CN107087469A - A kind of automatic mower and its localization method, automatic mower system - Google Patents
A kind of automatic mower and its localization method, automatic mower system Download PDFInfo
- Publication number
- CN107087469A CN107087469A CN201710192601.0A CN201710192601A CN107087469A CN 107087469 A CN107087469 A CN 107087469A CN 201710192601 A CN201710192601 A CN 201710192601A CN 107087469 A CN107087469 A CN 107087469A
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- CN
- China
- Prior art keywords
- hay mover
- laser scanner
- automatic mower
- reverberation
- spud pile
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Harvester Elements (AREA)
Abstract
The present invention provides a kind of automatic mower, and it includes：Hay mover body, spud pile, laser scanner, reverberation；The laser scanner is arranged on hay mover body, and the reverberation is arranged on spud pile or the laser scanner is arranged on spud pile, and the reverberation is arranged on hay mover body；The laser of the laser scanner transmitting can be reflected by reverberation so that laser scanner can obtain the distance between hay mover body and spud pile and angle, and the distance between the hay mover body and spud pile are with angle to determine hay mover body real-time coordinates.The present invention is by the way that laser scanner is applied in automatic mower, position using laser scanner ranging, measuring angle function and then in real time the coordinate of automatic mower, so that user can customize the path of planning hay mover, so as to thoroughly solve the problem of existing automatic mower mowing efficiency is low, cost is high.
Description
Technical field
The present invention relates to household electrical appliance technical field, more particularly to a kind of automatic mower.
Background technology
Automatic mower can complete mowing action in the case where departing from artificial operation.Compared to other smart homes, for example automatically
Sweeping robot etc., the working environment of automatic mower is more severe, and it is generally in outdoor work, and meadow flatness differs,
Meadow border is difficult to determine, various fortuitous events happen occasionally.
" a kind of Intelligent precise is certainly for the Chinese patent of existing automatic mower, such as Publication No. CN105230225A
Motor mower and its control device ", it is by setting the laser scanning transceiver on two remote beacons, hay mover to receive two
The distance of remote beacon and then the coordinate for calculating hay mover；But the setting of two beacons causes added cost and coordinate obtains multiple
It is miscellaneous.
And for example Publication No. CN104737698A Chinese patent " automatic mower ", it is super by being set on hay mover
Pinger, infrared transmitter, generating laser etc., for judging whether hay mover is run to physical boundary, and then change
The travel path of hay mover and direction.Such a mode can not obtain the position of hay mover in real time, and be necessarily provided with physical boundary,
Mowing efficiency is very low simultaneously.
The content of the invention
The technical problem of all solutions of the present invention is, for the above-mentioned deficiency of prior art, proposes that a kind of cost is relatively low
And the automatic mower of hay mover coordinate can be known in real time.
The technical proposal for solving the technical problem of the invention is to propose a kind of automatic mower, it includes：Hay mover
Body, spud pile, laser scanner, reverberation；The laser scanner is arranged on hay mover body, and the reverberation is set
In on spud pile or the laser scanner is arranged on spud pile, the reverberation is arranged on hay mover body；It is described
The laser of laser scanner transmitting can be reflected by reverberation so that laser scanner can obtain hay mover body and solid
Determine the distance between stake and angle, the distance between the hay mover body and spud pile are with angle to determine hay mover body
Real-time coordinates.
Further, the spud pile, which is arranged at, treats in mowing region or treats outside mowing region.
Further, the spud pile is charging pile, for providing electric energy to hay mover body.
Further, in addition to data memory module, for storing hay mover body real-time coordinates value.
Further, the data memory module is integrated in hay mover body or is arranged in remote server.
Further, in addition to control module, for being controlled according to default travel path and hay mover body real-time coordinates
The travel condition of hay mover body.
Further, when hay mover body completes default travel path or hay mover body battery capacity is less than preset value
When, the control module causes hay mover body to march to spud pile.
Further, the laser scanner can be in rotation on spud pile or hay mover body.
Further, the reflectivity of the reverberation is higher or lower than natural object.
Further, the reflectivity rule change of the reverberation.
The present invention also provides a kind of automatic mower localization method, and it includes step：
Laser scanner launches laser；
Reverberation reflection laser；
Laser scanner obtains it the distance between with reverberation and angle according to reflection laser；
The laser scanner is fixed with least one in reverberation, and another is transported as automatic mower is moved
It is dynamic.
