CN117032248A - Portable remote control weeder - Google Patents
Portable remote control weeder Download PDFInfo
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- CN117032248A CN117032248A CN202311066161.6A CN202311066161A CN117032248A CN 117032248 A CN117032248 A CN 117032248A CN 202311066161 A CN202311066161 A CN 202311066161A CN 117032248 A CN117032248 A CN 117032248A
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- weeding machine
- module
- machine body
- weeding
- remote control
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- 238000009333 weeding Methods 0.000 claims abstract description 97
- 238000004891 communication Methods 0.000 claims abstract description 18
- 238000005381 potential energy Methods 0.000 claims description 17
- 229910052782 aluminium Inorganic materials 0.000 claims description 11
- 238000000034 method Methods 0.000 claims description 11
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 10
- 230000002159 abnormal effect Effects 0.000 claims description 6
- 238000013473 artificial intelligence Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 5
- 230000001276 controlling effect Effects 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000003062 neural network model Methods 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 238000012549 training Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 description 4
- 239000004411 aluminium Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000002363 herbicidal effect Effects 0.000 description 3
- 235000019506 cigar Nutrition 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 244000141353 Prunus domestica Species 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- AZDRQVAHHNSJOQ-UHFFFAOYSA-N alumane Chemical compound [AlH3] AZDRQVAHHNSJOQ-UHFFFAOYSA-N 0.000 description 1
- 238000013135 deep learning Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000010413 gardening Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Abstract
The invention relates to weeding equipment, and particularly discloses a portable remote control weeding machine which comprises a weeding machine body and a remote controller in wireless communication connection with the weeding machine body; the weeder body includes: the device comprises an electric wheel set, a processor, a communication module, a positioning module, a path planning module, an obstacle avoidance module, a safety module and the like. The portable remote control weeding machine provided by the invention has the following advantages: the operation efficiency and the safety of the weeding machine are effectively improved through the introduction of the path planning module, the obstacle avoidance module and the safety module; the intelligent control is realized by adopting an artificial intelligent algorithm, and the autonomous path planning can be performed according to the instruction of the remote controller and the position information of the positioning module, so that the intelligent level of the weeding machine is improved; the powerful cruising ability and the vehicle-mounted charging function can meet the mobile operation requirements of a large range and different places.
Description
Technical Field
The invention relates to weeding equipment, in particular to a portable remote control weeding machine.
Background
With the continuous development of social economy, the urban greening area is continuously increased, and the construction of garden landscapes is increasingly emphasized. However, the traditional manual weeding mode is time-consuming and labor-consuming, has low efficiency and can not meet the requirements of modern city construction. For this reason, the remote control weeder is used as a novel gardening tool to gradually reach the corner of the head. Most of remote control weeders in the market are single in function, lack of intellectualization and have to be improved in operation experience.
Disclosure of Invention
The invention aims to provide a portable remote control weeding machine which can automatically plan a weeding path and automatically advance weeding besides manual remote control, and is beneficial to improving the operation experience during weeding.
In order to achieve the above purpose, the invention provides a portable remote control weeding machine, which comprises a weeding machine body and a remote controller in wireless communication connection with the weeding machine body; the weeder body includes:
an electric wheel set;
the processor is arranged in the weeding machine body and is electrically connected with the electric wheel set, and is used for receiving signals sent by the remote controller and controlling the weeding machine body to operate according to the received signals;
the communication module is arranged in the weeding machine body and is used for realizing wireless communication between the remote controller and the processor;
the positioning module is arranged in the weeding machine body and used for acquiring the position information of the weeding machine body and providing the position information for the processor;
the path planning module is electrically connected with the processor and is used for planning the path of the remote control weeding machine according to the position information acquired by the positioning module;
the obstacle avoidance module is electrically connected with the processor and used for carrying out obstacle avoidance control on the weeding machine body according to the position information acquired by the positioning module;
and the safety module is electrically connected with the processor and used for monitoring the running state of the weeding machine body and automatically stopping the weeding machine body from running when abnormal conditions are met.
Optionally, the positioning module comprises a GPS module and a base station positioning module, and is used for positioning the weeder body in an outdoor environment and an indoor environment respectively.
Optionally, when the path planning module performs path planning, at least one of a shortest path algorithm, a potential energy field algorithm, an artificial intelligence algorithm and a custom rule algorithm is adopted.
Alternatively to this, the method may comprise,
the shortest path algorithm comprises: finding out the shortest driving route in the area appointed by the remote controller, and then enabling the weeding machine body to perform weeding operation according to the driving route;
the potential energy field algorithm comprises: dividing the area designated by the remote controller into different subareas, and distributing different potential energy values for each subarea; in the running process of the weeding machine, selecting a path with the fastest potential energy descending according to the potential energy field model, so as to realize path planning;
the artificial intelligence algorithm comprises: training a neural network model to enable the model to conduct autonomous path planning according to the instruction of the remote controller and the position information of the positioning module;
the custom rule algorithm comprises at least one of obstacle avoidance rules, steering rules and destination rules.
