CN208242224U - A kind of intelligent grass-removing that energy subregion is mowed - Google Patents
A kind of intelligent grass-removing that energy subregion is mowed Download PDFInfo
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- CN208242224U CN208242224U CN201820695627.7U CN201820695627U CN208242224U CN 208242224 U CN208242224 U CN 208242224U CN 201820695627 U CN201820695627 U CN 201820695627U CN 208242224 U CN208242224 U CN 208242224U
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Abstract
The utility model relates to a kind of intelligent grass-removings that energy subregion is mowed, including host and cover the shell on host, host is equipped with a label setting button and wireless distance finding unit, one code-disc is installed, label setting button, code-disc and wireless distance finding unit are connected with the governor circuit in host respectively on the driving wheel of host.By marking setting button that the mark point in a lot of mowing regional edge boundary line is arranged in advance.When starting to mow, grass trimmer rides line traveling along the boundary line in some mowing region from cradle, when the surveyed trajectory distance of code-disc and the surveyed linear distance of wireless distance finding unit are consistent with the record value of the zone marker point respectively, then grass trimmer leaves boundary line and mows into the region, cradle is returned after the completion, continually looks for subsequent region.Multiple working regions can be remembered and be identified to the utility model, be automatically performed the mowing task of multizone, easy to use without manually moving grass trimmer to required operating area, time saving and energy saving.
Description
Technical field
The utility model relates to a kind of fully-automatic intelligent grass trimmers more particularly to a kind of intelligence that energy subregion is mowed to mow
Machine.
Background technique
Intelligent grass-removing can independently complete the work to cut the grass on a lawn, without artificially directly controlling and operate.Generally comprise row
Drive module and cutting drive module are walked, automatically walk and mowing task can be completed in the fence of setting, there are also anti-collisions
Function is hit, and can auto-returned charging.It is suitble to the places such as garden, public lawn to carry out turf-mown maintenance.But current intelligence
The case where grass trimmer can only be automatically performed turf-mown task in a working region, and there are multiple afforested areas in garden
It is generally existing, it needs that intelligent grass-removing is moved to next required operating area by manpower at present, or use more intelligence
Grass trimmer could complete the cutting operation of multizone, therefore use is very inconvenient, both time-consuming and laborious, also increase cost.
Summary of the invention
In order to solve the above-mentioned technical problem the utility model, provides a kind of intelligent grass-removing that energy subregion is mowed, can remember
Recall multiple working regions, be automatically performed the mowing task of multizone, without manually moving grass trimmer to required operating area, uses
It is convenient, it is time saving and energy saving, also reduce cost.
Another object of the present invention is to provide a kind of intelligent grass-removing that energy subregion is mowed, and has accurate collision inspection
Mechanism is surveyed, so that 360 ° of grass trimmer horizontal direction can sense barrier, and collision is greatly improved and orientation detection occurs
Accuracy successfully, expeditiously completes mowing task so as to make grass trimmer reach good avoidance effect.
