CN104704979A - Automatic mowing device - Google Patents
Automatic mowing device Download PDFInfo
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- CN104704979A CN104704979A CN201310692853.1A CN201310692853A CN104704979A CN 104704979 A CN104704979 A CN 104704979A CN 201310692853 A CN201310692853 A CN 201310692853A CN 104704979 A CN104704979 A CN 104704979A
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- automatic
- mowing
- cutting vehicle
- grass
- control device
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Abstract
The invention discloses an automatic mowing device. The automatic mowing device comprises an automatic mower and a charging station, the automatic mower is provided with a working power supply and can automatically travel within the range of a mowing boundary, and the charging station is used for charging the power supply. The automatic mowing device is characterized by further comprising a camera unit capable of automatically travelling within the range of the mowing boundary, wherein the camera unit is provided with a camera used for capturing images and a control device used for controlling the working condition and the advancing direction of the automatic mower, the automatic mower is provided with a signal generation device, and the control device controls the working condition and the advancing direction of the automatic mower after receiving a signal sent by the signal generation device. Precise image capture can be conducted on barriers within a visual field range, working efficiency is effectively improved, and the intelligent degree is higher.
Description
Technical field
The present invention relates to a kind of mowing-apparatus automatically, particularly relate to one and can realize highly intelligent mowing, and accurately can identify the automatic mowing-apparatus of image within the scope of mowing.
Background technology
Automatic mower because of its intelligence degree high, the family expenses garden instrument as a kind of indispensability is widely used.Automatic mower of the prior art, in order to improve its intelligence degree, can use camera to carry out picture catching to the working region of mower, to improve the accurate location to mower.Such as, describe a kind of automatic grass-cutting vehicle with video camera in US Patent No. 2010299016, the principle of this automatic grass-cutting vehicle is absorbed the image of working region, image procossing is carried out subsequently by peripheral logical unit, instruct automatic grass-cutting vehicle to carry out operation through wireless transmission, comprise keep away barrier, arrived border after return and path planning.But this technical scheme has certain limitation, be in particular in: 1, need the visual field of outside camera can include the whole working region of automatic grass-cutting vehicle, in fact are more difficult realizations in some occasions, as working region is too wide, exceeded visual field and the sighting distance of video camera; 2, for barrier larger in the middle of region, as the place of house, artificial hillock, slight slope etc., video camera also can not cover all at one glance; 3, also various operating mode can not be adapted to for going to instruct automatic grass-cutting vehicle to keep away barrier and do not cross the border after going to cognitive disorders thing, border by external camera again, such as some barriers, after remote picked-up, because the pixel region occupied in the graphic is very little, identify surely so differ.Also there is same problem in the identification of zone boundary.
Summary of the invention
The object of this invention is to provide and a kind ofly accurately can control automatic grass-cutting vehicle and carry out work and keep away the automatic mowing-apparatus of barrier.
In order to overcome the defect of prior art, the invention provides a kind of mowing-apparatus automatically, comprise and there is working power and the automatic grass-cutting vehicle automatically can walked in the mowing bounds on meadow, for giving the charging station of described power source charges, described automatic mowing-apparatus also comprises can the image unit of movement in described mowing bounds, described image unit at least comprises for selecting the ken and catching the camera of the image of this ken, for planning the mobile alignment of described automatic grass-cutting vehicle and the control device of grass-cutting vehicle work automatically described in Long-distance Control, the described automatic grass-cutting vehicle of described control device control travels through the ken selected by described camera, after the described ken is by described automatic grass-cutting vehicle traversal, described camera is selected next ken and is caught its image.
Preferably, after described camera successively captures the image of multiple adjacent ken, multiple described image mosaic is become continuous print image by described camera automatically.
Preferably, described mowing border is end to end wire, and described wire is embedded on described meadow.
Preferably, described mowing border is the edge on described meadow.
Preferably, described automatic grass-cutting vehicle is provided with signal generating apparatus, and when described automatic grass-cutting vehicle touches the barrier in described meadow, described signal generating apparatus generates meets barrier signal; When described automatic grass-cutting vehicle touches described mowing border, described signal generating apparatus generates the signal that crosses the border; When the electricity of described power supply is not enough, described signal generating apparatus generates under-voltage signal, and described control device, after reception described chance barrier signal, cross the border signal or under-voltage signal, controls duty and the direct of travel of described automatic grass-cutting vehicle.
Further preferably, when described control device receives described chance barrier signal, described camera catches the image of described barrier and amplifies, and described control device controls described automatic grass-cutting vehicle and gets around described barrier.
Further preferably, when cross the border described in described control device receives signal time, described control device controls described automatic grass-cutting vehicle and turns round.
