CN209447038U - Mower control system - Google Patents
Mower control system Download PDFInfo
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- CN209447038U CN209447038U CN201920528198.9U CN201920528198U CN209447038U CN 209447038 U CN209447038 U CN 209447038U CN 201920528198 U CN201920528198 U CN 201920528198U CN 209447038 U CN209447038 U CN 209447038U
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- mower
- grass trimmer
- path
- control module
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- 238000004891 communication Methods 0.000 claims abstract description 18
- 238000012545 processing Methods 0.000 claims abstract description 8
- 230000004888 barrier function Effects 0.000 claims description 42
- 244000025254 Cannabis sativa Species 0.000 claims description 38
- 238000005314 correlation function Methods 0.000 description 19
- 238000000034 method Methods 0.000 description 8
- 238000013507 mapping Methods 0.000 description 5
- 238000012937 correction Methods 0.000 description 4
- 230000011218 segmentation Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Abstract
The utility model discloses a mower control system, which comprises a camera module and a control module, wherein the camera module is used for shooting a path image in front of a mower; a radar module for detecting an obstacle on a path in front of the mower; the contact pressure sensors are distributed around the mower and used for detecting objects in contact with the mower; the infrared sensors are distributed around the mower and used for detecting life bodies close to the mower; the control module is respectively in communication connection with the camera module, the radar module, the contact pressure sensor and the infrared sensor and is used for planning and controlling the advancing path of the mower; the remote control terminal is in communication connection with the control module and is used for processing a non-real-time large-operand data task; and the communication module is used for communication connection between the control module and the remote control terminal. The utility model discloses can improve the not enough of prior art, realize the accurate planning route of lawn mower under the prerequisite that does not greatly increase the hardware cost.
Description
Technical field
The utility model relates to agricultural machinery technological field, especially a kind of mowing machine control system.
Background technique
Grass trimmer is mainly used for the turf-mown of large-scale level land lawn, golf course, park lawn, greenbelt etc. and miscellaneous
Grass cleaning.Existing grass trimmer needs artificial whole field surveillance operation, time-consuming and laborious, does not meet the requirement of modernization development.
And existing path automatic planning is high for hardware computation rate request, directly applies on grass trimmer, will lead to mowing
Machine cost is substantially increased, and influences being widely used for grass trimmer.
Utility model content
The technical problem to be solved by the present invention is to provide a kind of mowing machine control systems, are able to solve the prior art
Deficiency realizes grass trimmer accurate planning path under the premise of not increasing considerably hardware cost, avoids barrier.
In order to solve the above technical problems, technical solution adopted in the utility model is as follows.
A kind of mowing machine control system, including,
Camera module, for shooting the path image in front of grass trimmer；
Radar module, for detecting the barrier on grass trimmer forward path；
Several contact pressure sensors are distributed in the surrounding of grass trimmer, for detecting the object being in contact with grass trimmer
Body；
Several infrared sensors are distributed in the surrounding of grass trimmer, for detecting the life entity close to grass trimmer；
Control module communicates with camera module, radar module, contact pressure sensor and infrared sensor connect respectively
It connects, carries out planning control for the travel path to grass trimmer；
Remote control terminal, and control module communication connection, to non real-time nature macrooperation amount data task
Reason；
Communication module, the communication connection for control module and remote control terminal.
A kind of control method of above-mentioned mowing machine control system, comprising the following steps:
A, the path image of the path image in front of camera module shooting grass trimmer, acquisition is pre- by control module segmentation
After processing, it is sent to remote control terminal；
B, remote control terminal analyzes the path image sent, obtains planning path, and planning path is returned
It is transmitted to control module；
C, control module is advanced according to the planning path control grass trimmer received；
D, the obstacle information that radar module will test is sent to control module, and control module is according to obstacle information pair
Planning path is modified, and correction result is sent to remote control terminal；
E, remote control terminal is corrected following path image analytic process according to correction result；
F, when contact pressure sensor or contact pressure sensor detect useful signal, control module control is cut
Careless machine stops in emergency
Preferably, control module carries out figure segmentation according to picture position at a distance from grass trimmer in step A, will scheme
As being divided into close-up images, middle range image and remote image three parts；By the barrier in middle range image and remote image
Hinder object to carry out Fuzzy Processing, the region between different barriers is marked, marked region is divided into barrier relevant range
With barrier non-relevant areas, the degree of correlation letter of barrier non-relevant areas and barrier relevant range adjacent thereto is established
Number.
