CN105159290A - Lawn trimming system and robot based on Internet of Things - Google Patents
Lawn trimming system and robot based on Internet of Things Download PDFInfo
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- CN105159290A CN105159290A CN201510368297.1A CN201510368297A CN105159290A CN 105159290 A CN105159290 A CN 105159290A CN 201510368297 A CN201510368297 A CN 201510368297A CN 105159290 A CN105159290 A CN 105159290A
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- robot body
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Abstract
The invention reveals a lawn trimming system and robot based on the Internet of Things, and the system comprises a plurality of signal transmitting assemblies and the trimming robot, wherein the trimming robot comprises a robot main body, a positioning assembly, an electronic compass, and a trimming line planning circuit. The transmitting assemblies of the system and the positioning assembly of the trimming robot communicate with each other through a Zigbee network protocol, so as to locate the position coordinates of the positioning assembly. Therefore, the electronic compass judges the moving direction of the trimming robot, so as to enable the trimming robot to move according to a trimming path planned by the trimming line planning circuit.
Description
Technical field
The invention relates to a kind of turf-mown system based on Internet of Things and trimming machine cuts people, particularly possess positioning function and the automatic cruising cutting system and the trimming machine cuts people that judge moving direction function about a kind of.
Technical background
At present, Intelligent service robot replaces human labour becomes important development trend, and main cause is that most developed countries just progressively strides forward aging, few sonization society, and to home care, family's labor service, with the demand such as to save from damage and say eagerly beneficial.For scene out of doors, as the routine maintenance work of turf, major part be the grass of growth smashed, concentrate broken grass, packing abandons.All the work of at substantial manpower to the machine-operated line number, park, golf course etc. vast on innerland.Common trimmer is the facility that a kind of convenience is manually pruned, upper back and forth at turf of human users's trimmer, when the blade on trimmer can break apart by chopping long grass through turf, this mode is the pruning method the most often used in school, park, community at present, its shortcoming is to rely on manual operation trimmer, need to use many human resources, in the society that human cost is now more and more expensive, thus we need a kind of way solving human side more.
In order to take into account solution, the present inventor's base, in research and development for many years and many practical experience, proposes a kind of turf-mown system based on Internet of Things and trimming machine cuts people, using as implementation and the foundation of improving above-mentioned shortcoming.
Summary of the invention
Wherein object of the present invention is exactly providing a kind of turf-mown system based on Internet of Things, prunes required human side to solve tradition.
Another object of the present invention is exactly providing a kind of turf-mown machine people based on Internet of Things, to avoid a large amount of manpower consumptions.
For reaching above-mentioned purpose, the present invention proposes a kind of turf-mown system based on Internet of Things, and comprise: a plurality of signal transmission component, signal radiated element defines sensing region; And trimming machine cuts people, this trimming machine cuts people at least comprises: robot body, and it has trimming assembly and moving assembly, and wherein this moving assembly makes robot body carry out shift action; Positioning component, the signal sent with Received signal strength emitting module, to orient the position coordinates of positioning component in the sensing region; Electronic compass, it is located on robot body, and this electronic compass is the moving direction judging this robot body; And trimming path planning circuit, this trimming path planning circuit is located on this robot body, in order to plan default trimming path.Wherein, this trimming path planning circuit controls moving assembly according to the position coordinates of positioning component and the moving direction of robot body, carries out shift action to make robot body according to trimming path.
For reaching above-mentioned purpose, the present invention more proposes a kind of turf-mown machine people based on Internet of Things, and comprise: robot body, this robot body has trimming assembly and moving assembly, and wherein moving assembly makes robot body carry out shift action; Positioning component, it is located on this robot body to receive a plurality of signals that outside a plurality of signal transmission components send, strong and weak to learn the relative distance of positioning component and a plurality of signal transmission component by the signal of a plurality of signal, orient the position coordinates of this positioning component with this, wherein this plurality of signal transmission component defines sensing region; Electronic compass, this electronic compass is located on robot body, in order to judge the moving direction of robot body; And trimming path planning circuit, it is located on robot body, in order to plan default trimming path, this trimming path planning circuit is that the moving assembly of the foundation position coordinates of positioning component and the moving direction control machine human agent of robot body carries out shift action to make robot body according to trimming path.