Further preferably, when described control device receives described under-voltage signal, described control device controls described automatic grass-cutting vehicle and leaves current working site, moves to described charging station place and charges; When after charging complete, rework in the operating position before the described automatic grass-cutting vehicle of described control device control moves to charging.
Further preferably, described image unit is the camera car that can automatically walk, and after described camera captures the image of described automatic grass-cutting vehicle, described camera car keeps current location motionless, and described control device controls described automatic grass-cutting vehicle work.
Further preferably, described image unit is can be driven by described automatic grass-cutting vehicle the camera head carrying out movement, be fixed after described camera head moves to operating position, described automatic grass-cutting vehicle stops driving described camera head, after described camera captures the image of described automatic grass-cutting vehicle, described control device controls described automatic grass-cutting vehicle work.
The automatic mowing-apparatus of the present invention has higher intelligence degree, control automatic grass-cutting vehicle by image unit and carry out work, simultaneously because image unit is moveable, can amplify the obstacle in the visual field neatly and switch the ken, solve the pattern that camera position in prior art fixedly causes and catch the not high problem of accuracy.
Accompanying drawing explanation
Accompanying drawing 1 is the first embodiment schematic diagram of the automatic mowing-apparatus of the present invention;
Accompanying drawing 2 is the second embodiment schematic diagram of the automatic mowing-apparatus of the present invention.
In accompanying drawing:
1-mowing border, the automatic grass-cutting vehicle of 2-, 3-image unit, 4-camera, 5-barrier.
Embodiment
Below in conjunction with accompanying drawing being preferred embodiment described in detail to the automatic mowing-apparatus of the present invention.
As shown in Figure 1, the automatic mowing-apparatus of the present invention mainly includes automatic grass-cutting vehicle 2, moveable image unit 3, charging station for charging with image unit 3 to automatic grass-cutting vehicle 2, wherein automatic grass-cutting vehicle 2 have power supply and freely can walk in the mowing border 1 on meadow, barrier 5 is had in mowing border 1, the coverage of barrier 5 does not belong to the working range of automatic grass-cutting vehicle 2, image unit 3 is provided with camera 4, camera 4 with the movement of image unit 3, can be selected its shooting ken and gathers the image of this ken.About the setting on mowing border 1, the present invention lists two kinds of embodiments, first wire is the first on meadow is connected to form certain scope, automatic grass-cutting vehicle 2 is walked within the scope of this, can be energized to wire during work, change the electric current in wire by the line of magnetic induction around automatic grass-cutting vehicle 2 wire cutting, thus obtain the signal of automatic grass-cutting vehicle 2 close to border; It two is the edges directly utilizing meadow, also be meadow and road surface, the border that meadow and step, meadow and flower bed, meadow and swimming pool, meadow and hedge, meadow and shrub etc. are formed, the identification on this border realizes by the image identification function of camera 4.
Image unit 3 is also provided with a control device, this control device can after camera 4 be selected the ken and is gathered image, plan the track route of automatic grass-cutting vehicle 2, to ensure that automatic grass-cutting vehicle does not repeatedly travel through the whole ken, then control device controls the action of automatic grass-cutting vehicle 2 again by wireless technology, and work as a slice ken after hours, camera 4 can select lower a slice ken, repeat above-mentioned work, especially, when camera 4 has collected the image of the adjacent ken, camera 4 can identify object of reference identical in the ken automatically, such as set, barrier or static automatic grass-cutting vehicle 2, then according to these objects of reference, multiple image is spliced, it is made to form a complete image.And with control device accordingly, accordingly, automatic grass-cutting vehicle 2 is also provided with signal generating apparatus, when automatic grass-cutting vehicle 2 runs into different operating modes, can generates different signals and send to control device, control device makes counter-measure respectively according to these signals.And when automatic grass-cutting vehicle 2 or image unit 3 under-voltage time, also can control them by control device and move to charging station and charge.
The automatic mowing-apparatus of the present invention is before work, first the region determining to mow is needed, at this moment moveable image unit 3 can move in mowing border 1, about the concrete form of moveable image unit 3, arrange in the present invention for two example two, first camera car, can move independently, it two is camera heads, and this camera head itself does not have the function of movement, but can be moved by the type of drive such as tractive, promotion of automatic grass-cutting vehicle 2; No matter image unit 3 is above-mentioned any forms, its first step is all determine its operating point in mowing border 1, after finding, image unit 3 will be fixed at this operating point place, if camera car, so camera car will stop mobile, if camera head, so behind arrival operating point, automatic grass-cutting vehicle 2 can stop the driving to camera head.
