CN205692049U - A kind of grass-removing robot in boundless boundary line - Google Patents
A kind of grass-removing robot in boundless boundary line Download PDFInfo
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- CN205692049U CN205692049U CN201620677258.XU CN201620677258U CN205692049U CN 205692049 U CN205692049 U CN 205692049U CN 201620677258 U CN201620677258 U CN 201620677258U CN 205692049 U CN205692049 U CN 205692049U
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Abstract
This utility model relates to electromechanical equipment technical field, in particular to the grass-removing robot in a kind of boundless boundary line.Including: robot body；It is provided with image acquiring device, it is possible to obtain the detection image on lawn in real time on described robot body；Described image acquiring device connects image processor, and whether described image processor, for processing described detection image, exists barrier or border in recognition detection image；Image processor signal connects controller, and described controller, for the result according to image processor, calculates the mowing route of grass-removing robot；Described controller connects drive mechanism, and described drive mechanism is advanced for driven machine people according to described mowing route and mows.This grass-removing robot on the premise of being not provided with boundary line, can determine region and the planning mowing route of mowing.
Description
Technical field
This utility model relates to electromechanical equipment technical field, in particular to the grass-removing robot in a kind of boundless boundary line.
Background technology
Along with in city, quality of life requirement is improved constantly by people, people also get over for the requirement of urban afforestation degree
Come the highest.Lawn, substantial amounts of park, urban green belts lawn, Football Field Turf, golf course lawn, airport, pasture, villa
The life that lawn etc. are people brings the most excellent, enjoyment and the enjoyment for high-quality life.And along with lawn quantity
Being continuously increased, the line service on lawn is more and more heavier.In the routine maintenance work on lawn, with the pruning work of turf
The heaviest, there is the strongest repeatability, this typically requires the substantial amounts of man power and material of consumption.In order to alleviate lawn maintenance operation
Labor intensity and cost of labor, various different grass-removing robots arise at the historic moment.
Current grass-removing robot is work when, it is necessary to mowing region is defined, on border in pre-buried boundary line in advance
In the range of line surrounds, the signal power that grass-removing robot can perceive is different.Grass-removing robot is by perception boundary line
Signal is strong and weak, determines mowing region and planning mowing route.
But it is true that the installation of boundary line is loaded down with trivial details, the workload of needs is big, and boundary line is after preset, once grass
The shape on level ground there occurs change, is difficult to make a change mowing region.It addition, boundary line is the most exposed in outdoor, need to hold
By 38 DEG C～the temperature difference of subzero about 30 DEG C and corrosion and oxidation, and it is difficult to avoid the destruction of toy, causes grass-removing robot
Cannot work, thus cause economic loss.
Utility model content
In view of this, the purpose of this utility model embodiment is to provide the grass-removing robot in a kind of boundless boundary line, it is possible to
On the premise of being not provided with boundary line, determine region and the planning mowing route of mowing.
This utility model embodiment provides the grass-removing robot in a kind of boundless boundary line, including:
Robot body；
It is provided with image acquiring device, it is possible to obtain the detection image on lawn in real time on described robot body；
Described image acquiring device connects image processor, and described image processor is for carrying out described detection image
Process, whether recognition detection image exists barrier or border；
Image processor signal connects controller, and described controller is for the result according to image processor, meter
Calculate the mowing route of grass-removing robot；
Described controller connects drive mechanism, and described drive mechanism is before driven machine people is according to described mowing route
Enter and mow.
In each embodiment of this utility model, it is preferable that described robot body includes: installation frame, hay mover
Structure, walking mechanism, steering mechanism；
Described grass-mowing, walking mechanism, steering mechanism are installed on described installation frame；
Described drive mechanism is connected with described grass-mowing, walking mechanism, steering mechanism's signal respectively.
In each embodiment of this utility model, it is preferable that also include: first memory；Described first memory and
Image processor electrically connects；
Described first memory is used for storing comparison characteristic information；
Described image processor can transfer described comparison characteristic information from described first memory, and according to described ratio
Barrier or border whether is there is in characteristic information recognition detection image.
