CN113498667A - Intelligent mowing robot based on panoramic machine vision - Google Patents
Intelligent mowing robot based on panoramic machine vision Download PDFInfo
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- CN113498667A CN113498667A CN202110913350.7A CN202110913350A CN113498667A CN 113498667 A CN113498667 A CN 113498667A CN 202110913350 A CN202110913350 A CN 202110913350A CN 113498667 A CN113498667 A CN 113498667A
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Guiding Agricultural Machines (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The invention discloses an intelligent mowing robot based on panoramic machine vision, which comprises a robot shell, a sensor module, a main control module, a motion module and a cutting module, wherein the sensor module, the main control module, the motion module and the cutting module are arranged in the robot shell; the sensor module comprises a panoramic optical unit, an IMU sensor unit, an ultrasonic sensor unit and a wheel speed odometer unit; the panoramic optical unit is used for acquiring panoramic image data; the IMU sensor unit is used for acquiring three-axis attitude and acceleration data of the robot; the ultrasonic sensor unit is used for acquiring barrier information around the working environment of the robot; the wheel speed odometer unit is used for acquiring wheel speed odometer information of the robot; the main control module is used for processing the received data information to obtain the position information of the robot and generate a working environment map of the robot, and sending control instructions to the motion module and the cutting module; the motion module is used for controlling the robot to move; the cutting module is used for controlling the robot to start/stop mowing.
Description
Technical Field
The invention relates to the technical field of mowing robots, in particular to an intelligent mowing robot based on panoramic machine vision.
Background
With the continuous development of artificial intelligence and information science and technology, more and more intelligent devices enter various aspects of production and life. The intelligent robot is used for replacing manual work and becomes a trend with wide development prospect in the future. The intelligent mowing robot is used for maintaining and trimming the grassland, so that the labor force can be reduced, the efficiency is greatly improved, the energy consumption is saved, the price and the cost are low, and the intelligent mowing robot can be repeatedly used and is convenient to maintain. At present, a common mowing robot generally depends on an electronic fence to construct an area, and the robot travels disorderly in a limited area or works according to a preset traveling scheme; or UWB solutions are used to help the robot determine its location and map range. The scheme of the electronic fence requires manual arrangement of magnetic induction lines, the installation cost is high, the robot cannot plan the path according to the working scene, and the working efficiency is very low; the UWB positioning method requires installation of a positioning base station, a positioning tag, an auxiliary positioning base station, a charging positioning station, and other devices, which inevitably leads to problems of complex installation, high cost, and the like.
For example, patent publication No. CN102771246A discloses an intelligent lawn mower system and an intelligent lawn mowing method thereof, which includes a lawn mower, a camera, sensors, a boundary electronic fence and a charging station. The intelligent mower completes the cognition of the mowing condition in the current local range by means of the camera device and the mowing motor current detection device which are arranged in the mowing area defined by the boundary electronic fence and the data fusion of various sensors through the monocular vision technology, realizes the intelligent mowing of the lawn in the area, and simultaneously utilizes various sensors to carry out obstacle shielding, boundary control and automatic return charging. Although the intelligent lawn mower can perform different mowing behaviors on the conditions of sparse and dense lawns, scattered lawns and the like in an area, the intelligent lawn mower needs an electronic fence to construct the area, and is high in installation cost.
Therefore, the convenience, intelligence and low cost of the intelligent mowing robot become a problem which needs to be solved urgently in the field at present.
Disclosure of Invention
The invention aims to provide an intelligent mowing robot based on panoramic machine vision, aiming at overcoming the problems of complex installation, low intelligence degree, higher cost and low working efficiency of the traditional intelligent mowing robot.