Following image unit 3 is started working, camera 4 can select the ken, generally can select the ken that automatic grass-cutting vehicle 2 occurs, then the image of this ken is gathered, when the image of automatic grass-cutting vehicle 2 is being shot get after, control device will be controlled automatic grass-cutting vehicle 2 by wireless communication technology, thus carries out grass cutting action.Due to after collecting the image of the ken, camera 4 can carry out the planning of route automatically, and therefore grass-cutting vehicle 2 according to the route of planning, can repeatedly not travel through each position in the ken, until travel through complete as far as possible automatically.Next, automatic mowing-apparatus can repeat above-mentioned steps, selects the next ken to carry out work, if when detecting that the image of the next ken and image before have an identical object of reference, camera 4 can splice multiple image automatically, forms a complete image.
When automatic grass-cutting vehicle 2 works, likely can run into barrier, touching border or line under-voltage, when in the face of these situations, the signal generating apparatus on automatic grass-cutting vehicle 2 can generate different signals.
When automatic grass-cutting vehicle 2 touches the barrier 5 in mowing border 1, generation is met barrier signal by signal generating apparatus, and sends it to control device, and control device, after receiving chance barrier signal, controls automatic grass-cutting vehicle 2 cut-through thing 5.Here the control method of control device is preferably, after control device receives chance barrier signal, by the Nonlinear magnify of camera 4 by barrier 5 and surrounding enviroment thereof, because camera 4 can move along with image unit 3, like this when the pixel of barrier 5 is inadequate, camera 4 meeting automatic focusing is by Nonlinear magnify; Control device is by image clearly subsequently, controls automatic grass-cutting vehicle 3 cut-through thing 5 step by step.When after cut-through thing 5, control device continues to control automatic grass-cutting vehicle 2 and works.
When automatic grass-cutting vehicle 2 touches mowing border 1, generation is crossed the border signal by signal generating apparatus, and sends it to control device, and control device, after receiving the signal that crosses the border, directly controls automatic grass-cutting vehicle 2 and turns round, work on subsequently.
When line under-voltage in automatic grass-cutting vehicle 2, signal generating apparatus will generate under-voltage signal, and send it to control device, control device is after receiving under-voltage signal, the automatic grass-cutting vehicle 2 of direct control moves to charging station place and charges, and is controlled to rework after it gets back to the position before charging after charging by control device.
After the time of one longer of having worked, image unit 3 also there will be under-voltage situation, at this moment image unit 3 can get back to charging station charging voluntarily, or controlling automatic grass-cutting vehicle 2 drives it to get back to charging station charging, after charging, get back to original operating position and continue to control automatic grass-cutting vehicle work.But because image unit 3 does not need to move to maintain it by electricity always, therefore its electric quantity consumption is much smaller than automatic grass-cutting vehicle 2, and the frequency of charging is not high yet, and user can unify to charge to it after every task.
The present invention is compared to prior art, and intelligence degree is improved, and whole automatic mowing-apparatus, when major part, is all be fixed on operating position by image unit 3, and the automatic grass-cutting vehicle 2 of Long-distance Control is mowed; Meanwhile, carry out IMAQ by the working range of moveable camera 4 to automatic grass-cutting vehicle 2, can accomplish to carry out accurate picture catching to barrier 5 within the vision, effectively improve the operating efficiency of automatic grass-cutting vehicle 2.
Above-described embodiment is only for illustrating technical conceive of the present invention and feature; its object is to person skilled in the art can be understood content of the present invention and implement according to this; can not limit the scope of the invention with this; all equivalences done according to Spirit Essence of the present invention change or modify, and all should be encompassed within protection scope of the present invention.
Claims (10)
1. an automatic mowing-apparatus, comprise and there is working power and the automatic grass-cutting vehicle (2) automatically can walked in mowing border (1) scope on meadow, for giving the charging station of described power source charges, it is characterized in that: described automatic mowing-apparatus also comprises can the image unit (3) of movement in described mowing border (1) scope, described image unit (3) at least comprises for selecting the ken and catching the camera (4) of the image of this ken, for planning the mobile alignment of described automatic grass-cutting vehicle (2) and the control device that works of grass-cutting vehicle (2) automatically described in Long-distance Control, the described automatic grass-cutting vehicle (2) of described control device control travels through the ken selected by described camera (4), after the described ken is by described automatic grass-cutting vehicle (2) traversal, described camera (4) is selected next ken and is caught its image.
2. automatic mowing-apparatus according to claim 1, is characterized in that: after described camera (4) successively captures the image of multiple adjacent ken, multiple described image mosaic is become continuous print image by described camera (4) automatically.