In each embodiment of this utility model, it is preferable that also include: second memory；
Described second memory is connected with described controller；
Described second memory is for storing the approximate region information on described lawn.
In each embodiment of this utility model, it is preferable that described controller is also associated with positioner, velocity pick-up
Device, clock controller and encoder；
Described positioner is in real time to the current location information of controller distribution of machine people, and described velocity sensor is real
Time to the velocity information of controller distribution of machine people；Described clock controller is mowed the time to controller distribution of machine people in real time,
Described encoder sends travel information to controller in real time.
In each embodiment of this utility model, it is preferable that described controller the most also includes:
First computer, for calculating the edge length of barrier；
First comparator, for comparing edge length and first preset value of barrier.
In each embodiment of this utility model, it is preferable that also include:
Second computer, described second computer detours the length of radius and the right radius that detours for calculating a barrier left side
Length；
Second comparator, compares for the length of the radius that detoured on a left side and the length of the right radius that detours.
In each embodiment of this utility model, it is preferable that also include: battery；
Described battery is arranged on described robot body, and respectively with described image acquiring device, described image procossing
Device, described controller, described drive mechanism connect.
In each embodiment of this utility model, it is preferable that also include: battery current detection circuit；
Described battery current detection circuit is connected with described battery, for detecting the size of the electric current of described battery output,
And described electric current is less than threshold value when, export under-voltage signal to controller；
Described controller controls the charging of described battery.
In each embodiment of this utility model, it is preferable that also include: with described grass cutter human body's physical separation
Charging pile.
The grass-removing robot in the boundless boundary line that this utility model embodiment is provided, is obtained in real time by image acquiring device
Detection image to lawn, then uses image processor to process detection image, it is judged that in grass-removing robot front the
Barrier or border whether is there is, if it is present controller is according to default rule, planning robot in one predeterminable range
Mowing route.In this process, it is by the high-definition camera arranged on grass-removing robot, in real time lawn is examined
Survey, and obtain detection image, use image recognition and treatment technology, carry out boundary definition and the obstacle recognition in mowing region,
Need not such as pre-buried boundary line of the prior art, determine the region of mowing and the mowing route of planning.
For making above-mentioned purpose of the present utility model, feature and advantage to become apparent, preferred embodiment cited below particularly, and
Coordinate appended accompanying drawing, be described in detail below.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of this utility model embodiment, will use required in embodiment below
Accompanying drawing be briefly described, it will be appreciated that the following drawings illustrate only some embodiment of the present utility model, the most should be by
Regard the restriction to scope as, for those of ordinary skill in the art, on the premise of not paying creative work, also may be used
To obtain other relevant accompanying drawings according to these accompanying drawings.
Fig. 1 shows the structural representation of the grass-removing robot in a kind of boundless boundary line that this utility model embodiment is provided
Figure；
Fig. 2 shows the structural representation of the grass-removing robot in the boundless boundary line of another kind that this utility model embodiment is provided
Figure；
Description of reference numerals:
Robot body 10, image acquiring device 20, image processor 30, controller 40, drive mechanism 50, first store
Device 60, second memory 70, battery 80, battery current detection circuit 90.
Detailed description of the invention
For making the purpose of this utility model embodiment, technical scheme and advantage clearer, new below in conjunction with this practicality
Accompanying drawing in type embodiment, is clearly and completely described the technical scheme in this utility model embodiment.Obviously, described
Embodiment be only a part of embodiment of this utility model rather than whole embodiments.Generally described in the accompanying drawing herein
Can arrange and design with various different configurations with the assembly of this utility model embodiment illustrated.Therefore, below to
The detailed description of the embodiment of the present utility model provided in accompanying drawing is not intended to limit claimed model of the present utility model
Enclose, but be merely representative of selected embodiment of the present utility model.Based on embodiment of the present utility model, those skilled in the art exist
The every other embodiment obtained on the premise of not making creative work, broadly falls into the scope of this utility model protection.
