CN114815790A - Keep away barrier system, keep away barrier device and robot of mowing - Google Patents
Keep away barrier system, keep away barrier device and robot of mowing Download PDFInfo
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- CN114815790A CN114815790A CN202110062160.9A CN202110062160A CN114815790A CN 114815790 A CN114815790 A CN 114815790A CN 202110062160 A CN202110062160 A CN 202110062160A CN 114815790 A CN114815790 A CN 114815790A
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- 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
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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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
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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
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Abstract
The invention discloses an obstacle avoidance system, an obstacle avoidance device and a mowing robot. Obstacle avoidance system includes: the obstacle avoidance device and the mowing robot; wherein, keep away barrier device includes: a main board and a closed lead; two ends of the closed lead are respectively connected with the main board; the main board is used for introducing current to the closed lead through a signal generator arranged in the main board so as to generate a magnetic field signal with preset intensity around the closed lead; the mowing robot is used for detecting a magnetic field signal around the mowing robot through a magnetic field sensor arranged in the mowing robot when the mowing robot moves; and adjusting the moving direction of the mowing robot according to the direction and the strength of the detected magnetic field signal, so that the mowing robot is far away from the obstacle avoidance area. According to the technical scheme, the obstacle is not easily interfered by the external environment when being identified, the obstacle can be accurately and conveniently identified, and the obstacle avoidance efficiency can be improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of artificial intelligence, in particular to an obstacle avoidance system, an obstacle avoidance device and a mowing robot.
Background
Along with the continuous improvement of living standard of people, people have higher and higher requirements on leisure environment, places such as private gardens, parks and playgrounds become the best places for people to enjoy leisure and entertainment, but lawns such as private gardens, parks and playgrounds need to be irregularly trimmed so as to ensure the attractiveness.
At present, a mowing robot is generally adopted to replace manual trimming, but the mowing robot often encounters various obstacles in work. In general, obstacle avoidance methods for a mowing robot include recognizing an obstacle through sensor collision detection, recognizing an obstacle through visual recognition, detecting an obstacle through ultrasonic waves, and the like.
However, these recognition methods are easily shielded and interfered by the external environment to cause false recognition, which results in that the real obstacle cannot be recognized accurately, and further the situation that the mowing robot enters the obstacle area by mistake easily occurs, which greatly affects the accuracy of the mowing robot, and there is a great need for improvement.
Disclosure of Invention
The invention provides an obstacle avoidance system, an obstacle avoidance device and a mowing robot, which are used for accurately identifying an obstacle avoidance area and realizing accurate and convenient obstacle avoidance.
In a first aspect, an embodiment of the present invention provides an obstacle avoidance system, where the system includes: the obstacle avoidance device and the mowing robot; wherein, keep away barrier device includes: a main board and a closed lead; two ends of the closed lead are respectively connected with the main board;
the main board is used for introducing current to the closed conducting wire through a signal generator arranged in the main board, so that a magnetic field signal with preset intensity is generated around the closed conducting wire;
the mowing robot is used for detecting a magnetic field signal around the mowing robot through a magnetic field sensor arranged in the mowing robot when the mowing robot moves; and adjusting the moving direction of the mowing robot according to the direction and the strength of the detected magnetic field signal, so that the mowing robot is far away from the obstacle avoidance area.
Further, the system further comprises: a battery pack and a solar panel; the battery pack is connected with the solar panel and the mainboard respectively;
the solar panel is used for converting the absorbed solar energy into electric energy and charging the battery pack by using the electric energy;
the battery pack is used for supplying power to the mainboard.
Further, the system further comprises: the supporting column is used for fixing the solar panel, the battery pack and the main board; wherein the solar panel is arranged at the top end of the supporting column; the battery pack and the main board are arranged below the solar panel and are positioned on a fulcrum of the outer surface of the supporting column; or the battery pack and the main board are arranged inside the supporting column.