Described positioning component and signal transmission component meet Zigbee network communication agreement to carry out communication, and wherein the quantity of signal transmission component is at least three, to define sensing region.Positioning component has positioning circuit, strong and weak to learn the relative distance of positioning component and a plurality of signal transmission component with the signal receiving a plurality of signal according to positioning component, obtains the position coordinates of this positioning component after estimating.In addition, because keeper position is on robot body, therefore the positioning function of positioning system just can learn the position coordinates of robot body thus.
The trimming path of trimming path planning circuit of the present invention sets manually or goes out trimming path with algorithmic rule.This trimming path planning circuit is learnt the position coordinates of robot body by positioning component, and the moving direction of robot body is learnt by electronic compass, judge whether the movement of robot body meets trimming path with this, if depart from trimming path, revise at once.
From the above, according to the turf-mown system based on Internet of Things of the present invention and intelligent automatic cruising trimming machine cuts people, it can have or multiple following advantage:
(1) this turf-mown system based on Internet of Things and the turf-mown machine people based on Internet of Things have the function locating and measure moving direction voluntarily, with from Row sum-equal matrix trimming path.
(2) this turf-mown system based on Internet of Things and the turf-mown machine people based on Internet of Things use Zigbee network agreement, to provide inexpensive, the positioning function of pinpoint accuracy and highly compatible.
Accompanying drawing explanation
Fig. 1 is for intelligent automatic cruising of the present invention cuts system schematic.
Fig. 2 is based on the turf-mown machine people upper schematic diagram of Internet of Things for of the present invention.
Fig. 3 is based on the turf-mown machine people schematic side view of Internet of Things for of the present invention.
Embodiment
Refer to Fig. 1 to Fig. 3, Fig. 1 is based on the turf-mown system schematic of Internet of Things for of the present invention.Fig. 2 is the upper schematic diagram for the turf-mown machine people based on Internet of Things of the present invention.Fig. 3 is the schematic side view for the turf-mown machine people based on Internet of Things of the present invention.As shown in Fig. 1 to Fig. 3, the turf-mown system based on Internet of Things comprises a plurality of signal transmission component 2 and trimming machine cuts people, and wherein trimming machine cuts people at least comprises robot body 4, electronic compass 3, positioning component 1 and trimming path planning circuit 10.
As shown in Figures 2 and 3, trimming assembly comprises to prune motor 8 and pruning shear 5, and wherein prune motor 8 and pruning shear 5 interlock, this pruning shear 5 can be plastic material or metal material, and the side of this pruning shear 5 has more prunes shielding 12.This pruning shear 5 and pruning shielding 12 are below robot body 4, and when robot body 4 moves forward, this trimming assembly is in order to cut off the weeds of take the altitude below this robot body 4.This moving assembly comprises mobile motor 6 and wheel 7, and this moves motor 6 wheel 7 interlock therewith.Wherein, moving assembly more comprises battery 11 and supplies electrical power to mobile motor 6 and prune motor 8 and operate.Moving assembly is electrically connected on trimming path planning circuit 10, plans that circuit 10 can control moving assembly to make trimming path.Wherein, mobile motor 6 can be more the motor shared with pruning motor 8, to reduce cost.
As shown in Figure 1, described signal transmission component 2 and positioning component 1 are the radio ttransmitter and receiver modules for meeting Zigbee network agreement, and jointly form positioning system.Wherein, the quantity of signal transmission component 2 is more than three, and is distributed in plane.This plurality of signal transmission component 2 in order to go out sensing region 9 at this plane definition, and sends a plurality of signal A in this sensing region 9, makes the positioning component 1 of position in sensing region 9 can receive a plurality of signal A.Wherein, positioning component 1 has more positioning circuit 14, the signal of the signal A that this positioning circuit 14 is received by positioning component 1 is strong and weak with the relative distance learning positioning component 1 and signal radiated element 2, by a plurality of signal transmission component 2 relative distance just can computed position assembly 1 relatively in the relative coordinate of a plurality of signal transmission component 2, learn the position coordinates of positioning component 1 with this.In addition, because positioning component 1 is on robot body 4, therefore by the position coordinates learning positioning component 1, the location coordinate of robot body 4 can namely be learnt.
