CN107567825A - Intelligent the mowing system and mowing method of preset regions - Google Patents
Intelligent the mowing system and mowing method of preset regions Download PDFInfo
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- CN107567825A CN107567825A CN201710832590.8A CN201710832590A CN107567825A CN 107567825 A CN107567825 A CN 107567825A CN 201710832590 A CN201710832590 A CN 201710832590A CN 107567825 A CN107567825 A CN 107567825A
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- dolly
- module
- mcu
- charging pile
- charging
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Abstract
The invention provides a kind of intelligent mowing system of preset regions, including the dolly with hay knife, remote control and charging pile；Dolly MCU is also set up on dolly, and ultrasonic sensor, dolly Big Dipper GPS module, machine vision module, coding motor driver, geomagnetic sensor, gyroscope, drive circuit, dolly wireless transport module, power module, the dolly button being connected with dolly MCU；Remote control MCU is set on remote control and is connected by data wire with dolly MCU；On charging pile set charging pile MCU, and be connected with charging pile MCU charging pile Big Dipper GPS module, LED beacons, charging pile wireless transport module, charging module.
Description
Technical field
The present invention relates to a kind of mowing technology, intelligent the mowing system and mowing method of particularly a kind of preset regions.
Background technology
In the life in modern times, the work to cut the grass on a lawn is gradually by manually turning to machine, but external advanced mowing at present
Machine needs to do an electronic grille fence with electric wire, and this electronic grille fence is very dangerous, for example needs the people of specialty to be installed,
Easily electric leakage, situations such as easily being pulled out.
The content of the invention
It is an object of the invention to provide intelligent the mowing system and mowing method of a kind of preset regions, possess without electronics
Fence, automatic mowing, automatic charging, it is easy to use the characteristics of.
A kind of intelligent mowing system of preset regions, including the dolly with hay knife, remote control and charging pile；On dolly also
Dolly MCU, and ultrasonic sensor, dolly Big Dipper GPS module, machine vision module, the coding being connected with dolly MCU are set
Motor driver, geomagnetic sensor, gyroscope, drive circuit, dolly wireless transport module, power module, dolly button；Remote control
Remote control MCU is set on device and is connected by data wire with dolly MCU；Charging pile MCU, and and charging pile are set on charging pile
The charging pile Big Dipper GPS module of MCU connections, LED beacons, charging pile wireless transport module, charging module；Charging pile Big Dipper GPS
Module obtains the positional information of charging pile, and LED beacons produce light information, and charging pile wireless transport module sends the position of charging pile
Confidence is ceased and city's electrical transmission to dolly, charging pile MCU are managed by light information, charging module to charging pile；Small vehicle radio
Transport module carries out data transmission with charging pile wireless transport module, and ultrasonic sensor in detection dolly course due to having
Clear, dolly Big Dipper GPS module are used to obtain small truck position, and machine vision module is used to identify color and the production of LED beacons
Raw light information, also with encoding motor connection and receiving dolly MCU signal, coding motor is encoding coding motor driver
Encoded under the driving of motor driver and drive car wheel to rotate and give the feedback of the information for encoding motor to dolly MCU,
Geomagnetic sensor is used for counting of carriers headstock direction, and the data that gyroscope is measured to geomagnetic sensor carry out pour angle compensation, driving
The direct current generator that circuit is rotated due to drive control hay knife, power module are connected electric power storage and electric discharge with charging module in charging
When for dolly provide operating voltage, dolly button is used for input instruction, and dolly MCU is small according to geomagnetic sensor, gyroscope, driving
The motor information measuring and calculating of car vehicle wheel rotation obtains pre- mowing region, and the data that dolly MCU gathers according to ultrasonic sensor are carried out
Path selection, the data memory Path selection that dolly MCU gathers according to dolly Big Dipper GPS module, dolly MCU is according to machine vision
The data of module collection judge whether there is grass on conduct route, and dolly MCU produces charging letter according to the dump energy of power module
Number and sent by dolly wireless transport module to charging pile wireless transport module.