Further, the main board further includes: the wireless communication detection module is used for detecting whether the mowing robot moves to a monitoring range corresponding to the obstacle avoidance area; if the mowing robot is detected to move to the monitoring range corresponding to the obstacle avoidance area, starting the signal generator to enable the signal generator to be in a working state; if the mowing robot is detected to move out of the monitoring range corresponding to the obstacle avoidance area, the signal generator is closed, and the signal generator is in a dormant state; the working state is a state that the signal generator passes current to the closed lead; the dormant state is a state that the signal generator does not supply current to the closed conducting wire.
Further, the wireless communication detection module is specifically configured to send a start instruction to the signal generator when it is detected that the mowing robot moves into a monitoring range corresponding to the obstacle avoidance area, so that the signal generator responds to the start instruction to supply current to the closed conductor; when the mowing robot is detected to move out of the monitoring range corresponding to the obstacle avoidance area, a closing instruction is sent to the signal generator, and the signal generator is closed in response to the closing instruction and stops supplying current to the closed conducting wire.
Further, the wireless communication detection module is specifically configured to detect whether the mowing robot moves into/out of a monitoring range corresponding to the obstacle avoidance area through a predetermined wireless communication positioning manner; wherein the predetermined wireless communication positioning manner includes but is not limited to: lora, mobile hotspot WIFI, Zigbee, family Internet of things communication protocol technology Thread, Z-wave and Bluetooth.
In a second aspect, an embodiment of the present invention further provides an obstacle avoidance device, where the obstacle avoidance device includes: a main board and a closed lead; wherein, both ends of the closed lead are respectively connected with the mainboard;
the main board is used for introducing current to the closed conducting wire through a signal generator arranged in the main board, so that a magnetic field signal with preset intensity is generated around the closed conducting wire, and when the mowing robot moves outside an obstacle avoidance area defined by the closed conducting wire, the magnetic field signal around the mowing robot is detected through a magnetic field sensor arranged in the mowing robot; and if the strength of the magnetic field signal around the robot is detected to be greater than a preset threshold value, adjusting the moving direction of the robot, so that the robot is far away from the obstacle avoidance area.
Further, the apparatus further comprises: a battery pack and a solar panel; the battery pack is connected with the solar panel and the mainboard respectively;
the solar panel is used for converting the absorbed solar energy into electric energy and charging the battery pack by using the electric energy;
the battery pack is used for supplying power to the mainboard.
Further, the apparatus further comprises: the supporting column is used for fixing the solar panel, the battery pack and the main board; wherein the solar panel is arranged at the top end of the supporting column; the battery pack and the main board are arranged below the solar panel and are positioned on a fulcrum of the outer surface of the supporting column; or the battery pack and the main board are arranged inside the supporting column.
Further, the main board further includes: the wireless communication detection module is used for detecting whether the mowing robot moves to a monitoring range corresponding to the obstacle avoidance area; if the mowing robot is detected to move to the monitoring range corresponding to the obstacle avoidance area, starting the signal generator to enable the signal generator to be in a working state; if the mowing robot is detected to move out of the monitoring range corresponding to the obstacle avoidance area, the signal generator is closed, and the signal generator is in a dormant state; the working state is a state that the signal generator passes current to the closed lead; the dormant state is a state that the signal generator does not supply current to the closed conducting wire.
Further, the wireless communication detection module is specifically configured to send a start instruction to the signal generator when it is detected that the mowing robot moves into a monitoring range corresponding to the obstacle avoidance area, so that the signal generator responds to the start instruction to supply current to the closed conductor; when the mowing robot is detected to move out of the monitoring range corresponding to the obstacle avoidance area, a closing instruction is sent to the signal generator, and the signal generator is closed in response to the closing instruction and stops supplying current to the closed conducting wire.
In a third aspect, an embodiment of the present invention further provides a mowing robot, where a magnetic field sensor is disposed inside the mowing robot; when the mowing robot moves, the magnetic field sensor detects magnetic field signals around the mowing robot; and adjusting the moving direction of the mowing robot according to the direction and the strength of the detected magnetic field signal, so that the mowing robot is far away from the obstacle avoidance area.
