CN107493797B - Position recognition system - Google Patents
Position recognition system Download PDFInfo
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- CN107493797B CN107493797B CN201610414757.4A CN201610414757A CN107493797B CN 107493797 B CN107493797 B CN 107493797B CN 201610414757 A CN201610414757 A CN 201610414757A CN 107493797 B CN107493797 B CN 107493797B
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- starting position
- mower
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- boundary guide
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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
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D2101/00—Lawn-mowers
Abstract
The invention relates to a position recognition system, which comprises an intelligent mower and also comprises: a boundary guide wire for defining a working area of the smart lawn mower; the starting position marker is arranged on the boundary guide line and used for guiding the intelligent mower to start to work from the starting position marker; the intelligent lawn mower includes: the boundary guide wire induction module is used for guiding the intelligent mower to move along the boundary guide wire; and the starting position marker sensing module is used for identifying one of the starting position markers when the boundary guide line sensing module guides the intelligent mower to move along the boundary guide line, so that the intelligent mower starts to work from the identified position marker. The invention can make the lawns in different areas be trimmed uniformly.
Description
Technical Field
The invention relates to the field of position identification, in particular to a position identification system.
Background
With the development of science and technology, intelligent automatic walking equipment is well known, and because the automatic walking equipment can execute preset related tasks according to an automatic preset program without manual operation and intervention, the intelligent automatic walking equipment is widely applied to industrial and household products. The intelligent automatic walking equipment greatly saves time of people and brings great convenience to industrial production and home life.
The intelligent lawn mower is one of the most common household products, and can be used for automatically performing a lawn mowing task, trimming a lawn and keeping the lawn neat and beautiful. Smart lawn mowers typically operate within prescribed boundary lines, which are typically laid out as intended by the user, indicating the range of lawns belonging to the user, or indicating the range of lawns that the user wishes to cut. In order to facilitate the work of the intelligent mower, the conventional intelligent mower has an automatic charging function, a charging station is usually arranged on a boundary line, and the intelligent mower can be automatically connected with the charging station for charging and then departs along the boundary line after charging. In the conventional technology, the intelligent mower starts to cut grass after walking for a certain distance at random from a charging station every time, and the walking distance is usually short, so that the intelligent mower starts to cut grass from a certain position frequently, the grass in a zone corresponding to the position is crushed seriously, and the grass in other zones is cut unevenly, so that the cut uniformity of the whole grass cannot be ensured.
Disclosure of Invention
Therefore, there is a need for a position recognition system that ensures that the work conditions of the intelligent lawn mower in different areas are the same, and that lawns in different areas are cut uniformly.
A position identification system, includes intelligent lawn mower, its characterized in that still includes:
a boundary guide wire for defining a working area of the smart lawn mower;
the starting position marker is arranged on the boundary guide line and used for guiding the intelligent mower to start to work from the starting position marker;
the intelligent lawn mower includes:
the boundary guide wire induction module is used for guiding the intelligent mower to move along the boundary guide wire;
and the starting position marker sensing module is used for identifying one of the starting position markers when the boundary guide line sensing module guides the intelligent mower to move along the boundary guide line, so that the intelligent mower starts to work from the identified starting position marker.
The position identification system sets the starting position marker on the boundary guide line, so that the intelligent mower can start to work from different starting position markers, the working conditions of the intelligent mower in different areas are the same, and the lawns in different areas are trimmed to be consistent.
In one embodiment, the intelligent lawn mower further comprises:
and the starting position selection module is used for selecting the starting position marker for the intelligent mower to start according to preset conditions when the boundary guide line induction module guides the intelligent mower to move along the boundary guide line.
In one embodiment, the method further comprises the following steps:
and the starting position is arranged on the boundary guide line and used for guiding the intelligent mower to move along the boundary guide line from the starting position every time so as to identify one of the starting position markers.
In one embodiment, the starting location directs the intelligent lawnmower to identify one of the starting location identifiers each time the intelligent lawnmower is moved along the boundary guide line from a fixed direction.
In one embodiment, the home location identifier comprises an RFID.
In one embodiment, the home position marker sensing module comprises a reed switch or a hall effect switch.
In one embodiment, the preset conditions include:
and presetting the starting working times of the intelligent mower from the starting position marker.
In one embodiment, the preset number of times can be set according to the user requirement.
