CN204362577U - A kind of intelligent grass-removing system - Google Patents
A kind of intelligent grass-removing system Download PDFInfo
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- CN204362577U CN204362577U CN201420806484.4U CN201420806484U CN204362577U CN 204362577 U CN204362577 U CN 204362577U CN 201420806484 U CN201420806484 U CN 201420806484U CN 204362577 U CN204362577 U CN 204362577U
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Abstract
A kind of intelligent grass-removing system, comprise: the support being positioned over mowing area periphery, cantilever tip is provided with image collecting device, and image collecting device is connected with host computer, host computer comprises client, image processing module and processor, and image processing module connects client and processor; Processor connects mower by Zig Bee wireless communication module; Mower comprises single-chip microcomputer, and single-chip microcomputer is provided with GPS module, single-chip microcomputer asynthesis thing monitoring modular, photoelectric encoder, driver module and voltage transformation module; Photoelectric encoder is arranged on the motor gear of driver module inside; Described single-chip microcomputer connects wireless communication module; Mower top cover is rectangle top cover, and mower top cover is divided into two parts along mower craspedodrome direction: anterior and rear portion; Described mower top cover front portion is that the first material is made; Mower back part of top cover is that the second material is made; First material and the second material are different materials.It does not need border fence, and coverage rate is complete.
Description
Technical field
The utility model relates to a kind of automation field, particularly relates to a kind of intelligent grass-removing system.
Background technology
Along with expanding economy, the quickening of urban afforestation process, the raising gradually of people's environmental consciousness, Lawn Industry have also been obtained swift and violent development.Pruning large-scale public lawns such as gardens, athletic ground, campus, airports every year and safeguarding all needs to consume a large amount of human and material resources and financial resources.And because traditional mower automaticity is low, it is large to pollute, can have an impact to practitioner's body and mind, health.Therefore, traditional mower is just replaced by intelligent grass-removing, and intelligent grass-removing becomes the mark of era development day by day.
By to the research of intelligent grass-removing decades and accumulation, achieve certain achievement, have developed a series of intelligent grass-removing robot, and there has been relevant patent (patent No.: CN201210232224.6).But the most of similar nature of present intelligent grass-removing, part needs manual intervention to get around barrier, and namely allow to independently get around barrier, but can not ensure to cover all regions completely, remaining level ground of not mowing is by manually pruning.And present intelligent grass-removing use before need border, lawn and the inaccessiable region of border fence, stationary obstruction and mower to be fenced up tectonic boundary fence with cable, form working region, intelligent grass-removing robot is navigated by the signal of telecommunication in induction cable.And the barrier that non-cable is determined is detected by ultrasonic sensor and simply detours, but the traversal of working region can not be ensured.Therefore, for cutting the grass on a lawn, we need a kind of more autonomous, that efficiency is higher device to raise the efficiency, and reduce costs.
Prior art is Method of Spreading Design on the basis to broad, level and smooth lawn.Cut zone is wherein undertaken dividing by loaded down with trivial details cable laying tectonic boundary fence.Visible, the lawn having the place such as pond, flower nursery is needed to carry out a large amount of layings, not only wastes a large amount of human and material resources and financial resources, and limit the mobility of intelligent grass-removing.In addition, the camera head that the cognition of situation of mowing in current subrange is mainly carried by mower top and the data fusion of various sensor, not only limit the cognitive range of mower like this, cause inevitable repeatability, and cause the complexity of data processing, not easily reach the effect of region all standing.Finally, prior art is difficult to cut out corresponding figure according to artificial thought (such as wanting to cut out in one piece of region the printed words of " Chinese dream ").
Utility model content
In order to solve the problems of the technologies described above, the utility model proposes a kind of intelligent grass-removing system, this lawn mower system does not need to lay border fence, can realize independently getting around barrier simultaneously, realize the covering completely in mowing region.