The embodiment of the invention provides an obstacle avoidance system, an obstacle avoidance device and a mowing robot, wherein the system comprises: the obstacle avoidance device and the mowing robot; wherein, keep away barrier device includes: a main board and a closed lead; two ends of the closed lead are respectively connected with the main board; the main board is used for introducing current to the closed conducting wire through a signal generator arranged in the main board so as to generate a magnetic field signal with preset intensity around the closed conducting wire; the mowing robot is used for detecting a magnetic field signal around the mowing robot through a magnetic field sensor arranged in the mowing robot when the mowing robot moves; and adjusting the moving direction of the mowing robot according to the direction and the strength of the detected magnetic field signal, so that the mowing robot is far away from the obstacle avoidance area. The method and the device can solve the problem that the identification method in the prior art is easily shielded or interfered by the external environment, accurately and conveniently identify the obstacle, further improve the efficiency of avoiding the obstacle, and provide a new idea for avoiding the obstacle.
Drawings
Fig. 1a is a schematic structural diagram of an obstacle avoidance system according to an embodiment of the present invention;
fig. 1b is a schematic view of an electromagnetic induction scene of an obstacle avoidance system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an obstacle avoidance device according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a mowing robot provided by a third embodiment of the invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1a is a schematic structural diagram of an obstacle avoidance system according to an embodiment of the present invention. The embodiment can be applied to the situation of obstacle avoidance in a robot area, and is particularly applicable to a mowing robot, for example, the mowing robot walks in a lawn area, but partial areas in the lawn area are used for other work needs, and the mowing robot is not allowed to enter into disturbance.
Specifically, as shown in fig. 1a, an obstacle avoidance system according to an embodiment of the present invention includes an obstacle avoidance device 100 and a mowing robot 200.
Wherein, keep away barrier device 100 includes: a main board 110 and a sealing wire 120; both ends of the closed wire 120 are respectively connected with the main board 110; a main board 110 for passing current to the closed conductor 120 through a signal generator 111 disposed therein so that a magnetic field signal of a predetermined intensity is generated around the closed conductor 120;
a mowing robot 200 for detecting a magnetic field signal around the mowing robot by a magnetic field sensor provided inside the mowing robot while moving; and adjusting the moving direction of the robot mower according to the direction and the strength of the detected magnetic field signal, so that the robot mower 200 is far away from the obstacle avoidance area.
In this embodiment, the mowing robot 200 walks in the lawn area, and the closed conductor 120 encloses a part of the lawn area for other work needs, so as to prevent the mowing robot 200 from entering into the disturbance. The two ends of the closed conductive line 120 may be connected to the main board 110, or may be connected to the main board 110 by a conductive line inside the connection supporting column 150, which is not limited herein.
Fig. 1b is a schematic view of an electromagnetic induction scene of an obstacle avoidance system according to an embodiment of the present invention, as shown in fig. 1b, a signal generator 111 generates a current signal that is recognizable and has a certain anti-interference capability, and after the current signal is introduced into a closed conducting wire 120, the current signal generates a corresponding magnetic field signal according to an electromagnetic induction principle, so that a magnetic field is continuously generated near a lawn area surrounded by the closed conducting wire 120.
The mowing robot 200 is provided with a magnetic field sensor that can convert various magnetic fields and the amounts of changes thereof into electric signals to be output. During the traveling process, the mowing robot 200 detects and identifies the identifiable magnetic field signal generated around the closed conducting wire 120 through the magnetic field sensor, and once the magnetic field signal is detected, the closed conducting wire 120 is considered to be nearby, so that corresponding obstacle avoidance action is performed.
In an alternative embodiment, when the magnetic field signal around the mowing robot is detected by the magnetic field sensor arranged inside the mowing robot, whether the mowing robot 200 is in the obstacle avoidance area defined by the closed conducting wire 120 or not can be determined according to the direction of the magnetic field signal. If not, the self moving direction can be adjusted according to the intensity of the detected magnetic field signal. And if so, manually intervening to place the mowing robot outside the obstacle avoidance area.
