is that the second material is made；First material is different materials from the second material.It need not border fence, and coverage rate is complete.
Description
Technical field
The present invention relates to a kind of automation field, particularly relate to a kind of intelligent grass-removing system.
Background technology
Along with expanding economy, the quickening of urban afforestation process, gradually stepping up of people's environmental consciousness, Lawn Industry also obtains
Swift and violent development.Every year the large-scale public lawns such as gardens, athletic ground, campus, airport are pruned and maintenance is required for
Consume substantial amounts of human and material resources and financial resources.And owing to tradition hay mover automaticity is low, it is big to pollute, can be to practitioner
Body and mind, healthy generation affect.Therefore, traditional hay mover is just replaced by intelligent grass-removing, and intelligent grass-removing is increasingly becoming the epoch
The mark of development.
By to the research of intelligent grass-removing decades and accumulation, achieving certain achievement, have developed a series of intelligence
Energy grass-removing robot, and there has been relevant patent (patent No.: CN201210232224.6).But, present intelligence is cut
The grass most of similar nature of machine, part needs manual intervention to get around barrier, i.e. allows to independently get around barrier, but can not
Ensureing all region is completely covered, remaining level ground of not mowing is by manually pruning.And present intelligent grass-removing needs before using
Border, the lawn i.e. inaccessiable region of border fence, stationary obstruction and hay mover fenced up structure limit with cable
Boundary's fence, forms working region, and intelligent grass-removing robot is navigated by the signal of telecommunication in induction cable.And non-cable
The barrier determined is detected by ultrasonic sensor and simply detours, but it cannot be guaranteed that the traversal of working region.Therefore, for
For cutting the grass on a lawn, it would be desirable to a kind of device more autonomous, in hgher efficiency improves efficiency, reduce cost.
Prior art is Method of Spreading Design on the basis of to broad, smooth lawn.Cut zone therein is by numerous
Trivial lay what cable construction border fence carried out dividing.Visible, for having the lawn needs in the place such as pond, flower nursery
Carry out substantial amounts of laying, not only waste substantial amounts of human and material resources and financial resources, and limit the mobility of intelligent grass-removing.
Additionally, the camera head that the cognition of mowing situation in current subrange is mainly carried by hay mover top and various biography
The data fusion of sensor, so not only limit the cognitive range of hay mover, causes inevitable repeatability, and causes
The complexity that data process, is difficult to reach the effect of region all standing.Finally, prior art is difficult to according to artificial thought
(such as wanting to cut out the printed words of " China's dream " in one piece of region) cuts out corresponding figure.
Summary of the invention
In order to solve above-mentioned technical problem, the present invention proposes a kind of intelligent grass-removing system, and this lawn mower system need not
Lay border fence, can realize independently getting around barrier, it is achieved being completely covered of mowing region simultaneously.
To achieve these goals, the present invention adopts the following technical scheme that
A kind of intelligent grass-removing system, including: being positioned over the support of mowing area periphery, described cantilever tip is provided with image
Harvester, described image collecting device is connected with host computer, and described host computer includes client, image processing module and process
Device, described client is human-computer interaction interface, and described image processing module connects client and processor；Described processor passes through
ZigBee wireless communication module connects hay mover；Described hay mover includes that single-chip microcomputer, described single-chip microcomputer are provided with GPS module, institute
State single-chip microcomputer asynthesis thing monitoring modular, photoelectric encoder, driving module and voltage transformation module；Described photoelectric encoder is pacified
It is contained on the motor gear driving inside modules；Described single-chip microcomputer connects wireless communication module；Described hay mover top cover is rectangle
Top cover, described hay mover top cover is divided into two parts along hay mover craspedodrome direction: anterior and rear portion；Described hay mover top cover is anterior
It is that the first material is made；Described hay mover back part of top cover is that the second material is made；Described first material is different from the second material
Material.
Described single-chip microcomputer is MC9S12XS128, and described single-chip microcomputer connects crystal oscillating circuit, reset circuit and power supply.
Described driving module includes: motor and motor-drive circuit, and described motor-drive circuit is connected to motor
Two terminals on.