The present invention also provides a kind of automatic mower system, and it includes multiple hay mover bodies, spud pile；It is the multiple to cut
It is provided with careless machine body on laser scanner, the spud pile and is provided with reverberation；What each laser scanner was launched swashs
Light can be reflected by reverberation so that the laser scanner can obtain the distance between the hay mover body and spud pile
With angle, the distance between hay mover body and spud pile are with angle to determine the hay mover body real-time coordinates.
The present invention utilizes laser scanner ranging, measuring angle work(by the way that laser scanner is applied in automatic mower
The coordinate of automatic mower and then can be positioned in real time, so that user can customize the path of planning hay mover, so that thorough
Bottom solves the problem of existing automatic mower mowing efficiency is low, cost is high.
Brief description of the drawings
Fig. 1 is structural representation of the invention.
Embodiment
The following is specific embodiment of the invention and with reference to accompanying drawing, technical scheme is further described,
But the present invention is not limited to these embodiments.
Embodiment 1
It refer in Fig. 1, the present embodiment, automatic mower includes hay mover body 10, spud pile 20, laser scanner 30
And reverberation 40.
Hay mover body 10 refers to the agent structure with ground-engaging element and mowing part.Hay mover body 10 is general by electricity
Machine driving walking, can change the walking speed of hay mover body 10 by changing the rotating speed of motor, be driven by changing
The rotating direction of motor can change the direct of travel of hay mover body 10；And by changing the electricity of hay mover body steering mechanism
Machine state can change the travel angle of hay mover body 10.
Hay mover body 10 is mowed during traveling.
The travel path (including direct of travel, angle and speed) for how planning hay mover is then that hay mover body can be high
Imitate the key point mowed.
The travel path of planning hay mover can use two ways：One kind is to set mowing zone boundary, and hay mover presses certain
One direction then continues to travel to another border when marching to border according to predetermined angle and directional steering, is limited and controlled by border
The travel path of hay mover；Second is the real-time coordinates that hay mover is obtained using similar GPS location means, and then can remotely be controlled
The travel path of hay mover processed.
The second way is used in the present embodiment, i.e., by the coordinate that obtains hay mover in real time so that user can be according to need
Seek the travel path of customization hay mover.
Because the mowing region of hay mover is generally relatively fixed, therefore the means of such as GPS location need not be used.To obtain
Real-time coordinates of the hay mover in a region, need to generally set a changeless reference coordinate.
In the present embodiment, a spud pile 20 is set to be used as reference coordinate.
Spud pile 20, which may be provided at, to be treated in mowing region, be may also be arranged on and is treated outside mowing region, as long as it can be used as reference
Coordinate.
In the present embodiment, reverberation 40 is provided with spud pile 20, laser scanning is provided with hay mover body 10
Instrument 30.
The rotation sweep on hay mover body 10 of laser scanner 30, the light that each laser scanner 30 is sent is reflected
When thing 40 is reflected back, laser scanner 30 can obtain now the distance between laser scanner 30 and spud pile 20 and angle and enter
And the coordinate of hay mover body 10 is obtained in real time.
Laser scanner goes out infrared laser pulses by the lens hair of rotation, measures pulse from the time for being issued to reflection
Interval is so as to converse distance value, while the angle information that record sends and is reflected back obtains angle value.
The light of laser scanner transmitting can be infrared LED light or laser.
Existing laser scanner is usually fixed at a certain position, and the wheel hub for scanning static object obtains testee
The information such as length.
Laser scanner can be using conventional two dimensional laser scanning instrument or three-dimensional laser scanner.
Existing two dimensional laser scanning instrument product category is a variety of, for example, given birth to by German LASE industrial laserses Technology Co., Ltd.
The LD-LRS Outdoor series laser scanners of production；The LJ-V7000 series lasers and for example produced by KEYENCE companies are scanned
Instrument etc..
The IMAGER5010C three-dimensional laser scanners of existing three-dimensional laser scanner, such as Z+F companies of Germany production,
Three-dimensional laser scanner of U.S. LDI (Laser Design Inc) company production etc..
The application is creative to be applied to existing laser scanner technology in automatic mower, is cut for knowing in real time
The coordinate of careless machine.Its cost is relatively low and technology maturation.