Current grass-removing robot is mowing when, it is necessary to mowing region is defined in pre-buried boundary line in advance.On border
In the range of line includes, robot is different from the distance of boundary line, and the power of detected signal is the most different, based on this,
Grass-removing robot can determine mowing region and planning mowing route according to the signal power of its detected boundary line.But
Be this grass-removing robot when in use, need to install in advance boundary line, install loaded down with trivial details, and installation cost and boundary line
Cost of manufacture high, and, boundary line is the most exposed in outdoor, needs to bear 38 DEG C～the temperature difference of subzero about 30 DEG C and corrosion
And oxidation, and it is difficult to avoid the destruction of toy, cause grass-removing robot to work, thus cause economic loss；Meanwhile, grass
Once there is change in the border on level ground, owing to boundary line has installed, is therefore difficult to be changed the border on lawn.With
Time, owing to using boundary line to define the region of mowing, boundary line can not be oversize, otherwise grass-removing robot due to boundary line away from
From too far, and cause some boundary line signal due to the most weak, grass-removing robot cannot to be detected, cause grass-removing robot
Cannot correctly identify mowing region, therefore, this grass-removing robot is only suitable for small home and uses, and once needs the lawn mowed
Area is excessive, such as, if the large-scale lawn such as golf course, this grass-removing robot will be unable to use.Based on this, this Shen
The grass-removing robot of a kind of non-boundary that please provide, on the premise of being not provided with boundary line, can determine region and the rule of mowing
Scribing grass route, meanwhile, applied widely, more than use being suitable for lawn small-sized, regular, it is also adaptable for large-scale, irregular
Lawn uses.
For ease of the present embodiment is understood, shown in Figure 1, to the non-boundary disclosed in this utility model embodiment
Grass-removing robot describes in detail, including:
Robot body 10；It is provided with image acquiring device 20, it is possible in real time lawn is entered on described robot body 10
Row detection, obtains detection image；
Described image acquiring device 20 connects image processor 30, and described image processor 30 is for described detection figure
As processing, identify in image whether there is barrier or border；
Described image processor 30 signal connects controller 40, and described controller 40 is for the place according to image processor
Reason result, calculates mowing route；
Described controller 40 connects drive mechanism 50, and described drive mechanism 50 is used for driven machine human body according to described
Mowing route advances and mows.
Implementing when, robot body can be diversified, generally comprises: installation frame, hay mover
Structure, walking mechanism, steering mechanism etc., grass-mowing, walking mechanism, steering mechanism are installed on installation frame, the most above-mentioned
Grass-mowing, walking mechanism and steering mechanism are by described driving mechanisms control.Described drive mechanism can drive traveling machine
Structure, thus driven machine human body moves ahead；Drive steering mechanism so that robot turns to；Drive grass-mowing in robot originally
Body is mowed during moving ahead.
Robot body is provided with image acquiring device, such as high-definition camera, can have one, it is possibility to have many
Individual, this image acquiring device during robot advances, can obtain the detection about lawn in robot front in real time
Image, and this image is passed to image processor.Image processor can be to the detection image acquired in image acquiring device
Process, carry out boundary definition and the obstacle recognition in mowing region.