To achieve these goals, the utility model adopts following technical scheme:
A kind of intelligent grass-removing system, comprise: the support being positioned over mowing area periphery, described cantilever tip is provided with image collecting device, described image collecting device is connected with host computer, described host computer comprises client, image processing module and processor, described client is human-computer interaction interface, and described image processing module connects client and processor; Described processor connects mower by ZigBee wireless communication module; Described mower comprises single-chip microcomputer, and described single-chip microcomputer is provided with GPS module, described single-chip microcomputer asynthesis thing monitoring modular, photoelectric encoder, driver module and voltage transformation module; Described photoelectric encoder is arranged on the motor gear of driver module inside; Described single-chip microcomputer connects wireless communication module; Described mower top cover is rectangle top cover, and described mower top cover is divided into two parts along mower craspedodrome direction: anterior and rear portion; Described mower top cover front portion is that the first material is made; Described mower back part of top cover is that the second material is made; Described first material and the second material are different materials.
Described single-chip microcomputer is MC9S12XS128, and described single-chip microcomputer is connected with crystal oscillating circuit, reset circuit and power supply.
Described driver module comprises: motor and motor-drive circuit, and described motor-drive circuit is connected on two terminals of motor.
Drive circuit on the first terminal of described motor comprises: the first high-speed photoelectric coupler 6n137, the AN end of described first high-speed photoelectric coupler 6n137 connects voltage transformation module output by resistance R3, VCC termination+12V the voltage source of described first high-speed photoelectric coupler 6n137, the GND of described first high-speed photoelectric coupler 6n137 holds ground connection, the GND end of described first high-speed photoelectric coupler 6n137 and the indirect electric capacity C4 of VCC end, VO end and the VCC terminating resistor R5 of described first high-speed photoelectric coupler 6n137, the VO end of described first high-speed photoelectric coupler 6n137 connects the IN end of the first driving chip BTS7960 by resistance R1, the INH end of described first driving chip BTS7960 connects+12V voltage source by resistance R2, the SR end of described first driving chip BTS7960 is by resistance R4 ground connection, described resistance R4 is connected in parallel electric capacity C5, the IS end of described first driving chip BTS7960 is by resistance R6 ground connection, the OUT end of described first driving chip BTS7960 to hold with VS between forward be connected diode D2, the voltage source of the VS termination+12V of described first driving chip BTS7960, the OUT end of described first driving chip BTS7960 connects the first terminal of motor, drive circuit on second terminal of described motor comprises: the second high-speed photoelectric coupler 6n137, the AN end of described second high-speed photoelectric coupler 6n137 connects voltage transformation module output by resistance R10, VCC termination+12V the voltage source of described second high-speed photoelectric coupler 6n137, the GND of described second high-speed photoelectric coupler 6n137 holds ground connection, the GND end of described second high-speed photoelectric coupler 6n137 and the indirect electric capacity C18 of VCC end, VO end and the VCC terminating resistor R14 of described second high-speed photoelectric coupler 6n137, the VO end of described second high-speed photoelectric coupler 6n137 connects the IN end of the second driving chip BTS7960 by resistance R7, the INH end of described second driving chip BTS7960 connects+12V voltage source by resistance R8, the SR end of described second driving chip BTS7960 is by resistance R9 ground connection, described second resistance R9 is connected in parallel electric capacity C17, the IS end of described second driving chip BTS7960 is by resistance R11 ground connection, the OUT end of described second driving chip BTS7960 to hold with VS between forward be connected diode D2, the voltage source of the VS termination+12V of described second driving chip BTS7960, the OUT end of described second driving chip BTS7960 connects the second terminal of motor.
Described obstacle detection module comprises: several touch sensors and several ultrasonic sensors; Described touch sensor is arranged on the lateral wall of mower uniformly; Described ultrasonic sensor is arranged on the lateral wall of mower uniformly; The output signal of described touch sensor connects the interrupt signal end of single-chip microcomputer.
The driving chip of described Zig Bee wireless communication module is CC2530.
Described mower also comprises overturning-preventing module, described overturning-preventing module comprises: falling sensor, VCC termination+5V the voltage source of described overturning-preventing sensor, the earth terminal ground connection of described sensor, the inverting input of the output termination amplifier A1 of described sensor, the normal phase input end of described amplifier A1 connects+5V voltage source by resistance R42, the normal phase input end of described amplifier A1 is by resistance R45 ground connection, the inverting input of described amplifier A1 is by resistance R44 ground connection, the output of described amplifier A1 connects+5V voltage source by resistance R43, the power supply termination voltage source of described amplifier A1, the earth terminal ground connection of described amplifier A1, the output of described amplifier A1 is the output of overturning-preventing module, the output of described overturning-preventing module connects the interrupt pin of single-chip microcomputer.