Preferably, in step B, when barrier non-relevant areas, which is used only, to form planning path, in barrier
Planning path is established in non-relevant areas, using degree of correlation function calculate barrier non-relevant areas different location and with calculate position
The degree of correlation of the smallest barrier relevant range of average distance is set, the calculated degree of correlation in any position is respectively less than in planning path
Given threshold；When barrier non-relevant areas, which is used only, to form planning path, barrier is calculated using degree of correlation function
The degree of correlation of relevant range and barrier non-relevant areas adjacent thereto, and according to the degree of correlation just to barrier relevant range
Different location carry out descending arrangement, according to the degree of correlation from high to low successively use corresponding barrier relevant range and barrier
Non-relevant areas forms planning path.
Preferably, obstacle information and planning path are compared in step D, if barrier is located at planning path
It is interior, then planning path is modified according to Obstacle Position, preferentially uses in makeover process and used in step B planning path
The barrier non-relevant areas arrived；Then root carries out the inverse operation that planning path is established described in step B using positive result, calculates
To updated degree of correlation function, updated degree of correlation function is sent to remote control terminal.
Preferably, the former degree of correlation function of remote control terminal foundation is reflected with updated degree of correlation function in step E
Set of relationship is penetrated, and carries out school using the degree of correlation function that the mapping relations set of foundation will be sent to remote control terminal to future
Just, with the operation of grass trimmer, the mapping relations set holding of former degree of correlation function and updated degree of correlation function is real-time more
Newly.
Brought beneficial effect is by adopting the above technical scheme: the utility model is by establishing two-step evolution system up and down
System, carries out classification synchronization process to the information data of acquisition, reduces the requirement for hardware computation speed, do not increasing significantly
The accurate planning path of grass trimmer is realized under the premise of adding hardware cost, avoids barrier.And it is passed by setting contact pressure
Sensor and contact pressure sensor further increase the safety of grass trimmer.
Detailed description of the invention
Fig. 1 is the structure chart of one specific embodiment of the utility model.
In figure: 1, camera module；2, radar module；3, contact pressure sensor；4, infrared sensor；5, mould is controlled
Block；6, remote control terminal；7, communication module.
Specific embodiment
The standardized element used in the utility model can commercially, and shaped piece is according to specification and attached
The record of figure can carry out it is customized, the specific connection type of each part be all made of in the prior art mature bolt, rivet,
The conventional means such as welding, stickup, this will not be detailed here.
Referring to Fig.1, one specific embodiment of the utility model includes camera module 1, for shooting in front of grass trimmer
Path image；
Radar module 2, for detecting the barrier on grass trimmer forward path；
Several contact pressure sensors 3, are distributed in the surrounding of grass trimmer, for detecting the object being in contact with grass trimmer
Body；
Several infrared sensors 4, are distributed in the surrounding of grass trimmer, for detecting the life entity close to grass trimmer；
Control module 5, respectively with camera module 1, radar module 2, contact pressure sensor 3 and infrared sensor 4
Communication connection carries out planning control for the travel path to grass trimmer；
Remote control terminal 6 is used to carry out non real-time nature macrooperation amount data task with 5 communication connection of control module
Processing；
Communication module 7, the communication connection for control module 5 and remote control terminal 6.
A kind of control method of above-mentioned mowing machine control system, comprising the following steps:
A, camera module 1 shoots the path image in front of grass trimmer, and the path image of acquisition is divided by control module 5
After pretreatment, it is sent to remote control terminal 6；
B, remote control terminal 6 analyzes the path image sent, obtains planning path, and planning path is returned
It is transmitted to control module 5；
C, control module 5 is advanced according to the planning path control grass trimmer received；
D, the obstacle information that radar module 2 will test is sent to control module 5, and control module 5 is believed according to barrier
Breath is modified planning path, and correction result is sent to remote control terminal 6；
E, remote control terminal 6 is corrected following path image analytic process according to correction result；
F, when contact pressure sensor 3 or contact pressure sensor 3 detect useful signal, control module 5 is controlled
Grass trimmer processed stops in emergency.
In step A, control module 5 carries out figure segmentation according to picture position at a distance from grass trimmer, divides the image into close
Range image, middle range image and remote image three parts；Barrier in middle range image and remote image is carried out
Region between different barriers is marked Fuzzy Processing, and marked region is divided into barrier relevant range and barrier
The degree of correlation function of barrier non-relevant areas and barrier relevant range adjacent thereto is established in non-relevant areas.
In step B, when barrier non-relevant areas, which is used only, to form planning path, in barrier non-relevant areas
In establish planning path, using degree of correlation function calculate barrier non-relevant areas different location and with calculating position average distance
The degree of correlation of the smallest barrier relevant range, the calculated degree of correlation in any position is respectively less than given threshold in planning path；
When be used only barrier non-relevant areas can not form planning path when, using degree of correlation function calculate barrier relevant range and
The degree of correlation of barrier non-relevant areas adjacent thereto, and different location of the height to barrier relevant range according to the degree of correlation
Descending arrangement is carried out, according to the degree of correlation from high to low successively using corresponding barrier relevant range and barrier non-relevant areas
Form planning path.