In order to achieve the purpose, the invention adopts the following technical scheme:
an intelligent mowing robot based on panoramic machine vision comprises a robot shell, a sensor module, a main control module, a motion module and a cutting module, wherein the sensor module, the main control module, the motion module and the cutting module are arranged in the robot shell; the main control module is respectively connected with the sensor module, the motion module and the cutting module;
the sensor module comprises a panoramic optical unit, an IMU sensor unit, an ultrasonic sensor unit and a wheel speed odometer unit;
the panoramic optical unit is used for acquiring panoramic image data and sending the acquired panoramic image data to the main control module;
the IMU sensor unit is used for acquiring three-axis attitude and acceleration data of the robot and sending the acquired three-axis attitude and acceleration data to the main control module;
the ultrasonic sensor unit is used for acquiring barrier information around the working environment of the robot and sending the acquired barrier information to the main control module;
the wheel speed odometer unit is used for acquiring wheel speed mileage information of the robot and sending the acquired wheel speed mileage information to the main control module;
the main control module is used for respectively receiving data information sent by the panoramic optical unit, the IMU sensor unit, the ultrasonic sensor unit and the wheel speed odometer unit, processing the received data information to obtain position information of the robot, generating a working environment map of the robot and sending a control instruction to the motion module and the cutting module;
the motion module is used for receiving the control instruction sent by the main control module and controlling the robot to move according to the received control instruction;
and the cutting module is used for receiving the control instruction sent by the main control module and controlling the robot to start/stop mowing according to the received control instruction.
Further, the panoramic optical unit comprises a first panoramic annular unit block lens, a second panoramic annular unit block lens, a panoramic annular relay lens group, an optical filter, an image sensor and a lens cone which are coaxially arranged;
the surface of the first panoramic annular unit block lens close to the object plane comprises a convex front refraction surface, and the middle part of the front refraction surface is provided with a concave front reflection surface; the surface, close to the image surface, of the second panoramic annular unit block lens comprises a convex rear reflecting surface, and a convex rear refracting surface is arranged in the middle of the rear reflecting surface; incident light sequentially enters the optical filter from the front refracting surface, the rear reflecting surface, the front reflecting surface and the rear refracting surface through the panoramic annular relay lens group and reaches the image sensor for imaging.
Furthermore, the main control module comprises a computing unit, a control unit, a storage unit and a power supply unit;
the calculation module is used for calculating data information sent by the panoramic optical unit, the IMU sensor unit, the ultrasonic sensor unit and the wheel speed odometer unit and sending a calculation result to the control unit;
the control unit is used for sending a control instruction to the motion module and the cutting module according to the result obtained by the calculation of the calculation module;
the storage module is used for storing data information sent by the panoramic optical unit, the IMU sensor unit, the ultrasonic sensor unit and the wheel speed odometer unit;
and the power supply module is used for providing electric energy for the robot.
Further, the motion module comprises a motor and wheels; the wheels are driven to rotate by the motor so as to enable the robot to move.
Furthermore, a circular ring reflecting film is plated on the rear reflecting surface of the second panoramic annular unit block lens.
Further, an infrared cut-off filter membrane is plated on the surface of the optical filter.
Further, the minimum half field angle range in the panoramic optical unit is 30 ° -60 °, and the maximum half field angle is greater than 90 °.
Further, the image formed by the image sensor comprises a central imaging blind area and an imaging area, wherein the central imaging blind area corresponds to the sky, and the imaging area corresponds to the surrounding scene of the robot.
Compared with the prior art, the invention has the beneficial effects that:
(1) the intelligent mowing robot based on the panoramic machine vision has the advantages of a panoramic optical system and a machine vision algorithm, wherein the panoramic optical system can image 360-degree scenes once by utilizing the catadioptric characteristic structure of the panoramic optical system, is a special imaging optical system with an ultra-large view field, solves the problem of small view field range when a traditional camera system is used for positioning and environment sensing, improves the robustness of the algorithm, and is more suitable for outdoor scene sensing. Meanwhile, compared with a scheme of using the laser radar to sense the environment, the panoramic optical system has the advantages that the cost is greatly reduced, and meanwhile, image information which is not possessed by the laser radar can be provided.