The serial ports that is connected with between described single-chip microcomputer and Zig Bee wireless communication module turns USB interface, and the driving chip that described serial ports turns USB interface is PL2303.
The beneficial effects of the utility model are:
1, to be mowed on-the-spot image information through image analysis software analysis, process by camera acquisition, on computers position machine delimit the region of mowing or the pattern wanting structure by mouse, the action command of mower is sent to by Zig Bee wireless telecommunications, instruct mower to mow, thus reach effect that is economic, convenient and region all standing.
2, eliminate the laying of border fence, make whole mowing process rapidly and efficiently;
3, mower has velocity measuring, overturning-preventing function, makes lawn mower system intellectuality higher, uses convenient.
4, the present invention can cut out any word or pattern according to owner's demand on lawn.
Accompanying drawing explanation
Fig. 1 the utility model system diagram;
The concrete block diagram of Fig. 2 the utility model system;
Fig. 3 single-chip minimum system figure;
Fig. 4 voltage transformation module circuit diagram;
Fig. 5 motor-drive circuit figure;
Fig. 6 Zig Bee wireless communication line figure;
Fig. 7 serial ports turns USB circuit diagram;
Fig. 8 overturning-preventing module circuit diagram.
Wherein, 1 support; 2 image collecting devices; 3 treat mowing zone boundary line.
Embodiment
In order to better understand the technical solution of the utility model, below in conjunction with accompanying drawing, the utility model is described in further detail.
As shown in Figures 1 and 2, a kind of intelligent grass-removing system, comprise: the support being positioned over mowing area periphery, described cantilever tip is provided with image collecting device, described image collecting device is connected with host computer, described host computer comprises client, image processing module and processor, and described client is human-computer interaction interface, and described image processing module connects client and processor; Described processor connects mower by Zig Bee wireless communication module; Described mower comprises single-chip microcomputer, and described single-chip microcomputer is provided with GPS module, described single-chip microcomputer asynthesis thing monitoring modular, photoelectric encoder, driver module and voltage transformation module; Described photoelectric encoder is arranged on the motor gear of driver module inside; Described single-chip microcomputer connects wireless communication module; Described mower top cover is rectangle top cover, and described mower top cover is divided into two parts along mower craspedodrome direction: anterior and rear portion; Described mower top cover front portion is that the first material is made; Described mower back part of top cover is that the second material is made; Described first material and the second material are different materials.Mower top cover is arranged to different material objects and is that image procossing is convenient, image procossing of the present utility model is texture recognition process.
Native system adopts the move mode in screw-pinch formula path.This move mode can ensure each block place moved in mowing region that mower can be autonomous.
What image collecting device was selected is the MV-U300 industrial camera that Shenzhen Mai Dewei looks company's product, this camera is COMS color camera, resolution is 3,000,000 pixels, transmission speed is 480Mb/s soon, lens interface is CS interface, time for exposure is 0.0556-683ms, and its image definition shot can reach necessary requirement.
Photoelectric encoder is a kind of sensor by opto-electronic conversion, the geometry of machinery displacement on output shaft being converted to pulse or digital quantity, primarily of grating disc and photoelectric detection system composition.Photoelectric code disk is coaxial with electromotor, when electromotor rotates, grating disc and the synchronized rotation of electromotor. the checkout gear formed through electronic components such as light emitting diodes detects and exports some pulse signals, and the number exporting pulse by calculating photoelectric encoder per second just can reflect the rotating speed of current motor.
The speed of service of the speed adjustment mower that the speed single-chip microcomputer that mower measured in real time by photoelectric encoder is measured according to photoelectric coding, thus maintain the stable speed of service of mower.
As shown in Figure 3, the single-chip microcomputer of mower is MC9S12XS128, and described single-chip microcomputer is connected with crystal oscillating circuit, reset circuit and power supply.MC9S12XS128 is intelligent grass-removing " brain ", and XS128 single-chip microcomputer is a enhancement mode 16 single-chip microcomputers in the S12XS series monolithic of Freescale company release.Operating voltage is 5V, and memory has 128KB FLASH, 2KB EEPROM, 8KB RAM; 16 channel modulus converters, the precision of optional 8,10 and 12; The PWM of 88 passages or 16 4 passages; 2 asynchronous serial communication SCI and 2 synchronous serial equipment interface SPI; CRG clock and reseting generator: phaselocked loop, house dog, real-time interrupt, enhancement mode catches timer.XS128 single-chip microcomputer has low-power consumption, and the advantages such as ultrafast arithmetic speed, powerful function, cheap price are the first-selections of intelligent grass-removing.
