CN209732044U

CN209732044U - Mowing equipment

Info

Publication number: CN209732044U
Application number: CN201822126253.XU
Authority: CN
Inventors: 周国扬; 郑鑫; 花跃学; 薛玉雷; 刘楷
Original assignee: Nanjing Sumec Intelligent Technology Co Ltd
Current assignee: Nanjing Sumec Intelligent Technology Co Ltd
Priority date: 2018-12-18
Filing date: 2018-12-18
Publication date: 2019-12-06
Anticipated expiration: 2028-12-18

Abstract

A mowing apparatus includes a living body sensing device and a contact sensing device. The contact sensing device and the living body sensing device respectively detect a signal that the mowing device is in contact with the outside and a living body signal near the mowing device. Therefore, the utility model discloses a mowing equipment can detect the barrier rather than contact simultaneously and not yet with mowing equipment contact but be in near the live body of mowing equipment. Like this, the equipment of mowing is more comprehensive, timely also safer to the detection of external operational environment. Furthermore, a control system in the mowing equipment can respond to an external working environment more timely, control the mowing equipment, guarantee the trimming effect of the mowing equipment on the lawn at the edge of the obstacle, and meanwhile guarantee that the mowing equipment cannot touch a living body to cause potential safety hazards.

Description

Mowing equipment

Technical Field

The utility model relates to a garden instrument field especially relates to a mowing equipment.

Background

The mowing apparatus mainly includes a mowing unit, a control unit, and a self-traveling unit. In operation, the relevant data of the external environment of the mowing device are sensed through various external environment sensing devices, and the control unit controls the self-walking unit to bypass the obstacle according to the relevant data of the external environment, for example, according to the identification of the obstacle, or simultaneously controls the mowing unit to stop running correspondingly.

In the existing mowing equipment, two common ways of detecting obstacles are adopted, namely a non-contact sensor is adopted, and a contact detection way is adopted. When a non-contact sensor, such as an ultrasonic sensor, is adopted, the obstacle can be sensed when the mowing equipment provided with the non-contact sensor is away from the obstacle by a certain distance, and therefore the control module controls the mowing equipment to walk away from the obstacle. However, the non-contact sensing method has the following problems: 1. the mowing device cannot mow grass in front of the obstacle; 2. grass growing higher is likely to be mistaken for an obstacle to avoid, and erroneous judgment is caused.

When the contact type sensor is adopted to detect the obstacle, the obstacle can be sensed only when the mowing equipment is in contact collision with the obstacle, so that the equipment is controlled to avoid. Although grass in front of the obstacle can be cut off in this way, when the obstacle is a living body such as a human or an animal, the cutter head of the mowing unit is likely to cause danger such as injury to people during collision and contact.

SUMMERY OF THE UTILITY MODEL

In order to solve the deficiencies of the prior art, the utility model aims to provide a mowing equipment detects simultaneously with its barrier of contact and not yet with mowing equipment contact but be in near the living body of mowing equipment.

In order to achieve the above object, the utility model provides a mowing equipment, it includes: the living body sensing device is used for detecting a living body signal near the mowing equipment; and the contact sensing device is used for detecting a signal that the mowing equipment is contacted with the outside.

Optionally, in the mowing apparatus, the living body sensing device includes: one or the combination of an infrared sensor, an audio sensor, a vibration sensor and a radar detector vision sensor: the infrared sensor is used for sensing an infrared signal emitted by a living body and outputting a living body sensing signal to the control unit; the audio sensor or the vibration sensor is used for sensing an audio signal or a vibration signal emitted by a living body and outputting a living body sensing signal to the control unit; the radar detector is used for outputting a life body induction signal to the control unit according to a radar signal reflected by a life body; the visual sensor is used for acquiring an external image of the mowing device, detecting a living body feature in the external image, and outputting a signal to the control unit according to the detected living body feature.

