CN106717462A - Intelligent grass-removing and its method of work - Google Patents
Intelligent grass-removing and its method of work Download PDFInfo
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- CN106717462A CN106717462A CN201510810704.XA CN201510810704A CN106717462A CN 106717462 A CN106717462 A CN 106717462A CN 201510810704 A CN201510810704 A CN 201510810704A CN 106717462 A CN106717462 A CN 106717462A
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- intelligent grass
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
Abstract
The present invention relates to a kind of intelligent grass-removing and its method of work, intelligent grass-removing includes：Region division module, for the working region of intelligent grass-removing to be divided into area identical mesh-like area；Navigation module, for the current location of positioning intelligent hay mover；Judge module, for the mesh-like area residing for judging intelligent grass-removing according to the current location of intelligent grass-removing；Time logging modle, for recording time span of the intelligent grass-removing in correspondence mesh-like area work；Duration detection module, for detecting time span of the intelligent grass-removing in correspondence mesh-like area work whether beyond predetermined value；Displacement module, for when intelligent grass-removing exceeds predetermined value in the time span of correspondence mesh-like area work, guiding intelligent grass-removing to be moved to and is operated without departing from the mesh-like area of predetermined value.The present invention can make different mesh-like areas be respectively provided with identical operating time, make the mowing situation of all of mesh-like area wholly or substantially consistent.
Description
Technical field
The present invention relates to Intelligent mobile equipment and its application field, more particularly to a kind of intelligent grass-removing and its
Method of work.
Background technology
With the development of science and technology, intelligent automatic running device is well known, due to automatically walk
Program that equipment can pre-set automatically performs the inter-related task for pre-setting, without artificial operation with it is dry
In advance, the application therefore in commercial Application and family product is widely.Industrial application such as performs various
The robot of function, application such as hay mover, dust catcher etc. on family product, these intelligent automatically walks
Equipment dramatically saves on the time of people, all be brought great convenience to industrial production and life staying idle at home.
Intelligent grass-removing has been widely used as the one kind in automatic running device.Conventional intelligence is cut
Careless machine when mowing, mow, not by the motion in the working region typically in the boundary line for setting back and forth
(average in unit area in working region being cut when coverage rate is mower grass to be related to specific coverage rate
Careless duration).Specifically, intelligent grass-removing is when mowing, although move back and forth, but in different workspaces
The time difference that domain is mowed may be very big, causes part working region to be mowed in order, but part workspace
Domain is as without mowing.
The content of the invention
Based on this, it is necessary to provide a kind of intelligent grass-removing and its method of work, make the difference in working region
Region is respectively provided with same or like operating time, and the situation after making different working regions mow is consistent.
A kind of intelligent grass-removing, including：
Region division module, for the working region of intelligent grass-removing to be divided into area identical mesh-like area；
Navigation module, the current location for positioning the intelligent grass-removing；
Judge module, the current location of the intelligent grass-removing for being positioned according to the navigation module judges
Mesh-like area residing for the intelligent grass-removing；
Time logging modle, for netted residing for the intelligent grass-removing that is judged according to the judge module
Time span of the intelligent grass-removing described in regional record in correspondence mesh-like area work；
Duration detection module, for detecting the intelligent grass-removing of the time logging modle record in correspondence
Whether the time span of mesh-like area work exceeds predetermined value；
Displacement module, for detecting the intelligent grass-removing in correspondence webbed region in the duration detection module
When the time span of domain work exceeds predetermined value, the intelligent grass-removing is guided to be moved to without departing from predetermined value
Mesh-like area is operated.
Wherein in one embodiment, the region division module includes：
Working region recording unit, for the intelligent grass-removing along working region border displacement of the lines one
During circle, the current location of the hay mover recorded according to the navigation module records the intelligent grass-removing
Working region；
Division unit, for by the workspace of the intelligent grass-removing of the working region recording unit records
Domain is divided into area identical mesh-like area.
Wherein in one embodiment, the navigation module is differential GPS or difference Big Dipper positioner.
Wherein in one embodiment, area of the predetermined value according to the mowing blade of the intelligent grass-removing
Area with the mesh-like area determines.
Wherein in one embodiment, the area identical mesh-like area is laterally or vertically mesh-like area.