Specifically, whether the magnetic field signal is the target magnetic field signal or not can be judged by the magnetic field strength. Once the magnetic field strength is detected to be within the preset threshold range, the magnetic field signal is considered as the target magnetic field signal, which is also representative of the surrounding enclosed conductive wire 120. The mowing robot 200 can adjust the motion parameters of the mowing robot according to the requirements of actual scenes, so that the obstacle avoidance is realized accurately. Among them, the movement parameters of the robot lawnmower 200 may include: at least one of a speed of motion, an acceleration of motion, and a direction of movement.
On the basis of the above technical solution, optionally, the obstacle avoidance system further includes: a battery pack 130 and a solar panel 140; wherein, the battery pack 130 is respectively connected with the solar panel 140 and the main board 110; a solar panel 140 for converting the absorbed solar energy into electric energy, and charging the battery pack 130 using the electric energy; and a battery pack 130 for supplying power to the main board 110.
On the basis of the technical solution of the present embodiment, a plurality of battery packs 130 may be set for standby. So configured, the solar energy can continuously charge the battery pack 130 to ensure sufficient power. The spare battery pack 130 may provide power to the motherboard 110 when rainy weather is encountered.
Further, keep away barrier system still includes: a support column 150 for fixing the solar panel 140, the battery pack 130 and the main board 110; wherein, the solar panel 140 is arranged on the top end of the support column 150; the battery pack 130 and the main board 110 are disposed below the solar panel 140 and on a fulcrum of the outer surface of the support column 150; alternatively, the battery pack 130 and the main board 110 are disposed inside the support post 150.
Alternatively, the battery pack 130 and the main board 110 may be assembled together in a box, placed under the solar panel 140, and positioned on a fulcrum at the outer surface of the support post 150. This is advantageous in that the solar panel 140 can block rainwater in rainy weather, thereby preventing water from being applied to the battery pack 130 and the main board 110. Alternatively, the battery pack 130 and the main board 110 may be directly placed inside the support posts 150.
The battery pack 130 has a limited amount of power and is easily consumed if it is always in an operating state. Further, the main board 110 further includes: the wireless communication detection module is used for detecting whether the mowing robot 200 moves to a monitoring range corresponding to the obstacle avoidance area; if the mowing robot 200 is detected to move to the monitoring range corresponding to the obstacle avoidance area, starting the signal generator 111, and enabling the signal generator 111 to be in a working state; if the mowing robot 200 is detected to move out of the monitoring range corresponding to the obstacle avoidance area, the signal generator 111 is closed, and the signal generator 111 is in a dormant state; wherein, the working state is a state that the signal generator 111 passes current to the closed conducting wire 120; the sleep state is a state in which the signal generator 111 does not supply current to the enclosed conductive line 120. The advantage of this arrangement is that when no wireless communication detection module detects the robot mower 200, the main board 110 is triggered to generate a pulse current, otherwise, the main board 110 enters the sleep energy saving mode, so as to save power.
Specifically, when the wireless communication detection module detects that the mowing robot 200 moves into the monitoring range corresponding to the obstacle avoidance area, a starting instruction is sent to the signal generator 111, so that the signal generator 111 responds to the starting instruction to lead current to the closed lead 120; when the wireless communication detection module detects that the mowing robot 200 moves out of the monitoring range corresponding to the obstacle avoidance area, a closing instruction is sent to the signal generator 111, so that the signal generator 111 stops introducing current to the closed conducting wire 120 in response to the closing instruction.
Preferably, the wireless communication detection module is specifically configured to detect whether the mowing robot 200 moves into/out of a monitoring range corresponding to the obstacle avoidance area through a predetermined wireless communication positioning manner; the predetermined wireless communication positioning method includes, but is not limited to: lora, WIFI, Zigbee, Thread, Z-wave and Bluetooth.