A kind of method that preset regions are intelligently mowed, including
Remote control is connected with dolly and controls dolly along working region Boundary Moving, according to geomagnetic sensor, gyroscope, small
The acquisition of information working region of car Big Dipper GPS module collection simultaneously records；
The connection of remote control and dolly is disconnected, dolly marches to working region, and dolly enters mode of operation：MCU pairs of dolly
The image information of machine vision module collection judge whether thering is grass in course, drives drive circuit control straight if having
The work of motor driven hay knife is flowed, dolly MCU carries out judging whether course has barrier to the data that ultrasonic sensor detects
Hinder thing, driving coding motor driver driving coding motor encoder changes car wheel velocity of rotation if having and direction changes row
Enter route, the information that dolly MCU gathers to dolly Big Dipper GPS module judge course whether in working region, if
Dolly is located at working region edge and then changes course；
Enter charge mode when dolly electricity is low：Dolly MCU produces charging signals simultaneously according to the dump energy of power module
Sent to charging pile wireless transport module, charging pile by dolly wireless transport module and launched by charging pile wireless transport module
Light information caused by the charging pile positional information and LED beacons that charging pile Big Dipper GPS is obtained gives dolly wireless transport module, small
The light information that car MCU gathers according to the data and machine vision module of dolly Big Dipper GPS gathers changes course, power supply mould
Block is connected with charging module to be charged.
The present invention compared with prior art, has advantages below：(1) main frame and slave are made using 2.4G wireless communication modules
Information exchange is more reliable and stable, facilitates dolly to realize automatic charging, automatic stopping；(2) dolly uses for the first time, passes through remote control
Device control dolly moves round the border of working region, so as to the region of writing task；(3) using high-precision coding electricity
Machine, strong antijamming capability, make the operation that dolly is more stable；(4) LED beacons use RGB tri coloured lanterns, can change a variety of differences
Color, for machine vision module identify.
The present invention is described further with reference to Figure of description.
Brief description of the drawings
Fig. 1 is present system structured flowchart.
Fig. 2 is the structural representation of car interior of the present invention.
Fig. 3 is dolly upper end surface structure schematic diagram of the present invention.
Fig. 4 is dolly schematic perspective view of the present invention.
Fig. 5 is charging pile structural representation of the present invention.
The schematic diagram of run trace when Fig. 6 is some dolly study of the present invention.
The schematic diagram of run trace when Fig. 7 is one dolly study of the present invention.
In figure：1- dolly vehicle bodies, 2- dolly headstocks, the 3- dolly tailstock, 4- dolly master control borads, 5- ultrasonic wave modules, 6- with
The charging hole of charging pile matching, 7- machine vision modules, 8- are used to place remote control and connecting line point space, and 9- encodes motor,
10- batteries, 11- direct current generators, 12- hay knives, 13- buphthalmos wheels, 14- wheels, 15- dolly protecgulums, 16- dolly bonnets, 17-
LCDs, 18- buttons, 19- master switch, 20- remote controller interfaces, 21- charging piles, 22- civil powers input port, 23, with dolly
The charging column of charging hole matching, 24, LED beacons, 25, charging pile master control borad.
Embodiment
As shown in figure 1, a kind of intelligent mowing system of preset regions of patent of the present invention includes：Including remote control, charging
Stake and dolly.
Dolly include charging circuit, battery, master switch, dolly reduction voltage circuit, electric power detection module, ultrasonic wave module,
Dolly Big Dipper GPS module, machine vision module, dolly button, dolly remote controller interface, dolly MCU, coding motor driver,
Encode motor, drive circuit, direct current generator, gyroscope, geomagnetic sensor, LCDs and dolly wireless transport module；It is distant
Controlling device includes remote control MCU, control dolly interface, potentiometer, remote controller key and status indicator lamp；Charging pile include civil power,
Charging pile reduction voltage circuit, charge power supply supply, charging pile MCU, charging pile Big Dipper GPS module, LED beacons, charging pile wirelessly pass
Defeated module；Dolly MCU respectively with electric power detection module, ultrasonic wave module, dolly Big Dipper GPS module, machine vision module, press
Key, remote controller interface, coding motor driver, drive circuit, gyroscope, geomagnetic sensor, LCDs, dolly channel radio
News module is connected with coding motor；Drive circuit is connected with direct current generator；Charging circuit is connected with battery；Battery and always open
Close and be connected；Master switch is connected with electric power detection module, dolly reduction voltage circuit, coding motor driver and drive circuit respectively；It is small
Car reduction voltage circuit is powered to whole trolley control system；Remote control MCU presses with control dolly interface, potentiometer, remote control respectively
Key, status indicator lamp are connected；Remote controller interface and control dolly interface are connected by connecting line, accomplished small using remote control device
The purpose of car, while dolly is powered to remote control whole system；Charging pile MCU believes with charging pile Big Dipper GPS module, LED respectively
Mark is connected with charging pile wireless communication module；Civil power connects with charging pile reduction voltage circuit；Charging pile reduction voltage circuit and charge power supply
Supply connection, while powered to whole system；The supply of charging pile charge power supply can be connected with dolly charging circuit, be stored to dolly
Battery charges；Dolly wireless transport module is wirelessly transferred radio communication with charging pile and is connected, and dolly, which is provided with, places remote control and company
The position of wiring.
