CN205880664U - Intelligence weeder - Google Patents
Intelligence weeder Download PDFInfo
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- CN205880664U CN205880664U CN201620814518.3U CN201620814518U CN205880664U CN 205880664 U CN205880664 U CN 205880664U CN 201620814518 U CN201620814518 U CN 201620814518U CN 205880664 U CN205880664 U CN 205880664U
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- weeder
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Abstract
The application discloses intelligence weeder, this intelligence weeder include multisensor information acquisition module, central processing unit, weeder vehicle wheel drive device, weeder grass cutting blade drive arrangement, information control weeder vehicle wheel drive device and the weeder grass cutting blade drive arrangement operation of central processing unit through receiving multisensor information acquisition module, multisensor information acquisition module discerns sensor group and supplementary sensor group including independently installing border discernment sensor that being used for on the weeder discerned the lawn border respectively, be used for to discern the position whether weeder collided the barrier discernment sensor of barrier, the voyage counter that is used for calculating the weeder voyage, the levelness that is used for the real time sensor weeder, speed and direction. The utility model provides a life in electric energy, the quick -witted live pond of increase is practiced thrift to the quick -witted number of times that charging with working that reduces the weeder of intelligent grass, reduces the loss of electric energy.
Description
Technical field
The disclosure relates generally to automatization's agricultural gardens apparatus field, is specifically related to intelligence weeding apparatus, particularly relates to intelligence
Can weeder.
Background technology
Weeder is also known as hay mover, grass mower, lawn mower etc..Weeder be a kind of for cutting the grass on a lawn, vegetation etc.
Machine tool, owing to its weeding work giving gardens, agricultural or family's greening brings great convenience, therefore use extensively
General.
Intelligent auto-manual system, drag type, pusher line, sitting type can be divided into by traveling model split weeder, dragged
Machine drawing suspension type.These weeders are required for human assistance and promote operation just can complete to mow, and the workload of mowing personnel is still
The biggest, especially in hot summer.
The most also the weeder of some intelligence, existing intelligence weed-eradicating robot product random path is had to work at present,
Run into border and barrier is just dodged or returns, randomly generate another operating path, a large amount of repetitive operation thus occurs
Path, efficiency is the lowest.
Utility model content
In view of drawbacks described above of the prior art or deficiency, it is desirable to provide the intelligence that a kind of automaticity is high, efficiency is high
Weeder.
First aspect, this utility model provides a kind of intelligence weeder, and this intelligence weeder includes that multi-sensor information is adopted
Collection module, central processing unit, weeder wheel driver, weeder hay knife driving means；Described central processing unit passes through
The information receiving multi-sensor information acquisition module controls described weeder wheel driver and weeder hay knife driving dress
Put operating；Described multi-sensor information acquisition module include independently being arranged on weeder for identifying border, lawn
Boundary Recognition sensor, for identifying whether weeder collides the obstacle recognition sensor of barrier, for calculating weeding
The voyage enumerator of machine voyage, for the sensing levelness of weeder, speed and the orientation recognition sensor group in direction in real time and
Aiding sensors group.
Technique scheme of the present utility model uses multi-sensor fusion technology, and big quantity sensor is adopted by central processing unit
The information collected back is analyzed, and first builds electronic chart: weed-eradicating robot sets out for initial point with charging station, utilizes Boundary Recognition
Sensor takes a round return initial point along work place border row.According to the fortune of orientation recognition sensor record dolly during this
Row attitude, the range information central processing system chipset of voyage counter records draw whole working region with coordinate values
The electronic chart of labelling.Then according to electronic map information uses optimal path computation method to carry out computing, in selecting a region
The footpath of shortest path controls weed-eradicating robot and is operated.
In a preferred embodiment, described aiding sensors group include independently being arranged on weeder for sensing
Whether raining rains detects sensor, for sensing the driving condition detection sensor of weeder running status, for monitoring
The power management device of weeder power supply status and for detecting the distance measuring sensor of obstacle distance weeder distance.