The obstacle avoidance system provided by the embodiment of the invention comprises: the obstacle avoidance device and the mowing robot; wherein, should keep away barrier device includes: a main board and a closed lead; two ends of the closed lead are respectively connected with the main board; the main board is used for introducing current to the closed conducting wire through a signal generator arranged in the main board so as to generate a magnetic field signal with preset intensity around the closed conducting wire; the mowing robot is used for detecting a magnetic field signal around the mowing robot through a magnetic field sensor arranged in the mowing robot when the mowing robot moves; and adjusting the moving direction of the mowing robot according to the direction and the strength of the detected magnetic field signal, so that the mowing robot is far away from the obstacle avoidance area. Compared with the prior art, the obstacle avoidance system provided by the embodiment of the invention can solve the problem that the identification method in the prior art is easily shielded or interfered by the external environment, accurately and conveniently identifies the obstacle, further improves the obstacle avoidance efficiency, and provides a new idea for obstacle avoidance. On the other hand, the solar power supply and the wireless communication detection module are used for controlling the starting and stopping of signal transmission, so that energy can be saved.
Example two
Fig. 2 is a schematic structural diagram of an obstacle avoidance apparatus according to a second embodiment of the present invention. As shown in fig. 2, the obstacle avoidance device 100 includes: a main board 110 and a closed wire 120.
Wherein, two ends of the closed conducting wire 120 are respectively connected with the main board 110; a main board 110 for passing current to the closed conductor 120 through a signal generator 111 disposed therein to generate a magnetic field signal of a predetermined intensity around the closed conductor 120, so that the magnetic field signal around the robot 200 is detected by a magnetic field sensor disposed therein when the robot moves; and adjusting the moving direction of the mowing robot 200 according to the direction and the strength of the detected magnetic field signal, so that the mowing robot 200 is far away from the obstacle avoidance area.
In this embodiment, the mowing robot 200 walks in the lawn area, and the closed conductor 120 encloses a part of the lawn area for other work needs, so as to prevent the mowing robot 200 from entering into the disturbance. The two ends of the closed conductive line 120 may be connected to the main board 110, or may be connected to the main board 110 by a conductive line inside the connection supporting column 150, which is not limited herein.
Specifically, the signal generator 111 generates a current signal that can be identified and has a certain anti-interference capability, and after the current signal is introduced into the closed conducting wire 120, the current signal generates a corresponding magnetic field signal according to the electromagnetic induction principle, so that a magnetic field is continuously generated near the lawn area surrounded by the closed conducting wire 120.
Further, keep away barrier device still includes: a battery pack 130 and a solar panel 140; wherein, the battery pack 130 is respectively connected with the solar panel 140 and the main board 110; a solar panel 140 for converting the absorbed solar energy into electric energy, and charging the battery pack 130 using the electric energy; and a battery pack 130 for supplying power to the main board 110.
On the basis of the technical solution of this embodiment, a plurality of battery packs 130 may be arranged in the obstacle avoidance device for standby. So configured, the solar energy can continuously charge the battery pack 130 to ensure sufficient power. The spare battery pack 130 may provide power to the motherboard 110 when rainy weather is encountered.
Optionally, the obstacle avoidance device further includes: a support column 150 for fixing the solar panel 140, the battery pack 130 and the main board 110; wherein, the solar panel 140 is arranged on the top end of the support column 150; the battery pack 130 and the main board 110 are arranged below the solar panel 140 and are positioned on a fulcrum of the outer surface of the support column 140; alternatively, the battery pack 130 and the main board 110 are disposed inside the support post 150.
Alternatively, the battery pack 130 and the main board 110 may be assembled together in a box, placed under the solar panel 140, and positioned on a fulcrum at the outer surface of the support post 150. This is advantageous in that the solar panel 140 can block rainwater in rainy weather, thereby preventing water from being applied to the battery pack 130 and the main board 110. Alternatively, the battery pack 130 and the main board 110 may be directly placed inside the support posts 150.