Above technical problems of the utility model are mainly solved by the following technical scheme: the utility model
The intelligent grass-removing that energy subregion is mowed, including host and covers the shell on host, and governor circuit, the master are equipped in host
Machine is equipped with the wireless distance finding unit of a label setting button and the linear distance being capable of measuring between grass trimmer and cradle, main
One code-disc is installed on one of driving wheel of machine, label setting button, code-disc and wireless distance finding unit respectively with it is described
Governor circuit be connected.Code-disc is mounted on the wheel shaft of driving wheel, by grating measuring driving wheel rotational angle, comprehensive driving wheel
Perimeter can calculate the travel distance for riding line walking of grass trimmer point from cradle to zone marker.It wireless distance finding unit and fills
The use that matches of electric seat by wireless telecommunications measures signal two-way time, calculate straight line between grass trimmer and cradle away from
From.Label setting button for setting mark point of the grass trimmer on the boundary line in n mowing region in advance, by governor circuit
Record linear distance of the grass trimmer between the trajectory distance and grass trimmer and cradle at the mark point in n mowing region.Side
Boundary line is an elongated line, and each region is confined from cradle in both ends.Mowing task starts, and grass trimmer is from charging
Seat sets out, and first rides line traveling along the boundary line in some mowing region, and code-disc records grass trimmer from cradle in the area in real time
The trajectory distance travelled on the boundary line of domain, the linear distance between wireless distance finding unit real-time measurement grass trimmer and cradle, and
It is conveyed to governor circuit, is analyzed by governor circuit and is calculated, code-disc trajectory distance and grass trimmer during actual travel
When linear distance between cradle is identical as the value recorded at the zone marker point respectively, then illustrate that grass trimmer arrived this
The mark point in region, then governor circuit sending signal control grass trimmer leaves boundary line and mows into the region, after the completion
Grass trimmer returns to cradle.Then, similarly, grass trimmer continually looks for subsequent work region, completes the mowing in subsequent work region
Task.The utility model can remember multiple working regions, the mowing task of multizone is automatically performed, without manually moving grass trimmer
It is easy to use to required operating area, it is time saving and energy saving, also reduce cost.
Preferably, the governor circuit includes central processing unit, display screen, boundary sensing unit, wheel driving
Unit and cutting driving unit, the label setting button, code-disc, wireless distance finding unit, display screen, boundary sensing unit,
Wheel driving unit and cutting driving unit are connected with central processing unit respectively.Central processing unit is control core, is passed through
Wheel driving unit controls steering and the revolving speed of wheel of lawn mower, realizes the automatic running of grass trimmer.Driving unit is cut to complete
Cutting, the trimming on lawn.Boundary sensing unit is used to incude the mowing regional edge boundary line being arranged by cradle, also electronics is made to enclose
Column.Boundary sensing unit includes two groups of inductance, and the left and right of central axes is symmetrically disposed on using grass trimmer direction of advance as central axes
Two sides.When grass trimmer works in mowing region, if marching near border, inductance is mowed if sensing boundary line signal
Machine executes turning backward instruction.When grass trimmer on boundary line when driving, such as from cradle leave for working region or mow after
It will carry out riding line traveling when homeward charging, need to compare the signal that the two groups of inductance in left and right are sensed.If two sides signal one
It causes, then it is assumed that grass trimmer is ridden line and travelled between two parties, normally；It is on the contrary, then it is assumed that riding line traveling has a deviation, control wheel driving unit into
Row correction.
Preferably, the wireless distance finding unit is ultra-broadband ranging unit, infrared distance measuring unit, ultrasonic distance measurement
Unit or bluetooth distance measuring unit.Wireless distance finding unit and cradle match use, as long as grass trimmer and charging can be measured wirelessly
Linear distance between seat, is all possible.
Preferably, be equipped with one piece of horizontally disposed wiring board in the host, on wiring board installation there are four with
On Hall sensor, Hall sensor forms a circle and is equidistantly spaced apart, the master control in Hall sensor and host
Circuit is connected, and the back side of the shell is equipped with a magnetic patch, and magnetic patch is located at the upper of the center for the circle that Hall sensor surrounds
Side, the shell are connected with the host by elastic component.When normal work, all Hall sensors pass to identical electricity
Stream, due to equal with the spacing of magnetic patch, therefore the voltage of Hall sensor output is also identical, receive four of governor circuit
Transducing signal is equal.When grass trimmer encounters barrier during walking or mowing and collides, due to shell
Be with host be connected by elastic component, therefore shell collided after certain displacement can occur, magnetic patch and hall sensing at this time
Changes will occur for the spacing of device, then Hall sensor is just different by the magnetic field induction size of magnetic patch, therefore Hall sensor is defeated
Voltage out also changes, and governor circuit can be accurately judged that out and be touched by analyzing and calculating according to these variations
The barrier hit is located at which direction of grass trimmer, then issues signal driving wheel, and grass trimmer is enable accurately to avoid obstacle
Object.It is covered on host as suspending shell, therefore whichever direction collides, shell can be all subjected to displacement, and realization is cut
360 degree of collision detections without dead angle of careless machine horizontal direction.Hall sensor is at least arranged four, as needed, may be alternatively provided as 6
It is a or 8, it is even more.Hall sensor is arranged more, and collision detection is more accurate.The utility model structure is simple, realizes
It is convenient, so that 360 ° of grass trimmer horizontal direction can sense barrier, and greatly improve the essence that orientation detection occurs for collision
True property successfully, expeditiously completes mowing task so as to make grass trimmer reach good avoidance effect.