As shown in Figure 1, the electronic compass 3 of the turf-mown machine people based on Internet of Things of the present invention is that position is on robot body 4.Therefore, when robot body 4 moves, electronic compass 3 just can learn the moving direction of robot body 4.
As shown in Figures 2 and 3, the trimming path planning circuit 10 of the turf-mown machine people based on Internet of Things of the present invention is that position can perform trimming path by the movement controlling moving assembly and control machine human agent 4 on robot body 4.Trimming path planning circuit 10 be set manually or go out trimming path with algorithmic rule, this algorithm as: population optimization location algorithm, base are at fuzzy theory location algorithm, Improvement type probability neural network location algorithm etc..This trimming path planning circuit 10 is learnt the position coordinates of robot body 4 by positioning component 1, and the moving direction of robot body 4 is learnt by electronic compass 3, judge whether the movement of robot body 4 meets trimming path with this, if depart from trimming path, carry out correction moving direction, to be returned in trimming path at once.
Before user to carry out with the trimming machine cuts people 13 of the turf-mown machine people framework based on Internet of Things of the present invention pruning, first can place a plurality of signal transmission component 2 to define sensing region 9 on the meadow for pruning.Then, then set trimming path with trimming path planning circuit 10, this trimming path is artificial setting or completes with algorithm.When reality is pruned, this trimming path planning circuit 10 can control moving meter automatically, and trimming machine cuts people 13 is pruned with the trimming path preset.
Described in before combining, due to the function that this turf-mown system based on Internet of Things and the turf-mown machine people based on Internet of Things have automatic cruising pruning, therefore can save a large amount of manpower, the arrangement on outdoor largescale meadow be become and is more prone to carry out.
The foregoing is only illustrative, but not be restricted person.Anyly do not depart from spirit of the present invention, and to its equivalent modifications of carrying out or change, all should be included in the application's the scope of the claims.
Claims (10)
1., based on a turf-mown system for Internet of Things, comprise:
A plurality of signal transmission component, this plurality of signal transmission component defines sensing region; And
Trimming machine cuts people, this trimming machine cuts people at least comprises:
Robot body, this robot body has trimming assembly and moving assembly, and wherein this moving assembly makes this robot body carry out shift action;
Positioning component, the position coordinates of this positioning component, on this robot body, in order to receive a plurality of signals that this plurality of signal transmission component sends, and is oriented in this positioning component position in this sensing region with this plurality of signal;
Electronic compass, this electronic compass is located on this robot body, and this electronic compass is the moving direction judging this robot body; And trimming path planning circuit, this trimming path planning circuit is located on this robot body, in order to the trimming path of planning, this trimming path planning circuit controls this moving assembly according to this position coordinates of this positioning component and this moving direction of this robot body, carries out this shift action to make this robot body according to this trimming path.
2., according to the turf-mown system based on Internet of Things described in claim 1, it is characterized in that, this positioning component and this plurality of emitting module carry out communication with Zigbee network agreement.
3. the turf-mown system based on Internet of Things according to claim 1, is characterized in that, the quantity of this plurality of signal transmission component is more than three.
4. the turf-mown system based on Internet of Things according to claim 1, it is characterized in that, this positioning component has positioning circuit, to estimate this position coordinates of this positioning component according to the signal intensity of this received a plurality of signal.
5. the turf-mown system based on Internet of Things according to claim 1, is characterized in that, this trimming path planning circuit manually sets or goes out this trimming path with algorithmic rule.