Optionally, the obstacle avoidance module includes at least one of a laser radar, a camera, or an ultrasonic sensor.
Optionally, the abnormal condition includes at least one of the following:
the communication module loses communication connection with the remote controller;
the forward speed of the weeding machine body is regulated out of control;
the temperature or humidity inside the weeder body is too high.
Optionally, the weeder body includes hobbing cutter and drives the weeder motor of hobbing cutter pivoted.
Optionally, the weeder body still include with the aluminium battery that weeding motor electricity is connected, with the 220V commercial power interface that charges of aluminium battery electricity is connected, and with the 12V direct current interface that charges of aluminium battery electricity is connected.
The invention has the beneficial effects that: the portable remote control weeding machine has the characteristics of high intelligence and high safety, and further improves the operation experience of garden tools; specifically:
(1) the operation efficiency and the safety of the weeding machine are effectively improved through the introduction of the path planning module, the obstacle avoidance module and the safety module;
(2) the intelligent control is realized by adopting an artificial intelligent algorithm, and the autonomous path planning can be performed according to the instruction of the remote controller and the position information of the positioning module, so that the intelligent level of the weeding machine is improved;
(3) the powerful cruising ability and the vehicle-mounted charging function can meet the mobile operation requirements of a large range and different places.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained from these drawings without inventive faculty for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a portable remote control weeding machine according to the embodiment.
In the figure:
1. a weeder body; 101. an electric wheel set; 102. a processor; 103. a communication module; 104. a positioning module; 105. a path planning module; 106. an obstacle avoidance module; 107. a security module; 108. a hob; 109. an aluminum cell; 110. 220V mains supply charging interface; 111. a 12V dc charging interface;
2. and a remote controller.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions of 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 apparent that the embodiments described below are only some embodiments of the present invention, not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The technical scheme of the invention is further described below by the specific embodiments with reference to the accompanying drawings.
This embodiment provides a portable remote control weeder, is applicable to the application scenario that prunes golf course, football court or outdoor landscape lawn etc. except that can manual remote control, can also automatic planning weeding route and automatic forward weeding, is favorable to improving the operation experience when weeding.
Referring to fig. 1, in the present embodiment, a portable remote control weeding machine includes a weeding machine body 1 and a remote control 2 connected to the weeding machine body 1 in wireless communication;
wherein, weeder body 1 includes:
an electric wheel set 101;
the processor 102 is arranged in the weeding machine body 1 and is electrically connected with the electric wheel set 101, and is used for receiving signals sent by the remote controller 2 and controlling the weeding machine body 1 to operate according to the received signals;
the communication module 103 is arranged in the weeding machine body 1 and is used for realizing wireless communication between the remote controller 2 and the processor 102;
the positioning module 104 is arranged in the weeding machine body 1 and is used for acquiring the position information of the weeding machine body 1 and providing the position information for the processor 102;
the path planning module 105 is electrically connected with the processor 102 and is used for planning a path of the remote control weeding machine according to the position information acquired by the positioning module 104;
the obstacle avoidance module 106 is electrically connected with the processor 102 and is used for performing obstacle avoidance control on the weeding machine body 1 according to the position information acquired by the positioning module 104;
the safety module 107 is electrically connected with the processor 102 and is used for monitoring the operation state of the weeding machine body 1 and automatically stopping the weeding machine body 1 when an abnormal situation is encountered.
Alternatively, the remote control 2 includes a direction key, an acceleration key, a brake key, etc., and may be used to control the advance, the retreat, the stop, etc. of the herbicidal body 1.
The portable remote control weeder provided by the embodiment has the following three operation modes:
(1) in general, the weeding machine body 1 can be pushed to advance to weed by manually holding the weeding machine body 1;
(2) the remote control unit 2 is used for remotely controlling the weeding machine body 1 to move back and forth and left and right so as to remotely control weeding;
(3) after a region is designated by the remote controller 2 or the control panel on the weeder body 1, the weeder body 1 automatically plans a weeding path and automatically performs weeding.
In this embodiment, the positioning module 104 includes a GPS module and a base station positioning module 104, which are used to implement positioning of the herbicidal apparatus body 1 in outdoor and indoor environments, respectively.
In this embodiment, the path planning module 105 performs autonomous path planning on the remote control weeding machine according to the instruction sent by the remote controller 2 and the position information acquired by the positioning module 104. Specifically, the path planning module 105 performs path planning by using at least one of a shortest path algorithm, a potential energy field algorithm, an artificial intelligence algorithm and a custom rule algorithm.
