CN107743771A - One kind can avoidance automatic mowing robot - Google Patents
One kind can avoidance automatic mowing robot Download PDFInfo
- Publication number
- CN107743771A CN107743771A CN201710977556.XA CN201710977556A CN107743771A CN 107743771 A CN107743771 A CN 107743771A CN 201710977556 A CN201710977556 A CN 201710977556A CN 107743771 A CN107743771 A CN 107743771A
- Authority
- CN
- China
- Prior art keywords
- robot
- mowing
- main control
- border
- control computer
- Prior art date
- 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.)
- Pending
Links
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D75/00—Accessories for harvesters or mowers
- A01D75/18—Safety devices for parts of the machines
- A01D75/185—Avoiding collisions with obstacles
-
- 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
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/02—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having reciprocating cutters
- A01D34/13—Cutting apparatus
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/835—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes
- A01D34/84—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes for edges of lawns or fields, e.g. for mowing close to trees or walls
Abstract
The present invention relates to one kind can avoidance automatic mowing robot, belong to weeder preparing technical field.The present invention detects metal boundary using inductance digital quantizer, and border is identified according to the impedance value detected.Inductance digital quantizer produces the electric current of alternation on coil, so as to produce the electromagnetic field of alternation, when coil runs into iron wire border, it can be formed and be vortexed in border surface, so as to produce new magnetic field, and it is coupled with the magnetic field on coil, change the impedance parameter of coil side, equiva lent impedance size is relevant with the relative distance on iron wire border, the distance between grass-removing robot and border can be calculated by the size of the impedance value, so as to realize accurate mowing regional choice, improve mowing quality, and the mode of double blade reciprocating cutting is smaller compared to traditional propeller type cutting noise, surrounding resident is not interfered with during work, have broad application prospects.
Description
Technical field
The present invention relates to one kind can avoidance automatic mowing robot, belong to weeder preparing technical field.
Background technology
The intelligent level of grass-removing robot is mainly manifested in avoidance, and avoidance performance is better, and intelligent level is higher.With
Generally have toward grass-removing robot avoidance obstacle method：Obstacles borders are surrounded with cable, when grass-removing robot senses
During cable, just mowed along cable loop after operation or steering with reverse direction operation；Using based on sensor instrument distance " blind person touches
As " along wall walk avoidance.Former approach, grass-removing robot is allowed to be full of whole working regions it is difficult to cook up preferable path, it is complete
Into mowing task, and the method is needed in cable on cloth at obstacles borders, so for sudden barrier such as child, dynamic
Thing and flying object etc. are then no longer applicable；And later approach, because grass-removing robot ceaselessly revolves to therefore being difficult to ensure that mowing
Quality, and the mowing blade operating noise of traditional grass-removing robot propeller type is big, influences surrounding resident rest.
Therefore, invent that a kind of noise is small, can identify sudden barrier and can automatically programme path can avoidance from
Motor mower device people, has positive meaning to weeder preparing technical field.
The content of the invention
Present invention mainly solves technical problem：The fixation of setting signal in advance can only be identified for current grass-removing robot
Barrier, sudden barrier child, animal and flying object etc. are not identified but, and grass-removing robot runs into obstacle
Ceaselessly revolved during thing to therefore the defects of be difficult to ensure that mowing quality, there is provided one kind can avoidance automatic mowing robot.
In order to solve the above-mentioned technical problem, the technical solution adopted in the present invention：
One kind can avoidance automatic mowing robot, including solar panel, main control computer, crawler belt, grass-cutting head fixed plate, hay mover
Tool arm, double blade cutter, it is characterised in that：Main control computer both sides are separately installed with an inductance digitizer, machinery of mowing
The front of arm is equipped with infrared detector and sonoprobe, and mowing mechanical arm is fixed in grass-cutting head fixed plate, double blade cutting
Device is made up of cutter, bottom knife, knife box, eccentric wheel, power transmission shaft.