3. automatic mowing-apparatus according to claim 1, is characterized in that: described mowing border (1) is end to end wire, and described wire is embedded on described meadow.
4. automatic mowing-apparatus according to claim 1, is characterized in that: the edge that described mowing border (1) is described meadow.
5. automatic mowing-apparatus according to claim 1, it is characterized in that: described automatic grass-cutting vehicle (2) is provided with signal generating apparatus, when touching barrier (5) in described meadow when described automatic grass-cutting vehicle (2), described signal generating apparatus generates meets barrier signal; When described automatic grass-cutting vehicle (2) touches described mowing border (1), described signal generating apparatus generates the signal that crosses the border; When the electricity of described power supply is not enough, described signal generating apparatus generates under-voltage signal, and described control device, after reception described chance barrier signal, cross the border signal or under-voltage signal, controls duty and the direct of travel of described automatic grass-cutting vehicle (2).
6. automatic mowing-apparatus according to claim 5, it is characterized in that: when described control device receives described chance barrier signal, described camera (4) catches the image of described barrier and amplifies, and described control device controls described automatic grass-cutting vehicle (2) and gets around described barrier.
7. automatic mowing-apparatus according to claim 5, is characterized in that: when cross the border described in described control device receives signal time, described control device controls described automatic grass-cutting vehicle (2) and turns round.
8. automatic mowing-apparatus according to claim 5, it is characterized in that: when described control device receives described under-voltage signal, described control device controls described automatic grass-cutting vehicle (2) and leaves current working site, moves to described charging station place and charges; When after charging complete, rework in the operating position before the described automatic grass-cutting vehicle of described control device control moves to charging.
9. the automatic mowing-apparatus according to any one of claim 1-8, it is characterized in that: described image unit (3) is the camera car that can automatically walk, after described camera (4) captures the image of described automatic grass-cutting vehicle (2), described camera car keeps current location motionless, and described control device controls the work of described automatic grass-cutting vehicle (2).
10. the automatic mowing-apparatus according to any one of claim 1-8, it is characterized in that: described image unit (3) is for being carried out the camera head of movement by described automatic grass-cutting vehicle (2) driving, be fixed after described camera head moves to operating position, the stopping of described automatic grass-cutting vehicle (2) drives described camera head, after described camera (4) captures the image of described automatic grass-cutting vehicle (2), described control device controls the work of described automatic grass-cutting vehicle (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201310692853.1A CN104704979B (en) | 2013-12-17 | 2013-12-17 | A kind of mowing-apparatus automatically |
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| CN201310692853.1A CN104704979B (en) | 2013-12-17 | 2013-12-17 | A kind of mowing-apparatus automatically |
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| CN104704979A true CN104704979A (en) | 2015-06-17 |
| CN104704979B CN104704979B (en) | 2016-12-07 |
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| CN106647765A (en) * | 2017-01-13 | 2017-05-10 | 深圳拓邦股份有限公司 | Planning platform based on mowing robot |
| CN107637255A (en) * | 2016-07-22 | 2018-01-30 | 苏州宝时得电动工具有限公司 | The walking path control method of intelligent grass-removing, automatic working system |
| CN108142069A (en) * | 2016-12-02 | 2018-06-12 | 苏州宝时得电动工具有限公司 | Path mobile system |
| CN109063575A (en) * | 2018-07-05 | 2018-12-21 | 中国计量大学 | A kind of intelligent grass-removing based on monocular vision is independently orderly mowed method |
| CN109588100A (en) * | 2018-10-31 | 2019-04-09 | 浙江亚特电器有限公司 | Original route return method for intelligent grass-removing |
| US11172609B2 (en) | 2016-06-30 | 2021-11-16 | Tti (Macao Commercial Offshore) Limited | Autonomous lawn mower and a system for navigating thereof |
| US11172608B2 (en) | 2016-06-30 | 2021-11-16 | Tti (Macao Commercial Offshore) Limited | Autonomous lawn mower and a system for navigating thereof |
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| CN106647765A (en) * | 2017-01-13 | 2017-05-10 | 深圳拓邦股份有限公司 | Planning platform based on mowing robot |
| CN109063575A (en) * | 2018-07-05 | 2018-12-21 | 中国计量大学 | A kind of intelligent grass-removing based on monocular vision is independently orderly mowed method |
| CN109063575B (en) * | 2018-07-05 | 2022-12-23 | 中国计量大学 | Intelligent mower autonomous and orderly mowing method based on monocular vision |
| CN109588100A (en) * | 2018-10-31 | 2019-04-09 | 浙江亚特电器有限公司 | Original route return method for intelligent grass-removing |
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| CN104704979B (en) | 2016-12-07 |
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