Reverberation can be the absolute construction being fixed on spud pile 20, or directly be coated on the surface of spud pile 20
The materials such as reflection paint are attached at the reflecting paper on the surface of spud pile 20 etc..
Reverberation is generally reverberation of the reflectivity higher or lower than natural target to prevent radar misidentification, generally using anti-
The material that rate is far above nature reflectance target is penetrated, such as microballon mirror, reflectance coating.
The reflectivity of reverberation can also rule change so that with natural object significant difference.The reflectivity of such as reverberation is
One section big one section small staggered, or arrangement etc. successively from big to small.
Embodiment 2
The present embodiment and the difference of embodiment 1 are that reverberation is fixed on hay mover body, and laser scanner exists
Rotary scanning on spud pile.
Reverberation, which is fixed on hay mover body, can mitigate the weight of hay mover body.To directly can also have simultaneously
Paint or paster of reflecting effect etc. are coated on hay mover body surface, so that hay mover body can be used as reverberation.
Laser scanner its scanning of rotary scanning on spud pile is more stable；Avoid in embodiment 1, when hay mover sheet
When body jolts, the problem of laser scanner scans effect is not good.
Embodiment 3
The present embodiment and the difference of embodiment 1 and embodiment 2 are there be data storage mould on laser scanner
Block, for storing hay mover body real-time coordinates value.
In a further preferred embodiment, data memory module can also be remote data storage service device.Laser scanner will
The hay mover body real-time coordinates of acquisition pass through wireless network transmissions to remote data storage service device.
Embodiment 4
The present embodiment and the difference of embodiment 1,2,3 are, in addition to control module, and control module is according to default row
Inbound path controls the travel condition of hay mover body with hay mover body real-time coordinates.
Default travel path is typically default to be stored into control module, can also change default travel path in real time.
When the coordinate of hay mover body departs from default travel path, control module then sends signal control hay mover body
Each interior motor changes state, such as changing steering motor rotating speed, change traveling motor forward-reverse direction.
In the present embodiment, user can customize any default travel path.Mowing zone boundary need not be set.Simultaneously
It also may be such that hay mover body cuts out default pattern on meadow.
Embodiment 5
The present embodiment and the difference of embodiment 1,2,3 are that spud pile is the charging pile of hay mover body.
To realize automatic mowing function, hay mover also needs auto-returned charging pile to charge after grass has been cut.In the present embodiment,
Utilize the fixed characteristic of charging pile so that charging pile is spud pile.
When hay mover body completes default travel path or hay mover body battery capacity is less than preset value, the control
Molding block causes hay mover body to march to charging pile.
In the above-described embodiments, automatic mower has only increased the laser scanner of technology maturation newly, and its cost is lower.
The present invention also provides a kind of automatic mower system, and it includes multiple hay mover bodies, spud pile；It is the multiple to cut
It is provided with careless machine body on laser scanner, the spud pile and is provided with reverberation；What each laser scanner was launched swashs
Light can be reflected by reverberation so that the laser scanner can obtain the distance between the hay mover body and spud pile
With angle, the distance between hay mover body and spud pile are with angle to determine the hay mover body real-time coordinates.
When mowing region is larger, it is necessary to when multiple hay mover cooperations are mowed, can use multiple laser scanners correspondence one
The mode of individual spud pile obtains the real-time coordinates of multiple hay movers.
The present invention also provides a kind of automatic mower localization method, and it includes step：
Laser scanner launches light；
Reverberation reflection light；
Laser scanner obtains it the distance between with reverberation and angle according to reflection laser；
The laser scanner is fixed with least one in reverberation, and another is transported as automatic mower is moved
It is dynamic.
Specific embodiment described herein is only to spirit explanation for example of the invention.Technology neck belonging to of the invention
The technical staff in domain can be made various modifications or supplement to described specific embodiment or be replaced using similar mode
Generation, but without departing from the spiritual of the present invention or surmount scope defined in appended claims.
Claims (14)
1. a kind of automatic mower, it is characterised in that：Including：Hay mover body, spud pile, laser scanner, reverberation；It is described
Laser scanner is arranged on hay mover body, and the reverberation is arranged on spud pile or the laser scanner is arranged at
On spud pile, the reverberation is arranged on hay mover body；The light of the laser scanner transmitting can be reflected by reverberation
Return so that laser scanner can obtain the distance between hay mover body and spud pile and angle, the hay mover body
With the distance between spud pile with angle to determine hay mover body real-time coordinates.