On the basis of the above technical solution, optionally, the main board 110 further includes: the wireless communication detection module is used for detecting whether the mowing robot 200 moves to a monitoring range corresponding to the obstacle avoidance area; if the mowing robot 200 is detected to move to the monitoring range corresponding to the obstacle avoidance area, starting the signal generator 111, and enabling the signal generator 111 to be in a working state; if the mowing robot 200 is detected to move out of the monitoring range corresponding to the obstacle avoidance area, the signal generator 111 is closed, and the signal generator 111 is in a dormant state; wherein, the working state is a state that the signal generator 111 passes current to the closed conducting wire 120; the sleep state is a state in which the signal generator 111 does not supply current to the enclosed conductive line 120. The advantage of this arrangement is that when no wireless communication detection module detects the robot mower 200, the signal generator 111 in the main board 110 is triggered to generate a pulse current, otherwise, the signal generator 111 enters a sleep energy saving mode to save power.
In this embodiment, when the wireless communication detection module detects that the mowing robot 200 moves into the monitoring range corresponding to the obstacle avoidance area, a start instruction is sent to the signal generator 111, so that the signal generator 111 responds to the start instruction and leads current to the closed conductor 120; when the wireless communication detection module detects that the mowing robot 200 moves out of the monitoring range corresponding to the obstacle avoidance area, a closing instruction is sent to the signal generator 111, so that the signal generator 111 is closed in response to the closing instruction and stops passing current to the closed conducting wire 120.
Further, the wireless communication detection module is specifically configured to detect whether the mowing robot 200 moves into/out of a monitoring range corresponding to the obstacle avoidance area through a predetermined wireless communication positioning manner; the predetermined wireless communication positioning method includes, but is not limited to: lora, WIFI, Zigbee, Thread, Z-wave and Bluetooth.
The obstacle avoidance device for eliminating in the embodiment of the invention comprises: a main board and a closed lead; wherein, two ends of the closed lead are respectively connected with the main board; the main board is used for introducing current to the closed lead through the signal generator arranged in the main board, so that a magnetic field signal with preset intensity is generated around the closed lead, and the magnetic field signal around the mowing robot is detected through the magnetic field sensor arranged in the main board when the mowing robot moves; and adjusting the moving direction of the mowing robot according to the direction and the strength of the detected magnetic field signal, so that the mowing robot is far away from the obstacle avoidance area. Compared with the prior art, on one hand, the obstacle avoidance device provided by the embodiment of the invention can generate a continuous magnetic field in the obstacle avoidance area for the recognition of the mowing robot, so that the mowing robot can accurately and conveniently avoid the obstacle. On the other hand, the solar power supply and the wireless communication detection module are used for controlling the starting and stopping of signal transmission, so that energy can be saved.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a mowing robot according to a third embodiment of the present invention. A magnetic field sensor is arranged in the mowing robot. When the robot mower moves, magnetic field signals around the robot mower are detected through the magnetic field sensor, and the moving direction of the robot mower is adjusted according to the direction and the strength of the detected magnetic field signals, so that the robot mower is far away from an obstacle avoidance area.
Optionally, when the magnetic field sensor detects the magnetic field signal around the robot, it may be determined whether the mowing robot 200 is in the obstacle avoidance area defined by the closed conductor 120 according to the direction of the magnetic field signal. If not, the self moving direction can be adjusted according to the intensity of the detected magnetic field signal. And if so, manually intervening to place the mowing robot outside the obstacle avoidance area.
Specifically, whether the magnetic field signal is the target magnetic field signal or not can be judged by the magnetic field strength. Once the magnetic field strength is detected to be within the preset threshold range, the magnetic field signal is considered as the target magnetic field signal, which is also representative of the surrounding enclosed conductive wire 120. The mowing robot 200 can adjust the motion parameters of the mowing robot according to the requirements of actual scenes, so that the obstacle avoidance is realized accurately. Among them, the movement parameters of the robot lawnmower 200 may include: at least one of a speed of motion, an acceleration of motion, and a direction of movement.
Fig. 3 illustrates a block diagram of an exemplary lawn mowing robot 200 suitable for use in implementing embodiments of the present invention. The lawn mowing robot 200 shown in fig. 3 is only an example, and should not bring any limitation to the functions and the range of use of the embodiment of the present invention.