Preferably, the elastic component is spring, left side, the right side of the host are respectively provided with what two front and backs were distributed
Mounting ear is equipped with spring in mounting ear, and one end of spring is connected with mounting ear, the back of the other end of spring and the shell
Face is connected.So that shell covers on host as securely can connecting and suspend with host, position can be generated once colliding
It moves, improves the accuracy and reliability of collision detection.
Preferably, the back side of the shell is equipped with a mounting post stretched out downward, the magnetic patch is inlaid in institute
In the mounting post stated.It is easy for installation and secured, so that magnetic patch had not only had spacing in vertical direction with Hall sensor, but also lean on very much
Nearly Hall sensor improves the accuracy of induction.
Preferably, upper cover is embedded on the top surface of the shell, the label setting button and display screen installation
A flip lid is hinged in upper cover, upper lid, display location is in the lower section of flip lid.Marking setting button is also scram button, when
When operation irregularity situation occurs for grass trimmer, staff presses scram button, can shut down grass trimmer, immediately convenient for making in time
Respective handling.
Preferably, a magnetic patch and more than four Hall sensors constitute one group of collision detection mechanism, institute
The intelligent grass-removing stated is equipped with two groups or more collision detection mechanism.As needed, multiple groups collision detection can be set
Mechanism, multiple groups collision detection mechanism can be distributed by front and back, left and right is distributed or multi-party bit distribution, be collided to avoid some orientation
When inductive signal it is weaker or induction it is unresponsive happen, further increase induction collision, detection collision course accuracy.
The beneficial effects of the utility model are: can remember and identify multiple works by setting code-disc and wireless distance finding unit
Make region, be automatically performed the mowing task of multizone, without manually moving grass trimmer to required operating area, easy to use, province
Shi Shengli also reduces cost.By the way that more than four Hall sensors are arranged, so that 360 ° of grass trimmer horizontal direction can incude
To barrier, the accuracy that orientation detection occurs for collision is greatly improved, it is suitable so as to make grass trimmer reach good avoidance effect
Mowing task is expeditiously completed on sharp ground.
Detailed description of the invention
Fig. 1 is a kind of circuit theory connection block diagram of governor circuit in the utility model.
Fig. 2 is that the utility model is divided to two mowing regions to complete a kind of partitioned organization schematic diagram mowed.
Fig. 3 is a kind of dimensional decomposition structure diagram of the utility model.
Fig. 4 is a kind of broken section structural schematic diagram of the utility model.
Fig. 5 is a kind of overlooking structure diagram of Hall sensor and magnetic patch distributing position in the utility model.