(2) According to the intelligent mowing robot based on the panoramic machine vision, the machine vision algorithm is matched with the panoramic optical system, the working efficiency of the intelligent mowing robot is greatly improved, the cost of the intelligent mowing robot is greatly reduced, an electronic fence does not need to be arranged manually or a positioning base station and a positioning label do not need to be built manually, the installation and maintenance cost of the intelligent mowing robot is greatly simplified, and the intelligent mowing robot can be flexibly applied to various scenes needing lawn trimming.
Drawings
FIG. 1 is a schematic diagram of a panoramic machine vision-based intelligent mowing robot module provided by the first embodiment;
FIG. 2 is a schematic internal structure diagram of an intelligent mowing robot based on panoramic machine vision according to an embodiment;
FIG. 3 is a bottom schematic view of an intelligent mowing robot based on panoramic machine vision provided by the first embodiment;
FIG. 4 is a schematic structural diagram of a panoramic optical unit of the intelligent mowing robot based on panoramic machine vision according to the first embodiment;
fig. 5 is an imaging distribution diagram of a panoramic optical unit of the intelligent mowing robot based on panoramic machine vision according to the first embodiment;
wherein, 1, a panoramic optical unit; an IMU sensor unit; 3. an ultrasonic sensor unit; 4. a wheel speed odometer unit; 5. a motor; 6. a wheel; 7. a robot housing; 10. a first panoramic annular block lens; 11. a second panoramic annular block lens; 12. a panoramic annular relay lens group; 13. an optical filter; 14. an image sensor; 15. a lens barrel; 100. a sensor module; 101. a main control module; 102. a motion module; 103. a cutting module; o. incident light.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
The invention aims to overcome the defects of the prior art and provides an intelligent mowing robot based on panoramic machine vision.
Example one
The embodiment provides an intelligent mowing robot based on panoramic machine vision, as shown in fig. 1-3, comprising a robot housing 7, a sensor module 100, a main control module 101, a motion module 102 and a cutting module 103, wherein the sensor module 100, the main control module 101, the motion module 102 and the cutting module 103 are arranged in the robot housing; the main control module 101 is respectively connected with the sensor module 100, the motion module 102 and the cutting module 103.
The sensor module 100 comprises a panoramic optical unit 1, an IMU sensor unit 2, an ultrasonic sensor unit 3 and a wheel speed odometer unit 4; the panoramic optical unit and the IMU sensor unit are arranged above the shell, the ultrasonic sensor unit and the wheel speed odometer unit are arranged below the shell, and the wheel speed odometer unit is arranged beside the wheel (such as on a rotating shaft of the wheel).
And the panoramic optical unit 1 is used for acquiring panoramic image data and sending the acquired panoramic image data to the main control module.
As shown in fig. 4, the panoramic optical unit includes a first panoramic annular zone unit block lens 10, a second panoramic annular zone unit block lens 11, a panoramic annular zone relay lens group 12, a filter 13, an image sensor 14, a lens barrel 15 disposed coaxially; the sequence from the object side to the image side is as follows: a first panoramic annular unit block lens 10, a second panoramic annular unit block lens 11, a panoramic annular relay lens group 12, a filter 13, and an image sensor 14.
The surface of the first panoramic annular unit block lens 10 close to the object plane comprises a convex front refraction surface, and the middle part of the front refraction surface is provided with a concave front reflection surface; the surface of the second panoramic annular unit block lens 11 close to the image surface comprises a convex rear reflecting surface, and the middle part of the rear reflecting surface is plated with a convex rear refracting surface of a circular reflecting film.
The incident light O sequentially enters the panoramic optical unit 1 from the transmission area of the front refracting surface of the first panoramic annular unit block lens 10, is once reflected at the rear reflecting surface of the second panoramic annular unit block lens 11, is secondarily reflected at the front reflecting surface of the first panoramic annular unit block lens 10, enters the panoramic annular relay lens group 12 after exiting at the rear refracting surface of the second panoramic annular unit block lens 11, exits under the aberration correction function of the panoramic annular relay lens group 12, and is imaged on the image sensor 14 after passing through the filter 13.