Optionally, in the mowing apparatus, the contact sensing device includes: one or a combination of a collision sensor, a driving state detection mechanism, a collision switch, a distance sensor, and an acceleration sensor: the collision sensor: the Hall element is used for outputting signal change; the mower also comprises a collision switch and the like, wherein the collision switch and the like comprise an triggering end and a sensing end which are oppositely arranged on the body and in the shell of the mowing equipment, and when the mowing equipment is in contact with an obstacle, the triggering end and the sensing end deviate from an initial position to generate a contact sensing signal at the sensing end; the driving state detection mechanism is used for detecting the change of the rotating speed and/or current of a driving unit of the mowing equipment and generating a contact induction signal when the rotating speed and/or current changes; the collision switch is arranged on the outer side of a shell of the mowing equipment and generates a contact induction signal when the shell contacts an obstacle; the distance sensor comprises an infrared distance sensor, a laser distance measuring device or an ultrasonic distance measuring device, and generates a contact sensing signal when detecting that the distance between an obstacle and the mowing equipment is lower than a preset value; the acceleration sensor detects the acceleration or the change rate of the acceleration of the mowing equipment, and the contact sensing signal is generated when the acceleration or the change rate of the acceleration of the mowing equipment reaches a preset value.

Optionally, in the mowing apparatus, the living body sensing device and/or the contact sensing device is disposed at a front portion or an upper portion of the mowing apparatus.

optionally, in the mowing apparatus, the living body sensing device and/or the contact sensing device is/are disposed on a steering structure, and the steering structure is connected to the mowing apparatus to drive the living body sensing device and/or the contact sensing device to rotate in the detection direction.

optionally, in the mowing apparatus, when the living body signal is not detected by the living body sensing device, the contact sensing device detects a signal that the mowing apparatus is in contact with the outside.

optionally, in the mowing apparatus, a detection distance of the living body sensing device is longer than a detection distance of the contact sensing device.

Optionally, the mowing apparatus further includes a judging circuit, where the judging circuit is connected to the living body sensing device and the contact sensing device, and receives a living body sensing signal output by the living body sensing device and a contact sensing signal output by the contact sensing device; the judgment circuit outputs a control signal to drive the mowing equipment to work only when the life body induction signal or the contact induction signal is not received.

Optionally, in the mowing apparatus, the determining circuit outputs a control signal according to the contact sensing signal when not receiving the living body sensing signal.

Compared with the prior art, the utility model has the following technical effects:

1. the utility model provides a mowing equipment, which is provided with a life body sensing device and a contact sensing device. The utility model discloses a mowing equipment can detect simultaneously rather than the barrier of contact and not yet with mowing equipment contact but be in near the live body of mowing equipment. Like this, the equipment of mowing is more comprehensive, timely also safer to the detection of external operational environment.

2. The utility model discloses a mowing equipment, its control system can be more timely detect outside operational environment, it can detect not yet with mowing equipment contact but be in near the live body of mowing equipment to according to the detection control to the barrier when not detecting the live body mowing equipment. When not detecting the life body, the utility model discloses can guarantee the effect of repairing of mowing equipment to obstacle edge meadow. When detecting the life body, the utility model discloses can in time guarantee again that mowing equipment can not touch the life body and produce the potential safety hazard.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, together with the embodiments of the invention for the purpose of explanation and not limitation of the invention. In the drawings:

Fig. 1 is a schematic view of the whole of a mowing apparatus according to the present invention;

Fig. 2 is a schematic diagram of a first circuit structure adopted by the mowing apparatus of the present invention;

FIG. 3 is a schematic diagram of a second circuit configuration of the mowing apparatus of the present invention;

fig. 4 is a schematic diagram of a third circuit structure of the mowing apparatus of the present invention.

Detailed Description

the preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are presented herein only to illustrate and explain the present invention, and not to limit the present invention.

The mowing device provided by the utility model is shown in fig. 1, and comprises a living body sensing device 1, which is used for detecting living body signals near the mowing equipment, such as infrared signals, sound signals, vibration signals, radar signals reflected by the living body and/or signals obtained by detecting the characteristics of the living body in the external image of the mowing equipment; and a contact sensing device 2 for detecting a signal of contact of the mowing apparatus with the outside; the living body sensing device 1 and the contact sensing device 2 are respectively arranged on the mowing equipment and are connected with the control unit. The control unit is arranged to control the driving unit of the mower according to the living body induction signal output by the living body induction device 1 for inducing the living body and the contact induction signal output by the contact induction device 2 for inducing the mowing equipment to contact with the obstacle, so as to drive the mowing equipment to avoid the obstacle, work or stop.