Drive circuit on the first terminal of described motor includes: the first high-speed photoelectric coupler 6n137, and described first is high
The AN end of speed photoelectrical coupler 6n137 connects voltage transformation module outfan, described first high-speed photoelectric coupler by resistance R3
The VCC of 6n137 terminates+12V voltage source, the GND end ground connection of described first high-speed photoelectric coupler 6n137, and described first at a high speed
The indirect electric capacity C4 of the GND end of photoelectrical coupler 6n137 and VCC end, the VO end of described first high-speed photoelectric coupler 6n137 and
VCC terminating resistor R5, the VO end of described first high-speed photoelectric coupler 6n137 connects the first driving chip by resistance R1
The IN end of BTS7960, the INH end of described first driving chip BTS7960 connects+12V voltage source by resistance R2, and described first drives
The SR end of dynamic chip BTS7960 is by resistance R4 ground connection, and described resistance R4 is connected in parallel electric capacity C5, described first driving chip
The IS end of BTS7960 passes through resistance R6 ground connection, and between OUT terminal and the VS end of described first driving chip BTS7960, forward is connected
The voltage source of the VS termination+12V of diode D2, described first driving chip BTS7960, described first driving chip BTS7960
OUT terminal connect motor the first terminal；Drive circuit on second terminal of described motor includes: the second high speed optoelectronic coupling
Device 6n137, the AN end of described second high-speed photoelectric coupler 6n137 connects voltage transformation module outfan by resistance R10, described
The VCC of the second high-speed photoelectric coupler 6n137 terminates+12V voltage source, the GND end of described second high-speed photoelectric coupler 6n137
Ground connection, the GND end of described second high-speed photoelectric coupler 6n137 and the indirect electric capacity C18 of VCC end, described second high speed optoelectronic
The VO end of bonder 6n137 and VCC terminating resistor R14, the VO end of described second high-speed photoelectric coupler 6n137 passes through resistance R7
Connecing the IN end of the second driving chip BTS7960, the INH end of described second driving chip BTS7960 connects+12V electricity by resistance R8
Potential source, the SR end of described second driving chip BTS7960 passes through resistance R9 ground connection, and described second resistance R9 is connected in parallel electric capacity
C17, the IS end of described second driving chip BTS7960 passes through resistance R11 ground connection, the OUT of described second driving chip BTS7960
End is connected the voltage source of the VS termination+12V of diode D2, described second driving chip BTS7960 with forward between VS end, described
The OUT terminal of the second driving chip BTS7960 connects the second terminal of motor.
Described obstacle detection module includes: several touch sensors and several ultrasonic sensors；Described sense of touch passes
Sensor is arranged on the lateral wall of hay mover uniformly；Described ultrasonic sensor is arranged on the lateral wall of hay mover uniformly
On；The output signal of described touch sensor connects the interrupt signal end of single-chip microcomputer.
The driving chip of described Zig Bee wireless communication module is CC2530.
Described hay mover also includes that overturning-preventing module, described overturning-preventing module include: falling sensor, and described overturning-preventing passes
The VCC of sensor terminates+5V voltage source, the earth terminal ground connection of described sensor, and the output of described sensor terminates amplifier A1's
Inverting input, the normal phase input end of described amplifier A1 connects+5V voltage source, the positive of described amplifier A1 by resistance R42
Input passes through resistance R45 ground connection, and the inverting input of described amplifier A1 passes through resistance R44 ground connection, described amplifier A1's
Outfan connects+5V voltage source by resistance R43, the power supply termination voltage source of described amplifier A1, the ground connection of described amplifier A1
End ground connection, the outfan that outfan is overturning-preventing module of described amplifier A1, the outfan order sheet of described overturning-preventing module
The interrupt pin of machine.
Connection between described single-chip microcomputer and Zig Bee wireless communication module has serial ports to turn USB interface, and described serial ports turns
The driving chip of USB interface is PL2303.
It is covered with the first coating on described first material surface, described second material surface is covered with the second coating, described
One coating is different from the second coating color.
The invention have the benefit that
1, by the image information at camera acquisition mowing scene and through image analysis software analysis, process, at computer
Delimit, by mouse, the region mowed on host computer or want the pattern of structure, being sent to mow by Zig Bee wireless telecommunications
The action command of machine, instructs hay mover to mow, thus reaches economic, the convenient and effect of region all standing.
2, eliminate the laying of border fence, make whole mowing process rapidly and efficiently；
3, hay mover has velocity measuring, overturning-preventing function so that lawn mower system intellectuality is higher, uses more square
Just.
4, the present invention can cut out any word or pattern according to owner's demand on lawn.
Accompanying drawing explanation
Fig. 1 present system figure；
The concrete block diagram of Fig. 2 present system；
Fig. 3 single-chip minimum system figure；
Fig. 4 voltage transformation module circuit diagram；
Fig. 5 motor-drive circuit figure；
Fig. 6 Zig Bee wireless communication line figure；
Fig. 7 serial ports turns USB circuit figure；
Fig. 8 overturning-preventing module circuit diagram.
Wherein, 1 support；2 image collecting devices；3 treat mowing zone boundary line.
Detailed description of the invention
In order to be better understood by technical scheme, the invention will be further described below in conjunction with the accompanying drawings.