In a preferred embodiment, described orientation recognition sensor group includes that integrated three-dimensional electronic gyroscope, three-dimensional add
Speed sensor and dimensionally Magnetic Sensor.
In a preferred embodiment, intelligence weeder also includes the man machine interface LCD touch pad being arranged on weeder.
Technique scheme of the present utility model carries out judging this motor how by the relevant information that multisensor group is passed back
Shi Yunhang or stopping, driving condition detection sensor detects that weeder wheel stops when pivot turn.It is unnecessary to reduce
In the case of battery power consumption.Weeder wheel driver can be carried out by the voyage enumerator being arranged on road wheel
Voyage is measured, and contrasts three-dimensional perspective information, the acceleration information that orientation recognition sensor group is passed back, geomagnetic field information,
Realize weeder wheel driver PID closed loop control, and ensure in distance voyage will not be because of individual trickle of motor
Difference and cause walking path to bend.
In sum, the beneficial effects of the utility model are: reduce charging and the number of times of work of weeder, reach to save
The purpose of electric energy, can complete the work efficiency of maximum within the minimum time, and all region covering can realize without cutting
Blind area.Increase the service life of on-board batteries, reduce the loss of electric energy.In similar-type products, it is new that this utility model is applied
Technology can save the electric energy of 30%-40%.And whole work process completely dispenses with manual intervention, fully achieves weeder
Full-automation.
Accompanying drawing explanation
By the detailed description that non-limiting example is made made with reference to the following drawings of reading, other of the application
Feature, purpose and advantage will become more apparent upon:
Fig. 1 is the theory diagram of this utility model intelligence weeder；
Fig. 2 is the flow chart of the herbicidal methods of this utility model intelligence weeding；
In figure:
10, central processing unit；
20, weeder wheel driver；
30, weeder hay knife driving means；
41, Boundary Recognition sensor；
42, obstacle recognition sensor；
43, voyage enumerator；
44, orientation recognition sensor group；
45, aiding sensors group；
45-1, rain detection sensor；
45-2, driving condition detection sensor；
45-3, power management device；
45-4, distance measuring sensor；
44-1, three-dimensional electronic gyroscope；
44-2, three-dimensional acceleration sensor；
44-3, dimensionally Magnetic Sensor；
50, man machine interface LCD touch pad；
Detailed description of the invention
With embodiment, the application is described in further detail below in conjunction with the accompanying drawings.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to this invention.It also should be noted that, in order to
It is easy to describe, accompanying drawing illustrate only and invent relevant part.
It should be noted that in the case of not conflicting, the embodiment in the application and the feature in embodiment can phases
Combination mutually.Describe the application below with reference to the accompanying drawings and in conjunction with the embodiments in detail.
Refer to the theory diagram that Fig. 1 is intelligence a kind of embodiment of weeder, this weeder includes that multi-sensor information is adopted
Collection module, central processing unit 10, weeder wheel driver 20, weeder hay knife driving means 30；Multi-sensor information
Acquisition module include independently being arranged on weeder for identifying the Boundary Recognition sensor 41 on border, lawn, for knowing
Whether other weeder collides the obstacle recognition sensor 42 of barrier, for calculating the voyage enumerator of weeder voyage
43, for the sensing levelness of weeder, speed and the orientation recognition sensor group 44 in direction and aiding sensors group 45 in real time；
Central processing unit 10 controls described weeder wheel driver 20 He by the information receiving multi-sensor information acquisition module
Weeder hay knife driving means 30 operates.
Boundary Recognition sensor 41 utilizes ultra-low frequency signal identification technology, detection to be marked on the letter of work place boundary
Mark, for the identification on border, place, it is ensured that weeder is without departing from boundary work.Voyage enumerator 43 is one and utilizes electromagnetism
The sensor of hall sensing principle, is arranged on the auxiliary device of weeder live axle, gathers the rotation of weeder driving wheel
Speed, is translated into air line distance by calculating, for surveying and drawing the voyage data that weeder is advanced.Obstacle recognition sensor
42 is a kind of press detection sensor being installed in weeder housing, can sense the collision that weeder shell is subject to, use
The barrier that weeder normally works may be affected in identifying in work place.