Wherein in one embodiment, the area identical mesh-like area has corresponding zone marker.
A kind of method of work of intelligent grass-removing, intelligent grass-removing is based on the above intelligent grass-removing, including：
The working region of the intelligent grass-removing is divided into area identical mesh-like area；
Record time span of the intelligent grass-removing in correspondence mesh-like area work；
Detect time span of the intelligent grass-removing in correspondence mesh-like area work whether beyond predetermined value；
When the intelligent grass-removing exceeds predetermined value in the time span of correspondence mesh-like area work, institute is guided
State intelligent grass-removing and be moved to and be operated without departing from the mesh-like area of predetermined value.
Wherein in one embodiment, also include：
When the intelligent grass-removing is enclosed along the border displacement of the lines one of working region, record the intelligence and mow
The working region of machine.
Wherein in one embodiment, the area identical mesh-like area is laterally or vertically mesh-like area.
Wherein in one embodiment, the area identical mesh-like area has corresponding zone marker.
The above intelligent grass-removing and its method of work, working region is divided into net of the same area
Shape region, when intelligent grass-removing works, can record work of the intelligent grass-removing in different mesh-like areas
Duration, intelligent grass-removing is guided to different mesh-like areas according to operating time, so as to ensure different netted
Region is respectively provided with identical operating time, makes the mowing situation of all of mesh-like area wholly or substantially consistent,
Avoid the occurrence of the situation in order and after subregion is mowed after subregion is mowed poor.
Brief description of the drawings
Fig. 1 is the structure chart of intelligent grass-removing described in an embodiment；
Fig. 2 is the structure chart of region division module in Fig. 1；
Fig. 3 is the schematic diagram of mesh-like area in Fig. 1；
Fig. 4 is the flow chart of the method for work of the intelligent grass-removing of an embodiment；
Fig. 5 is the flow chart of the method for work of the intelligent grass-removing of another embodiment.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with accompanying drawing and reality
Example is applied, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only
Only it is used to explain the present invention, is not intended to limit the present invention.
As shown in figure 1, the intelligent grass-removing of an embodiment include region division module 110, navigation module 120,
Judge module 130, time logging modle 140, duration detection module 150 and displacement module 160.
Region division module 110 is used to for the working region of intelligent grass-removing to be divided into area identical webbed region
Domain；
Navigation module 120 is used for the current location of positioning intelligent hay mover；
The current location that judge module 130 is used for the intelligent grass-removing positioned according to navigation module 120 judges intelligence
Mesh-like area residing for energy hay mover；
Time logging modle 140 is used for the webbed region according to residing for the intelligent grass-removing of the judgement of judge module 130
Domain records time span of the intelligent grass-removing in correspondence mesh-like area work；
Duration detection module 150 is used for the intelligent grass-removing of the record of detection time logging modle 140 in correspondence net
Whether the time span of shape regional work exceeds predetermined value；
Displacement module 160 is used to detect intelligent grass-removing in correspondence mesh-like area in duration detection module 150
When the time span of work exceeds predetermined value, guiding intelligent grass-removing is moved to the webbed region without departing from predetermined value
Domain is operated.
The above intelligent grass-removing, working region is divided into mesh-like area of the same area, in intelligence
When energy hay mover works, operating time of the intelligent grass-removing in different mesh-like areas can be recorded, according to work
Make duration and guide intelligent grass-removing to different mesh-like areas, so as to ensure that different mesh-like areas are respectively provided with phase
Same operating time, makes the mowing situation of all of mesh-like area wholly or substantially consistent, it is to avoid part occur
The situation in order and after subregion is mowed after region is mowed is poor.
In the present embodiment, predetermined value can be according to the area of the mowing blade of intelligent grass-removing and mesh-like area
Area determines.The mowing blade of intelligent grass-removing has certain area, and mesh-like area also has certain face
Product, when usual intelligent grass-removing works in mesh-like area, the entire area that mowing blade works reaches netted
After the certain multiple of region area, you can complete the grass cutting action in correspondence mesh-like area.Therefore, by setting
Predetermined value is calculated by the value for determining multiple.
Intelligent grass-removing generally has fixed working region, and boundary line is provided with around working region, intelligence
Hay mover can determine the border map of specific working region along boundary line.Specifically, as shown in Fig. 2
Region division module 110 includes working region recording unit 111 and division unit 112.