Oscillating circuit principle: two 30pF electric capacity of oscillating circuit play parallel resonance, and choosing of two capacitances is generally identical, if difference is too large, very easily causes resonance uneven, causes failure of oscillation or not starting of oscillation.
Reset circuit principle: hand push button resets to be needed artificially to add high level on the RESET input RST.The way of general employing is the indirect button at RST end and positive supply Vcc.In XS128 reset circuit of SCM, the effect of 100R resistance is the size of Limited Current, and when people is for pressing the button, then+5V the level of Vcc directly will be added to RST end.Action due to people also can make button keep connection to reach several ms sooner, so, the time requirement of reset can be met completely.
As shown in Figure 4, voltage transformation module circuit diagram, owing to the drive plate of single-chip microcomputer and master control borad needing the voltage-stabilized power supply of 5V and 3.3V, therefore utilize LM7805 to obtain the voltage-stabilized power supply of 5V, Ams1117-3.3 obtains 3.3V voltage-stabilized power supply.7805 series are 3 proper mu balanced circuits, and TO-220 encapsulates, and can provide multiple fixing output voltage, applied range, include overcurrent, overheated and overload protecting circuit, and during band fin, output current can reach 1A.Although be fixed stably volt circuit, use outward element, different voltage and currents can be obtained.Ams1117-3.3 is a forward low dropout voltage regulator, reduces to 1.2V at 1A current down, inner integrated overtemperature protection and current-limiting circuit, is the optimal selection of powered battery and portable computer.
As shown in Figure 5, motor-drive circuit, driver module comprises: motor and motor-drive circuit, and described motor-drive circuit is connected on two terminals of motor.Two terminals of motor are respectively the first terminal and the second terminal, drive circuit on the first terminal of described motor comprises: the first high-speed photoelectric coupler 6n137, the AN end of described first high-speed photoelectric coupler 6n137 connects voltage transformation module output by resistance R3, VCC termination+12V the voltage source of described first high-speed photoelectric coupler 6n137, the GND of described first high-speed photoelectric coupler 6n137 holds ground connection, the GND end of described first high-speed photoelectric coupler 6n137 and the indirect electric capacity C4 of VCC end, VO end and the VCC terminating resistor R5 of described first high-speed photoelectric coupler 6n137, the VO end of described first high-speed photoelectric coupler 6n137 connects the IN end of the first driving chip BTS7960 by resistance R1, the INH end of described first driving chip BTS7960 connects+12V voltage source by resistance R2, the SR end of described first driving chip BTS7960 is by resistance R4 ground connection, described resistance R4 is connected in parallel electric capacity C5, the IS end of described first driving chip BTS7960 is by resistance R6 ground connection, the OUT end of described first driving chip BTS7960 to hold with VS between forward be connected diode D2, the voltage source of the VS termination+12V of described first driving chip BTS7960, the OUT end of described first driving chip BTS7960 connects the first terminal of motor, drive circuit on second terminal of described motor comprises: the second high-speed photoelectric coupler 6n137, the AN end of described second high-speed photoelectric coupler 6n137 connects voltage transformation module output by resistance R10, VCC termination+12V the voltage source of described second high-speed photoelectric coupler 6n137, the GND of described second high-speed photoelectric coupler 6n137 holds ground connection, the GND end of described second high-speed photoelectric coupler 6n137 and the indirect electric capacity C18 of VCC end, VO end and the VCC terminating resistor R14 of described second high-speed photoelectric coupler 6n137, the VO end of described second high-speed photoelectric coupler 6n137 connects the IN end of the second driving chip BTS7960 by resistance R7, the INH end of described second driving chip BTS7960 connects+12V voltage source by resistance R8, the SR end of described second driving chip BTS7960 is by resistance R9 ground connection, described second resistance R9 is connected in parallel electric capacity C17, the IS end of described second driving chip BTS7960 is by resistance R11 ground connection, the OUT end of described second driving chip BTS7960 to hold with VS between forward be connected diode D2, the voltage source of the VS termination+12V of described second driving chip BTS7960, the OUT end of described second driving chip BTS7960 connects the second terminal of motor.