As shown in Figures 1 and 2, a kind of intelligent grass-removing system, including: it is positioned over the support of mowing area periphery, described
Cantilever tip is provided with image collecting device, and described image collecting device is connected with host computer, and described host computer includes client, figure
As processing module and processor, described client is human-computer interaction interface, and described image processing module connects client and process
Device；Described processor connects hay mover by Zig Bee wireless communication module；Described hay mover includes single-chip microcomputer, described monolithic
Machine is provided with GPS module, described single-chip microcomputer asynthesis thing monitoring modular, photoelectric encoder, driving module and voltage modulus of conversion
Block；Described photoelectric encoder is arranged on the motor gear driving inside modules；Described single-chip microcomputer connects wireless communication module；Institute
Stating hay mover top cover is rectangle top cover, and described hay mover top cover is divided into two parts along hay mover craspedodrome direction: anterior and rear portion；
Described hay mover top cover front portion is that the first material is made；Described hay mover back part of top cover is that the second material is made；Described first material
Matter is different materials from the second material.Hay mover top cover is arranged to different material purposes and is that image procossing is convenient, this
The image procossing of invention is that texture recognition processes.
Native system uses the move mode in screw-pinch formula path.This move mode can ensure that hay mover can be autonomous
The each piece of place moved in mowing region.
What image collecting device was selected is Shenzhen Mai Dewei MV-U300 industrial camera regarding company's product, and this camera is COMS
Color camera, resolution is 3,000,000 pixels, and transmission speed is 480Mb/s soon, and lens interface is CS interface, and time of exposure is
0.0556 683ms, its image definition shot can reach necessary requirement.
Photoelectric encoder, is a kind of by opto-electronic conversion, the geometry of machinery displacement on output shaft to be converted into pulse or number
The sensor of word amount, is mainly made up of grating disc and photoelectric detection system.Photoelectric code disk is coaxial with motor, and motor rotates
Time, grating disc and the synchronized rotation of motor. through the detection device detection some arteries and veins of output of the electronic component compositions such as light emitting diode
Rush signal, just can be reflected the rotating speed of current motor by the number calculating photoelectric encoder per second output pulse.
The speed regulation mowing that the speed single-chip microcomputer of hay mover is measured according to photoelectric coding measured in real time by photoelectric encoder
The speed of service of machine, thus maintain the stable speed of service of hay mover.
As it is shown on figure 3, the single-chip microcomputer of hay mover is MC9S12XS128, described single-chip microcomputer connects crystal oscillating circuit, reset electricity
Road and power supply.MC9S12XS128 is intelligent grass-removing " brain ", and XS128 single-chip microcomputer is that Freescale company releases
16 single-chip microcomputers of a enhancement mode in S12XS series monolithic.Running voltage is 5V, and memorizer has 128KB FLASH,
2KB EEPROM, 8KB RAM；16 channel modulus converters, optional 8,10 and the precision of 12；88 passages or 16 4
The PWM of passage；2 asynchronous serial communication SCI and 2 synchronous serial equipment interface SPI；CRG clock and reseting generator: phase-locked
Ring, house dog, real-time interrupt, enhancement mode catches intervalometer.XS128 single-chip microcomputer is to have low-power consumption, ultrafast arithmetic speed, strong
The advantages such as big function, cheap price, are the first-selections of intelligent grass-removing.
Oscillating circuit principle: two 30pF electric capacity of oscillating circuit play the effect of parallel resonance, choosing of two capacitances
It is usually identical, if difference is too big, easily causes resonance uneven, cause failure of oscillation or not starting of oscillation.
Reset circuit principle: hand push button resets needs artificial addition high level on the RESET input RST.General employing
Way be the indirect button at RST end and positive supply Vcc.The work of 100R resistance in XS128 reset circuit of SCM
With being the size limiting electric current, when artificially pressing the button, then+5V the level of Vcc will be applied directly to RST end.Due to people's
Action soon also can make button remain up to reach several ms again, so, it is fully able to meet the time requirement of reset.
As shown in Figure 4, voltage transformation module circuit diagram, the master control chip on board of single-chip microcomputer, ultrasound wave etc. need 5V voltage,
And 6n137 and Zig Bee etc. need 3.3V voltage on the driving plate of single-chip microcomputer, it is therefore desirable to voltage is changed.LM7805 is utilized to obtain
To the regulated power supply of 5V, Ams1117-3.3 obtains 3.3V regulated power supply.7805 series are 3 to rectify mu balanced circuit, and TO-220 seals
Dress, is provided that multiple fixing output voltage, applied range, included stream, overheated and overload protecting circuit, band fin
Time, output electric current is up to 1A.Although fixed stably volt circuit, but use outward element, can obtain different voltage and currents.