Working region recording unit 111 is used to be enclosed along the border displacement of the lines one of working region in intelligent grass-removing
When, the current location of the hay mover recorded according to navigation module 120 records the working region of intelligent grass-removing；
Draw the working region that division unit 112 is used for the intelligent grass-removing for recording working region recording unit 111
It is divided into area identical mesh-like area.
Generally be provided with charging station on boundary line, intelligent grass-removing can using charging station as initial starting point,
Can also be using other places as initial starting point, intelligent grass-removing is from initial starting point along boundary line
During displacement one week, working region recording unit 111 can determine the border map to areas inside operating, divide
Working region can be then divided into different mesh-like areas by unit 112.Mesh-like area such as Fig. 3 after division
Shown, mesh-like area can be laterally or vertically mesh-like area, it is also possible to be divided otherwise,
Each mesh-like area is respectively provided with corresponding zone marker, as shown in Figure 3, can use letter A, B ... etc.
Mark, can be the mesh-like area residing for judging intelligent grass-removing according to zone marker, and record corresponding work
Make duration.By dividing mesh-like area, it is ensured that the operating time in each mesh-like area is basically identical,
When intelligent grass-removing has reached predetermined value in the operating time of certain or some mesh-like areas, can guide
Intelligent grass-removing to operating time it is less not up to predetermined value mesh-like area, when intelligent grass-removing is in all nets
When operating time in shape region reaches predetermined value, illustrate that intelligent grass-removing has completed work.
When working region is divided into mesh-like area, due to the scrambling of boundary line, therefore, with side
The size of the mesh-like area in boundary line may have certain difference, it is necessary to explanation, the present embodiment
Allowing the area of the mesh-like area with boundary line has controllable difference, has no effect on the present embodiment above institute
State the entire content of specific implementation.
In the present embodiment, navigation module is differential GPS or difference Big Dipper positioner, it would however also be possible to employ other
Positioner, as long as content described in above the present embodiment can be realized.Can be in charging station and intelligence
Hay mover all installs GPS or Big Dipper device, constitutes corresponding Differential positioning device, it would however also be possible to employ other classes
Like method.
As shown in figure 4, the method for work of the intelligent grass-removing of an embodiment, including step S120 is to step
S180, wherein, intelligent grass-removing is based on above-described intelligent grass-removing.
Step S120, area identical mesh-like area is divided into by the working region of intelligent grass-removing；
Step S140, time span of the record intelligent grass-removing in correspondence mesh-like area work；
Whether step S160, detection intelligent grass-removing exceeds predetermined in the time span of correspondence mesh-like area work
Value；
Step S180, when intelligent grass-removing exceeds predetermined value in the time span of correspondence mesh-like area work,
Guiding intelligent grass-removing is moved to and is operated without departing from the mesh-like area of predetermined value.
As shown in figure 5, the method for work of the intelligent grass-removing of another embodiment also includes step S110.
Step S110, when intelligent grass-removing is enclosed along the border displacement of the lines one of working region, record intelligence is cut
The working region of careless machine.
The method of work of the above intelligent grass-removing, working region is divided into of the same area netted
Region, when intelligent grass-removing works, when can record work of the intelligent grass-removing in different mesh-like areas
It is long, intelligent grass-removing is guided to different mesh-like areas according to operating time, so as to ensure different webbed regions
Domain is respectively provided with identical operating time, makes the mowing situation of all of mesh-like area wholly or substantially consistent, keeps away
The situation in order and after subregion is mowed for exempting to occur after the mowing of subregion is poor.
Wherein, area identical mesh-like area is laterally or vertically mesh-like area, and area identical webbed region
Domain has corresponding zone marker.
Each technical characteristic of embodiment described above can be combined arbitrarily, not right to make description succinct
The all possible combination of each technical characteristic in above-described embodiment is all described, as long as however, these skills
The combination of art feature does not exist contradiction, is all considered to be the scope of this specification record.
Embodiment described above only expresses several embodiments of the invention, and its description is more specific and detailed,
But can not therefore be construed as limiting the scope of the patent.It should be pointed out that for this area
For those of ordinary skill, without departing from the inventive concept of the premise, some deformations can also be made and changed
Enter, these belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be with appended power
Profit requires to be defined.