6N137 photo-coupler is a for single pass High-Speed Coupled Device, its inside is made up of a 850nm wavelength AlGaAs LED and integrated detector, and its detector is made up of the open-collector triode of a photodiode, the linear amplifier of high-gain and a Schottky clamper.Have temperature, electric current and voltage compensating function, high input and output isolation, LSTTL/TTL is compatible, (is typically 10MBd) at a high speed, the minimum input current of 5mA.BTS7960 is a part for NovalithIC family three independently chip: one is the high potential field-effect transistor of p-type passage, two is electronegative potential field-effect transistors of a N-shaped passage, drive wafer in conjunction with one, form a fully integrated high electric current half-bridge, efficiency is high, heating is few.
Described obstacle detection module comprises: several touch sensors and several ultrasonic sensors; Described touch sensor is arranged on the lateral wall of mower uniformly; Described ultrasonic sensor is arranged on the lateral wall of mower uniformly; The output signal of described touch sensor connects the interrupt signal end of single-chip microcomputer.
Feeler belongs to touch sensor, generally use in groups, be arranged at around mower outer wall with the form of array, mower arranges feeler group on vehicle body, when colliding with object, for there is interrupt signal, after main control chip receives message, stop mowing and starting ultrasonic.In the present system, feeler is distributed in the surrounding of automatic mowing robot, for collision detection.Ultrasonic sensor has transmitter and receiver, but a ultrasonic sensor also can have the double action sending and receive sound wave.Ultrasonic sensor utilizes the principle of piezo-electric effect electric energy and ultrasonic mutually to be transformed, and namely when launching hyperacoustic, being changed by electric energy, launching ultrasonic; And when receiving echo, then convert ultrasonic vibration to the signal of telecommunication.By hyperacoustic distance measurement function, can the distance of detection control barrier and mower, thus mow around barrier and obtain the effect of region all standing.
As shown in Figure 6, the driving chip of Zig Bee wireless communication module is CC2530.
Zig Bee technology is that it is a kind of low-power consumption, low cost, short distance, low complex degree, low interest rate, high power capacity, and safety is high, the two-way wireless communication technology of unlicensed band based on the lower individual territory fidonetFido of the power dissipation ratio of IEEE802.15.4 standard in fact.For the communication between we mower and host computer, data transmission rate is not very high, resist extraneous interference, also need networking, power consumption requirements is lower, needs to control its cost, and these ZigBee technologies can meet, ZigBee technology well solves the communication between mower and host computer thus, is the selection of its best.
The chip used in Zig Bee wireless telecommunication system is CC2530, and it integrates single-chip microcomputer, ADC, wireless communication module, improves the reliability of communication, supports that up-to-date Zig Bee agreement and other chip compare cost performance higher.What wherein AVDD1 pin connect to AVDD6 pin is the power supply of 2V to 3.6V, and what select is 3.3V analog power herein; RESET_N is digital reset input, and during electronegative potential, this position resets; TXD and RXD is respectively the transmission of data and receives pin; Its kernel of CC2530 is 8051CPU monocycle compatible kernel, and interrupt control unit controls the response of 18 interrupt sources, and the internal memory moderator being positioned at system centre is responsible for arbitration, and therefore system effectiveness improves greatly.
As shown in Figure 7, connection between single-chip microcomputer and wireless communication module needs serial ports to turn USB circuit, the utility model is chosen USB and is turned serial port chip PL2303, USB turns serial ports master chip PL2303 provides the bridge of USB and serial ports to change, PL2303 defers to USB 1.1 agreement, support the conversion of RS-232 interface, support inner ROM and outside EEPROM configuration device and built-in USB transceiver.RS232 interface section realizes the conversion of serial ports RS232 level and Transistor-Transistor Logic level.