Ams1117-3.3 is a forward low dropout voltage regulator, reduces to 1.2V at 1A current down, is internally integrated overtemperature protection and current limliting
Circuit, is that battery is powered and the optimum selection of portable computer.
As it is shown in figure 5, motor-drive circuit, driving module to include: motor and motor-drive circuit, described motor drives
Circuit is connected on two terminals of motor.Two terminals of motor are respectively the first terminal and the second terminal, described electricity
Drive circuit on the first terminal of machine includes: the first high-speed photoelectric coupler 6n137, described first high-speed photoelectric coupler
The AN end of 6n137 connects voltage transformation module outfan, the VCC end of described first high-speed photoelectric coupler 6n137 by resistance R3
Connect+12V voltage source, the GND end ground connection of described first high-speed photoelectric coupler 6n137, described first high-speed photoelectric coupler
The GND end of 6n137 and the indirect electric capacity C4 of VCC end, the VO end of described first high-speed photoelectric coupler 6n137 and VCC termination electricity
Resistance R5, the VO end of described first high-speed photoelectric coupler 6n137 connects the IN end of the first driving chip BTS7960 by resistance R1,
The INH end of described first driving chip BTS7960 meets+12V voltage source, described first driving chip BTS7960 by resistance R2
SR end by resistance R4 ground connection, described resistance R4 is connected in parallel electric capacity C5, and the IS end of described first driving chip BTS7960 leads to
Crossing resistance R6 ground connection, between OUT terminal and the VS end of described first driving chip BTS7960, forward is connected diode D2, and described
The voltage source of the VS termination+12V of one driving chip BTS7960, the OUT terminal of described first driving chip BTS7960 connects motor
The first terminal；Drive circuit on second terminal of described motor includes: the second high-speed photoelectric coupler 6n137, described
The AN end of two high-speed photoelectric coupler 6n137 connects voltage transformation module outfan, described second high-speed light thermocouple by resistance R10
VCC termination+12V the voltage source of clutch 6n137, the GND end ground connection of described second high-speed photoelectric coupler 6n137, described second
The GND end of high-speed photoelectric coupler 6n137 and the indirect electric capacity C18 of VCC end, described second high-speed photoelectric coupler 6n137's
VO end and VCC terminating resistor R14, the VO end of described second high-speed photoelectric coupler 6n137 connects the second driving core by resistance R7
The IN end of sheet BTS7960, the INH end of described second driving chip BTS7960 connects+12V voltage source by resistance R8, and described second
The SR end of driving chip BTS7960 passes through resistance R9 ground connection, and described second resistance R9 is connected in parallel electric capacity C17, and described second drives
The IS end of dynamic chip BTS7960 is by resistance R11 ground connection, between OUT terminal and the VS end of described second driving chip BTS7960 just
To the voltage source of the VS termination+12V connecting diode D2, described second driving chip BTS7960, described second driving chip
The OUT terminal of BTS7960 connects the second terminal of motor.
6n137 is a for single pass High-Speed Coupled Device, is very suitable for XS128 high frequency monolithic machine.Signal from
Foot CA and foot AN input, lumination of light emitting diode, in sheet, optical channel passes to light sensitive diode, back-biased photosensitive tube illumination
Rear conducting, delivers to an input with door after current-voltage is changed, and another input with door is Enable Pin, works as enable
High level is exported with door, photoisolator output low level after output triode is reverse when end is high.Work as current input signal
When being low less than activation threshold value or Enable Pin, export high level, but this logic high is open-collector, can be for receiving electricity
Road adds pull-up resistor or voltage-regulating circuit.Smart power chip BTS7960 is to be applied to motor-driven big electric current half-bridge height
Integrated chip, it drives Ic with the flash MOSFET of a P-channel, the low limit MOSFET of a N-channel and one, and electric current is
High 43A, its internal resistance is the least, so heat radiation is not very serious, is very suitable for hay mover and works for a long time.
6N137 photo-coupler is a for single pass High-Speed Coupled Device, has a 850nm wavelength inside it
AlGaAs LED and integrated detector composition, its detector is by a light sensitive diode, the linear amplifier of high-gain and one
The open-collector audion composition of Schottky clamper.There is temperature, electric current and voltage compensating function, high input and output every
From, LSTTL/TTL is compatible, (is typically 10MBd) at a high speed, the minimum input current of 5mA.BTS7960 is NovalithIC family
A part for three independent chips: one is the high potential field-effect transistor of p-type passage, two is the low electricity of a N-shaped passage
Potential field effect transistor, drives wafer in conjunction with one, forms a fully integrated high electric current half-bridge, and efficiency is high, heating is few.
