CN112544205A - Unmanned aerial vehicle mows and intelligent system of mowing thereof - Google Patents
Unmanned aerial vehicle mows and intelligent system of mowing thereof Download PDFInfo
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- CN112544205A CN112544205A CN202011411328.4A CN202011411328A CN112544205A CN 112544205 A CN112544205 A CN 112544205A CN 202011411328 A CN202011411328 A CN 202011411328A CN 112544205 A CN112544205 A CN 112544205A
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- 238000001514 detection method Methods 0.000 claims description 13
- 238000012545 processing Methods 0.000 claims description 13
- 238000004891 communication Methods 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 5
- 230000001681 protective effect Effects 0.000 claims description 4
- 238000013459 approach Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims 1
- 244000025254 Cannabis sativa Species 0.000 abstract description 4
- 230000004888 barrier function Effects 0.000 description 14
- 238000010586 diagram Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 238000009966 trimming Methods 0.000 description 3
- 238000005265 energy consumption Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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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
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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Abstract
The invention discloses a mowing unmanned aerial vehicle and an intelligent mowing system thereof, wherein the unmanned aerial vehicle comprises: image acquisition equipment, unmanned aerial vehicle body, control mechanism and mowing mechanism. This unmanned aerial vehicle small in size can use under the multiple environment of mowing, and application scope is wider, and this unmanned aerial vehicle of mowing can wait to cut the grass region through the more accurate location of image acquisition equipment and control mechanism cooperation, avoids repeatedly mowing the operation to the region of mowing, has also overcome the not thorough problem of mowing at to a great extent, and this unmanned aerial vehicle of mowing is nimble reliable and efficient just mow, more can satisfy the demand of mowing under the multiple scene. The system can be matched with the mowing unmanned aerial vehicle through the control terminal, realizes accurate control of mowing operation, has the function of uploading mowing operation data in real time, and can enable the unmanned aerial vehicle to mow in the electronic fence through the electronic fence in advance, so that the safety and the reliability of mowing work are guaranteed.
Description
Technical Field
The invention relates to the technical field of automatic mowing and intelligent control of unmanned aerial vehicles, in particular to a mowing unmanned aerial vehicle and an intelligent mowing system thereof.
Background
At present, along with the continuous development of urban afforestation work, the lawn of large tracts of land has all been laid in square, living district and partial broad area, and lawn trimming work is generally accomplished by the manual control lawn mower, not only consumes a large amount of manpower and materials, and along with the continuous expansion of lawn area in the city, lawn trimming work load is big, only through artifical trimming inefficiency moreover.
Therefore, the intelligent lawn mower is suitable for transportation, but the existing intelligent lawn mower is generally similar to an automobile structure in appearance, is large in size and not suitable for small-area lawns, is applied to occasions with dense people such as squares and living quarters for mowing, is difficult to ensure the safety of a large-sized lawn mower when the large-sized lawn mower travels on the ground, and cannot perform mowing operation in a targeted manner according to the actual lawn conditions because the existing intelligent lawn mower generally travels only according to a preset route for mowing or travels in a mowing area in a random manner, so that the problems of incomplete mowing and repeated work in the same area are easy to occur, the energy consumption is serious, and the mowing efficiency is difficult to ensure.
Therefore, how to provide an intelligent mowing device which is small in size, flexible, reliable and high in mowing efficiency is a problem to be solved urgently by those skilled in the art.
Disclosure of Invention
In view of the above, the invention provides a mowing unmanned aerial vehicle and an intelligent mowing system thereof, the unmanned aerial vehicle can more accurately position a to-be-mowed area through the matching of image acquisition equipment and a control mechanism, and the unmanned aerial vehicle is small in size, so that the problems that the existing intelligent mowing equipment is large in size, low in applicability, incomplete in mowing and easy to repeatedly mow are solved.