As shown in Figure 8, described mower also comprises overturning-preventing module, described overturning-preventing module comprises: falling sensor, VCC termination+5V the voltage source of described overturning-preventing sensor, the earth terminal ground connection of described sensor, the inverting input of the output termination amplifier A1 of described sensor, the normal phase input end of described amplifier A1 connects+5V voltage source by resistance R42, the normal phase input end of described amplifier A1 is by resistance R45 ground connection, the inverting input of described amplifier A1 is by resistance R44 ground connection, the output of described amplifier A1 connects+5V voltage source by resistance R43, the power supply termination voltage source of described amplifier A1, the earth terminal ground connection of described amplifier A1, the output of described amplifier A1 is the output of overturning-preventing module, the output of described overturning-preventing module connects the interrupt pin of single-chip microcomputer.
In order to avoid mower accident is surprisingly toppled over upper to people or animal around, therefore devise an overturning-preventing sensor assembly.The rated voltage of obliquity sensor is 5V, and export 3.7 ~ 4.5V voltage time normal, when inclination angle is about 65 degree, changing sensor output voltage is 0.4 ~ 1.4V.Output low level when whole module is normal, export high level when toppling over, output port is directly connected with single-chip microcomputer external interrupt pin.By interrupting making mower motor shut down, enter standby mode.
By reference to the accompanying drawings embodiment of the present utility model is described although above-mentioned; but the restriction not to the utility model protection domain; one of ordinary skill in the art should be understood that; on the basis of the technical solution of the utility model, those skilled in the art do not need to pay various amendment or distortion that creative work can make still within protection domain of the present utility model.
Claims (8)
1. an intelligent grass-removing system, it is characterized in that, comprise: the support being positioned over mowing area periphery, described cantilever tip is provided with image collecting device, described image collecting device is connected with host computer, described host computer comprises client, image processing module and processor, and described client is human-computer interaction interface, and described image processing module connects client and processor; Described processor connects mower by Zig Bee wireless communication module; Described mower comprises single-chip microcomputer, and described single-chip microcomputer is provided with GPS module, described single-chip microcomputer asynthesis thing monitoring modular, photoelectric encoder, driver module and voltage transformation module; Described photoelectric encoder is arranged on the motor gear of driver module inside; Described single-chip microcomputer connects wireless communication module; Described mower top cover is rectangle top cover, and described mower top cover is divided into two parts along mower craspedodrome direction: anterior and rear portion; Described mower top cover front portion is that the first material is made; Described mower back part of top cover is that the second material is made; Described first material and the second material are different materials.
2. a kind of intelligent grass-removing system as claimed in claim 1, is characterized in that, described single-chip microcomputer is MC9S12XS128, and described single-chip microcomputer is connected with crystal oscillating circuit, reset circuit and power supply.
3. a kind of intelligent grass-removing system as claimed in claim 1 or 2, it is characterized in that, described driver module comprises: motor and motor-drive circuit, and described motor-drive circuit is connected on two terminals of motor.
4. a kind of intelligent grass-removing system as claimed in claim 3, is characterized in that, two terminals of described motor are respectively the first terminal and the second terminal, drive circuit on the first terminal of described motor comprises: the first high-speed photoelectric coupler 6n137, the AN end of described first high-speed photoelectric coupler 6n137 connects voltage transformation module output by resistance R3, VCC termination+12V the voltage source of described first high-speed photoelectric coupler 6n137, the GND of described first high-speed photoelectric coupler 6n137 holds ground connection, the GND end of described first high-speed photoelectric coupler 6n137 and the indirect electric capacity C4 of VCC end, VO end and the VCC terminating resistor R5 of described first high-speed photoelectric coupler 6n137, the VO end of described first high-speed photoelectric coupler 6n137 connects the IN end of the first driving chip BTS7960 by resistance R1, the INH end of described first driving chip BTS7960 connects+12V voltage source by resistance R2, the SR end of described first driving chip BTS7960 is by resistance R4 ground connection, described resistance R4 is connected in parallel electric capacity C5, the IS end of described first driving chip BTS7960 is by resistance R6 ground connection, the OUT end of described first driving chip BTS7960 to hold with VS between forward be connected diode D2, the voltage source of the VS termination+12V of described first driving chip BTS7960, the OUT end of described first driving chip BTS7960 connects the first terminal of motor, drive circuit on second terminal of described motor comprises: the second high-speed photoelectric coupler 6n137, the AN end of described second high-speed photoelectric coupler 6n137 connects voltage transformation module output by resistance R10, VCC termination+12V the voltage source of described second high-speed photoelectric coupler 6n137, the GND of described second high-speed photoelectric coupler 6n137 holds ground connection, the GND end of described second high-speed photoelectric coupler 6n137 and the indirect electric capacity C18 of VCC end, VO end and the VCC terminating resistor R14 of described second high-speed photoelectric coupler 6n137, the VO end of described second high-speed photoelectric coupler 6n137 connects the IN end of the second driving chip BTS7960 by resistance R7, the INH end of described second driving chip BTS7960 connects+12V voltage source by resistance R8, the SR end of described second driving chip BTS7960 is by resistance R9 ground connection, described second resistance R9 is connected in parallel electric capacity C17, the IS end of described second driving chip BTS7960 is by resistance R11 ground connection, the OUT end of described second driving chip BTS7960 to hold with VS between forward be connected diode D2, the voltage source of the VS termination+12V of described second driving chip BTS7960, the OUT end of described second driving chip BTS7960 connects the second terminal of motor.