The panoramic optical unit can image a surrounding 360-degree scene in real time, the minimum half field angle range of the panoramic optical unit is 30-60 degrees, and the maximum half field angle of the panoramic optical unit is larger than 90 degrees.
The surface of the optical filter is plated with an infrared cut-off filter membrane which can filter infrared light, so that only visible light on the image sensor can be imaged.
As shown in fig. 4, which is an imaging distribution diagram of the panoramic optical unit, the panoramic optical unit 1 forms a central imaging blind area S1 and an imaging area S2 by imaging, the central imaging blind area S1 corresponds to the imaging area being the sky, the imaging area S2 is 360 ° panoramic imaging, and the imaging shooting area is 360 ° surrounding the intelligent mowing robot. Through the panoramic imaging function of the panoramic optical unit 1, a larger imaging range can be obtained through binocular vision multi-frame imaging, imaging is realized within a range of 360 degrees, and the environment perception capability of the intelligent mowing robot is greatly enhanced.
And the IMU sensor unit 2 is used for acquiring the three-axis attitude and acceleration data of the robot and sending the acquired three-axis attitude and acceleration data to the main control module.
The IMU sensor is an inertial measurement unit, a device for measuring the three-axis attitude angle (or angular rate) and acceleration of the object. Generally, an IMU includes three single-axis accelerometers and three single-axis gyroscopes, the accelerometers detect acceleration signals of an object in three independent axes of a carrier coordinate system, and the gyroscopes detect angular velocity signals of the carrier relative to a navigation coordinate system, and measure angular velocity and acceleration of the object in three-dimensional space, and then solve the attitude of the object.
In this embodiment, the three-axis attitude and acceleration data acquired by the IMU sensor unit are transmitted to the main control module, so that the main control module can quickly know the position information of the mowing robot.
And the ultrasonic sensor unit 3 is used for acquiring the obstacle information around the robot working environment and sending the acquired obstacle information to the main control module.
An ultrasonic sensor is a sensor that converts an ultrasonic signal into another energy signal (typically an electrical signal). Ultrasonic waves are mechanical waves with a vibration frequency higher than 20 kHz. It has the features of high frequency, short wavelength, less diffraction, high directivity, directional propagation, etc. Ultrasonic waves hitting impurities or interfaces can generate significant reflection to form reflection echoes, and hitting moving objects can generate Doppler effect.
In the embodiment, the obstacle information acquired by the ultrasonic sensor is transmitted to the main control module, so that the main control module can avoid the obstacle in real time.
And the wheel speed odometer unit 4 is used for acquiring wheel speed mileage information of the robot and sending the acquired wheel speed mileage information to the main control module.
Odometry technology is key to autonomous robotic navigation because it is capable of self-localization in the environment. And the moving distance and the moving speed of the robot can be known.
The wheel speed mileage information and the IMU information can determine the position of the robot and the moving distance and the moving speed of the robot.
The main control module 101 is configured to receive data information sent by the panoramic optical unit, the IMU sensor unit, the ultrasonic sensor unit, and the wheel speed odometer unit, process the received data information to obtain position information of the robot, generate a working environment map of the robot, and send a control instruction to the motion module and the cutting module.
The main control module 101 comprises a computing unit, a control unit, a storage unit and a power supply unit;
the calculation module is used for calculating data information sent by the panoramic optical unit, the IMU sensor unit, the ultrasonic sensor unit and the wheel speed odometer unit and sending a calculation result to the control unit;
the control unit is used for sending a control instruction to the motion module and the cutting module according to the result obtained by the calculation of the calculation module;
the storage module is used for storing data information sent by the panoramic optical unit, the IMU sensor unit, the ultrasonic sensor unit and the wheel speed odometer unit;
and the power supply module is used for providing electric energy for the robot.