1. host in figure, 2. shells, 3. wiring boards, 4. Hall sensors, 5. mounting posts, 6. magnetic patch, 7. springs, 8. installations
Ear, 9. upper covers, 10. label setting buttons, 11. display screens, 12. flip lids, 13. front covers, 14. signal processing units, 15. centres
Manage unit, 16. wheel driving units, 17. cutting driving units, 18. boundary sensing units, 19. code-discs, 20. wireless distance finding lists
Member, 21. grass trimmers, 22. cradles, 23. first mowing regions, the mark point in 24. first mowing regions, 25. second mowing areas
Domain, the mark point in 26. second mowing regions.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
Embodiment: a kind of intelligent grass-removing that energy subregion is mowed of the present embodiment, as shown in figure 3, figure 4 and figure 5, including master
Machine 1 and the shell 2 on host is covered, one piece of horizontally disposed wiring board 3 is installed, the back side of wiring board is equipped with four in host
A Hall sensor 4, four Hall sensors form a circle and are distributed uniformly and circumferentially, four Hall sensors respectively and
Governor circuit in host is connected, and there is the mounting post stretched out downward 5 at the back side of shell, is embedded with a magnetic patch in mounting post
6, magnetic patch is located at the lower end of mounting post, and magnetic patch is located at the top at the center for the circle that four Hall sensors surround.Magnetic patch
Be in different level position with Hall sensor, the two has a spacing in vertical direction, four Hall sensors to magnetic patch away from
From equal.Shell is connected with host by elastic component, i.e., shell is not fixedly mounted on host, when shell is by external force
Horizontal direction can be subjected to displacement.In the present embodiment, elastic component uses spring 7, and respectively there are two front and backs to be distributed for left side, the right side of host
Mounting ear 8, spring is installed in mounting ear, one end of spring is connected with mounting ear, the other end of spring and the back side of shell
It is connected.The wireless distance finding unit 20 for the linear distance being capable of measuring between grass trimmer and cradle is installed, such as infrared ray in host
Distance measuring unit is equipped with a code-disc 19 on the wheel shaft of one of driving wheel of host.Upper cover is embedded on the top surface of shell
9, the label setting button 10 and a display screen 11 of scram button are doubled as on upper lid equipped with one, is also hinged with one on upper lid
Flip lid 12, display location is in the lower section of flip lid.The front of shell is also connected with front cover 13.As shown in Figure 1, governor circuit includes aobvious
Display screen 11, boundary sensing unit 18, signal processing unit 14, central processing unit 15, wheel driving unit 16 and cutting driving
Unit 17, four Hall sensors 4 are connected through signal processing unit 14 with central processing unit 15 respectively, mark setting button
10, code-disc 19, wireless distance finding unit 20, display screen 11, boundary sensing unit 18, wheel driving unit 16 and cutting driving unit
17 are connected with central processing unit 15 respectively.
Code-disc is mounted on the wheel shaft of driving wheel, and by grating measuring driving wheel rotational angle, comprehensive driving wheel perimeter can
To calculate the travel distance for riding line walking of grass trimmer point from cradle to zone marker.Wireless distance finding unit and cradle phase
Matching uses, and by wireless telecommunications, measures signal two-way time, calculates the linear distance between grass trimmer and cradle.Mark
Note setting button is recorded for setting mark point of the grass trimmer on the boundary line in n mowing region in advance by governor circuit
Linear distance of the grass trimmer between the trajectory distance and grass trimmer and cradle at the mark point in n mowing region.Grass trimmer
Line traveling is ridden from cradle, by the real-time testing data of code-disc and wireless distance finding unit, judges whether grass trimmer reaches
Mark point, if reaching mark point, grass trimmer, which leaves boundary line and enters working region, mows, after completing mowing task,
Cradle is returned, the mark point in subsequent work region is continually looked for, completes the mowing task in subsequent work region.
Subregion mowing control process is as follows: by marking setting button to set grass trimmer in advance in n mowing region
Mark point on boundary line, governor circuit obtain trajectory distance Xn and mowing of the grass trimmer at the mark point in n mowing region
Linear distance Yn between machine and cradle, as shown in Fig. 2, the mark point 24 that thick line show the first mowing region arrives cradle
Trajectory distance X1, dotted line show the linear distance Y1 between the mark point 24 and cradle in the first mowing region；It mows and appoints
Business starts, and grass trimmer 21 first rides line traveling along the boundary line in the first mowing region 23 from cradle 22s, and code-disc records in real time
The trajectory distance x ' that grass trimmer travels on boundary line from cradle, wireless distance finding unit real-time measurement grass trimmer and charging
Linear distance y ' between seat, and it is conveyed to central processing unit, it is analyzed by central processing unit and is calculated, work as x '=X1
And when y '=Y1, illustrate that grass trimmer arrived the mark point 24 in the first mowing region, then central processing unit issues signal control
Grass trimmer leaves boundary line and mows into the first mowing region, and grass trimmer returns to cradle after the completion；Then, grass trimmer from
Cradle sets out, and rides line traveling along the boundary line in the second mowing region 25, as x '=X2 and y '=Y2, illustrates that grass trimmer has arrived
Up to the mark point 26 in the second mowing region, then central processing unit sending signal control grass trimmer leaves boundary line and cuts into second
Careless region is mowed, and grass trimmer returns to cradle after the completion；And so on, grass trimmer is automatically performed cutting for n mowing region
Careless task.