Claims (10)
1. a kind of intelligent grass-removing, it is characterised in that including：
Region division module, for the working region of intelligent grass-removing to be divided into area identical mesh-like area；
Navigation module, the current location for positioning the intelligent grass-removing；
Judge module, the current location of the intelligent grass-removing for being positioned according to the navigation module judges
Mesh-like area residing for the intelligent grass-removing；
Time logging modle, for netted residing for the intelligent grass-removing that is judged according to the judge module
Time span of the intelligent grass-removing described in regional record in correspondence mesh-like area work；
Duration detection module, for detecting the intelligent grass-removing of the time logging modle record in correspondence
Whether the time span of mesh-like area work exceeds predetermined value；
Displacement module, for detecting the intelligent grass-removing in correspondence webbed region in the duration detection module
When the time span of domain work exceeds predetermined value, the intelligent grass-removing is guided to be moved to without departing from predetermined value
Mesh-like area is operated.
2. intelligent grass-removing according to claim 1, it is characterised in that the region division module bag
Include：
Working region recording unit, for the intelligent grass-removing along working region border displacement of the lines one
During circle, the current location of the hay mover recorded according to the navigation module records the intelligent grass-removing
Working region；
Division unit, for by the workspace of the intelligent grass-removing of the working region recording unit records
Domain is divided into area identical mesh-like area.
3. intelligent grass-removing according to claim 1, it is characterised in that the navigation module is difference
GPS or difference Big Dipper positioner.
4. intelligent grass-removing according to claim 1, it is characterised in that the predetermined value is according to
The area of the mowing blade of intelligent grass-removing determines with the area of the mesh-like area.
5. intelligent grass-removing according to claim 1, it is characterised in that the area identical is netted
Region is laterally or vertically mesh-like area.
6. the intelligent grass-removing according to claim any one of 1-5, it is characterised in that the area
Identical mesh-like area has corresponding zone marker.
7. a kind of method of work of intelligent grass-removing, it is characterised in that intelligent grass-removing is based on claim 1
Intelligent grass-removing described in -6 any one, including：
The working region of the intelligent grass-removing is divided into area identical mesh-like area；
Record time span of the intelligent grass-removing in correspondence mesh-like area work；
Detect time span of the intelligent grass-removing in correspondence mesh-like area work whether beyond predetermined value；
When the intelligent grass-removing exceeds predetermined value in the time span of correspondence mesh-like area work, institute is guided
State intelligent grass-removing and be moved to and be operated without departing from the mesh-like area of predetermined value.
8. method of work according to claim 7, it is characterised in that also include：
When the intelligent grass-removing is enclosed along the border displacement of the lines one of working region, record the intelligence and mow
The working region of machine.
9. method of work according to claim 7, it is characterised in that the area identical webbed region
Domain is laterally or vertically mesh-like area.
10. the method for work according to claim 7 or 9, it is characterised in that the area identical
Mesh-like area has corresponding zone marker.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510810704.XA CN106717462B (en) | 2015-11-19 | 2015-11-19 | Intelligent mower and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510810704.XA CN106717462B (en) | 2015-11-19 | 2015-11-19 | Intelligent mower and working method thereof |
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| Publication Number | Publication Date |
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| CN106717462A true CN106717462A (en) | 2017-05-31 |
| CN106717462B CN106717462B (en) | 2020-07-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510810704.XA Active CN106717462B (en) | 2015-11-19 | 2015-11-19 | Intelligent mower and working method thereof |
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| CN108040582A (en) * | 2018-01-26 | 2018-05-18 | 武汉理工大学 | A kind of automatic tracking power-operated mower based on DGPS |
| CN109362331A (en) * | 2018-12-19 | 2019-02-22 | 江西洪都航空工业集团有限责任公司 | Unmanned grass-cutting vehicle |
| WO2019096264A1 (en) * | 2017-11-16 | 2019-05-23 | 南京德朔实业有限公司 | Smart lawn mowing system |
| WO2021238790A1 (en) * | 2020-05-26 | 2021-12-02 | 纳恩博（北京）科技有限公司 | Charging pile, intelligent robot, and charging system |
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| CN106717462B (en) | 2020-07-14 |
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