As shown in fig. 3, the lawn mowing robot 200 is embodied in the form of a general purpose computing device. The components of the lawn mowing robot 200 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
The lawn mowing robot 200 typically includes a variety of computer system readable media. These media may be any available media that can be accessed by the robot lawnmower 200 and include both volatile and nonvolatile media, removable and non-removable media.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. The lawn mowing robot 200 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 3, and commonly referred to as a "hard drive"). Although not shown in FIG. 3, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28, such program modules 42 including but not limited to an operating system, one or more application programs, other program modules, and program data, each of which or some combination of which may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.
The lawn mowing robot 200 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), with one or more devices that enable a user to interact with the lawn mowing robot 200, and/or with any devices (e.g., network card, modem, etc.) that enable the lawn mowing robot 200 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 22. Also, the lawn mowing robot 200 may also communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the internet) via the network adapter 20. As shown, the network adapter 20 communicates with the other modules of the lawn mowing robot 200 over the bus 18. It should be appreciated that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the lawn mowing robot 200, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
The processing unit 16 executes programs stored in the system memory 28 to execute various functional applications and data processing, such as implementing the obstacle avoidance scheme provided by the embodiments of the present invention.
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 (10)
1. An obstacle avoidance system, the system comprising: the obstacle avoidance device and the mowing robot; wherein, keep away barrier device includes: a main board and a closed lead; two ends of the closed lead are respectively connected with the main board; the main board is used for introducing current to the closed conducting wire through a signal generator arranged in the main board, so that a magnetic field signal with preset intensity is generated around the closed conducting wire;
the mowing robot is used for detecting a magnetic field signal around the mowing robot through a magnetic field sensor arranged in the mowing robot when the mowing robot moves; and adjusting the moving direction of the mowing robot according to the direction and the strength of the detected magnetic field signal, so that the mowing robot is far away from the obstacle avoidance area.
2. The system of claim 1, further comprising: a battery pack and a solar panel; the battery pack is connected with the solar panel and the mainboard respectively;
the solar panel is used for converting the absorbed solar energy into electric energy and charging the battery pack by using the electric energy;
the battery pack is used for supplying power to the mainboard.
3. The system of claim 2, further comprising: the supporting column is used for fixing the solar panel, the battery pack and the main board; wherein the solar panel is arranged at the top end of the supporting column; the battery pack and the main board are arranged below the solar panel and are positioned on a fulcrum of the outer surface of the supporting column; or the battery pack and the main board are arranged inside the supporting column.
4. The system of claim 1, wherein the motherboard further comprises: the wireless communication detection module is used for detecting whether the mowing robot moves to a monitoring range corresponding to the obstacle avoidance area; if the mowing robot is detected to move to the monitoring range corresponding to the obstacle avoidance area, starting the signal generator to enable the signal generator to be in a working state; if the mowing robot is detected to move out of the monitoring range corresponding to the obstacle avoidance area, the signal generator is closed, and the signal generator is in a dormant state; the working state is a state that the signal generator passes current to the closed lead; the dormant state is a state that the signal generator does not supply current to the closed conducting wire.
5. The system of claim 4, wherein the wireless communication detection module is specifically configured to send a start instruction to the signal generator when it is detected that the mowing robot moves into a monitoring range corresponding to the obstacle avoidance area, so that the signal generator passes a current to the closed conductor in response to the start instruction; when the mowing robot is detected to move out of the monitoring range corresponding to the obstacle avoidance area, a closing instruction is sent to the signal generator, and the signal generator is closed in response to the closing instruction and stops supplying current to the closed conducting wire.
6. The system of claim 4, wherein the wireless communication detection module is specifically configured to detect whether the mowing robot moves into/out of a monitoring range corresponding to the obstacle avoidance area through a predetermined wireless communication positioning manner; wherein the predetermined wireless communication positioning manner includes but is not limited to: lora, mobile hotspot WIFI, Zigbee, family Internet of things communication protocol technology Thread, Z-wave and Bluetooth.