6., based on a turf-mown machine people for Internet of Things, comprise:
Robot body, this robot body has trimming assembly and moving assembly, and wherein this moving assembly makes this robot body carry out shift action;
Positioning component, this positioning component is located to receive a plurality of signals that outside a plurality of signal transmission components send on this robot body, and to orient the position coordinates of this positioning component, wherein this plurality of signal transmission component defines sensing region;
Electronic compass, this electronic compass is located on this robot body, in order to judge the moving direction of this robot body; And
Trimming path planning circuit, this trimming path planning circuit is located on this robot body, in order to the trimming path of planning acquiescence, this trimming path planning circuit is that the moving assembly controlling this robot body according to this position coordinates of this positioning component and this moving direction of this robot body carries out this shift action to make this robot body according to this trimming path.
7. the turf-mown machine people based on Internet of Things according to claim 6, is characterized in that, this positioning component and this plurality of emitting module carry out communication with Zigbee network agreement.
8. the turf-mown machine people based on Internet of Things according to claim 6, is characterized in that, the quantity of this plurality of signal transmission component is more than three.
9. the turf-mown machine people based on Internet of Things according to claim 6, it is characterized in that, this positioning component has positioning circuit, to estimate this position coordinates of this keeper according to the signal intensity of this received a plurality of signal.
10. the turf-mown machine people based on Internet of Things according to claim 6, is characterized in that, this trimming path planning circuit manually sets or goes out this trimming path with algorithmic rule.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510368297.1A CN105159290A (en) | 2015-06-27 | 2015-06-27 | Lawn trimming system and robot based on Internet of Things |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510368297.1A CN105159290A (en) | 2015-06-27 | 2015-06-27 | Lawn trimming system and robot based on Internet of Things |
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| CN105159290A true CN105159290A (en) | 2015-12-16 |
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| CN201510368297.1A Pending CN105159290A (en) | 2015-06-27 | 2015-06-27 | Lawn trimming system and robot based on Internet of Things |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105612909A (en) * | 2016-02-23 | 2016-06-01 | 广东顺德中山大学卡内基梅隆大学国际联合研究院 | Vision and multisensory fusion based intelligent mowing robot control system |
| CN105684630A (en) * | 2016-01-26 | 2016-06-22 | 北京林业大学 | Remote control intelligent lawn art trimming machine |
| CN105723916A (en) * | 2016-01-26 | 2016-07-06 | 北京林业大学 | Intelligent artistic lawn-trimming machine |
| JP2017158532A (en) * | 2016-03-03 | 2017-09-14 | 株式会社リコー | Farm working device, and control method of farm working device |
| CN108628314A (en) * | 2018-06-13 | 2018-10-09 | 西安交通大学 | A kind of Multi computer cooperation turf-mown machine people's system and method |
| CN108968818A (en) * | 2018-07-16 | 2018-12-11 | 广州俊德信息科技有限公司 | The accommodation method of cleaning appliance, system, equipment and can storage medium |
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Cited By (9)
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| CN105684630A (en) * | 2016-01-26 | 2016-06-22 | 北京林业大学 | Remote control intelligent lawn art trimming machine |
| CN105723916A (en) * | 2016-01-26 | 2016-07-06 | 北京林业大学 | Intelligent artistic lawn-trimming machine |
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| CN105684630B (en) * | 2016-01-26 | 2018-01-30 | 北京林业大学 | A kind of remote control intelligence lawn art finishing machine |
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| JP2017158532A (en) * | 2016-03-03 | 2017-09-14 | 株式会社リコー | Farm working device, and control method of farm working device |
| CN108628314A (en) * | 2018-06-13 | 2018-10-09 | 西安交通大学 | A kind of Multi computer cooperation turf-mown machine people's system and method |
| CN108968818A (en) * | 2018-07-16 | 2018-12-11 | 广州俊德信息科技有限公司 | The accommodation method of cleaning appliance, system, equipment and can storage medium |
| CN108968818B (en) * | 2018-07-16 | 2020-12-18 | 广州俊德信息科技有限公司 | Storage method, system, device and storable medium for cleaning electric appliance |
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Application publication date: 20151216 |