As shown in Figure 2,3, 4, whole dolly includes dolly vehicle body 1, dolly protecgulum 15 and dolly to the structural representation of dolly
Bonnet 16, support dolly vehicle body 1 is a buphthalmos wheel 13 and two wheels 14, and dolly headstock 2 is provided with 2 ultrasonic wave modules
Probe, using radar for backing car, primarily to realization keeps in obscurity, two charging holes 6 matched with charging pile, charging hole and charging are electric
Road connects, and machine vision module 7 mainly identifies extraneous color value, and master control borad 4 is placed on the dolly tailstock 5, led above master control borad
To include MCU, charging circuit, reduction voltage circuit, electric power detection module, ultrasonic wave module control section, Big Dipper GPS module, coding
Motor driver, drive circuit, gyroscope, geomagnetic sensor, wireless transport module, machine vision module interface, keystroke interface,
Remote controller interface, coding motor interface, direct current generator interface and LCD Interface, master control borad 4 are above a direct current generators 11,
Drive the hay knife of small car bottom to rotate, mowed, battery 10 provides working power for whole trolley travelling, encodes motor
9 by control car wheel 14 rotate while, encode motor 9 on encoder the situation of trolley travelling is passed into master control borad
MCU on 4 is analyzed, and the dolly tailstock 3 equally also has 2 ultrasonic probes 5, covered after dolly provided with LCDs 17,
Button 18 and master switch 19,8 are to be used to place remote control and connecting line point space, dolly protecgulum 15 are opened, distant for placing
Remote control and connecting line are taken out in control device and connecting line point space 8, and by connecting line, one section is connected to remote control, and other end is connected to
Connect the interface 20 of remote control, you can control dolly.
The structural representation of charging pile is as shown in figure 5, whole charging pile 21 includes civil power input port 22 and dolly charging hole
Charging column 23, LED beacons 24 and the charging pile master control borad 25 of matching, charging pile master control borad 25 include MCU, reduction voltage circuit, the Big Dipper
GPS module, wireless transport module, commercial power interface, charge power supply supply interface, LED beacon interfaces, the charging electricity on master control borad 25
Source supplies interface and the charging column 23 of dolly charging hole matching connects, and the LED beacon interfaces and LED beacons 24 on master control borad 25 connect
Connect, the charge power supply supply interface and civil power input port 22 on master control borad 25 connect.
The schematic diagram of remote operated vehicle run trace as shown in Figure 6,7, if whole system for the first time use, or for the first time
Grass cutting action is carried out in certain block working region, it is assumed that this working region there are three meadows, similar to Fig. 6, places three small
Car, moved respectively by remote control control dolly along the boundary line of working region, record the longitude and latitude of oneself working region
Data boundary is spent, after having recorded, remote control is removed, closes dolly protecgulum 15, press the operation button on dolly bonnet 16, press
Before, it is to be ensured that dolly headstock is towards meadow, because when clicking on operation, machine vision module needs to gather the color of grass, is deposited
Storage, to facilitate in grass cutting action, judging whether it is grass, put after having gathered, dolly just travels through meadow in the working region of oneself,
Dolly judges whether front has grass in the process of running, by machine vision module, and just control drive circuit, driving are cut if having
The direct current generator of grass, drive hay knife to be mowed, if meadow is not very big, be more convenient using the mode similar to Fig. 7,
A car is placed, passes through specific track, moving cart.
A kind of intelligent mowing system of preset regions of patent of the present invention is when making：
Dolly wireless transport module and charging pile wireless transport module use the 2.4G micro power consumption wireless of Ze Yao scientific ＆ technical corporation
Transport module, this cost-effective, long transmission distance of transmission, full duplex transmission.
Dolly MCU, remote control MCU, charging pile MCU use ST companies STM32 single-chip microcomputers, aim at high-performance, low cost,
The ARMCortex kernels that the Embedded Application of low-power consumption specially designs, peripheral interface are very abundant.