(1) Shortest path algorithm: the algorithm aims to find the shortest path from the start point to the end point. Common shortest path algorithms include Dijkstra algorithm, a-x algorithm, floyd-Warshall algorithm, and the like. In the path planning of the weeder, the algorithms can be used for calculating the designated area of the remote controller 2 to find out the optimal driving route, so that the weeder can complete the operation task in a limited time.
(2) Potential energy field algorithm: the algorithm converts the path planning problem into the potential energy reduction problem by constructing a potential energy field model. In weeder path planning, an area may be divided into different sub-areas and each sub-area may be assigned a different potential energy value. In the running process of the weeding machine, a path with the fastest potential energy drop can be selected according to the potential energy field model, so that path planning is realized.
(3) Artificial intelligence algorithm: in weeder path planning, paths can be planned by utilizing artificial intelligent algorithms, such as deep learning, reinforcement learning and the like. By training the neural network model, the model is enabled to conduct autonomous path planning according to the instructions of the remote controller 2 and the position information of the positioning module 104. The method has a strong intelligent level, and can be self-adaptive according to different scenes and operation requirements.
(4) The rules are based on an algorithm: the algorithm performs path planning on the weeder by designing a set of rules according to the instruction sent by the remote controller 2 and the position information of the positioning module 104. For example, obstacle avoidance rules, steering rules, destination rules, etc. may be set. The method is simple and feasible, and is suitable for some simple operation scenes.
In practical application, a proper path planning algorithm can be selected according to different operation scenes and requirements. Meanwhile, various algorithms can be fused, so that more efficient and intelligent path planning can be realized. In addition, the operation state and the operation progress of the weeding machine can be monitored in real time, the path planning algorithm can be optimized and adjusted, and the operation efficiency and the safety of the weeding machine body 1 are further improved.
Optionally, the obstacle avoidance module 106 includes at least one of a lidar, a camera, or an ultrasonic sensor. When obstacle avoidance module 106 detects an obstacle in front of the path of motion, it may automatically control to stop advancing.
In this embodiment, the abnormal condition includes at least one of the following: (1) the communication module 103 loses communication connection with the remote controller 2; (2) the forward speed of the weeding machine body 1 is regulated out of control; (3) the temperature or humidity inside the herbicidal body 1 is too high.
The weeding machine body 1 comprises a hob 108, a weeding motor for driving the hob 108 to rotate, an aluminum battery 109 electrically connected with the weeding motor, a 220V commercial power charging interface 110 electrically connected with the aluminum battery 109, and a 12V direct current charging interface 111 electrically connected with the aluminum battery 109.
It can be appreciated that the aluminum battery 109 has a stronger endurance, which is beneficial to improving the duration of continuous operation. Can supply power through 220V commercial power interface 110 that charges, also can be connected 12V direct current interface 111 to the cigar lighter of car, get the electricity from the cigar lighter, further promote the convenience.
The portable remote control weeding machine provided by the invention has the characteristics of high intelligence and high safety, so that the operation experience of garden tools is improved; specifically:
(1) the operation efficiency and the safety of the weeding machine are effectively improved through the introduction of the path planning module 105, the obstacle avoidance module 106 and the safety module 107;
(2) the intelligent control is realized by adopting an artificial intelligent algorithm, and the autonomous path planning can be performed according to the instruction of the remote controller 2 and the position information of the positioning module 104, so that the intelligent level of the weeding machine is improved;
(3) the powerful cruising ability and the vehicle-mounted charging function can meet the mobile operation requirements of a large range and different places.
The foregoing description of the embodiments has been presented for purposes of illustration and description. It is not intended to be exhaustive or to limit the disclosure. Individual elements or features of a particular embodiment are generally not limited to the particular embodiment, but, where applicable, may be interchanged and used with the selected embodiment even if not specifically shown or described. The same elements or features may also be varied in many ways. Such variations are not to be regarded as a departure from the disclosure, and all such modifications are intended to be included within the scope of the disclosure.
Example embodiments are provided so that this disclosure will be thorough, and will fully convey the scope to those skilled in the art. Numerous details are set forth, such as examples of specific parts, devices, and methods, in order to provide a thorough understanding of embodiments of the present disclosure. It will be apparent to one skilled in the art that the exemplary embodiments may be embodied in many different forms without the use of specific details, and neither should be construed to limit the scope of the disclosure. In certain example embodiments, well-known processes, well-known device structures, and well-known techniques are not described in detail.
The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "includes," and "including" are inclusive and therefore specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order discussed and illustrated, unless specifically indicated. It should also be appreciated that additional or alternative steps may be employed.