Such as, image processor can carry out texture analysis to described detection image, extracts described detection objects in images
Characteristic information；Described characteristic information includes: in colouring information, marginal information and absorbance information at least one, and according to
Described characteristic information and the contrast characteristic's information obtained in advance, it is judged that whether object is barrier or border.Concrete real
The when of existing after obtaining detection image, first detection image to be carried out texture analysis, according to the result of texture analysis, energy
Enough from detection image by the feature information extraction of object out.These characteristic informations include: colouring information, marginal information and
Absorbance information etc..The colouring information of grass can be otherwise varied according to the difference of practical situation.Such as, on the ground, temperate zone made a clear distinction between the four seasons
District, the color of grass is green in full summer, and can gradually become in the fall withered and yellow；And the torrid zone, subtropical zone or some there is spy
The place not required, the color of grass can keep green.And lawn also can be due to kind, growth conditions, the difference of surrounding enviroment, its
Color also has certain difference.Therefore, acquired colouring information, may be different for different lawns.Grass
Colouring information can be by detection, image be analyzed after, it is thus achieved that the three-channel concrete numerical value of its RGB such that it is able to concrete
By color information data.Marginal information then obtains through texture analysis, and such as grass, growth when, can grow
Going out a lot of leaves, the edge of leaf can be obtained by texture analysis.The most such as, if having flower bed, higher grove etc. on lawn
Barrier, then flower bed, the edge of higher grove also are able to be obtained by texture analysis that (its edge of the most different article is to have
Institute's difference).Absorbance information can also obtain through texture analysis, different objects, and its absorbance is different, therefore
Can also judge whether the front of grass-removing robot exists barrier or border by absorbance.
Being also associated with first memory 60 on image processor, this first memory can store comparison characteristic information.
This comparison characteristic information directly can obtain from the data base pre-build.The thing of some feature that can often occur in lawn
Product, such as, if the lawn in court, then the barrier in lawn is probably goal and net, and the border on lawn can
It can be the bottom margin of grandstand；If golf course, then the barrier in lawn is probably various trees, and lawn
Border is probably the leader etc. surrounded by golf course；If lawn, park, then the barrier in lawn is probably respectively
Plant trees, flowers and plants, and the border on lawn is probably floor tile, hedge etc..Data base can be set up, by some according to these situations
The barrier being likely to occur and relevant comparative's characteristic information on border are stored in data base.Grass-removing robot mow time
Wait, can be according to actual mowing environment, first memory chooses corresponding feature group from data base.
It addition, in order to facilitate grass-removing robot treatment in accordance with local conditions, adapt to more mow environment, and contrast characteristic's information is also
Can be lawn to carry out sampling in advance obtain.Such as, before mowing, can be in advance to the image processor of grass-removing robot
The photo of input barrier in the presence of lawn, uses image processor and processes photo, it is thus achieved that be the most right
Ratio characteristic information, and contrast characteristic's information is stored to first memory.
After being extracted the characteristic information of detection objects in images, can be by this feature information be stored in advance in first and deposit
Contrast characteristic's information in reservoir is compared, and according to the result of comparison, it is judged that whether object is barrier or border.One
As the information category that should be comprised with the characteristic information extracted from detection image of the content that comprised of contrast characteristic's information
It is consistent, and contrasting when, eigenvalue can be contrasted successively.
Such as, image processor, can be with contrast characteristic's information after obtaining the colouring information of detection objects in images
In colouring information, if the colouring information error in this colouring information and contrast characteristic's information acceptable (presetting) scope it
In, then it is probably lawn before being considered as this image；Can also be by the marginal information in characteristic information and contrast characteristic's information
The marginal information of grass, the marginal information of barrier, the marginal information on border contrast respectively, and if wherein some class
Seemingly, then it is assumed that be therein that.Contrast when, point priority contrasts, only the contrast of current priority
The when of meeting certain condition, just enter the contrast of next priority, otherwise can according to the contrast of current priority directly to
Go out comparing result；Will can also contrast one by one with contrast characteristic's information by characteristic information regardless of the contrast of priority, rear according to combining
The comparing result closed provides final conclusion.
Controller possesses calculation function, can control grass-mowing, walking mechanism, steering mechanism according to predefined procedure
Start, stop and reverse main make device.By program counter, command register, command decoder, clock generator and operation
Controller forms.Controller can be logic controller can also be microprogram control unit, it is possible to according to the place of image processor
Reason result, calculates the mowing circuit of grass-removing robot, and exports this mowing circuit to the drive mechanism being attached thereto so that drive
Motivation structure can drive grass-mowing, walking mechanism, the startup of steering mechanism, stopping, reversely etc., advances along mowing route.