As needed, by setting, it can be carried out continuously mowing task between the n-th mowing region and the (n+1)th mowing region,
The mowing task in the (n+1)th mowing region can also be carried out again by certain interval of time after the mowing task in the n-th mowing of completion region.
Such as so that grass trimmer is completed customization work plan by setting: early 8: 00 go to the first mowing regional work 1 hour, afternoon 2:
00 goes to the second mowing regional work 1 hour.So early 8: 00 grass trimmers ride line, traveling to the first mowing area from cradle
When the mark point A in domain, into the offline operation in the first mowing region 1 hour, boundary line is then found, line is ridden and is back to cradle.
Wait until 2:00 in afternoon again from cradle traveling to the second mowing region mark point B when, under the second mowing region
Line operation 1 hour, boundary line is then found, make a return voyage back cradle.
Be configured as needed, can also make grass trimmer be selectively carrying out in n mowing region one of them or
The mowing task in multiple mowing regions.
In addition, four Hall sensors pass to identical electric current when working normally, due to equal with the spacing of magnetic patch, therefore
Four Hall sensors output voltage be also it is identical, four transducing signals that central processing unit receives are equal.
When grass trimmer encounters barrier during walking or mowing and collides, since shell and host are by spring phase
Even, therefore shell collided after certain displacement can occur, the spacing of magnetic patch and four Hall sensors can all occur at this time
Variation, four spacing are no longer equal, then four Hall sensors are just different by the magnetic field induction size of magnetic patch, therefore four Halls
The voltage of sensor output also changes, and central processing unit, can be accurately by analyzing and calculating according to these variations
Judge the barrier to collide is located at which direction of grass trimmer, then send a signal to wheel driving unit, makes grass trimmer
It is able to accurately avoiding obstacles.
Certainly, as needed, it may also set up two magnetic patch and eight Hall sensors, constitute Liang Zu collision detection mechanism.
Wherein, a magnetic patch and four Hall sensors constitute one group of collision detection mechanism, positioned at the front of grass trimmer；There are one magnetic
Block and four Hall sensors constitute another group of collision detection mechanism, positioned at the rear portion of grass trimmer.Eight Hall sensor installations
At the back side of same wiring board.Using Liang Zu collision detection mechanism, the essence of induction collision, detection collision course is further increased
True property.Distribution before and after Liang Zu collision detection mechanism more can accurately incude the collision that front occurs and the collision that rear occurs, have
Conducive to more accurately judging collision course, so that mowing function more accurately avoiding obstacles.
Claims (7)
1. a kind of intelligent grass-removing that energy subregion is mowed, including host and covers the shell on host, master control electricity is equipped in host
Road, it is characterised in that the straight line that the host is equipped with a label setting button and is capable of measuring between grass trimmer and cradle
The wireless distance finding unit of distance is equipped with a code-disc, label setting button, code-disc and nothing on one of driving wheel of host
Line distance measuring unit is connected with the governor circuit respectively.
2. a kind of intelligent grass-removing that energy subregion is mowed according to claim 1, it is characterised in that the governor circuit
It is set including central processing unit, display screen, boundary sensing unit, wheel driving unit and cutting driving unit, the label
Set key, code-disc, wireless distance finding unit, display screen, boundary sensing unit, wheel driving unit and cutting driving unit respectively and
Central processing unit is connected.