Described obstacle detection module includes: several touch sensors and several ultrasonic sensors；Described sense of touch passes
Sensor is arranged on the lateral wall of hay mover uniformly；Described ultrasonic sensor is arranged on the lateral wall of hay mover uniformly
On；The output signal of described touch sensor connects the interrupt signal end of single-chip microcomputer.
Touch sensor belongs to touch sensor, uses the most in groups, is arranged at hay mover outer wall week in an array manner
Enclosing, hay mover arranges touch sensor group on vehicle body, when colliding with object, is used for occurring interrupt signal, master control core
After sheet receives message, stop mowing and starting ultrasound wave.In the present system, touch sensor is distributed in automatic mower device
The surrounding of people, for collision detection.Ultrasonic sensor has transmitters and receivers, but a ultrasonic sensor also can have
Send and receive the dual function of sound wave.Ultrasonic sensor is that electric energy and ultrasound wave are mutually turned by the principle utilizing piezoelectric effect
Change, i.e. launching ultrasound wave when, convert electrical energy into, launch ultrasound wave；And receiving echo when, then by supersonic vibration
It is converted into the signal of telecommunication.By the distance measurement function of ultrasound wave, the distance controlling barrier with hay mover can be detected, thus around barrier
Hinder thing to be mowed and obtain the effect of region all standing.
As shown in Figure 6, the driving chip of Zig Bee wireless communication module is CC2530.
Zig Bee technology is the individual territory fidonetFido that power dissipation ratio based on IEEE802.15.4 standard is relatively low in fact, and it is one
Planting low-power consumption, low cost, short distance, low complex degree, low interest rate, high power capacity, safety is high, and the double-direction radio of unlicensed band leads to
Letter technology.For the communication between we hay mover and host computer, data transmission rate is not the highest, will resist the interference in the external world,
Also needing to networking, power consumption requirements is relatively low, needs to control its cost, and these ZigBee technologies can meet, thus Zigbee
Technology well solves the communication between hay mover and host computer, is its optimal selection.
The chip used in Zig Bee wireless telecommunication system is CC2530, it collect single-chip microcomputer, ADC, wireless communication module in
All over the body, improve the reliability of communication, support that up-to-date Zig Bee agreement and other chip compare cost performance higher.Wherein
What AVDD1 pin connect to AVDD6 pin is the power supply of 2V to 3.6V, and select is 3.3V analog power herein；RESET_N is number
Word resets and inputs, and during electronegative potential, this position resets；TXD and RXD is respectively the transmission of data and receives pin；Its kernel of CC2530 is
8051CPU monocycle compatibility kernel, interrupt control unit controls the response of 18 interrupt sources, is positioned at the internal memory moderator of system centre
Being responsible for arbitration, therefore system effectiveness is greatly improved.
As it is shown in fig. 7, the connection between single-chip microcomputer and wireless communication module needs serial ports to turn USB circuit, the present invention chooses
USB turns serial port chip PL2303, and USB turns serial ports master chip PL2303 provides the bridge conversion of USB and serial ports, and PL2303 defers to USB
1.1 agreements, support the conversion of RS-232 interface, support internal ROM and outside EEPROM configuration device and built-in USB transmitting-receiving
Device.RS232 interface section realizes the conversion of serial ports RS232 level and Transistor-Transistor Logic level.
As shown in Figure 8, described hay mover also includes that overturning-preventing module, described overturning-preventing module include: falling sensor, institute
The VCC stating overturning-preventing sensor terminates+5V voltage source, the earth terminal ground connection of described sensor, the output termination of described sensor
The inverting input of amplifier A1, the normal phase input end of described amplifier A1 connects+5V voltage source, described amplification by resistance R42
The normal phase input end of device A1 passes through resistance R45 ground connection, and the inverting input of described amplifier A1 passes through resistance R44 ground connection, described
The outfan of amplifier A1 connects+5V voltage source by resistance R43, the power supply termination voltage source of described amplifier A1, described amplification
The earth terminal ground connection of device A1, the outfan that outfan is overturning-preventing module of described amplifier A1, described overturning-preventing module defeated
Go out to terminate the interrupt pin of single-chip microcomputer.
Surprisingly topple in order to avoid hay mover accident above to people or animal around, therefore devise an overturning-preventing
Sensor assembly.The rated voltage of obliquity sensor is 5V, exports 3.7～4.5V voltages, when inclination angle is about 65 degree time normal
Time, changing sensor output voltage is 0.4～1.4V.Output low level when whole module is normal, exports high level, output when toppling over
Port is directly connected with one external interrupt pin of single-chip microcomputer.Make mower motor shut down by interruption, enter standby mould
Formula.
It is covered with the first coating on described first material surface, described second material surface is covered with the second coating, described
One coating is different from the second coating color.