The grass-removing robot in the boundless boundary line that this utility model embodiment is provided, is obtained in real time by image acquiring device
Detection image to lawn, then uses image processor to process detection image, it is judged that in grass-removing robot front the
Barrier or border whether is there is, if it is present controller is according to default rule, planning robot in one predeterminable range
Mowing route.In this process, it is by the high-definition camera arranged on grass-removing robot, in real time lawn is examined
Survey, and obtain detection image, use image recognition and treatment technology, carry out boundary definition and the obstacle recognition in mowing region,
Need not such as pre-buried boundary line of the prior art, determine the region of mowing and the mowing route of planning.
It addition, shown in Figure 1, in the grass-removing robot that this utility model embodiment is provided, also include: the second storage
Device 70；
Described second memory 70 is connected with described controller 40；
Described second memory 70 is for storing the approximate region information on described lawn.
In the grass-removing robot that this utility model embodiment is provided, second memory 70 can prestore lawn substantially
Area information.Wherein, the area information on lawn includes: lawn boundary information and lawn area information.Lawn boundary information bag
Include: the distance etc. between the shape on border, lawn, particular location, border and border.Lawn is inputted to second memory 70
The when of approximate region information, can directly be manually entered the length, width and height on lawn；Furthermore it is also possible to directly by the planning on lawn or
Person's designed image (including lawn boundary information) when laying imports in second memory 70.And grass-removing robot is being advanced
And mow during, can record its current positional information (such as, grass-removing robot be designed to certain preset point be
Starting point is according to straight ahead, and mows during advancing), and robot is during advancing, the width of mowing is known
Amount, meanwhile, its speed advanced also can be known, thus, it is possible to according to the current location of grass-removing robot, it mows
Width, speed, mowing time, stroke etc. calculate its area being complete mowing, eventually through area information, hay mover
The course of device people, the current location information of robot, obtain area information of having mowed.Wherein, in mowing area information
Comprise: the regional location mowed, area etc..And specifically carrying out the mowing route planning of robot when, can be concrete
Avoid complete region of having mowed, plan in the region also do not mowed.
Controller is in order to know the current location of above-mentioned robot, the width of mowing, speed, mowing time, stroke etc., meeting
Grass-removing robot is installed: positioner, velocity sensor, clock controller, encoder.Positioner is in real time to controller
The current location information of distribution of machine people, velocity sensor is in real time to the velocity information of controller distribution of machine people；Clock control
Device is mowed the time to controller distribution of machine people in real time, and encoder sends travel information to controller in real time.
It addition, in the grass-removing robot in boundless boundary line that provided of this utility model embodiment, described controller also includes:
First computer, for calculating the edge length of barrier；First comparator, for by pre-to the edge length of barrier and first
If value is compared.Wherein, the first preset value is stored in second memory, or is directly stored in what command register was stored
In instruction.
First computer calculates the described barrier edge length near described grass-removing robot side according to marginal information.
Implementing when, owing to the edge of barrier can be otherwise varied with the edge of grass, and barrier is probably
Have diversified, it is possible that same barrier, but (such as it is full of flower owing to containing several different object
Flower bed, the marginal information of the marginal information of flower bed and flower is inevitable the most otherwise varied), and the marginal information of these several objects is at least
Some and careless marginal information will necessarily have been distinguished, and therefore, it can divide detection image according to marginal information,
Divide out by the region at wherein barrier place, may thereby determine that barrier is long at the edge near grass-removing robot side
(this edge length is probably the edge length of single object to degree, it is also possible to the edge of several or several objects institute's structure together
The edge length become).
If described edge length is more than or equal to the first preset value, according to described area information and described region of having mowed
Information carries out subregion to described lawn, and generates the folds route in described subregion.
Implementing when, if the edge length that barrier is near the side of grass-removing robot is preset more than first
Value, then prove that this barrier is excessive, detour and be not appropriate for current situation, accordingly, it would be desirable to lawn is carried out subregion, subregion
Specific rules can carry out concrete constraint according to actual situation.