In a preferred embodiment, above-mentioned aiding sensors group 45 include independently being arranged on weeder for feeling
Whether should rain rains detects sensor 45-1, for sensing the driving condition detection sensor 45-of weeder running status
2, for monitoring the power management device 45-3 of weeder power supply status and for detecting obstacle distance weeder distance
Distance measuring sensor 45-4.
Rain detection sensor 45-1 if be detected that rain signal then closes weeder hay knife driving means 30 avoids
Because its high-speed cruising causes weeder inner inlet impaired.Distance measuring sensor 45-4 is used for coordinating obstacle recognition sensor 42 to examine
Survey the minimum position information of barrier, see the details providing barrier on map to central processing unit 10.Driving condition
Detection sensor 45-2, is one group of special IC, is preset the nominal parameter of motor therein by program, transports at motor
The operational factor of motor can be gathered during row and compare with parameter preset, exceed preset value and give a warning information, and automatically stop
Machine.The information such as the voltage of battery, electric current, capacity when power management device 45-3 is for detecting weeder work, fills at battery
Electricity time also detect the information such as charging current, battery capacity judgement, it is ensured that battery will not overdischarge will not overcharge.
In a preferred embodiment, described orientation recognition sensor group 44 include integrated three-dimensional electronic gyroscope 44-1,
Three-dimensional acceleration sensor 44-2 and dimensionally Magnetic Sensor 44-3.
These three sensor is designed to a kind of integrated state, is that central processing system chipset transmits by information interface
Data, wherein three-dimensional electronic gyroscope 44-1 can provide the level status information of weeder, if fuselage is beyond setting during work
Meter gradient can give a warning information, and autostop.The direction that three-dimensional acceleration sensor 44-2 can provide weeder to advance
And velocity information, voyage enumerator 43 can be coordinated to determine the running status of weeder during normal work, if chassis is stuck,
Driving wheel occurs that the original place weeder that spins or dally loses speed or can give a warning during velocity anomaly information, and autostop.
Dimensionally magnetic field sensor provides traffic direction accurately for weeder, and the information provided in conjunction with three dimension acceleration sensor is permissible
Weeder is made to have the linearity of good long distance running.The information that three comprehensively exports can be central processing system chip
Group judges the real-time levelness of weeder, speed, directional information accurately.
In a preferred embodiment, intelligence weeder also includes the man machine interface LCD touch pad 50 being arranged on weeder.
Man machine interface can complete to intelligence some call parameters of weeder setting, the operation starting and stopping, intuitively
The status information of display current intelligence weeder.
The herbicidal methods of this utility model intelligence weeder is described in detail below in conjunction with Fig. 2:
A () weeder sets out with charging station for initial point, charging station be installed in will the border on lawn of weeding, centre
Reason device 10 receives and identifies that the information of Boundary Recognition sensor 41 controls the weeder wheel driver 20 limit along work place
Boundary's row takes a round return charging station；In this step, weeder hay knife driving means 30 is idle state；
B (), during step (a) is run, central processing unit 10 receives orientation recognition sensor group, voyage meter simultaneously
The information of number device 43 draws the electronic chart of the coordinate values labelling with work place；
C () central processing unit 10 calculates the optimum walking path of weeder with the information of electronic chart；
D () central processing unit 10 controls described weeder wheel driver 20 and walks, simultaneously according to optimum walking path
Control weeder hay knife driving means 30 to operate, proceed by weeding work；
E (), in the running of step (d), central processing unit 10 receives the letter of obstacle recognition sensor 42 simultaneously
Breath, if running into barrier, then central processing unit 10 positional information of labelling barrier in electronic chart, recalculates the most simultaneously
Excellent walking path；
F (), in the running of step (d), central processing unit 10 receives obstacle recognition sensor 42, orientation simultaneously
Identify that the information of sensor group 44 and aiding sensors group controls the operating of weeder.