Image processing module is divided into image pre-processing module and picture recognition module, and picture recognition module is divided into texture recognition
Module and color bicharacteristic identification module.When hay mover touches barrier, hay mover can be touched position by picture recognition module
Putting and judge, such as hay mover front portion uses iron sheet to make, and rear portion uses aluminum skin to make, when barrier is encountered in front portion, and figure
As processing module identifies touch points with iron sheet distance closely, and this result being passed to processor, processor is thus made
Judge: now hay mover needs to retreat, and hay mover is made instruction, and hay mover retreats.Vice versa, when barrier is encountered at rear portion
Time, it is near with aluminum skin distance that image processing module identifies touch points, and this result is passed to processor, and processor is thus
Judge: now hay mover needs to advance, and hay mover is made instruction, and hay mover advances.
Based on said process, the purpose of colour recognition is also such, and such as hay mover front portion uses blueness to cover, and rear portion is adopted
Covering by redness, when barrier is encountered in front portion, it is near with blue distance that image processing module identifies touch points, and by this process
Result passes to processor, and processor thus judges: now hay mover needs to retreat, and hay mover is made instruction, mows
Machine retreats.Vice versa, and when barrier is encountered at rear portion, it is near with red distance that image processing module identifies touch points, and will
This result passes to processor, and processor thus judges: now hay mover needs to advance, and hay mover is made finger
Showing, hay mover advances.
According to provincial characteristics, it is proposed that the bicharacteristic detection recognition methods of color and texture.RGB image can be used to represent
Coloured image.Its three primary colors is red (R), green (G), blue (B), realizes the color to each pixel with this trichromatic combination
Represent.In 24 real color bitmaps (BMP), the span of R, G, B is 0～255.By great many of experiments, daytime collects
Red, the blue triple channel color gamut of little covering for roofs as shown in table 2.1.The color value of each pixel of RGB image is directly deposited
In image array, owing to the color of each pixel need to be represented by tri-components of R, G, B, the rectangular external form of hay mover, and
With red and blue average covering.And for region all standing, prevent from mowing and omitted, some needs of hay mover
Carry out repeating to mow, in addition to red basket, on hay mover limit, therefore also to add part white.Part red, blue, white is used respectively
Cover with iron sheet, aluminum skin and copper sheet.Due to the instability of place illumination condition, each value of RGB can be varied from.Therefore, identifying
The when of hay mover profile, by under different illumination conditions, do great many of experiments and obtain red and blue minimax value
Scope, i.e. obtains RGB threshold value.As long as in threshold range, i.e. can determine that color, thus identify the whole profile of hay mover.Once
Exceed the scope of RGB threshold value, so that it may start skin texture detection.The contour line of texture primitive is encoded as textural characteristics, passes through
Coding distinguishes different objects.On this basis, statistical method is used to be identified.Assuming that a width texture image has n stricture of vagina
Reason primitive, wherein the contour line of kth texture primitive can be expressed as T by the form of codingk=P1*P2*P3*...Pm, the most whole
Image can be expressed as T=T1T2T3...Tm.Wherein PiBeing feature coding character string, corresponding one section has certain given shape
Curve, these curves with specific trait repeat in multiple texture primitives；* one or more code character is represented
String, the connecting line segment between corresponding different curves.The most whole texture image can regard several character strings P asiRepetition
Combination, texture primitive
Contour line feature passes through PiShowing, these character strings repeated constitute characteristics of image；Next, these
Characteristic character string repetition rate in whole picture coding character string correspond to the quantity information of texture primitive in image, thus
Connect the scale feature representing texture primitive.Therefore, texture recognition problem translates in the case of given sample, the most automatically
Extract the feature string in texture, and problem texture being identified according to the heavy burden frequency of feature string.
Whole identification process is made up of 5 steps:
The first step: the contour line of texture primitive is encoded by the included angle chain coded method of simplification.
First, two end points of each line segment being limited on 8 neighborhood directions, therefore the size of angle is limited accordingly
Be 45 degree, 90 degree, 135 degree, 180 degree, 225 degree, 270 degree, 315 degree of totally seven angles.In view of cataloged procedure also needing to sentence
The starting point of disconnected curve, encodes as the corresponding of these seven angles by numeral 1 to 7.Finally, represent the starting point of curve by numeral 0, use
Numeral 9 represents the terminal of curve, it is possible to obtain the coded string corresponding to curve.
Second step: application MDL criterion extracts the feature coding in texture.