In this embodiment, the main control module is electrically connected to the image sensor IMU sensor unit, the ultrasonic sensor unit, and the wheel speed odometer unit, respectively, so that the main control module processes corresponding data information in time.
In the working process of the mowing robot, the main control module acquires a panoramic image generated by the image sensor, the image is identified and processed to detect the environment, a mowing area, an unhairing area and the like, then the position, the advancing direction, the distance, nearby obstacles and the like of the robot are calculated according to data information transmitted by the IMU sensor unit, the ultrasonic sensor unit and the wheel speed odometer unit, finally a map and pose information of the robot are generated, and the motion module and the cutting module are correspondingly controlled according to the generated information.
The main control module of this embodiment can carry out real-time processing and calculation to the image data that panoramic optical unit shot and the data that IMU sensor unit, ultrasonic sensor unit, fast odometer unit acquireed, can intelligent recognition lawn, people, fence, building etc. object, help mowing robot to realize real-time location and build the picture to can control mowing robot and remove and the work of mowing, and can keep away the barrier in real time and plan the route.
And the motion module 102 is configured to receive the control instruction sent by the main control module, and control the robot to move according to the received control instruction.
The motion module comprises a motor 5 and wheels 6; the main control module controls the motor to drive the wheels to rotate through the control unit so as to enable the robot to move.
And the cutting module 103 is used for receiving the control instruction sent by the main control module and controlling the robot to start/stop mowing according to the received control instruction.
In this embodiment, intelligence robot of mowing based on panorama machine vision combines panorama optical system 1 and the advantage of major control system 5, only needs intelligence robot of mowing itself just can realize the meadow work of mowing of the different scenes of different areas, need not a large amount of manpower and materials cost consumption, promotes the meadow maintenance efficiency greatly and need not to install complicated positioner and expensive price, compares and has obvious advantage in the robot of mowing in current market.
Compared with the prior art, the beneficial effect of this embodiment:
(1) the intelligent mowing robot based on the panoramic machine vision has the advantages of a panoramic optical system and a machine vision algorithm, wherein the panoramic optical system can image 360-degree scenery once by utilizing the catadioptric characteristic structure of the panoramic optical system, is a special imaging optical system with an ultra-large view field, solves the problem that the visual field range is small when a traditional camera system is used for positioning and environment perception, improves the robustness of the algorithm, and is more suitable for outdoor scene perception. Meanwhile, compared with a scheme of using the laser radar to sense the environment, the panoramic optical system has the advantages that the cost is greatly reduced, and meanwhile, image information which is not possessed by the laser radar can be provided.
(2) The intelligent robot of mowing based on panorama machine vision that this embodiment provided uses machine vision algorithm and panorama optical system to cooperate, has greatly promoted intelligent robot of mowing's work efficiency, has greatly reduced intelligent robot of mowing's cost, need not the manual work and has laid electronic fence or set up location basic station and location label, has greatly simplified intelligent robot of mowing's installation and maintenance cost, can use in a flexible way in the multiple scene that needs the lawn to be maintained.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (8)
1. An intelligent mowing robot based on panoramic machine vision comprises a robot shell and is characterized by further comprising a sensor module, a main control module, a motion module and a cutting module, wherein the sensor module, the main control module, the motion module and the cutting module are arranged in the robot shell; the main control module is respectively connected with the sensor module, the motion module and the cutting module;
the sensor module comprises a panoramic optical unit, an IMU sensor unit, an ultrasonic sensor unit and a wheel speed odometer unit;
the panoramic optical unit is used for acquiring panoramic image data and sending the acquired panoramic image data to the main control module;
the IMU sensor unit is used for acquiring three-axis attitude and acceleration data of the robot and sending the acquired three-axis attitude and acceleration data to the main control module;
the ultrasonic sensor unit is used for acquiring barrier information around the working environment of the robot and sending the acquired barrier information to the main control module;
the wheel speed odometer unit is used for acquiring wheel speed mileage information of the robot and sending the acquired wheel speed mileage information to the main control module;
the main control module is used for respectively receiving data information sent by the panoramic optical unit, the IMU sensor unit, the ultrasonic sensor unit and the wheel speed odometer unit, processing the received data information to obtain position information of the robot, generating a working environment map of the robot and sending a control instruction to the motion module and the cutting module;
the motion module is used for receiving the control instruction sent by the main control module and controlling the robot to move according to the received control instruction;
and the cutting module is used for receiving the control instruction sent by the main control module and controlling the robot to start/stop mowing according to the received control instruction.