When an element or layer is referred to as being "on," "engaged with," "connected to" or "coupled to" another element or layer, it can be directly on, engaged with, connected to or coupled to the other element or layer, or intervening elements or layers may also be present. In contrast, when an element or layer is referred to as being "directly on" … …, "" directly engaged with "… …," "directly connected to" or "directly coupled to" another element or layer, there may be no intervening elements or layers present. Other words used to describe the relationship of elements should be interpreted in a similar manner (e.g., "between … …" and "directly between … …", "adjacent" and "directly adjacent", etc.). The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items. Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region or section from another element, component, region or section. Unless clearly indicated by the context, terms such as the terms "first," "second," and other numerical values are used herein to not imply a sequence or order. Accordingly, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.
Spatially relative terms, such as "inner," "outer," "below," "beneath," "above," "upper" and the like, may be used herein for ease of description to describe a relationship between one element or feature and another element or feature as illustrated in the figures. Spatially relative terms may be intended to encompass different orientations of the device in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the example term "below" … … can encompass both upward and downward orientations. The device may be otherwise oriented, such as rotated 90 degrees or other orientations and the spatially relative descriptors herein interpreted.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. The portable remote control weeding machine is characterized by comprising a weeding machine body (1) and a remote controller (2) in wireless communication connection with the weeding machine body (1); the weeding machine body (1) comprises:
an electric wheel set (101);
the processor (102) is arranged in the weeding machine body (1) and is electrically connected with the electric wheel set (101) and is used for receiving signals sent by the remote controller (2) and controlling the weeding machine body (1) to operate according to the received signals;
the communication module (103) is arranged in the weeding machine body (1) and is used for realizing wireless communication between the remote controller (2) and the processor (102);
the positioning module (104) is arranged in the weeding machine body (1) and is used for acquiring the position information of the weeding machine body (1) and providing the position information for the processor (102);
the path planning module (105) is electrically connected with the processor (102) and is used for planning the path of the remote control weeding machine according to the position information acquired by the positioning module (104);
the obstacle avoidance module (106) is electrically connected with the processor (102) and is used for carrying out obstacle avoidance control on the weeding machine body (1) according to the position information acquired by the positioning module (104);
the safety module (107) is electrically connected with the processor (102) and is used for monitoring the operation state of the weeding machine body (1) and automatically stopping the weeding machine body (1) from operating when abnormal conditions are met.
2. The remote control weeding machine according to claim 1, wherein: the positioning module (104) comprises a GPS module and a base station positioning module (104) and is used for realizing the positioning of the weeding machine body (1) in an outdoor environment and an indoor environment respectively.
3. The remote control weeding machine according to claim 1, wherein: and when the path planning module (105) performs path planning, at least one of a shortest path algorithm, a potential energy field algorithm, an artificial intelligence algorithm and a custom rule algorithm is adopted.
4. A remote control weeding machine according to claim 3, wherein:
the shortest path algorithm comprises: finding out the shortest driving route in the designated area of the remote controller (2), and then enabling the weeding machine body (1) to perform weeding operation according to the driving route;
the potential energy field algorithm comprises: dividing the area appointed by the remote controller (2) into different subareas, and distributing different potential energy values for each subarea; in the running process of the weeding machine, selecting a path with the fastest potential energy descending according to the potential energy field model, so as to realize path planning;
the artificial intelligence algorithm comprises: training a neural network model to enable the model to conduct autonomous path planning according to the instruction of the remote controller (2) and the position information of the positioning module (104);
the custom rule algorithm comprises at least one of obstacle avoidance rules, steering rules and destination rules.
5. The remote control weeding machine according to claim 1, wherein: the obstacle avoidance module (106) comprises at least one of a laser radar, a camera or an ultrasonic sensor.
6. The remote control weeding machine according to claim 1, wherein: the abnormal condition includes at least one of the following:
the communication module (103) loses communication connection with the remote controller (2);
the forward speed of the weeding machine body (1) is regulated out of control;
the internal temperature or humidity of the weeding machine body (1) is too high.
7. The remote control weeding machine according to claim 1, wherein: the weeding machine body (1) comprises a hob (108) and a weeding motor for driving the hob (108) to rotate.
8. The remote control weeding machine according to claim 7, wherein: the weeding machine body (1) further comprises an aluminum battery (109) electrically connected with the weeding motor, a 220V mains supply charging interface (110) electrically connected with the aluminum battery (109), and a 12V direct current charging interface (111) electrically connected with the aluminum battery (109).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311066161.6A CN117032248A (en) | 2023-08-22 | 2023-08-22 | Portable remote control weeder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311066161.6A CN117032248A (en) | 2023-08-22 | 2023-08-22 | Portable remote control weeder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117032248A true CN117032248A (en) | 2023-11-10 |
Family
ID=88637159
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311066161.6A Pending CN117032248A (en) | 2023-08-22 | 2023-08-22 | Portable remote control weeder |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117032248A (en) |
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2023
- 2023-08-22 CN CN202311066161.6A patent/CN117032248A/en active Pending
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