Such as, from the side towards hay mover of barrier, to the border corresponding with this side or another barrier institute
The region covered, as current bay, and remains the region do not mowed as other subregion, it is also possible to according to region of mowing
Information, knows the particular location of subregion of mowing, thus divides out by current bay from overall lawn, and at current point
In district, grass-removing robot is carried out route planning, generates the folds route in this current bay, and control grass-removing robot according to
This folds route is advanced and is mowed.During the grass-removing robot mowing to current bay, can be mowed in this current bay
The region affiliation finished is to mowing in subregion.
If described edge length is less than described first preset value, then generate bypass route；Described bypass route is apart from institute
The edge stating barrier is the second predeterminable range.
Specifically, if edge length is less than this first preset value, then prove that barrier is smaller (for instance it can be possible that one
Tree, a Cong Hua etc.), then grass-removing robot can be walked around this barrier and move ahead.Bypass route apart from the edge of barrier to be
Second predeterminable range, this second predeterminable range is that the width according to grass-removing robot carries out concrete setting；Under normal circumstances, wide
Spending bigger grass-removing robot, this second predeterminable range is bigger；The grass-removing robot that width is smaller, this second predeterminable range
Width is less, to ensure that grass-removing robot will not touch barrier during advancing.
Specifically, in the grass-removing robot in the boundless boundary line that this utility model embodiment is provided, described controller also wraps
Include
Second computer, described second computer detours the length of radius and the right radius that detours for calculating a barrier left side
Length；
Second comparator, compares for the length of the radius that detoured on a left side and the length of the right radius that detours；
Implementing when, grass-removing robot or according to its current location and the boundary length of described barrier,
Calculate respectively the left side of barrier detour radius length and the right side detour radius length, i.e. grass-removing robot cut-through thing time
Wait, the radius walked around around needs from the left side, and the radius walked around around needs from the right, and the two radius length is compared
Relatively, therefrom choose smaller one, and generate bypass route according to the direction corresponding to this less radius length, and
Detour.
Planning circuit when, can be by described current location information, described area information and described region of having mowed
Information carries out contrast and revises, and obtains the revised area information of mowing and current location information；
According to the revised area information of mowing and current location information, obtain and described grass-removing robot place
The position on what current location was closest do not mow level ground, and according to the position on described level ground of not mowing and described present bit confidence
Breath, generates tune route, folds route or return route.
Implementing when, owing to, in grass-removing robot traveling process, having obtained area information of mowing,
The controller system of robot can be according to the current location information of grass-removing robot, area information and area information of having mowed
Carry out contrast to revise, obtain the revised area information of mowing and current location information, reduce grass-removing robot and travel across
Produced error in journey, it is to avoid middle calculating is made a fault, causes the grass in some place on lawn the situation such as to be cut by leakage
Produce.
Afterwards, can be according to the revised area information of mowing and current location information, it is judged that with grass-removing robot institute
The position on closest level ground of not mowing, current location, and according to the position on level ground of not mowing, and the working as of grass-removing robot
Front position information, generates tune route, folds route or return route etc..Concrete, any route to be generated, specifically want
See the particular location of the grass of which part on grass-removing robot level ground to be mowed.
It addition, shown in Figure 2, in the grass-removing robot that this utility model embodiment is provided, also include: battery 80；
Described battery 80 is arranged on described robot body 10, and respectively with described image acquiring device 20, described figure
As processor 30, described controller 40, described drive mechanism 50 connect.
Also include: battery current detection circuit 90；
Described battery current detection circuit 90 is connected with described battery 80, for detecting the big of the electric current of described battery output
Little, and described electric current is less than pre-set current value when, export under-voltage signal to controller；
Described controller controls the charging of described battery.
Also include: with the charging pile of described grass cutter human body's physical separation.