In order to achieve the purpose, the invention adopts the following technical scheme:
in one aspect, the present invention provides a mowing unmanned aerial vehicle, comprising: the unmanned aerial vehicle comprises image acquisition equipment, an unmanned aerial vehicle body, a control mechanism and a mowing mechanism;
the image acquisition equipment is fixedly installed at the top of the unmanned aerial vehicle body and is used for acquiring lawn images around the unmanned aerial vehicle body in real time;
the control mechanism is packaged in the unmanned aerial vehicle body and is electrically connected with the unmanned aerial vehicle body, the control mechanism is also electrically connected with the image acquisition equipment, and the control mechanism is used for receiving the lawn image, analyzing and processing the lawn image, extracting a region to be cut in the lawn image and controlling the unmanned aerial vehicle body to navigate to the region to be cut;
the mowing mechanism is fixedly connected with the bottom of the unmanned aerial vehicle body, the mowing mechanism is electrically connected with the control mechanism, and the mowing mechanism is used for receiving a control signal of the control mechanism to mow the area to be mowed.
The invention has the beneficial effects that: this unmanned aerial vehicle small in size can use under the multiple environment of mowing, application scope is wider, and this unmanned aerial vehicle of mowing can wait to cut the grass region through the more accurate location of image acquisition equipment and control mechanism cooperation, can be according to the operation of mowing of actual lawn situation pertinence, avoid repeatedly mowing to the region of mowing, also overcome the not thorough problem of mowing at to a great extent, this unmanned aerial vehicle of mowing is nimble reliable and the mowing efficiently, more can satisfy the demand of mowing under the multiple scene.
Further, the unmanned aerial vehicle body comprises a body, a flight driving motor, a propeller and a storage battery;
the flight driving motor with the screw is all located the fuselage top, just the flight driving motor through the output pivot with the screw transmission is connected, the battery is located inside the fuselage, the battery with the flight driving motor all with the control mechanism electricity is connected.
Further, the unmanned aerial vehicle body still includes the light, the light is located the front end of fuselage, the light with the control mechanism electricity is connected. The setting of light can provide more clear light environment for the operation of mowing night, can improve the definition that image acquisition equipment gathered the image to a certain extent to be convenient for follow-up more accurate image recognition result that obtains.
Further, the control mechanism includes:
the image processing module is electrically connected with the image acquisition equipment and is used for receiving the lawn image acquired by the image acquisition equipment, analyzing and processing the lawn image and extracting a region to be mowed in the lawn image;
the mowing current detection module is electrically connected with the mowing mechanism and is used for detecting the running current of a motor in the mowing mechanism;
the flight control module is electrically connected with the unmanned aerial vehicle body and is used for controlling the navigation state and the navigation direction of the unmanned aerial vehicle body;
the mowing control module is electrically connected with the mowing mechanism and is used for controlling the starting and stopping state and the running power of the mowing mechanism;
the main control module is respectively and electrically connected with the image processing module, the mowing current detection module, the flight control module and the mowing control module, and is used for receiving information of the area to be mowed and sending an instruction to the flight control module to drive the unmanned aerial vehicle body to sail to the area to be mowed;
the positioning module is electrically connected with the main control module and is used for acquiring the position information of the unmanned aerial vehicle body in real time;
the boundary detection module is electrically connected with the main control module and is used for detecting whether the unmanned aerial vehicle body approaches to the electronic fence or not in real time; and
and the communication module is electrically connected with the main control module and is used for carrying out data communication with external terminal equipment.
The mowing current detection module in the control mechanism is mainly used for detecting the working current of the mowing driving motor and judging the density of grass in a mowing area according to the working current value, so that the main control module can send an instruction to the mowing control module according to the working current value to adjust the power of the mowing driving motor in real time, and the energy consumption of the mowing driving motor can be reduced.
Further, control mechanism still includes power management module, power management module respectively with the unmanned aerial vehicle body with the host system electricity is connected, power management module is used for real-time supervision the electric quantity situation of this internal power of unmanned aerial vehicle when the power electric quantity is less than preset electric quantity threshold value, generates low-power prompt message and sends to host system, host system control is received low-power prompt message and give-out order extremely flight control module drives the unmanned aerial vehicle body sails to the website of predetermineeing to charge.
The setting of power management module has saved the work of artifical control unmanned aerial vehicle electric quantity, avoids taking place because of the improper unable normal work of unmanned aerial vehicle outage that causes of control, influences the problem of the operating efficiency of mowing.