LCDs uses 0.96 cun of OLED display screen, is that one kind has SPI/IIC interface modes, driving chip
SSD1306 is integrated in LCDs, and the internal lattice graphics lcd containing national standard one-level, two level simplified form of Chinese Character character library is shown
Module, display resolution are 128 × 64, built-in 8192 16*16 point Chinese characters, 128 16*8 point ascii character-sets.
Ultrasonic wave module uses radar for backing car.
A kind of intelligent mowing system of preset regions of patent of the present invention at work, if dolly for the first time in the region
Use, then need to take out remote control and connecting line from car interior, connecting line is inserted into dolly remote controller interface and control dolly
Interface, presses the study button of remote control, the rocking bar of manual control remote control, and border of the control dolly along working region is moved
It is dynamic, the operation on remote control is pressed after having learnt, pulls out remote control, remote control and connecting line are put back into the old place, will be small
Car places lawn any point, and by the operation with dolly, dolly first samples to the lawn in face of itself, and sampling is completed,
Dolly travels through to whole working region afterwards, gathers rgb value by vision module, determines whether grass, small if grass
Car MCU controls drive circuit, so as to control the rotation of direct current generator, drives hay knife to carry out mowing action；If without grass, cut
Careless knife does not work；LCDs real-time display trolley travelling state, geomagnetic sensor and gyroscope are used to obtain dolly direction,
In running, dolly constantly obtains GPS longitude and latitude degrees of data, the data that contrast stores when learning, judges current working region
It is whether correct, while accumulator electric-quantity is monitored by electric power detection module, if low battery, send and instruct to charging pile, fill
The longitude and latitude number of degrees and current LED beacons color where electric stake return charging pile, dolly, which first passes through GPS longitude and latitude degrees of data and driven to, to be filled
Electric stake Position Approximate, LED beacons are being identified by dolly machine recognition module, so as to be exactly found charging pile, are carrying out battery charger
Make.
Claims (6)
1. a kind of intelligent mowing system of preset regions, including the dolly with hay knife, remote control and charging pile, its feature exist
In,
Dolly MCU is also set up on dolly, and ultrasonic sensor, dolly Big Dipper GPS module, the machine being connected with dolly MCU
Vision module, coding motor driver, geomagnetic sensor, gyroscope, drive circuit, dolly wireless transport module, power module,
Dolly button；
Remote control MCU is set on remote control and is connected by data wire with dolly MCU；
On charging pile set charging pile MCU, and be connected with charging pile MCU charging pile Big Dipper GPS module, LED beacons, charge
Stake wireless transport module, charging module；
Charging pile Big Dipper GPS module obtains the positional information of charging pile,
LED beacons produce light information,
Charging pile wireless transport module sends the positional information and light information of charging pile,
Charging module by city's electrical transmission to dolly,
Charging pile MCU is managed to charging pile；
Dolly wireless transport module carries out data transmission with charging pile wireless transport module,
Ultrasonic sensor has clear due to detecting in dolly course,
Dolly Big Dipper GPS module is used to obtain small truck position,
Machine vision module is used to identify light information caused by color and the LED beacons in course,
Motor driver is encoded also with encoding motor connection and receiving dolly MCU signal,
Coding motor is encoded under the driving of coding motor driver and drives car wheel to rotate and will encode motor
Feedback of the information gives dolly MCU,
Geomagnetic sensor is used for counting of carriers headstock direction,
The data that gyroscope is measured to geomagnetic sensor carry out pour angle compensation,
Drive circuit is used for the direct current generator that drive control hay knife rotates,
Operating voltage is provided for dolly when power module is connected electric power storage in charging and discharged with charging module,
Dolly button is used for input instruction,
Dolly MCU obtains pre- mowing region according to dolly Big Dipper GPS module,
Dolly MCU obtains dolly headstock direction according to geomagnetic sensor, gyroscope,
The data that dolly MCU gathers according to ultrasonic sensor carry out Path selection,
The data that dolly MCU gathers according to dolly Big Dipper GPS module carry out Path selection,
The data that dolly MCU gathers according to machine vision module judge whether there is grass on conduct route,
Dolly MCU produces charging signals according to the dump energy of power module and sent by dolly wireless transport module to charging
Stake wireless transport module.