Implementing when, the area on the lawn owing to mowing may be very big, and the electricity of grass-removing robot may
Mowing demand cannot be met, therefore, cause mowing to complete.Accordingly, it would be desirable to the current electric quantity of grass-removing robot is carried out reality
Time monitoring.If the current electric quantity of grass-removing robot is more than threshold value, then grass-removing robot normally works, if it is not, then cut
Grass robot auto-returned charging pile is charged.
The above, detailed description of the invention the most of the present utility model, but protection domain of the present utility model does not limit to
In this, any those familiar with the art, in the technical scope that this utility model discloses, can readily occur in change
Or replace, all should contain within protection domain of the present utility model.Therefore, protection domain of the present utility model should be described with power
The protection domain that profit requires is as the criterion.
Claims (10)
1. the grass-removing robot in a boundless boundary line, it is characterised in that including:
Robot body；
It is provided with image acquiring device, it is possible to obtain the detection image on lawn in real time on described robot body；
Described image acquiring device connects image processor, and described image processor is to described detection image
Whether reason, exist barrier or border in recognition detection image；
Image processor signal connects controller, and described controller is for the result according to image processor, and calculating is cut
The mowing route of grass robot；
Described controller connects drive mechanism, and described drive mechanism is advanced also according to described mowing route for driven machine people
Mow.
The grass-removing robot in boundless boundary line the most according to claim 1, it is characterised in that described robot body includes:
Installation frame, grass-mowing, walking mechanism, steering mechanism；
Described grass-mowing, walking mechanism, steering mechanism are installed on described installation frame；
Described drive mechanism is connected with described grass-mowing, walking mechanism, steering mechanism's signal respectively.
The grass-removing robot in boundless boundary line the most according to claim 1, it is characterised in that also include: first memory；Institute
State first memory to be connected with image processor；
Described first memory is used for storing comparison characteristic information；
Described image processor can transfer described comparison characteristic information from described first memory, and special according to described comparison
Whether reference breath recognition detection image exists barrier or border.
The grass-removing robot in boundless boundary line the most according to claim 1, it is characterised in that also include: second memory；
Described second memory is connected with described controller；
Described second memory is for storing the approximate region information on described lawn.
The grass-removing robot in boundless boundary line the most according to claim 4, it is characterised in that
Described controller is also associated with positioner, velocity sensor, clock controller and encoder；
Described positioner in real time to the current location information of controller distribution of machine people, described velocity sensor in real time to
The velocity information of controller distribution of machine people；Described clock controller is mowed the time to controller distribution of machine people in real time, described
Encoder sends travel information to controller in real time.
The grass-removing robot in boundless boundary line the most according to claim 1, it is characterised in that described controller the most also wraps
Include:
First computer, for calculating the edge length of barrier；
First comparator, for comparing edge length and first preset value of barrier.
The grass-removing robot in boundless boundary line the most according to claim 1, it is characterised in that described controller also includes:
Second computer, described second computer detours the length of radius and the length of the right radius that detours for calculating a barrier left side
Degree；
Second comparator, compares for the length of the radius that detoured on a left side and the length of the right radius that detours.
8. according to the grass-removing robot in the boundless boundary line described in claim 1-7 any one, it is characterised in that also include: electricity
Pond；
Described battery is arranged on described robot body, and respectively with described image acquiring device, described image processing apparatus,
Described controller, described drive mechanism connect.
The grass-removing robot in boundless boundary line the most according to claim 8, it is characterised in that also include: battery current detects
Circuit；
Described battery current detection circuit is connected with described battery, for detecting the size of the electric current of described battery output, and
The when that described electric current being less than threshold value, export under-voltage signal to controller；
Described controller controls the charging of described battery.
The grass-removing robot in boundless boundary line the most according to claim 9, it is characterised in that also include: with described hay mover
The charging pile of device human body's physical separation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620677258.XU CN205692049U (en) | 2016-06-24 | 2016-06-24 | A kind of grass-removing robot in boundless boundary line |
Applications Claiming Priority (1)
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