Further, control mechanism still includes keeps away the barrier module, keep away the barrier module with the host system electricity is connected, keep away the barrier module and be used for real-time detection whether there is the barrier around the unmanned aerial vehicle body, and detect the distance of unmanned aerial vehicle body and barrier, host system still is used for receiving keep away barrier and barrier apart from information that the barrier module reported, and send out the instruction to the flight control module drive the unmanned aerial vehicle body avoids the barrier.
Keep away the flight safety of barrier module main in order to ensure the unmanned aerial vehicle body, avoid causing the unmanned aerial vehicle body to damage because of unexpected striking aerial barrier, simultaneously, also consider that unmanned aerial vehicle is when mowing the operation, flying height is lower, after non-staff rushes into the operation area of mowing, can prevent that the unmanned aerial vehicle body from offeing personnel around and causing the incident.
Further, the mowing mechanism comprises a mowing driving motor, a cutting blade, a blade mounting disc and a protective cover;
the utility model discloses an unmanned aerial vehicle safety protection cover, including unmanned aerial vehicle body, cutting blade mounting disc, drive motor, mowing driving motor, cutting blade mounting disc, mowing driving motor's output pivot transmission is connected, mowing driving motor with the blade mounting disc is all located the inside of safety cover, the one end opening of safety cover, its other end with the bottom fixed connection of unmanned aerial vehicle body.
Rotate through the driving motor drive blade mounting disc that mows and then drive cutting blade rotatory, can be fast with the weeds excision of cutting blade contact, whole grass cutting mechanism simple structure compares in the manual work operation of mowing, and the efficiency of just mowing improves greatly.
On the other hand, the invention also provides an intelligent mowing system, which comprises a control terminal, an electronic fence and the mowing unmanned aerial vehicle;
the control terminal is in communication connection with the mowing unmanned aerial vehicle, the electronic fence is arranged at the edge of a mowing area, the mowing unmanned aerial vehicle sails in the mowing area defined by the electronic fence and reports data of the mowing unmanned aerial vehicle to the control terminal in real time, the control terminal receives and displays the data reported by the mowing unmanned aerial vehicle and displays the position of the mowing unmanned aerial vehicle in real time in a preset map, the control terminal is further used for sending a control signal to the mowing unmanned aerial vehicle, and the mowing unmanned aerial vehicle receives the control signal and executes sailing tasks or mowing tasks according to control instructions.
According to the system provided by the invention, the control terminal is matched with the mowing unmanned aerial vehicle, so that the accurate control of mowing operation and the real-time uploading function of mowing operation data are realized, the mowing range is defined in advance through the electronic fence, the unmanned aerial vehicle can perform mowing operation in the electronic fence, and the safety and reliability of mowing operation are ensured.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a mowing unmanned aerial vehicle provided by the invention;
fig. 2 is a schematic structural view of the mowing drone at another viewing angle in the embodiment of the invention;
fig. 3 is a schematic structural diagram of the mowing drone at a further viewing angle in the embodiment of the invention;
fig. 4 is a schematic diagram of an electrical connection relationship of a part of a structure in the mowing unmanned aerial vehicle according to the embodiment of the invention;
fig. 5 is a schematic structural diagram of an intelligent mowing system provided by the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
On one hand, referring to fig. 1, fig. 2, fig. 3 and fig. 4, an embodiment of the present invention discloses a mowing unmanned aerial vehicle, including: the unmanned aerial vehicle comprises an image acquisition device 11, an unmanned aerial vehicle body 12, a control mechanism 13 and a mowing mechanism 14;
the image acquisition equipment 11 is fixedly installed at the top of the unmanned aerial vehicle body 12, and the image acquisition equipment 11 is used for acquiring lawn images around the unmanned aerial vehicle body 11 in real time;
the control mechanism 13 is packaged inside the unmanned aerial vehicle body 12 and is electrically connected with the unmanned aerial vehicle body 12, the control mechanism 13 is also electrically connected with the image acquisition equipment 11, the control mechanism 12 is used for receiving the lawn image, analyzing and processing the lawn image, extracting a region to be cut in the lawn image, and controlling the unmanned aerial vehicle body 11 to sail into the region to be cut;
the mowing mechanism 14 is fixedly connected with the bottom of the unmanned aerial vehicle body 12, the mowing mechanism 14 is further electrically connected with the control mechanism 13, and the mowing mechanism 14 is used for receiving a control signal of the control mechanism 13 to mow an area to be mowed.