It is a kind of can the application process of avoidance automatic mowing robot be：Two are fixed region both sides to be mowed are parallel first
Root iron wire as mowing border, can avoidance automatic mowing robot be placed in parallel along a wherein iron wire, pass through solar energy
Cell panel converts the solar into electric energy, is energized to robot, and robot is realized by crawler belt and moved, after robot energy supply, electricity
Sense digitizer starts to detect iron wire border, and the distance of robot and iron wire border is identified according to the impedance value detected,
And send distance signal to main control computer, so as to which control machine people realizes orientation fixed-distance moving along iron wire border, mobile
Meanwhile double blade cutter is also operated, power transmission shaft imparts power to eccentric wheel, and rotary motion is passed through bearing by eccentric wheel
The oscillating rectilinear motion of cutter and bottom knife in knife box is changed into, passes through the past complex shears between cutter and bottom knife cutter tooth
Conscientiously the existing cutting to grass, and during robot moves, detected by sonoprobe and do not reflect infrared ray
Black barrier, and fixed obstacle, at the same by infrared detector detect sonar be difficult to be accurately positioned it is ambulant
Sudden barrier, the obstacle information detected are delivered to main control computer, and main control computer control machine people automatically bypasses barrier
And moved on original moving direction, when robot is moved to iron wire border one end, inductance digitizer detects not
During to impedance value, robot turns in 90 ° and travels the distance of a robot seat in the plane automatically, again 90 ° of turnings, towards first
The opposite direction of secondary travel direction continues to move to, and completes the mobile mowing of the second wheel, such iterative cycles, until completing two days iron wires
The cutting of border inner weeds.
Described inductance digitizer（9）There are two, be symmetrically mounted on robot main control computer（2）Both sides.
Described infrared detector（6）And sonoprobe（7）Respectively there are two, installed in mowing mechanical arm（5）Front.
Described solar panel（1）And main control computer（2）It is connected, positioned at main control computer（2）Surface, directly by the sun
Electric energy can be converted into and be transferred to main control computer（2）, realize the function to robot.
The distance of a described robot seat in the plane refers to two crawler belts（3）Between parallel spacing.
The application of the present invention：Two iron wires are fixed as mowing border region both sides to be mowed are parallel first, can
Avoidance automatic mowing robot is placed in parallel along a wherein iron wire, and electricity is converted the solar into by solar panel
Can, energized to robot, robot is realized by crawler belt and moved, and after robot energy supply, inductance digitizer starts to detect iron
Silk border, the distance of robot and iron wire border is identified according to the impedance value detected, and send distance signal to master control
Machine, so as to which control machine people realizes orientation fixed-distance moving along iron wire border, while movement, double blade cutter is also carried out
Work, power transmission shaft impart power to eccentric wheel, and rotary motion is changed into cutter by bearing with eccentric wheel and bottom knife exists
Oscillating rectilinear motion in knife box, the cutting to grass is realized by the reciprocal shearing between cutter and bottom knife cutter tooth, and
During robot moves, the black barrier for not reflecting infrared ray, and fixed barrier are detected by sonoprobe
Hinder thing, while the ambulant sudden barrier that sonar is difficult to be accurately positioned is detected by infrared detector, detect
Obstacle information is delivered to main control computer, and main control computer control machine people is automatically bypassed barrier and continued with original moving direction
Advance, when robot is moved to iron wire border one end, when inductance digitizer can't detect impedance value, robot is in automatically
90 ° turn simultaneously travel the distance of a robot seat in the plane, again 90 ° turning, the direction opposite towards first time travel direction after
Continuous movement, complete the second wheel movement and mow, such iterative cycles, until the cutting for completing two days iron wire border inner weeds is
Can.
The beneficial effects of the invention are as follows：
（1）The present invention detects metal boundary using inductance digital quantizer, and border is identified according to the impedance value detected.Electricity
Sense digital quantizer produces the electric current of alternation on coil, so as to produce the electromagnetic field of alternation, when coil runs into iron wire border,
It can be formed and be vortexed in border surface, so as to produce new magnetic field, and is coupled with the magnetic field on coil, change the impedance of coil side
Parameter, equiva lent impedance size is relevant with the relative distance on iron wire border, can calculate grass cutter by the size of the impedance value
Distance between people and border, so as to realize accurate mowing regional choice, improve mowing quality；
（2）The present invention is acted synergistically by sonoprobe and infrared detector, can both complete the identification to fixed obstacle,
It can realize that the identification to moveable sudden barrier avoids again, intelligent and high-efficiency, and the mode of double blade reciprocating cutting
It is smaller compared to traditional propeller type cutting noise, surrounding resident is not interfered with during work, is had broad application prospects.
Brief description of the drawings
Fig. 1 is the stereogram of the present invention " one kind can avoidance automatic mowing robot ".