The utility model discloses an under the implementation, life body induction system can select to be: one or a combination of an infrared sensor, an audio sensor, a radar detector, a vibration sensor, a vision sensor.

the infrared sensor detects infrared rays of about 10UM emitted by a human body so as to output a life body induction signal to the control unit, so that the detection of the life body is realized. The reason for this is that objects of different temperatures release infrared energy signals of different wavelengths. The human body has a constant body temperature, typically at 37 degrees, which corresponds to infrared radiation having a wavelength of about 10UM for infrared energy signals. Thus, the infrared sensor can detect the living body by detecting the intensity of infrared rays of about 10 UM.

The audio sensor detects sound wave signals in a human voice frequency range, and outputs a life body induction signal to the control unit according to the detection condition to realize the detection of the life body. The voice signal of the person communication and speaking is fixed in a certain voice frequency range, and the intensity of the sound wave signal of the frequency range can reflect the distance between the person and the mowing equipment to a certain extent. Therefore, through the detection of dialogue audio frequency section sound wave signal, the utility model discloses the remote detection of life entity can be realized equally.

The vibration sensor, which uses a special microelectronic processor, can recognize minute vibrations propagating in air or solids. The life detector is used for searching life bodies trapped under concrete, rubble or other solids. The invention utilizes the similar principle, and accurately identifies the sound from the human body such as shouting, talking, beating, moving or knocking vibration signals through the microelectronic processor. Meanwhile, the filtering treatment can be carried out on the surrounding background noise. The distance between the life body and the mowing equipment is identified by means of the special vibration signals, and the long-distance detection of the life body is realized.

The radar detector firstly transmits radar signals to the detection direction of the radar detector, and the radar signals are reflected back to the radar detector in a specific frequency or signal form after meeting the human body. Therefore, the radar detector outputs a life body induction signal to the control unit according to the radar signal reflected by the life body, and the long-distance detection of the life body is realized. Specifically, the radar detector performs life detection based on radar signals, and utilizes a micro-power ultra-wideband radar technology and a biomedical engineering technology, and the working principle is as follows: and analyzing and judging whether a living body exists in the detection area and obtaining specific position information of the living body based on the time domain Doppler effect generated by the human body movement on the radar echo. The device fully utilizes the characteristics of wide frequency spectrum, strong penetrability, high resolution, good anti-interference performance, low power consumption and the like of nanosecond electromagnetic wave pulses, sends the nanosecond electromagnetic wave pulses to a working area of the device by mowing equipment, processes signals after echoes are coherently received, filters static target echoes such as walls, rubbles and the like, and only detects and displays moving target echoes such as telemechanical limbs, heart and lung, and the like, thereby realizing the purpose of detecting a living body.

The visual sensor utilizes a visual identification technology to identify the characteristics of the living body in a visual range through algorithm processing. Specifically, the vision sensor comprises an image acquisition unit and an image recognition unit. The image acquisition unit acquires an external image of the mowing equipment and inputs the image to the image recognition unit. The image recognition unit can detect the characteristics of the living body in the external image by executing a preset detection algorithm on the image. The vital body characteristics can comprise pixel point distribution shapes according with human body characteristics, pixel regions according with human body color characteristics or characteristics reflecting human bodies, which are obtained through machine learning or deep learning training. Therefore, the visual sensor can output a living body induction signal to the control unit according to the detected characteristics of the living body, and the remote detection of the living body is realized. The image recognition unit can be optionally integrated in the control unit of the mowing equipment, or a recognition result is output to the corresponding control unit through a special image processing chip or hardware.

in an implementation of the present invention, the contact sensing device 2 may include: one or a combination of a collision sensor, a driving state detection mechanism, a collision switch, a distance sensor, and an acceleration sensor:

The collision sensor comprises: the mower comprises an triggering end and a sensing end which are oppositely arranged on a body and in a shell of the mowing equipment, and when the mowing equipment is in contact with an obstacle, the triggering end and the sensing end deviate from an initial position to generate a contact sensing signal at the sensing end. The triggering end and the induction end can be correspondingly selected to be a Hall element and a magnetic component, and the Hall element induces the magnetic field of the magnetic component to correspondingly output signals; the triggering end and the sensing end can be realized through a collision switch and the like. The collision sensor outputs the contact sensing signal to the control unit.