In step D, obstacle information and planning path are compared, if barrier is located in planning path, basis
Obstacle Position is modified planning path, and the obstacle used in step B planning path is preferentially used in makeover process
Object non-relevant areas；Then root carries out the inverse operation that planning path is established described in step B using positive result, after update is calculated
Degree of correlation function, updated degree of correlation function is sent to remote control terminal 6.
In step E, remote control terminal 6 establishes the mapping relations collection of former degree of correlation function Yu updated degree of correlation function
It closes, and is corrected using the degree of correlation function that the mapping relations set of foundation will be sent to remote control terminal 6 to future, with
The mapping relations set of the operation of grass trimmer, former degree of correlation function and updated degree of correlation function keeps real-time update.
In addition, control module 5 compares the obstacle information that close-up images are detected with radar module 2, use
Barrier deviation information after comparison corrects the Fuzzy Threshold during Fuzzy Processing in real time, to improve Fuzzy processing
Accuracy.
SK08 type vehicle-mounted camera of the camera module 1 using the production of rice Tetracoq skill Co., Ltd, Shenzhen, radar mould
The CHQ1050 type trailer-mounted radar that block 2 is produced using Shenzhen Cheng Qiang photoelectric digital Co., Ltd, contact pressure sensor 3 are adopted
With Keyemce AP-C30 type pressure sensor, infrared sensor 4 uses Keyemce FS-V31 type infrared sensor, control module 5
Using Mitsubishi FX3U type PLC, for remote control terminal 6 using association's day ease 510Pro desktop computer, communication module 7 is brilliant using Weihai
Close the GH-NB DTU type communication module group of Information Technology Co., Ltd's production.
In the description of the present invention, it should be understood that term " longitudinal direction ", " transverse direction ", "upper", "lower", " preceding ",
The orientation or positional relationship of the instructions such as " rear ", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" be based on
Orientation or positional relationship shown in the drawings is merely for convenience of description the utility model, rather than the dress of indication or suggestion meaning
It sets or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to the utility model
Limitation.
The basic principles and main features of the present invention and the advantages of the present invention have been shown and described above.Current row
The technical staff of industry is described in above embodiments and description it should be appreciated that the present utility model is not limited to the above embodiments
Only illustrate the principles of the present invention, on the premise of not departing from the spirit and scope of the utility model, the utility model is also
It will have various changes and improvements, these various changes and improvements fall within the scope of the claimed invention.The utility model
Claimed range is defined by the appending claims and its equivalent thereof.
Claims (1)
1. a kind of mowing machine control system, it is characterised in that: including,
Camera module (1), for shooting the path image in front of grass trimmer；
Radar module (2), for detecting the barrier on grass trimmer forward path；
Several contact pressure sensors (3), are distributed in the surrounding of grass trimmer, for detecting the object being in contact with grass trimmer
Body；
Several infrared sensors (4), are distributed in the surrounding of grass trimmer, for detecting the life entity close to grass trimmer；
Control module (5), respectively with camera module (1), radar module (2), contact pressure sensor (3) and infrared sensing
Device (4) communication connection carries out planning control for the travel path to grass trimmer；
Remote control terminal (6) is used to carry out non real-time nature macrooperation amount data task with control module (5) communication connection
Processing；
Communication module (7) is used for the communication connection of control module (5) and remote control terminal (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920528198.9U CN209447038U (en) | 2019-04-17 | 2019-04-17 | Mower control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920528198.9U CN209447038U (en) | 2019-04-17 | 2019-04-17 | Mower control system |
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| Publication Number | Publication Date |
|---|---|
| CN209447038U true CN209447038U (en) | 2019-09-27 |
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ID=68034628
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| CN201920528198.9U Expired - Fee Related CN209447038U (en) | 2019-04-17 | 2019-04-17 | Mower control system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109947115A (en) * | 2019-04-17 | 2019-06-28 | 河北农业大学 | Mower control system and control method thereof |
| CN112425344A (en) * | 2020-11-25 | 2021-03-02 | 西南大学 | Orchard self-propelled weeding machine and autonomous navigation obstacle avoidance method thereof |
-
2019
- 2019-04-17 CN CN201920528198.9U patent/CN209447038U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109947115A (en) * | 2019-04-17 | 2019-06-28 | 河北农业大学 | Mower control system and control method thereof |
| CN112425344A (en) * | 2020-11-25 | 2021-03-02 | 西南大学 | Orchard self-propelled weeding machine and autonomous navigation obstacle avoidance method thereof |
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Granted publication date: 20190927 Termination date: 20200417 |