In this embodiment, the image capturing device 11 may be a 360 ° rotatable web camera, and may also be a camera with night vision infrared shooting function if it is necessary to perform mowing work at night.
In a particular embodiment, the drone body 12 includes a fuselage 121, a flight drive motor 122, a propeller 123, and a battery 124;
the flight driving motor 122 and the propeller 123 are both arranged at the top of the fuselage 121, the flight driving motor 122 is in transmission connection with the propeller 123 through an output rotating shaft, the storage battery 124 is arranged inside the fuselage 121, and the storage battery 124 and the flight driving motor 122 are both electrically connected with the control mechanism 13.
In a specific embodiment, referring to fig. 2, the main body 12 of the drone further includes a lighting lamp 125, the lighting lamp 125 is disposed at the front end of the main body 121, and the lighting lamp 125 is electrically connected to the control mechanism 13.
In a particular embodiment, referring to fig. 4, the control mechanism 13 comprises:
the image processing module 131, the image processing module 131 is electrically connected with the image acquisition device 11, and the image processing module 131 is used for receiving the lawn image acquired by the image acquisition device 11, analyzing the lawn image, and extracting a region to be cut in the lawn image;
the mowing current detection module 132 is electrically connected with the mowing mechanism 14, and the mowing current detection module 132 is used for detecting the running current of a motor in the mowing mechanism 14;
the flight control module 133, the flight control module 133 is electrically connected with the unmanned aerial vehicle body 11 (specifically, the flight driving motor 122), and the flight control module 133 is used for controlling the navigation state and the navigation direction of the unmanned aerial vehicle body 12;
the mowing control module 134 is electrically connected with the mowing mechanism 14, and the mowing control module 134 is used for controlling the starting and stopping state and the running power of the mowing mechanism 14;
the main control module 135 is respectively electrically connected with the image processing module 131, the mowing current detection module 132, the flight control module 133 and the mowing control module 134, the main control module 135 is used for receiving information of a to-be-mowed area and sending an instruction to the flight control module 133 to drive the unmanned aerial vehicle body 12 to sail to the to-be-mowed area, and the main control module 135 is also used for receiving information of running current of a motor in the mowing mechanism 14 and sending a control instruction to the mowing control module 134 to adjust running power of the mowing mechanism 14;
the positioning module 136, the positioning module 136 is electrically connected with the main control module 135, and the positioning module 136 is used for acquiring the position information of the unmanned aerial vehicle body 12 in real time;
the boundary detection module 137 is electrically connected with the main control module 135, and the boundary detection module 137 is used for detecting whether the unmanned aerial vehicle body 12 approaches the electronic fence in real time; and
and the communication module 138, the communication module 138 is electrically connected with the main control module 135, and the communication module 138 is used for performing data communication with external terminal equipment.
In a specific embodiment, the control mechanism 13 further includes a power management module 130, the power management module 130 is electrically connected to the unmanned aerial vehicle body 12 and the main control module 135 respectively, the power management module 130 is configured to monitor an electric quantity condition of a power supply in the unmanned aerial vehicle body 12 in real time, when the electric quantity of the power supply is lower than a preset electric quantity threshold value, a low-electric-quantity prompt message is generated and sent to the main control module 135, and the main control module 35 controls to receive the low-electric-quantity prompt message and send an instruction to the flight control module 133 to drive the unmanned aerial vehicle body 12 to sail to a preset charging station.
In a specific embodiment, the control mechanism 13 further includes an obstacle avoidance module 139, the obstacle avoidance module 139 is electrically connected to the main control module 135, the obstacle avoidance module 139 is configured to detect whether an obstacle exists around the unmanned aerial vehicle body 12 in real time, and detect a distance between the unmanned aerial vehicle body 12 and the obstacle, the main control module 135 is further configured to receive the obstacle and obstacle distance information reported by the obstacle avoidance module 139, and send an instruction to the flight control module 133 to drive the unmanned aerial vehicle body 12 to avoid the obstacle.