The driving state detection mechanism is used for detecting the change of the rotating speed and/or current of a driving unit of the mowing device, generating a contact sensing signal when the rotating speed and/or current changes, particularly when the rotating speed and/or current changes suddenly due to the fact that an obstacle blocks the mowing device to operate, and outputting the contact sensing signal to the control unit.

The collision switch is arranged on the outer side of a shell reaching the mowing equipment, and when the shell contacts an obstacle, a contact inside the collision switch is electrically contacted or disconnected to enable an internal circuit to be conducted or disconnected, so that a contact induction signal is correspondingly generated.

The distance sensor can comprise one or any combination of an infrared distance sensor, a laser distance measuring device or an ultrasonic distance measuring device, the infrared distance sensor, the laser distance measuring device or the ultrasonic distance measuring device can transmit infrared signals, laser signals or ultrasonic signals, when an obstacle is met, the transmitted signals are blocked by the obstacle and reflected back to a receiving end of the distance sensor, and the distance between the obstacle and the sensor can be obtained through calculating the time and the phase of the reflected signals. Thereby, the distance is output to a control unit or a contact sensing signal is generated when the distance between the obstacle and the mowing device is detected to be lower than a preset value, and the contact sensing signal is output to the control unit.

The acceleration sensor detects the acceleration or the change rate of the acceleration of the mowing equipment, and when the acceleration or the change rate of the acceleration of the mowing equipment reaches a preset value, the contact sensing signal is generated and output to the control unit. In this case, the control unit may further determine the direction and position of the collision based on the change in the acceleration.

Still further, each of the above-mentioned sensing devices may be disposed at the front or upper portion of the mowing apparatus or around the mowing apparatus, or may be connected to the mowing apparatus through a steering structure. The steering structure is controlled to rotate by a mowing device or a manual drive steering engine, and the rotation of the steering structure drives the detection direction of the living body sensing device and/or the contact sensing device arranged on the steering structure to rotate along with the rotation. Therefore, the utility model discloses an each sensing device can obtain 360 all obstacle information within ranges around the equipment of mowing more are accurate rate timely to the control of equipment of mowing, further improve the security of the equipment of mowing.

Referring to fig. 2, in a possible implementation, the control unit of the mowing apparatus can implement its determination circuit through an and gate 3 or through a nor gate: and the signal output ends of the life body sensing device and the contact sensing device are simultaneously connected with the input end of the AND gate circuit. In this manner, the and gate circuit or the nor gate controls the mowing apparatus to operate only when neither the living body sensing device nor the contact sensing device detects an obstacle, and controls the mowing apparatus to alarm, stop, or avoid an obstacle when either the living body sensing device or the contact sensing device detects an obstacle.

Considering that the detection distance of the living body sensing device 1 is far from the detection distance of the contact sensing device 2, the living body sensing device 1 detects a living body which is not in contact with the mowing device but is in the vicinity of the mowing device, and the contact sensing device 2 detects a signal of an obstacle which is in contact with or is about to contact with the mowing device. The two signals are not generated simultaneously. Therefore, in another implementation manner, the control unit of the mowing apparatus can be implemented by two separate determination circuits, for example, one comparator determines whether the living body sensing signal obtained by the living body sensing device reaches a preset threshold, and the other comparator determines whether the contact sensing signal reaches the preset threshold. And when the life body induction signal is judged not to reach a preset threshold value, outputting a control signal according to the contact induction signal to control the mowing equipment to work, give an alarm, stop or avoid an obstacle. For example, when a contact induction signal is received, the mowing equipment is controlled to avoid obstacles; and when the contact induction signal is not received, keeping the mowing equipment to work. And when the life body induction signal is judged to reach a preset threshold value, directly controlling the mowing equipment to stop working.

Alternatively, as shown in fig. 3, the output terminal of the above-mentioned determining circuit 41 for determining the living body induction signal may be further connected to the enable terminal of another determining circuit 42. Therefore, when the living body induction signal is received, the first judging circuit 41 can control the mowing equipment to stop working; when the living body sensing signal is not received, the first determining circuit 41 may send an enabling signal to the second determining circuit 42, and the second determining circuit 42 further controls the lawn mowing apparatus to avoid obstacles or work according to the received contact sensing signal.

alternatively, the above determination process may also be directly implemented by the CPU5, the single chip, or the signal processing chip shown in fig. 4. Optionally, at this time, the control unit may be configured to determine whether the living body sensing signal is received again when the mowing device stops working due to receiving the living body sensing signal and reaches a preset duration: if the life body induction signal is received, outputting a control signal to control the mowing equipment to stop working; and if the life body induction signal is not received, controlling the mowing equipment according to the contact induction signal.