In one embodiment, the intelligent lawn mower further comprises:
the counting module is used for recording the starting working times of the intelligent mower from the starting position marker;
the detection device is used for detecting whether the starting working frequency of the intelligent mower from the starting position marker recorded by the counting module is less than the preset starting working frequency of the intelligent mower from the starting position marker when the starting position marker sensing module identifies one of the starting position markers.
Drawings
Fig. 1 is a schematic diagram of the operation of an intelligent lawn mower.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, the lawn area is divided into A, B and C, the starting point position 5 is located on the boundary line 4, the intelligent lawn mower 1 normally has an automatic charging function, and after the charging is finished, the intelligent lawn mower 1 starts to operate from a charging station, so the starting point position 5 can be the position of the charging station; the boundary line 4 is provided with a plurality of starting points 2, when the intelligent mower works, under the conventional scheme, after the intelligent mower 1 starts from a starting point 5 and moves for a certain distance along the boundary line 4, the intelligent mower enters the lawn area from a certain starting point 2 to start working, but under the normal condition, the intelligent mower 1 can select a near starting point 2 to start working, as shown in fig. 1, so that the area a is trimmed by the intelligent mower for a plurality of times, the areas B and C are fewer, the grass in the area a can be rolled seriously for a long time, and the areas B and C are not trimmed.
For this reason, this embodiment provides a position identification system, including intelligent lawn mower, still includes:
a boundary guide wire for defining a working area of the smart lawn mower;
the starting position marker is arranged on the boundary guide line and used for guiding the intelligent mower to start to work from the starting position marker;
the intelligent lawn mower includes:
the boundary guide line induction module is used for guiding the intelligent mower to move along the boundary guide line;
and the starting position marker sensing module is used for identifying one of the starting position markers when the boundary guide line sensing module guides the intelligent mower to move along the boundary guide line, so that the intelligent mower starts to work from the identified starting position marker.
The position identification system sets the starting position marker on the boundary guide line, so that the intelligent mower can start to work from different starting position markers, the working conditions of the intelligent mower in different areas are the same, and the lawns in different areas are trimmed to be consistent.
The intelligent mower further comprises a starting position selecting module used for selecting a starting position marker for starting the intelligent mower according to preset conditions when the boundary guide line induction module guides the intelligent mower to move along the boundary guide line.
In order to ensure the consistency of mowing in each area as much as possible, the number of times of departure from each departure position marker can be set according to the size of the mowing area, the growth condition of the lawn and other considerations. Therefore, the preset condition can be the preset number of times of guiding the intelligent mower to start from the starting position marker, and the specific preset number of times can be set according to the needs of the user. Finally, the intelligent mower only needs to trim the lawn for a preset number of times, so that the consistency of trimming all areas of the whole lawn can be guaranteed. Therefore, the intelligent mower of the embodiment further comprises a counting module and a detection device, wherein the counting module is used for recording the starting working times of the intelligent mower from the starting position marker; the detection device is used for detecting whether the starting operation frequency of the intelligent mower recorded by the counting module from the starting position marker is less than the preset starting operation frequency of the intelligent mower from the starting position marker when the starting position marker sensing module identifies one of the starting position markers. When the intelligent mower starts to work once from one starting position marker every time, the counting module records the starting times of the starting position marker once and gradually accumulates the starting times. When the intelligent mower starts to work from the starting position marker next time, the detection module can detect whether the starting times of the starting position marker reaches the preset times or not, if yes, the intelligent mower is controlled not to start to work from the starting position marker, and the intelligent mower is guided to recognize the next starting position marker. And when the starting times of the intelligent mower from all the starting position markers reach the preset times, indicating that the work task of trimming the whole lawn is completed. At this time, the lawns in all the areas are trimmed, and the trimmed lawns are kept consistent.
In this embodiment, to further ensure consistency of lawn trimming, a starting point position may be set on the boundary guide line, so as to guide the intelligent lawn mower to recognize one of the starting position markers each time the intelligent lawn mower starts from the starting point position and moves along the boundary guide line. When the intelligent mower needs to start to work, the intelligent mower starts to move to the starting point position along the boundary guide line each time, and the starting position marker is identified from the starting point position. Although the situation of the whole lawn is consistent after the lawn is finally trimmed, in order to ensure the uniformity of trimming the lawn during trimming and prevent overlarge difference of trimming certain areas during trimming the lawn, the starting point position can guide the intelligent lawn mower to move along the boundary guide line from the fixed direction every time to identify one of the starting position markers.