7. An obstacle avoidance apparatus, characterized in that, the obstacle avoidance apparatus includes: a main board and a closed lead; wherein, both ends of the closed lead are respectively connected with the mainboard;
the main board is used for introducing current to the closed conducting wire through a signal generator arranged in the main board, so that a magnetic field signal with preset intensity is generated around the closed conducting wire, and when the mowing robot moves outside an obstacle avoidance area defined by the closed conducting wire, the magnetic field signal around the mowing robot is detected through a magnetic field sensor arranged in the mowing robot; if the intensity of the magnetic field signal around the mowing robot is detected to be larger than a preset threshold value, the moving direction of the mowing robot is adjusted, and the mowing robot is far away from the obstacle avoidance area.
8. The apparatus of claim 7, further comprising: a battery pack and a solar panel; the battery pack is connected with the solar panel and the mainboard respectively;
the solar panel is used for converting the absorbed solar energy into electric energy and charging the battery pack by using the electric energy;
the battery pack is used for supplying power to the mainboard.
9. The apparatus of claim 7, wherein the motherboard further comprises: the wireless communication detection module is used for detecting whether the mowing robot moves to a monitoring range corresponding to the obstacle avoidance area; if the mowing robot is detected to move to the monitoring range corresponding to the obstacle avoidance area, starting the signal generator to enable the signal generator to be in a working state; if the mowing robot is detected to move out of the monitoring range corresponding to the obstacle avoidance area, the signal generator is turned off, and the signal generator is made to be in a dormant state; the working state is a state that the signal generator passes current to the closed lead; the dormant state is a state that the signal generator does not supply current to the closed conducting wire.
10. A robot mower is characterized in that a magnetic field sensor is arranged in the robot mower; when the mowing robot moves outside an obstacle avoidance area, detecting a magnetic field signal around the mowing robot through the magnetic field sensor; if the intensity of the magnetic field signal around the mowing robot is detected to be larger than a preset threshold value, the moving direction of the mowing robot is adjusted, and the mowing robot is far away from the obstacle avoidance area.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110062160.9A CN114815790A (en) | 2021-01-18 | 2021-01-18 | Keep away barrier system, keep away barrier device and robot of mowing |
| PCT/CN2021/140325 WO2022151932A1 (en) | 2021-01-18 | 2021-12-22 | Obstacle avoidance system, obstacle avoidance device, and mowing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110062160.9A CN114815790A (en) | 2021-01-18 | 2021-01-18 | Keep away barrier system, keep away barrier device and robot of mowing |
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| Publication Number | Publication Date |
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| CN114815790A true CN114815790A (en) | 2022-07-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110062160.9A Pending CN114815790A (en) | 2021-01-18 | 2021-01-18 | Keep away barrier system, keep away barrier device and robot of mowing |
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| CN (1) | CN114815790A (en) |
| WO (1) | WO2022151932A1 (en) |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100498602C (en) * | 2007-09-21 | 2009-06-10 | 浙江大学 | Robot electronic fencing control system |
| CN104737698A (en) * | 2013-12-27 | 2015-07-01 | 苏州宝时得电动工具有限公司 | Automatic lawn mower |
| WO2015115949A1 (en) * | 2014-01-30 | 2015-08-06 | Husqvarna Ab | Robotic working tool system with a boundary wire |
| CN109542092A (en) * | 2017-09-22 | 2019-03-29 | 苏州宝时得电动工具有限公司 | Automatic running device |
| CN110739733A (en) * | 2018-07-20 | 2020-01-31 | 上海棱式工业科技有限公司 | charging system and charging method |
| CN111949023B (en) * | 2020-07-31 | 2023-04-18 | 南京苏美达智能技术有限公司 | Boundary detection method of self-walking equipment and self-walking equipment |
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2021
- 2021-01-18 CN CN202110062160.9A patent/CN114815790A/en active Pending
- 2021-12-22 WO PCT/CN2021/140325 patent/WO2022151932A1/en active Application Filing
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