Also including in described step (e), central processing unit 10 is according to obstacle recognition sensor 42 and distance measuring sensor 45-
The information of 4 accurately calculates the positional information of barrier.
Described step (f) specifically includes following step by step:
(f-1) information of the three-dimensional electronic gyroscope 44-1 during central processing unit 10 receives orientation recognition sensor group 44 is sentenced
Whether the fuselage of disconnected weeder is beyond the gradient preset, if exceeding, alert also controls weeder wheel and drives dress
Put 20 and weeder hay knife driving means 30 out of service, perform next step if not；
(f-2) the information identification of the three dimension acceleration sensor during central processing unit 10 receives orientation recognition sensor group 44
The traffic direction of weeder and the speed of service；
(f-3) three-dimensional acceleration during central processing unit 10 receives voyage enumerator 43 and orientation recognition sensor group 44 passes
The information of sensor judges whether the chassis of weeder is stuck, if then giving a warning information, and controls the driving of weeder wheel
Device 20 and weeder hay knife driving means 30 are out of service, perform next step if not；
(f-4) three dimension acceleration sensor during central processing unit 10 receives orientation recognition sensor group 44 and three-dimensional earth magnetism
The information of sensor 44-3 accurately judges the traffic direction of weeder, and corrects the traffic direction of weeder wheel driver 20
Match with optimum walking path；
(f-5) volume during central processing unit 10 receives aiding sensors group rain detection sensor 45-1 information judge be
No have rainy, the situation of spray, if it is out of service then to control weeder hay knife driving means 30, and controls weeder wheel
Driving means 20 is run to charging station and is charged and perform step (7-9), performs next step if not；
(f-6) information of the driving condition detection sensor 45-2 during central processing unit 10 receives aiding sensors group judges
The operational factor controlling weeder wheel driver 20 and weeder hay knife driving means 30 and the parameter preset whether one
Cause, if otherwise giving a warning information control weeder wheel driver 20 and weeder hay knife driving means 30 and stop fortune
OK, if being carried out next step；
(f-7) information of the power management device 45-3 during central processing unit 10 receives aiding sensors group reads weeding
The voltage of machine operation battery, electric current, capacity information, central processing unit 10 judges that weeder power supply reached to put critical point,
Shut down if controlling weeder hay knife driving means 30, and control weeder wheel driver 20 and run to charging station
Charge and perform step (f-9), if otherwise performing next step；
(f-8) central processing unit 10 judges whether weeder runs the terminal to optimal path, if then central processing unit
10 control weeder hay knife driving means 30 shuts down, and control weeder wheel driver 20 charging station charge,
If otherwise performing step (c).
(f-9) central processing unit 10 judges whether weeder power supply reached to rush critical point, stops if controlling weeder
Charging, if otherwise performing step (f-8).
Intelligence weeder of the present utility model employs Multi-sensor Fusion controls technology, working region identify with electronically
Figure generation technique, route planning technology, according to moveable robot movement control characteristic, by multi-sensor information fusion technology sense
Knowing the local environmental information around robot, the avoidance to mobile robot that shortest path first and cartographic information combined is moved
Make to carry out corresponding control with path planning so that weeder has an independent learning ability, real-time renewal electronic chart and
Regeneration planning route at any time.Automatically the target area of the good electronic chart of Determination of The Proper Motions in advance can be moved to from charging station
In, run according to the automatic programme path of shortest path first and automatic avoiding barrier, can effectively reduce duplicate paths,
Carry out weeding work efficiently.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.People in the art
Member should be appreciated that utility model scope involved in the application, however it is not limited to the particular combination of above-mentioned technical characteristic
Technical scheme, also should contain in the case of conceiving without departing from described utility model simultaneously, by above-mentioned technical characteristic or its equivalent
Other technical scheme that feature carries out combination in any and formed.Such as features described above has with (but not limited to) disclosed herein
The technical scheme that the technical characteristic having similar functions is replaced mutually and formed.