In this embodiment, as one of the realizations, the departure position marker may include an RFID, and the departure position marker sensing module may include a reed switch or a hall-effect switch. Taking the reed switch as an example, when the intelligent mower reaches the starting position marker, the reed switch senses that the starting position marker is closed to generate a corresponding electric signal, and the controller of the intelligent mower can identify the corresponding starting position marker by identifying the electric signal.
As an illustration of the present embodiment, as shown in fig. 1, a plurality of starting position markers 2 are arranged on a boundary guide line 4, the number of times that the intelligent lawn mower 1 starts from is preset in each starting position marker 2, the specific number of times can be set according to the needs of a user, an area that needs to be repeatedly trimmed can be set to a larger number of times, or else, a smaller number of times can be set. After the intelligent mower 1 starts from the starting position 5 each time, the number of times that the intelligent mower starts from all the starting position markers 2 meets the preset number of times through the position identification system, the same operation conditions of the intelligent mower in different areas are ensured, and the lawns in different areas are trimmed to be consistent.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (8)
1. A position identification system, includes intelligent lawn mower, its characterized in that still includes:
a boundary guide wire for defining a working area of the smart lawn mower;
the starting position marker is arranged on the boundary guide line and used for guiding the intelligent mower to start to work from the starting position marker;
the intelligent lawn mower includes:
the boundary guide wire induction module is used for guiding the intelligent mower to move along the boundary guide wire;
the starting position marker sensing module is used for identifying one of the starting position markers when the boundary guide line sensing module guides the intelligent mower to move along the boundary guide line, so that the intelligent mower starts to work from the identified starting position marker; and the number of the first and second groups,
and the starting position selection module is used for selecting the starting position marker for the intelligent mower to start according to preset conditions when the boundary guide line induction module guides the intelligent mower to move along the boundary guide line.
2. The position recognition system of claim 1, further comprising:
and the starting position is arranged on the boundary guide line and used for guiding the intelligent mower to move along the boundary guide line from the starting position every time so as to identify one of the starting position markers.
3. The location identification system of claim 2, wherein the starting location directs the smart lawn mower to identify one of the starting location markers each time the smart lawn mower is moved along the boundary guide line from a fixed direction.
4. The location identification system of claim 1, wherein the departure location identifier comprises an RFID.
5. The position recognition system of claim 1, wherein the home position marker sensing module comprises a reed switch or a hall effect switch.
6. The position recognition system according to claim 1, wherein the preset condition includes:
and presetting the starting working times of the intelligent mower from the starting position marker.
7. The position recognition system of claim 6, wherein the preset number of times can be set according to user needs.
8. The location identification system of claim 6, wherein the smart lawn mower further comprises:
the counting module is used for recording the starting working times of the intelligent mower from the starting position marker;
the detection device is used for detecting whether the starting working frequency of the intelligent mower from the starting position marker recorded by the counting module is less than the preset starting working frequency of the intelligent mower from the starting position marker when the starting position marker sensing module identifies one of the starting position markers.
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| CN201610414757.4A CN107493797B (en) | 2016-06-14 | 2016-06-14 | Position recognition system |
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| CN201610414757.4A CN107493797B (en) | 2016-06-14 | 2016-06-14 | Position recognition system |
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| CN107493797B true CN107493797B (en) | 2020-03-27 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP3599813B1 (en) | 2018-03-30 | 2021-06-02 | Globe (Jiangsu) Co., Ltd. | Robotic mower and method for controlling a robotic mower |
| WO2020088460A1 (en) * | 2018-10-31 | 2020-05-07 | 苏州科瓴精密机械科技有限公司 | Walking robot control method and system |
| CN111308994B (en) * | 2018-11-23 | 2023-07-25 | 苏州科瓴精密机械科技有限公司 | Robot control method and robot system |
| CN111796598A (en) * | 2020-07-16 | 2020-10-20 | 苏州科瓴精密机械科技有限公司 | Automatic walking equipment, control method and system thereof and storage medium |
| EP4226756A4 (en) * | 2020-12-14 | 2024-01-10 | Nanjing Chervon Ind Co Ltd | Self-driving device system and charging station |
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