The chain code character string of texture can be obtained by coding.So, the extraction of textural characteristics translates at this word
Symbol string finds base character string location.Here, use the greedy algorithm of COMPRESSIVE, first construct code character
The suffix character array that string is corresponding, then calculates the LCP table that suffix character array is corresponding.Wherein (i j) represents Suffix array clustering to LCP
In common prefix length the longest between i-th and jth item.Represent that this public word string is compiled current with N=Abs (i-j)+1
The number of times occurred in code character string, then coded string is shown in that few description is a length of:
D=N* (LCP (i, j)-1)-(LCP (i, j)+1)=LCP (i, j) * N-(LCP (i, j)+N+1)
3rd step: calculate feature coding repetition rate.
Character string is used to solve close to the method for coupling.When calculating, it is believed that all little with the editing distance of feature coding
In equal to 3 and the difference of individual coding be both less than the character string of 2 all with feature coding approximate match, thus obtain approximate match condition
Under the frequency of feature coding character string.This way, is similar to a feature coding character string and sees operation mode, whole texture maps
The coding of picture sees composition notebook, finds all character strings with pattern approximate match in the text.Use DP algorithm, lead in the algorithm
Cross restriction matched position distance and ensure that a character string at most can only be matched once more than modal length.
4th step: application Bayes Method is identified.
If the X data sample that to be class label unknown, each sample is with a n dimensional feature vector X={x1,x2,x3,...xm}
Representing, it is assumed that total m classification, sample X belongs to class C, and if only if P (X/Ci)≥P(X/Cj), 1≤j≤m, j ≠ i, thus
To a more satisfactory value.As long as in the range of RGB threshold value or texture probability, i.e. can recognize that the whole profile of hay mover.
Table 2.1 red blue RGB span on daytime
According to the identification to color and texture, determine the direction of hay mover, retransmit corresponding control command, allow hay mover
Backward or turn, spirally the mode of shrinking is mowed.
The software runtime environment of host computer is VS2010 and OpenCv.
Delimit mowing region in conjunction with VS2010 and OpenCv exploitation host computer platform mouse or want the pattern of structure.
When lawn mower system uses, hay mover is placed on and needs on the lawn of work, PC and camera pedestal are located at lawn attached
Closely.First, open PC and connect video camera, video camera Real-time Collection scene image information and showing in host computer platform
In, in the host computer platform that VS2010 and OpenCv develops, the region needing work or the figure wanting structure is marked off with mouse
Shape.Opening hay mover power supply again, once after Zig Bee successful matching, system begins to work automatically.At host computer image
The image information of collection in worksite is analyzed, processes by reason software, is known otherwise to mowing by texture and color bicharacteristic
Machine positions and navigates, and the mode instructing hay mover to carry out screw-pinch is mowed.Once hay mover bumps against stone, iron block
Deng barrier time, will start ultrasound examination module, thus control hay mover and barrier and keep 2cm distance to carry out traveling through
Mow.After the most individual region of mowing machine cut, after upper-computer processing software detects all standing of required working region, pass through
Zig Bee is sent to hay mover and stops signal, and so far, mowing task completes.
Although the detailed description of the invention of the present invention is described by the above-mentioned accompanying drawing that combines, but not the present invention is protected model
The restriction enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme, and those skilled in the art are not
Need to pay various amendments or deformation that creative work can make still within protection scope of the present invention.
Claims (9)
1. an intelligent grass-removing system, is characterized in that, including: it is positioned over the support of mowing area periphery, described cantilever tip
Being provided with image collecting device, described image collecting device is connected with host computer, and described host computer includes client, image procossing mould
Block and processor, described client is human-computer interaction interface, and described image processing module connects client and processor；Described place
Reason device connects hay mover by Zig Bee wireless communication module；Described hay mover includes that single-chip microcomputer, described single-chip microcomputer are provided with
GPS module, described single-chip microcomputer asynthesis thing monitoring modular, photoelectric encoder, driving module and voltage transformation module；Described light
Photoelectric coder is arranged on the motor gear driving inside modules；Described single-chip microcomputer connects wireless communication module；Described hay mover
Top cover is rectangle top cover, and described hay mover top cover is divided into two parts along hay mover craspedodrome direction: anterior and rear portion；Described mowing
Machine cap front portion is that the first material is made；Described hay mover back part of top cover is that the second material is made；Described first material and second
Material is different material.
2. a kind of intelligent grass-removing system as claimed in claim 1, is characterized in that, described single-chip microcomputer is MC9S12XS128, institute
State single-chip microcomputer connection and have crystal oscillating circuit, reset circuit and power supply.
3. intelligent grass-removing system as claimed in claim 1 or 2 a kind of, is characterized in that, described driving module includes: motor with
And motor-drive circuit, described motor-drive circuit is connected on two terminals of motor.