Claims (4)
1. intelligence weeder, it is characterised in that: include that multi-sensor information acquisition module, central processing unit, weeder wheel drive
Dynamic device, weeder hay knife driving means；Described central processing unit is by receiving the information of multi-sensor information acquisition module
Control described weeder wheel driver and the operating of weeder hay knife driving means；Described multi-sensor information acquisition module
Including be independently arranged on weeder for identifying the Boundary Recognition sensor on border, lawn, for identifying that weeder is
No collide barrier obstacle recognition sensor, for calculating the voyage enumerator of weeder voyage, for sensing in real time
The orientation recognition sensor group in the levelness of weeder, speed and direction and aiding sensors group.
Intelligence weeder the most according to claim 1, it is characterised in that: described aiding sensors group includes independently pacifying
Be contained on weeder detects sensor, for sensing the driving shape of weeder running status for the most rainy the raining of sensing
State detects sensor, for monitoring the power management device of weeder power supply status and for detecting obstacle distance weeder
The distance measuring sensor of distance.
Intelligence weeder the most according to claim 1 and 2, it is characterised in that: described orientation recognition sensor group includes collection
The three-dimensional electronic gyroscope become, three-dimensional acceleration sensor and dimensionally Magnetic Sensor.
Intelligence weeder the most according to claim 1 and 2, it is characterised in that: intelligence weeder also includes being arranged on weeding
Man machine interface LCD touch pad on machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620814518.3U CN205880664U (en) | 2016-07-26 | 2016-07-26 | Intelligence weeder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620814518.3U CN205880664U (en) | 2016-07-26 | 2016-07-26 | Intelligence weeder |
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| CN205880664U true CN205880664U (en) | 2017-01-11 |
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| CN201620814518.3U Expired - Fee Related CN205880664U (en) | 2016-07-26 | 2016-07-26 | Intelligence weeder |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109188977A (en) * | 2018-09-25 | 2019-01-11 | 湖北民族学院 | A kind of tea place weeding apparatus and control method |
| CN109287246A (en) * | 2018-08-24 | 2019-02-01 | 宁波市德霖机械有限公司 | Intelligent grass-removing based on laser radar map structuring |
| CN109819758A (en) * | 2019-03-29 | 2019-05-31 | 安徽理工大学 | The automatic weeder of intelligence |
| CN111880463A (en) * | 2020-08-03 | 2020-11-03 | 浙江天泰机械有限公司 | Terminal control method, device and system and electronic equipment |
| CN113597261A (en) * | 2018-10-11 | 2021-11-02 | Mtd产品公司 | Localized data mapping for indoor and outdoor applications |
| CN114264836A (en) * | 2021-12-22 | 2022-04-01 | 南京苏美达智能技术有限公司 | Method for detecting rotating speed of brush motor and automatic walking equipment |
-
2016
- 2016-07-26 CN CN201620814518.3U patent/CN205880664U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109287246A (en) * | 2018-08-24 | 2019-02-01 | 宁波市德霖机械有限公司 | Intelligent grass-removing based on laser radar map structuring |
| CN109188977A (en) * | 2018-09-25 | 2019-01-11 | 湖北民族学院 | A kind of tea place weeding apparatus and control method |
| CN113597261A (en) * | 2018-10-11 | 2021-11-02 | Mtd产品公司 | Localized data mapping for indoor and outdoor applications |
| CN109819758A (en) * | 2019-03-29 | 2019-05-31 | 安徽理工大学 | The automatic weeder of intelligence |
| CN111880463A (en) * | 2020-08-03 | 2020-11-03 | 浙江天泰机械有限公司 | Terminal control method, device and system and electronic equipment |
| CN114264836A (en) * | 2021-12-22 | 2022-04-01 | 南京苏美达智能技术有限公司 | Method for detecting rotating speed of brush motor and automatic walking equipment |
| CN114264836B (en) * | 2021-12-22 | 2024-05-17 | 南京苏美达智能技术有限公司 | Method for detecting rotating speed of brush motor and automatic walking equipment |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170111 Termination date: 20210726 |