CN110168465A - 智能割草系统 - Google Patents

智能割草系统 Download PDF

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Publication number
CN110168465A
CN110168465A CN201880003935.1A CN201880003935A CN110168465A CN 110168465 A CN110168465 A CN 110168465A CN 201880003935 A CN201880003935 A CN 201880003935A CN 110168465 A CN110168465 A CN 110168465A
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boundary
mowed
path
mowing
virtual
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CN110168465B (zh
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陈伟鹏
王宏伟
杨德中
寇卫斌
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Nanjing Bofeng Power Tools Co ltd
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Nanjing Bofeng Power Tools Co ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/53—Determining attitude
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0044—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D2101/00—Lawn-mowers
    • 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
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
    • A01D34/76—Driving mechanisms for the cutters
    • A01D34/78—Driving mechanisms for the cutters electric
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D69/00—Driving mechanisms or parts thereof for harvesters or mowers
    • A01D69/02—Driving mechanisms or parts thereof for harvesters or mowers electric

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Environmental Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Business, Economics & Management (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Game Theory and Decision Science (AREA)
  • Medical Informatics (AREA)
  • Harvester Elements (AREA)
  • Guiding Agricultural Machines (AREA)

Abstract

一种智能割草系统，包括智能割草机(20)；切割刀片(22)，用于切割草；主体(21)，用于支撑切割刀片；至少一个车轮(23)，由主体支撑并可转动；第一驱动电机(24)，设置成提供转矩给该至少一个车轮；割草路径生成模块(424)，设置待割草区域边界(51)上相对的第一虚拟边界(513)和第二虚拟边界(514)上按照预设路径(52)的若干目标位置(55)，并根据目标位置生成待割草路径(53)；控制器(202)，与显示界面(50)和割草路径生成模块电连接或通信，设置成控制智能割草机根据生成的待割草路径来进行割草作业，从而根据目标位置准确规划待割草路径，降低智能割草机沿待割草路径的偏移程度。

Description

PCT国内申请，说明书已公开。

Claims (50)

  1. PCT国内申请，权利要求书已公开。
CN201880003935.1A 2017-11-16 2018-11-16 智能割草系统 Active CN110168465B (zh)

Applications Claiming Priority (9)

Application Number Priority Date Filing Date Title
CN2017111352328 2017-11-16
CN201711135232 2017-11-16
CN201711189993 2017-11-24
CN201711190450 2017-11-24
CN2017111904501 2017-11-24
CN2017111899931 2017-11-24
CN2018100952597 2018-01-31
CN201810095259 2018-01-31
PCT/CN2018/115983 WO2019096262A1 (zh) 2017-11-16 2018-11-16 智能割草系统

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CN110168465A true CN110168465A (zh) 2019-08-23
CN110168465B CN110168465B (zh) 2022-07-15

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CN201880003942.1A Active CN110312418B (zh) 2017-11-16 2018-11-16 智能割草系统
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CN110793524A (zh) * 2019-09-27 2020-02-14 南京航空航天大学 一种割草机路径规划的方法
CN111176278A (zh) * 2019-12-31 2020-05-19 宁波奇亚园林工具有限公司 一种基于交流磁场的智能割草机传感器控制电路与方法
CN111612342A (zh) * 2020-05-22 2020-09-01 格力博(江苏)股份有限公司 一种割草机队管理装置、管理方法以及管理系统
CN112567959A (zh) * 2019-09-12 2021-03-30 南京德朔实业有限公司 自行走割草系统及其漏割区域的补充作业的方法
CN112578777A (zh) * 2019-09-27 2021-03-30 苏州宝时得电动工具有限公司 自主机器人及其行走路径规划方法、装置和存储介质
CN112764416A (zh) * 2019-10-18 2021-05-07 南京德朔实业有限公司 自行走割草系统和户外行走设备
CN112985372A (zh) * 2019-12-13 2021-06-18 南宁富桂精密工业有限公司 路径规划系统及其方法
CN113128747A (zh) * 2019-12-30 2021-07-16 南京德朔实业有限公司 智能割草系统及其自主建图方法
CN113468193A (zh) * 2021-07-01 2021-10-01 深圳集智数字科技有限公司 电子地图规划方法、电子地图规划装置、介质及电子设备
CN115039561A (zh) * 2022-06-30 2022-09-13 松灵机器人(深圳)有限公司 割草方法、装置、割草机器人以及存储介质
CN115229808A (zh) * 2022-05-25 2022-10-25 盐池县中赢创能新能源有限公司 一种光伏电站清扫机器人及控制方法
CN115443792A (zh) * 2022-08-12 2022-12-09 深圳拓邦股份有限公司 割草机的建图方法、系统及可读存储介质

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CN110927766A (zh) * 2019-10-21 2020-03-27 浙江亚特电器有限公司 割草机的卫星导航和围线结合的平行切割方法
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CN112612280B (zh) * 2020-12-24 2023-08-22 格力博(江苏)股份有限公司 一种割草机及其控制方法
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AU2023202440A1 (en) * 2022-04-28 2023-11-16 Techtronic Cordless Gp Creation of a virtual boundary for a robotic garden tool
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EP4343477A1 (en) * 2022-09-20 2024-03-27 Fabrizio Bernini System for cutting grass and corresponding process
US11678604B1 (en) 2022-12-21 2023-06-20 Sensori Robotics, LLC Smart lawnmower with development of mowing policy and system and method for use of same
CN116149337B (zh) * 2023-04-14 2023-07-07 未岚大陆(北京)科技有限公司 割草控制方法、设置方法、割草机、设置装置和电子设备

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