Wherein, 1, solar panel；2nd, main control computer；3rd, crawler belt；4th, grass-cutting head fixed plate；5th, mowing mechanical arm；6th, it is red
External detector；7th, sonoprobe；8th, double blade cutter；9th, inductance digitizer." one kind can avoidance for the present invention by Fig. 2
The stereogram of " double blade cutter " in automatic mowing robot "
Wherein, 10, power transmission shaft；11st, cutter；12nd, bottom knife；13rd, knife box；14th, eccentric wheel.
Embodiment
One kind can avoidance automatic mowing robot, including solar panel 1, main control computer 2, crawler belt 3, grass-cutting head fixed plate
4th, mowing mechanical arm 5, double blade cutter 8, it is characterised in that：The both sides of main control computer 2 are separately installed with an inductance numeral conversion
Device 9, the front of mowing mechanical arm 5 are equipped with infrared detector 6 and sonoprobe 7, and mowing mechanical arm 5 is fixed on grass-cutting head and fixed
On plate 4, double blade cutter 8 is made up of cutter 11, bottom knife 12, knife box 13, eccentric wheel 14, power transmission shaft 10.
It is a kind of can the application process of avoidance automatic mowing robot be：Two are fixed region both sides to be mowed are parallel first
Root iron wire as mowing border, can avoidance automatic mowing robot be placed in parallel along a wherein iron wire, pass through solar energy
Cell panel 1 converts the solar into electric energy, is energized to robot, and robot is realized by crawler belt 3 and moved, after robot energy supply,
Inductance digitizer 9 starts to detect iron wire border, according to the impedance value detected come identify robot and iron wire border away from
From, and send distance signal to main control computer 2, so as to which control machine people realizes orientation fixed-distance moving along iron wire border, moving
While dynamic, double blade cutter 8 is also operated, and power transmission shaft 10 imparts power to eccentric wheel 14, and eccentric wheel 14 will rotate
Motion changes into the oscillating rectilinear motion of cutter 11 and bottom knife 12 in knife box 13 by bearing, passes through the He of cutter 11
The cutting to grass is realized in reciprocal shearing between the cutter tooth of bottom knife 12, and during robot moves, passes through sonar detection
Device 7 detects the black barrier for not reflecting infrared ray, and fixed obstacle, while detects sound by infrared detector 6
Receive the ambulant sudden barrier for being difficult to be accurately positioned, the obstacle information detected is delivered to main control computer 2, main control computer
2 control machine people are automatically bypassed barrier and moved on original moving direction, when robot is moved to iron wire border one
During end, when inductance digitizer 9 can't detect impedance value, robot in 90 ° of turnings and travels a robot seat in the plane automatically
Distance, 90 ° of turnings again, the direction opposite towards first time travel direction continue to move to, and completes that the second wheel is mobile to mow, such as
This iterative cycles, until completing the cutting of two days iron wire border inner weeds.Described inductance digitizer 9 has two
It is individual, it is symmetrically mounted on the both sides of robot main control computer 2.Described infrared detector 6 and sonoprobe 7 respectively has two, installation
In the front of mowing mechanical arm 5.Described solar panel 1 is connected with main control computer 2, positioned at the surface of main control computer 2, directly
Convert solar energy into electrical energy and be transferred to main control computer 2, realize the function to robot.A described robot seat in the plane away from
From the parallel spacing referred between two crawler belts 3.
Claims (6)
1. one kind can avoidance automatic mowing robot, including solar panel（1）, main control computer（2）, crawler belt（3）, grass-cutting head it is solid
Fixed board（4）, mowing mechanical arm（5）, double blade cutter（8）, it is characterised in that：Main control computer（2）Both sides are separately installed with one
Inductance digitizer（9）, mowing mechanical arm（5）Front infrared detector is housed（6）And sonoprobe（7）, hay mover
Tool arm（5）It is fixed on grass-cutting head fixed plate（4）On, double blade cutter（8）By cutter（11）, bottom knife（12）, knife box
（13）, eccentric wheel（14）, power transmission shaft（10）Composition.