The obstacle avoidance device of the mowing equipment can change the rotating speed of the self-walking motor through the driving unit connected with the self-walking motor, and the rotating speed difference is generated between the left walking wheel and the right walking wheel, so that the mowing equipment can turn around, walk around a barrier and turn. Alternatively, the drive unit may stop the travel of the mowing apparatus by turning off the drive of the self-travel motor. Furthermore, in the obstacle avoidance state, the rotation speed of the mowing motor can be changed or the driving of the mowing motor can be stopped by changing the duty ratio of the driving signal output by the driving unit through the driving unit connected with the mowing knife motor.

Those of ordinary skill in the art will understand that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A mowing apparatus, comprising:

A living body sensing device (1) for detecting a living body signal in the vicinity of the mowing apparatus;

And contact sensing means (2) for detecting a signal of contact of the mowing apparatus with the outside;

The life body sensing device (1) and the contact sensing device (2) are respectively arranged on the mowing equipment.

2. a mowing apparatus according to claim 1, characterized in that said living-body sensing device (1) comprises: one or a combination of an infrared sensor, an audio sensor, a vibration sensor and a radar detector vision sensor;

The infrared sensor is used for sensing an infrared signal emitted by a living body and outputting a living body sensing signal;

The audio sensor or the vibration sensor is used for sensing an audio signal or a vibration signal emitted by a living body and outputting a living body sensing signal;

the radar detector is used for outputting a life body induction signal according to a radar signal reflected by a life body;

the visual sensor is used for acquiring an external image of the mowing device, detecting a living body feature in the external image, and outputting a signal according to the detected living body feature.

3. A mowing apparatus according to claim 1, characterized in that said contact sensing device (2) comprises: one or a combination of a collision sensor, a driving state detection mechanism, a collision switch, a distance sensor and an acceleration sensor;

the collision sensor comprises an triggering end and a sensing end which are oppositely arranged on the body and in the shell of the mowing equipment, and when the mowing equipment is in contact with an obstacle, the triggering end and the sensing end deviate from an initial position to generate a contact sensing signal at the sensing end;

the driving state detection mechanism is used for detecting the change of the rotating speed and/or current of a driving unit of the mowing equipment and generating a contact induction signal when the rotating speed and/or current changes;

the collision switch is arranged on the outer side of a shell of the mowing equipment and generates a contact induction signal when the shell contacts an obstacle;

The distance sensor comprises an infrared distance sensor, a laser distance measuring device or an ultrasonic distance measuring device, and generates a contact sensing signal when detecting that the distance between an obstacle and the mowing equipment is lower than a preset value;

The acceleration sensor detects the acceleration or the change rate of the acceleration of the mowing equipment, and the contact sensing signal is generated when the acceleration or the change rate of the acceleration of the mowing equipment reaches a preset value.

4. A mowing apparatus according to claim 1, wherein the living body sensing device (1) and/or the contact sensing device (2) is/are arranged in the front or in the upper part of the mowing apparatus.

5. a mowing apparatus according to claim 4, wherein the living body sensing device (1) and/or the contact sensing device (2) is/are arranged on a steering structure connected to the mowing apparatus for driving the detection direction rotation of the living body sensing device (1) and/or the contact sensing device (2).

6. A mowing apparatus according to any one of claims 1 to 5, wherein the contact sensing means (2) detects a signal that the mowing apparatus is in contact with the outside when the living body sensing means (1) does not detect the living body signal.

7. Mowing device according to claim 6, characterized in that the detection distance of the living being sensing means (1) is longer than the detection distance of the contact sensing means (2).

8. the mowing apparatus according to claim 6, further comprising a judging circuit connected to the living body sensing device (1) and the contact sensing device (2) and receiving the living body sensing signal output from the living body sensing device (1) and the contact sensing signal output from the contact sensing device (2);

the judgment circuit outputs a control signal to drive the mowing equipment to work only when the life body induction signal or the contact induction signal is not received.

9. The mowing apparatus according to claim 8, wherein the determination circuit outputs a control signal according to the contact sensing signal when the living body sensing signal is not received.