4. intelligent grass-removing system as claimed in claim 3 a kind of, is characterized in that, two terminals of described motor are respectively the
One terminal and the second terminal；Drive circuit on the first terminal of described motor includes: the first high-speed photoelectric coupler 6n137,
The AN end of described first high-speed photoelectric coupler 6n137 connects voltage transformation module outfan by resistance R3, and described first at a high speed
The VCC of photoelectrical coupler 6n137 terminates+12V voltage source, the GND end ground connection of described first high-speed photoelectric coupler 6n137, institute
State the GND end of the first high-speed photoelectric coupler 6n137 and the indirect electric capacity C4 of VCC end, described first high-speed photoelectric coupler
The VO end of 6n137 and VCC terminating resistor R5, the VO end of described first high-speed photoelectric coupler 6n137 connects first by resistance R1
The IN end of driving chip BTS7960, the INH end of described first driving chip BTS7960 meets+12V voltage source, institute by resistance R2
The SR end stating the first driving chip BTS7960 passes through resistance R4 ground connection, and described resistance R4 is connected in parallel electric capacity C5, and described first drives
The IS end of dynamic chip BTS7960 is by resistance R6 ground connection, between OUT terminal and the VS end of described first driving chip BTS7960 just
To the voltage source of the VS termination+12V connecting diode D2, described first driving chip BTS7960, described first driving chip
The OUT terminal of BTS7960 connects the first terminal of motor；Drive circuit on second terminal of described motor includes: second at a high speed
Photoelectrical coupler 6n137, it is defeated that the AN end of described second high-speed photoelectric coupler 6n137 connects voltage transformation module by resistance R10
Going out end, the VCC of described second high-speed photoelectric coupler 6n137 terminates+12V voltage source, described second high-speed photoelectric coupler
The GND end ground connection of 6n137, the GND end of described second high-speed photoelectric coupler 6n137 and the indirect electric capacity C18 of VCC end, described
The VO end of the second high-speed photoelectric coupler 6n137 and VCC terminating resistor R14, the VO of described second high-speed photoelectric coupler 6n137
End connects the IN end of the second driving chip BTS7960 by resistance R7, and the INH end of described second driving chip BTS7960 is by electricity
Resistance R8 connects+12V voltage source, and the SR end of described second driving chip BTS7960 passes through resistance R9 ground connection, and described resistance R9 parallel connection is even
Meeting electric capacity C17, the IS end of described second driving chip BTS7960 passes through resistance R11 ground connection, described second driving chip
Between the OUT terminal of BTS7960 with VS end, forward is connected diode D2, the VS termination+12V of described second driving chip BTS7960
Voltage source, the OUT terminal of described second driving chip BTS7960 connects the second terminal of motor.
5. a kind of intelligent grass-removing system as claimed in claim 1, is characterized in that, described barrier monitoring modular includes: if
Dry touch sensor and several ultrasonic sensors；Described touch sensor is arranged on the lateral wall of hay mover uniformly
On；Described ultrasonic sensor is arranged on the lateral wall of hay mover uniformly；The output signal of described touch sensor connects
The interrupt signal end of single-chip microcomputer.
6. a kind of intelligent grass-removing system as claimed in claim 1, is characterized in that, described Zig Bee wireless communication module
Driving chip is CC2530.
7. a kind of intelligent grass-removing system as claimed in claim 1, is characterized in that, described hay mover also includes anti-dumping reverse mould
Block, described overturning-preventing module includes: falling sensor, and the VCC of described falling sensor terminates+5V voltage source, described in topple over biography
The earth terminal ground connection of sensor, the inverting input of the output termination amplifier A1 of described falling sensor, described amplifier A1's
Normal phase input end connects+5V voltage source by resistance R42, and the normal phase input end of described amplifier A1 passes through resistance R45 ground connection, described
The inverting input of amplifier A1 passes through resistance R44 ground connection, and the outfan of described amplifier A1 connects+5V voltage by resistance R43
Source, the power supply termination voltage source of described amplifier A1, the earth terminal ground connection of described amplifier A1, the outfan of described amplifier A1
For the outfan of overturning-preventing module, the outfan of described overturning-preventing module connects the interrupt pin of single-chip microcomputer.
8. a kind of intelligent grass-removing system as claimed in claim 1, is characterized in that, described single-chip microcomputer and Zig Bee channel radio
Connection between letter module has serial ports to turn USB interface, and it is PL2303 that described serial ports turns the driving chip of USB interface.
9. a kind of intelligent grass-removing system as claimed in claim 1, is characterized in that, described first material surface is covered with first
Coating, described second material surface is covered with the second coating, and described first coating is different from the second coating color.
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| CN105612909B (en) * | 2016-02-23 | 2019-02-05 | 广东顺德中山大学卡内基梅隆大学国际联合研究院 | The intelligent mowing robot control system of view-based access control model and Multi-sensor Fusion |
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