2. automatic mower according to claim 1, it is characterised in that：The spud pile be arranged at treat in mowing region or
Person is treated outside mowing region.
3. automatic mower according to claim 2, it is characterised in that：The spud pile is charging pile, for mowing
Machine body provides electric energy.
4. automatic mower according to claim 1, it is characterised in that：Also include data memory module, cut for storing
Careless machine body real-time coordinates value.
5. automatic mower according to claim 4, it is characterised in that：The data memory module is integrated in hay mover sheet
Body is arranged in remote server.
6. automatic mower according to claim 1, it is characterised in that：Also include control module, for according to default row
Inbound path controls the travel condition of hay mover body with hay mover body real-time coordinates.
7. automatic mower according to claim 6, it is characterised in that：When hay mover body complete default travel path or
When person's hay mover body battery capacity is less than preset value, the control module causes hay mover body to march to spud pile.
8. automatic mower according to claim 1, it is characterised in that：The laser scanner can be in spud pile or mowing
Rotated on machine body.
9. the automatic mower according to claim 1 or 8, it is characterised in that：The laser scanner is swept for two-dimensional laser
Retouch instrument or three-dimensional laser scanner.
10. the automatic mower according to claim 1 or 8, it is characterised in that：The light of laser scanner transmitting is
Infrared LED light or laser.
11. automatic mower according to claim 1, it is characterised in that：The reflectivity of the reverberation is higher or lower than
Natural object.
12. automatic mower according to claim 1, it is characterised in that：The reflectivity rule change of the reverberation.
13. a kind of automatic mower localization method, it is characterised in that：Including step：
Laser scanner launches light；
Reverberation reflection light；
Laser scanner obtains it the distance between with reverberation and angle according to reflection laser；
The laser scanner is fixed with least one in reverberation, and another is moved as automatic mower is moved.
14. a kind of automatic mower system, it is characterised in that：Including multiple hay mover bodies, spud pile；The multiple hay mover
It is provided with body on laser scanner, the spud pile and is provided with reverberation；The light of each laser scanner transmitting can
Reflected by reverberation so that the laser scanner can obtain the distance between the hay mover body and spud pile and angle
The distance between degree, hay mover body and spud pile are with angle to determine the hay mover body real-time coordinates.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710192601.0A CN107087469A (en) | 2017-03-28 | 2017-03-28 | A kind of automatic mower and its localization method, automatic mower system |
| PCT/CN2017/092456 WO2018176680A1 (en) | 2017-03-28 | 2017-07-11 | Automatic lawn mower, positioning method therefor, and automatic lawn mower system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710192601.0A CN107087469A (en) | 2017-03-28 | 2017-03-28 | A kind of automatic mower and its localization method, automatic mower system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107087469A true CN107087469A (en) | 2017-08-25 |
Family
ID=59646287
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710192601.0A Pending CN107087469A (en) | 2017-03-28 | 2017-03-28 | A kind of automatic mower and its localization method, automatic mower system |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107087469A (en) |
| WO (1) | WO2018176680A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109287246A (en) * | 2018-08-24 | 2019-02-01 | 宁波市德霖机械有限公司 | Intelligent grass-removing based on laser radar map structuring |
| CN109782770A (en) * | 2019-02-02 | 2019-05-21 | 南京航空航天大学 | A kind of method of grass trimmer recharging |
| CN111527805A (en) * | 2020-04-29 | 2020-08-14 | 绵阳市朝育机械有限公司 | Automatic farming system of farming robot based on microwave control |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111879250B (en) * | 2020-08-04 | 2021-10-08 | 小狗电器互联网科技（北京）股份有限公司 | Wall surface detection method and device, sweeper and storage medium |
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| CN109287246A (en) * | 2018-08-24 | 2019-02-01 | 宁波市德霖机械有限公司 | Intelligent grass-removing based on laser radar map structuring |
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| CN111527805A (en) * | 2020-04-29 | 2020-08-14 | 绵阳市朝育机械有限公司 | Automatic farming system of farming robot based on microwave control |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2018176680A1 (en) | 2018-10-04 |
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