2. described in claim 1 it is a kind of can the application process of avoidance automatic mowing robot be：First in region to be mowed
Both sides are parallel to fix two iron wires as mowing border, can avoidance automatic mowing robot put along wherein an iron wire is parallel
Put, pass through solar panel（1）Electric energy is converted the solar into, is energized to robot, robot passes through crawler belt（3）Realize and move
It is dynamic, after robot energy supply, inductance digitizer（9）Start to detect iron wire border, according to the impedance value detected come cognitron
Device people and the distance on iron wire border, and send distance signal to main control computer（2）, so as to which control machine people is real along iron wire border
Fixed-distance moving is now oriented, while movement, double blade cutter（8）Also it is operated, power transmission shaft（10）Impart power to
Eccentric wheel（14）, eccentric wheel（14）Rotary motion is changed into cutter by bearing（11）And bottom knife（12）In knife box（13）
In oscillating rectilinear motion, pass through cutter（11）And bottom knife（12）The cutting to grass is realized in reciprocal shearing between cutter tooth,
And during robot moves, pass through sonoprobe（7）The black barrier for not reflecting infrared ray is detected, and
Fixed obstacle, while pass through infrared detector（6）The ambulant sudden barrier that sonar is difficult to be accurately positioned is detected,
The obstacle information detected is delivered to main control computer（2）, main control computer（2）Control machine people automatically bypasses barrier and with original
Moving direction move on, when robot is moved to iron wire border one end, inductance digitizer（9）It can't detect impedance
During value, robot turns in 90 ° and travels the distance of a robot seat in the plane automatically, again 90 ° of turnings, is travelled towards first time
Direction in opposite direction continues to move to, and completes the mobile mowing of the second wheel, such iterative cycles, until completing in two days iron wire borders
The cutting of portion weeds.
3. one kind according to claim 1 can avoidance automatic mowing robot, it is characterised in that：Described inductance numeral turns
Change device（9）There are two, be symmetrically mounted on robot main control computer（2）Both sides.
4. one kind according to claim 1 can avoidance automatic mowing robot, it is characterised in that：Described infrared detector
（6）And sonoprobe（7）Respectively there are two, installed in mowing mechanical arm（5）Front.
5. it is according to claim 1 it is a kind of can avoidance automatic mowing robot application process, it is characterised in that：Described
Solar panel（1）And main control computer（2）It is connected, positioned at main control computer（2）Surface, directly convert solar energy into electrical energy simultaneously
It is transferred to main control computer（2）, realize the function to robot.
6. it is according to claim 2 it is a kind of can avoidance automatic mowing robot application process, it is characterised in that：Described
The distance of one robot seat in the plane refers to two crawler belts（3）Between parallel spacing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710977556.XA CN107743771A (en) | 2017-10-19 | 2017-10-19 | One kind can avoidance automatic mowing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710977556.XA CN107743771A (en) | 2017-10-19 | 2017-10-19 | One kind can avoidance automatic mowing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107743771A true CN107743771A (en) | 2018-03-02 |
Family
ID=61253632
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710977556.XA Pending CN107743771A (en) | 2017-10-19 | 2017-10-19 | One kind can avoidance automatic mowing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107743771A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108811676A (en) * | 2018-05-18 | 2018-11-16 | 华南农业大学 | A kind of meadow detection device for grass-removing robot |
| CN109258060A (en) * | 2018-08-24 | 2019-01-25 | 宁波市德霖机械有限公司 | Map structuring intelligent grass-removing based on particular image mark identification |
| CN109445442A (en) * | 2018-12-17 | 2019-03-08 | 中新智擎科技有限公司 | A kind of robot obstacle-avoiding control method, device, storage medium and robot |
| CN112492956A (en) * | 2020-11-26 | 2021-03-16 | 江苏沃得植保机械有限公司 | Mower and automatic driving method thereof |
| WO2021227171A1 (en) * | 2020-05-11 | 2021-11-18 | 江苏大学 | Mountain orchard copying mower with autonomous obstacle avoidance, and control method therefor |
| CN108925211B (en) * | 2018-07-05 | 2021-12-03 | 中南林业科技大学 | Automatic avoiding type grass mower and grass cutting method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0928115A (en) * | 1995-07-20 | 1997-02-04 | Hitachi Ltd | Movable working machine |