2. system according to claim 1, it is characterised in that the electric power detection being connected with dolly MCU is also set up on dolly
Module, LCDs；Wherein
Electric power detection module is used to detect power circuit dump energy,
LCDs is used to show trolley travelling condition information,
Dolly MCU carries out Path selection according to dump energy information and mode of operation selects.
3. system according to claim 2, it is characterised in that power circuit includes charging circuit, the electric power storage being sequentially connected
Pond, master switch and reduction voltage circuit；Master switch is also connected with electric power detection module, coding motor driver, drive circuit respectively；Drop
Volt circuit provides operating voltage for dolly.
4. system according to claim 3, it is characterised in that charging module includes reduction voltage circuit, the charging electricity being connected
Source supplies；Reduction voltage circuit is also connected with civil power feed unit and charging pile MCU respectively；Charge power supply supplies to be connected with charging circuit
Connect；Civil power is converted into the operating voltage needed for whole system by reduction voltage circuit.
5. system according to claim 1, it is characterised in that LED beacons produce red, green, blue three colour lamp light.
A kind of 6. method for realizing that preset regions intelligently mow using system described in claim 1, it is characterised in that including
Remote control is connected with dolly and controls dolly along working region Boundary Moving, according to geomagnetic sensor, gyroscope, dolly north
The acquisition of information working region of bucket GPS module collection simultaneously records；
The connection of remote control and dolly is disconnected, dolly marches to working region, and dolly enters mode of operation：
Dolly MCU judge whether thering is grass in course to the image information that machine vision module gathers, and is driven if having
Drive circuit control direct current generator drives hay knife work,
Dolly MCU carries out judging whether course has barrier to the data that ultrasonic sensor detects, and drives and compiles if having
Code motor driver driving coding motor encoder changes car wheel velocity of rotation and direction changes course,
The information that dolly MCU gathers to dolly Big Dipper GPS module judge course whether in working region, if dolly
Then change course positioned at working region edge；
Enter charge mode when dolly electricity is low：
Dolly MCU produces charging signals according to the dump energy of power module and sent by dolly wireless transport module to charging
Stake wireless transport module,
Charging pile launches charging pile positional information and the LED letters that charging pile Big Dipper GPS is obtained by charging pile wireless transport module
Light information caused by mark gives dolly wireless transport module, and dolly MCU is according to the data and machine vision of dolly Big Dipper GPS gathers
The light information of module collection changes course,
Power module is connected with charging module to be charged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710832590.8A CN107567825A (en) | 2017-09-15 | 2017-09-15 | Intelligent the mowing system and mowing method of preset regions |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710832590.8A CN107567825A (en) | 2017-09-15 | 2017-09-15 | Intelligent the mowing system and mowing method of preset regions |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107567825A true CN107567825A (en) | 2018-01-12 |
Family
ID=61033480
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710832590.8A Withdrawn CN107567825A (en) | 2017-09-15 | 2017-09-15 | Intelligent the mowing system and mowing method of preset regions |
Country Status (1)
| Country | Link |
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| CN (1) | CN107567825A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019238273A1 (en) * | 2018-06-13 | 2019-12-19 | Positec Power Tools (Suzhou) Co., Ltd. | Self-moving device, functional module, and automatic working system |
| CN110879596A (en) * | 2019-12-05 | 2020-03-13 | 中国北方车辆研究所 | Autonomous operation system and autonomous operation method of low-cost automatic mower |
| TWI792905B (en) * | 2022-02-08 | 2023-02-11 | 國立中興大學 | Lawn mower and lawn mowing system with solar charging and wireless charging |
-
2017
- 2017-09-15 CN CN201710832590.8A patent/CN107567825A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019238273A1 (en) * | 2018-06-13 | 2019-12-19 | Positec Power Tools (Suzhou) Co., Ltd. | Self-moving device, functional module, and automatic working system |
| US11782445B2 (en) | 2018-06-13 | 2023-10-10 | Positec Power Tools (Suzhou) Co., Ltd. | Self-moving device, functional module, and automatic working system |
| CN110879596A (en) * | 2019-12-05 | 2020-03-13 | 中国北方车辆研究所 | Autonomous operation system and autonomous operation method of low-cost automatic mower |
| TWI792905B (en) * | 2022-02-08 | 2023-02-11 | 國立中興大學 | Lawn mower and lawn mowing system with solar charging and wireless charging |
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180112 |
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| WW01 | Invention patent application withdrawn after publication |