2. The intelligent mowing robot based on the panoramic machine vision is characterized in that the panoramic optical unit comprises a first panoramic annular unit block lens, a second panoramic annular unit block lens, a panoramic annular relay lens group, an optical filter, an image sensor and a lens barrel which are coaxially arranged;
the surface of the first panoramic annular unit block lens close to the object plane comprises a convex front refraction surface, and the middle part of the front refraction surface is provided with a concave front reflection surface; the surface, close to the image surface, of the second panoramic annular unit block lens comprises a convex rear reflecting surface, and a convex rear refracting surface is arranged in the middle of the rear reflecting surface; incident light sequentially enters the optical filter from the front refracting surface, the rear reflecting surface, the front reflecting surface and the rear refracting surface through the panoramic annular relay lens group and reaches the image sensor for imaging.
3. The intelligent mowing robot based on the panoramic machine vision is characterized in that the main control module comprises a computing unit, a control unit, a storage unit and a power supply unit;
the calculation module is used for calculating data information sent by the panoramic optical unit, the IMU sensor unit, the ultrasonic sensor unit and the wheel speed odometer unit and sending a calculation result to the control unit;
the control unit is used for sending a control instruction to the motion module and the cutting module according to the result obtained by the calculation of the calculation module;
the storage module is used for storing data information sent by the panoramic optical unit, the IMU sensor unit, the ultrasonic sensor unit and the wheel speed odometer unit;
and the power supply module is used for providing electric energy for the robot.
4. The intelligent robot lawnmower based on panoramic machine vision according to claim 1, wherein the motion module comprises a motor, wheels; the wheels are driven to rotate by the motor so as to enable the robot to move.
5. The intelligent mowing robot based on the panoramic machine vision is characterized in that the rear reflecting surface of the second panoramic annular zone unit block lens is plated with a circular ring reflecting film.
6. The intelligent mowing robot based on the panoramic machine vision is characterized in that the surface of the optical filter is plated with an infrared cut-off filter membrane.
7. A panoramic machine vision based intelligent lawn mowing robot according to claim 1, wherein the minimum half field angle range in the panoramic optical unit is 30-60 degrees, and the maximum half field angle range is larger than 90 degrees.
8. The intelligent mowing robot based on the panoramic machine vision of claim 2, wherein the image formed by the image sensor comprises a central imaging blind area and an imaging area, the central imaging blind area corresponds to the sky, and the imaging area corresponds to a scene around the robot.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114274152A (en) * | 2021-12-21 | 2022-04-05 | 杭州环峻科技有限公司 | All-round robot of patrolling and examining |
| CN116034734A (en) * | 2023-03-31 | 2023-05-02 | 徐工汉云技术股份有限公司 | Safety monitoring system, method and device for harvester |
-
2021
- 2021-08-10 CN CN202110913350.7A patent/CN113498667A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114274152A (en) * | 2021-12-21 | 2022-04-05 | 杭州环峻科技有限公司 | All-round robot of patrolling and examining |
| CN116034734A (en) * | 2023-03-31 | 2023-05-02 | 徐工汉云技术股份有限公司 | Safety monitoring system, method and device for harvester |
| CN116034734B (en) * | 2023-03-31 | 2023-05-30 | 徐工汉云技术股份有限公司 | Safety monitoring system, method and device for harvester |
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