| CN101091428A (en) * | 2006-10-20 | 2007-12-26 | 大连理工大学 | Automatic mowing robot |
| CN104503448A (en) * | 2014-10-23 | 2015-04-08 | 宁波大学 | Device used to define working area of mobile robot and defining method thereof |
| CN205161137U (en) * | 2015-09-07 | 2016-04-20 | 上海园林绿化建设有限公司 | Mower |
| CN106416587A (en) * | 2015-08-13 | 2017-02-22 | 苏州宝时得电动工具有限公司 | Mower positioning error eliminating method, device and system |
| CN206024519U (en) * | 2016-08-20 | 2017-03-22 | 王鸳 | But solar charging remote control grass cutting device |
-
2017
- 2017-10-19 CN CN201710977556.XA patent/CN107743771A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0928115A (en) * | 1995-07-20 | 1997-02-04 | Hitachi Ltd | Movable working machine |
| CN101091428A (en) * | 2006-10-20 | 2007-12-26 | 大连理工大学 | Automatic mowing robot |
| CN104503448A (en) * | 2014-10-23 | 2015-04-08 | 宁波大学 | Device used to define working area of mobile robot and defining method thereof |
| CN106416587A (en) * | 2015-08-13 | 2017-02-22 | 苏州宝时得电动工具有限公司 | Mower positioning error eliminating method, device and system |
| CN205161137U (en) * | 2015-09-07 | 2016-04-20 | 上海园林绿化建设有限公司 | Mower |
| CN206024519U (en) * | 2016-08-20 | 2017-03-22 | 王鸳 | But solar charging remote control grass cutting device |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108811676A (en) * | 2018-05-18 | 2018-11-16 | 华南农业大学 | A kind of meadow detection device for grass-removing robot |
| CN108925211B (en) * | 2018-07-05 | 2021-12-03 | 中南林业科技大学 | Automatic avoiding type grass mower and grass cutting method |
| CN109258060A (en) * | 2018-08-24 | 2019-01-25 | 宁波市德霖机械有限公司 | Map structuring intelligent grass-removing based on particular image mark identification |
| CN109258060B (en) * | 2018-08-24 | 2020-04-21 | 宁波市德霖机械有限公司 | Map construction intelligent mower based on special image identification recognition |
| CN109445442A (en) * | 2018-12-17 | 2019-03-08 | 中新智擎科技有限公司 | A kind of robot obstacle-avoiding control method, device, storage medium and robot |
| WO2021227171A1 (en) * | 2020-05-11 | 2021-11-18 | 江苏大学 | Mountain orchard copying mower with autonomous obstacle avoidance, and control method therefor |
| US11470771B2 (en) | 2020-05-11 | 2022-10-18 | Jiangsu University | Ground-contour-following autonomous obstacle avoidance mower for hillside orchards and control method thereof |
| GB2609379A (en) * | 2020-05-11 | 2023-02-01 | Univ Jiangsu | Mountain orchard copying mower with autonomous obstacle avoidance, and control method therefor |
| CN112492956A (en) * | 2020-11-26 | 2021-03-16 | 江苏沃得植保机械有限公司 | Mower and automatic driving method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107743771A (en) | One kind can avoidance automatic mowing robot | |
| US20220187829A1 (en) | An autonomous working system, an autonomous vehicle and a turning method thereof | |
| US11188087B2 (en) | Autonomous working system, autonomous vehicle and steering method thereof | |
| EP2939513B1 (en) | Lawn mower robot and control method thereof | |
| CN102692922B (en) | Control method of self-propelled device guidance system | |
| CN103576678B (en) | Auto-returned system and the method controlling automatic running device return bus stop | |
| CN103733801B (en) | A kind of combined intelligent grass-removing robot | |
| CN101091428A (en) | Automatic mowing robot | |
| WO2011143877A1 (en) | Intelligent robot mower of parallel motion type and method for controlling parallel motion thereof | |
| CN102687620B (en) | Self-driving device | |
| CN205336853U (en) | Intelligence is kept away and is hindered machine people that mows | |
| CN205843680U (en) | A kind of orchard robotic vision navigation system | |
| CN206491007U (en) | Novel intelligent mower device people | |
| CN111930106A (en) | Mobile robot and control method thereof | |
| CN104704980A (en) | Automatic hay mower | |
| CN205232803U (en) | Mower | |
| CN208159284U (en) | Obstacle avoidance apparatus and grass-removing robot | |
| CN102692923B (en) | Guiding system with self-driven device | |
| CN213731765U (en) | Mobile robot with tracking function | |
| CN206024519U (en) | But solar charging remote control grass cutting device | |
| WO2021139683A1 (en) | Self-moving device | |
| EP3920002B1 (en) | Self-moving device and associated obstacle detection method | |
| WO2019157841A1 (en) | Mower robot, mower working area generation system, generation method, obstacle avoiding device and automated mowing system | |
| CN112157660A (en) | Mobile robot with tracking function and target tracking method | |
| CN206524731U (en) | Wound coil winding machine in a kind of pin of circular stator thick line three |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180302 |
|
| RJ01 | Rejection of invention patent application after publication |