In this embodiment, keep away barrier module 139 can realize through radar, laser rangefinder sensor cooperation, through the barrier around radar perception unmanned aerial vehicle body 12 to detect the distance of unmanned aerial vehicle body distance barrier through laser rangefinder sensor real-time.
The positioning module 136 can realize a high-precision positioning function through a GPS positioning system or a beidou satellite positioning system.
In a particular embodiment, mowing mechanism 14 includes a mowing drive motor 141, a cutting blade 142, a blade mounting plate 143, and a protective guard 144;
the driving motor 141 of mowing locates the bottom of unmanned aerial vehicle body 12 and is connected with control mechanism 13 (specifically with control mechanism 13 in current detection module 132 and the control module 134 of mowing), cutting blade 142 and blade mounting disc 143 fixed connection, blade mounting disc 143 is connected with the output pivot transmission of driving motor 141 of mowing, driving motor 141 and blade mounting disc 143 of mowing all locate the inside of safety cover 144, the one end opening of safety cover 144, its other end and the bottom fixed connection of unmanned aerial vehicle body 12.
In this embodiment, in order to guarantee that unmanned aerial vehicle body 12 can stably land when descending, can set up and set up a plurality of folding supports in unmanned aerial vehicle bottom both sides, when mowing the operation, the support is packed up, opens before descending. An extension shaft 145 may be additionally provided between the mowing driving motor 141 and the blade mounting plate 143, one end of the extension shaft 145 is fixedly connected to the blade mounting plate 143, and the other end of the extension shaft 145 is drivingly connected to an output rotating shaft of the mowing driving motor 141, so that the extension shaft 145 extends to lower the blade mounting plate 143 to a height suitable for mowing during mowing operation, and after mowing operation is completed, the extension shaft 145 retracts to retract the blade mounting plate 143 and the cutting blade 142 into the protective cover 144.
On the other hand, referring to fig. 5, the embodiment of the present invention further discloses an intelligent mowing system, which includes a control terminal 2, an electronic fence 3, and the mowing drone 1;
control terminal 2 and unmanned aerial vehicle 1 communication connection mows, fence 3 lays in the edge of the district of moking, unmanned aerial vehicle 1 mows and reports self data to control terminal 2 in real time in the district of moking that fence was demarcated, control terminal 2 receives and shows the data that unmanned aerial vehicle 1 moked reported, and show the position of unmanned aerial vehicle 1 moked in real time in the map of predetermineeing, control terminal 2 still is used for sending control signal to unmanned aerial vehicle 1 mows, unmanned aerial vehicle 1 mows receives control signal and carries out navigation task or the task of moking according to control command.
Still set up charging station 4 in the system that this embodiment provided, when being equipped with power management module 130 in unmanned aerial vehicle 1 mows, when power management module 130 detected battery 124 electric quantity not enough, can even with this information transmission to host system 135, host system 135 sends control flight letter instruction to flight control module 133, flight control module 133 controls flight driving motor 122 drive screw 123 and rotates, drive unmanned aerial vehicle body 12 and fly to charging station 4 of near setting in and charge.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. A mowing unmanned aerial vehicle, comprising: the unmanned aerial vehicle comprises image acquisition equipment, an unmanned aerial vehicle body, a control mechanism and a mowing mechanism;
the image acquisition equipment is fixedly installed at the top of the unmanned aerial vehicle body and is used for acquiring lawn images around the unmanned aerial vehicle body in real time;
the control mechanism is packaged in the unmanned aerial vehicle body and is electrically connected with the unmanned aerial vehicle body, the control mechanism is also electrically connected with the image acquisition equipment, and the control mechanism is used for receiving the lawn image, analyzing and processing the lawn image, extracting a region to be cut in the lawn image and controlling the unmanned aerial vehicle body to navigate to the region to be cut;
the mowing mechanism is fixedly connected with the bottom of the unmanned aerial vehicle body, the mowing mechanism is electrically connected with the control mechanism, and the mowing mechanism is used for receiving a control signal of the control mechanism to mow the area to be mowed.
2. The unmanned mowing vehicle according to claim 1, wherein the unmanned aerial vehicle body comprises a body, a flight drive motor, a propeller and a storage battery;
the flight driving motor with the screw is all located the fuselage top, just the flight driving motor through the output pivot with the screw transmission is connected, the battery is located inside the fuselage, the battery with the flight driving motor all with the control mechanism electricity is connected.