3. a kind of intelligent grass-removing that energy subregion is mowed according to claim 1, it is characterised in that the wireless distance finding
Unit is ultra-broadband ranging unit, infrared distance measuring unit, ultrasonic distance measurement unit or bluetooth distance measuring unit.
4. a kind of intelligent grass-removing that energy subregion is mowed according to claim 1 or 2 or 3, it is characterised in that the master
One piece of horizontally disposed wiring board is installed in machine, more than four Hall sensors, Hall sensor are installed on wiring board
It forms a circle and is equidistantly spaced apart, Hall sensor is connected with the governor circuit, the back side peace of the shell
Equipped with a magnetic patch, magnetic patch is located at the top at the center for the circle that Hall sensor surrounds, and the shell and the host are logical
Elastic component is crossed to be connected.
5. it is according to claim 4 it is a kind of can the intelligent grass-removing mowed of subregion, it is characterised in that the elastic component is
Spring, left side, the right side of the host are respectively provided with the mounting ear that two front and backs are distributed, are equipped with spring, spring in mounting ear
One end be connected with mounting ear, the other end of spring is connected with the back side of the shell.
6. a kind of intelligent grass-removing that energy subregion is mowed according to claim 4, it is characterised in that the back of the shell
Face is equipped with a mounting post stretched out downward, and the magnetic patch is inlaid in the mounting post.
7. a kind of intelligent grass-removing that energy subregion is mowed according to claim 4, it is characterised in that a magnetic patch
One group of collision detection mechanism is constituted with more than four Hall sensors, the intelligent grass-removing is equipped with two groups or more
Collision detection mechanism.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820695627.7U CN208242224U (en) | 2018-05-10 | 2018-05-10 | A kind of intelligent grass-removing that energy subregion is mowed |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820695627.7U CN208242224U (en) | 2018-05-10 | 2018-05-10 | A kind of intelligent grass-removing that energy subregion is mowed |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108605516A (en) * | 2018-05-10 | 2018-10-02 | 浙江菲客机器人有限公司 | A kind of intelligent grass-removing and its partition control method that energy subregion is mowed |
| CN109247118A (en) * | 2018-08-24 | 2019-01-22 | 宁波市德霖机械有限公司 | Intelligent grass-removing based on full-view camera building electronic map |
| CN110879596A (en) * | 2019-12-05 | 2020-03-13 | 中国北方车辆研究所 | Autonomous operation system and autonomous operation method of low-cost automatic mower |
| CN114568108A (en) * | 2022-02-28 | 2022-06-03 | 清华大学深圳国际研究生院 | Unmanned mower track tracking control method and computer readable storage medium |
-
2018
- 2018-05-10 CN CN201820695627.7U patent/CN208242224U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108605516A (en) * | 2018-05-10 | 2018-10-02 | 浙江菲客机器人有限公司 | A kind of intelligent grass-removing and its partition control method that energy subregion is mowed |
| CN109247118A (en) * | 2018-08-24 | 2019-01-22 | 宁波市德霖机械有限公司 | Intelligent grass-removing based on full-view camera building electronic map |
| CN110879596A (en) * | 2019-12-05 | 2020-03-13 | 中国北方车辆研究所 | Autonomous operation system and autonomous operation method of low-cost automatic mower |
| CN114568108A (en) * | 2022-02-28 | 2022-06-03 | 清华大学深圳国际研究生院 | Unmanned mower track tracking control method and computer readable storage medium |
| CN114568108B (en) * | 2022-02-28 | 2022-11-11 | 清华大学深圳国际研究生院 | Unmanned mower trajectory tracking control method and computer readable storage medium |
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Effective date of registration: 20210726 Address after: 315300 No. 11, Qifeng bridge, Pengqiao village, Henghe Town, Cixi City, Ningbo City, Zhejiang Province Patentee after: Ningbo Dongbei Intelligent Technology Co.,Ltd. Address before: 311215 Room 606, building 1, agriculture building, ningwei street, Xiaoshan District, Hangzhou City, Zhejiang Province Patentee before: ZHEJIANG FEIKE ROBOT Co.,Ltd. |