5. a kind of intelligent grass-removing system as claimed in claim 1, is characterized in that, described obstacle detection module comprises: several touch sensors and several ultrasonic sensors; Described touch sensor is arranged on the lateral wall of mower uniformly; Described ultrasonic sensor is arranged on the lateral wall of mower uniformly; The output signal of described touch sensor connects the interrupt signal end of single-chip microcomputer.
6. a kind of intelligent grass-removing system as claimed in claim 1, is characterized in that, the driving chip of described Zig Bee wireless communication module is CC2530.
7. a kind of intelligent grass-removing system as claimed in claim 1, it is characterized in that, described mower also comprises overturning-preventing module, described overturning-preventing module comprises: falling sensor, VCC termination+5V the voltage source of described overturning-preventing sensor, the earth terminal ground connection of described sensor, the inverting input of the output termination amplifier A1 of described sensor, the normal phase input end of described amplifier A1 connects+5V voltage source by resistance R42, the normal phase input end of described amplifier A1 is by resistance R45 ground connection, the inverting input of described amplifier A1 is by resistance R44 ground connection, the output of described amplifier A1 connects+5V voltage source by resistance R43, the power supply termination voltage source of described amplifier A1, the earth terminal ground connection of described amplifier A1, the output of described amplifier A1 is the output of overturning-preventing module, the output of described overturning-preventing module connects the interrupt pin of single-chip microcomputer.
8. a kind of intelligent grass-removing system as claimed in claim 1, is characterized in that, the serial ports that is connected with between described single-chip microcomputer and Zig Bee wireless communication module turns USB interface, and the driving chip that described serial ports turns USB interface is PL2303.
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| CN104521417A (en) * | 2014-12-17 | 2015-04-22 | 济南大学 | Intelligent hay mower system |
| CN108142083A (en) * | 2017-12-21 | 2018-06-12 | 大连威迪欧信息技术有限公司 | A kind of automatic herbicidal methods based on Internet of Things |
| CN109189062A (en) * | 2018-08-18 | 2019-01-11 | 上海七桥机器人有限公司 | Form the method for lawn pattern and the mowing system using it |
| WO2019206198A1 (en) * | 2018-04-24 | 2019-10-31 | 苏州宝时得电动工具有限公司 | Autonomous apparatus |
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2014
- 2014-12-17 CN CN201420806484.4U patent/CN204362577U/en not_active Withdrawn - After Issue
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104521417A (en) * | 2014-12-17 | 2015-04-22 | 济南大学 | Intelligent hay mower system |
| CN104521417B (en) * | 2014-12-17 | 2016-09-21 | 济南大学 | A kind of intelligent grass-removing system |
| CN108142083A (en) * | 2017-12-21 | 2018-06-12 | 大连威迪欧信息技术有限公司 | A kind of automatic herbicidal methods based on Internet of Things |
| WO2019206198A1 (en) * | 2018-04-24 | 2019-10-31 | 苏州宝时得电动工具有限公司 | Autonomous apparatus |
| US11695359B2 (en) | 2018-04-24 | 2023-07-04 | Positec Power Tools (Suzhou) Co., Ltd | Autonomous apparatus |
| CN109189062A (en) * | 2018-08-18 | 2019-01-11 | 上海七桥机器人有限公司 | Form the method for lawn pattern and the mowing system using it |
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