3. The unmanned aerial vehicle mows according to claim 2, wherein the unmanned aerial vehicle body further comprises a lighting lamp, the lighting lamp is arranged at the front end of the main body, and the lighting lamp is electrically connected with the control mechanism.
4. The unmanned lawn mowing vehicle of claim 1, wherein the control mechanism comprises:
the image processing module is electrically connected with the image acquisition equipment and is used for receiving the lawn image acquired by the image acquisition equipment, analyzing and processing the lawn image and extracting a region to be mowed in the lawn image;
the mowing current detection module is electrically connected with the mowing mechanism and is used for detecting the running current of a motor in the mowing mechanism;
the flight control module is electrically connected with the unmanned aerial vehicle body and is used for controlling the navigation state and the navigation direction of the unmanned aerial vehicle body;
the mowing control module is electrically connected with the mowing mechanism and is used for controlling the starting and stopping state and the running power of the mowing mechanism;
the main control module is respectively electrically connected with the image processing module, the mowing current detection module, the flight control module and the mowing control module, and is used for receiving information of the area to be mowed and sending an instruction to the flight control module to drive the unmanned aerial vehicle body to sail to the area to be mowed;
the positioning module is electrically connected with the main control module and is used for acquiring the position information of the unmanned aerial vehicle body in real time;
the boundary detection module is electrically connected with the main control module and is used for detecting whether the unmanned aerial vehicle body approaches to the electronic fence or not in real time; and
and the communication module is electrically connected with the main control module and is used for carrying out data communication with external terminal equipment.
5. The unmanned aerial vehicle for mowing of claim 4, wherein the control mechanism further comprises a power management module, the power management module is electrically connected with the unmanned aerial vehicle body and the main control module respectively, the power management module is used for monitoring the power condition of the power supply in the unmanned aerial vehicle body in real time, when the power supply power is lower than a preset power threshold, a low power prompt message is generated and sent to the main control module, and the main control module controls to receive the low power prompt message and send a command to the flight control module to drive the unmanned aerial vehicle body to sail to a preset charging station for charging.
6. The mowing unmanned aerial vehicle of claim 4, wherein the control mechanism further comprises an obstacle avoidance module, the obstacle avoidance module is electrically connected with the main control module, the obstacle avoidance module is used for detecting whether obstacles exist around the unmanned aerial vehicle body in real time and detecting the distance between the unmanned aerial vehicle body and the obstacles, and the main control module is further used for receiving the obstacles and obstacle distance information reported by the obstacle avoidance module and sending an instruction to the flight control module to drive the unmanned aerial vehicle body to avoid the obstacles.
7. The mowing drone of claim 1, wherein the mowing mechanism comprises a mowing drive motor, a cutting blade, a blade mounting disc, and a protective cover;
the utility model discloses an unmanned aerial vehicle safety protection cover, including unmanned aerial vehicle body, cutting blade mounting disc, drive motor, mowing driving motor, cutting blade mounting disc, mowing driving motor's output pivot transmission is connected, mowing driving motor with the blade mounting disc is all located the inside of safety cover, the one end opening of safety cover, its other end with the bottom fixed connection of unmanned aerial vehicle body.
8. An intelligent mowing system comprising a control terminal, an electronic fence and a mowing drone as claimed in any one of claims 1 to 7;
the control terminal is in communication connection with the mowing unmanned aerial vehicle, the electronic fence is arranged at the edge of a mowing area, the mowing unmanned aerial vehicle sails in the mowing area defined by the electronic fence and reports data of the mowing unmanned aerial vehicle to the control terminal in real time, the control terminal receives and displays the data reported by the mowing unmanned aerial vehicle and displays the position of the mowing unmanned aerial vehicle in real time in a preset map, the control terminal is further used for sending a control signal to the mowing unmanned aerial vehicle, and the mowing unmanned aerial vehicle receives the control signal and executes sailing tasks or mowing tasks according to control instructions.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113455180A (en) * | 2021-06-25 | 2021-10-01 | 山东省农业机械科学研究院 | Circular cutting harvesting device with auxiliary advancing operation function |
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