CN213749597U - Be applied to meadow recognition device of meadow robot of mowing - Google Patents
Be applied to meadow recognition device of meadow robot of mowing Download PDFInfo
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- CN213749597U CN213749597U CN202023115662.3U CN202023115662U CN213749597U CN 213749597 U CN213749597 U CN 213749597U CN 202023115662 U CN202023115662 U CN 202023115662U CN 213749597 U CN213749597 U CN 213749597U
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Abstract
The utility model relates to a be applied to meadow recognition device of meadow robot of mowing, main control unit including meadow robot of mowing, its characterized in that: the bottom of the lawn mowing robot is provided with an illumination module and a multi-channel infrared spectrum module at a distance of 5-10 cm from the lawn ground; the lighting module and the multi-channel infrared spectrum module are respectively connected with the main controller. The utility model discloses based on multichannel infrared spectroscopic analysis meadow characteristic spectrum to effectively distinguish with other environment objects according to the characteristic spectrum on meadow, thereby improve the discernment ability and the accuracy of robot mower to the meadow environment.
Description
Technical Field
The utility model relates to a robot technical field especially relates to a be applied to lawn recognition device of lawn mowing robot.
Background
In recent years, as robots increasingly penetrate into our lives, robots having autonomous perception, decision and execution functions, such as sweeping robots and mowing robots, have been rapidly developed. The mowing robot works in an outdoor unstructured environment, and is complex in environment and large in moving range compared with an indoor structured environment. The recognition of ground and environmental objects has higher requirements, and the recognition is also one of the key technologies of the lawn mowing robot. However, most mowing robots currently employ a random mowing method, and there is no robot that recognizes lawns and environmental objects and also recognizes digital images.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that a be applied to meadow lawn mowing robot's meadow recognition device that simple structure, to lawn recognition rate height is provided.
In order to solve the problem, a be applied to meadow recognition device of meadow robot that mows, including meadow robot's main control unit that mows, its characterized in that: the bottom of the lawn mowing robot is provided with an illumination module and a multi-channel infrared spectrum module at a distance of 5-10 cm from the lawn ground; the lighting module and the multi-channel infrared spectrum module are respectively connected with the main controller.
The wavelength range of the lighting module is between the red and near infrared wavelength ranges.
The illumination module corresponds to a wavelength range of the multi-channel infrared spectroscopy module.
The lighting module consists of a plurality of red light LED transmitting tubes and a plurality of infrared LED transmitting tubes.
The red light LED transmitting tube is formed by combining a plurality of LED lamp beads with red light wave bands of 610-680 nm.
The infrared LED transmitting tube is formed by combining a plurality of LED lamp beads with infrared bands of 680-870 nm.
The multi-channel infrared spectrum module is composed of a plurality of multi-channel infrared spectrum module sensors.
Compared with the prior art, the utility model has the following advantage:
1. the utility model discloses based on multichannel infrared spectroscopic analysis meadow characteristic spectrum to effectively distinguish with other environment objects according to the characteristic spectrum on meadow, thereby improve the discernment ability and the accuracy of robot mower to the meadow environment.
2. The utility model discloses simple structure can distinguish the meadow with other environment objects at 10cm within range, and the recognition rate is high, and does not rely on ambient light work.
Drawings
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a working principle diagram of the present invention.
Fig. 3 shows a characteristic absorption spectrum of the lawn of the present invention.
Fig. 4 is the spectral data collected by the multi-channel spectral sensor of the present invention.
In the figure: 1-a lighting module; 2-a multi-channel infrared spectroscopy module; and 3, a main controller.
Detailed Description
As shown in fig. 1, a lawn identification apparatus applied to a lawn mowing robot includes a main controller 3 of the lawn mowing robot. The bottom of the lawn mowing robot is provided with an illumination module 1 and a multi-channel infrared spectrum module 2 at a distance of 5-10 cm from the lawn ground; the lighting module 1 and the multi-channel infrared spectrum module 2 are respectively connected with the main controller 3.
Wherein: the wavelength range of the lighting module 1 is between the red and near infrared wavelength ranges.
The illumination module 1 corresponds to the wavelength range of the multi-channel infrared spectroscopy module 2.
The lighting module 1 consists of a plurality of red light LED transmitting tubes and a plurality of infrared LED transmitting tubes.
The red light LED transmitting tube is formed by combining a plurality of LED lamp beads with red light wave bands of 610-680 nm.
The infrared LED transmitting tube is formed by combining a plurality of LED lamp beads with infrared bands of 680-870 nm.
The multi-channel infrared spectrum module 2 is composed of a plurality of multi-channel infrared spectrum module sensors, and forms a multi-channel infrared spectrum detection system together with the main controller 3. The multi-channel infrared spectroscopy module 2 is implemented using either an emmis semiconductor push-out AS7265x or AS7263 chip.
The main controller 3 may also be a separate single-chip processing unit.
The working principle is as follows: and identifying and distinguishing the grassland and other environmental objects according to the difference between the characteristic diffuse reflection spectrum of the grassland and the diffuse reflection spectrum of other environmental objects.
As shown in fig. 2, the light emitted from the lighting module 1 is diffused and reflected by the leaves and stems of the lawn plants, and then received by the multi-channel infrared spectrum module 2 installed at the bottom of the lawn mowing robot in parallel. And after the multi-channel infrared spectrum module 2 receives the diffuse reflection light signal, the spectral data is transmitted to a main controller 3 of the lawn mowing robot for data processing.
Before putting into use, need establish the model through the algorithm earlier, the utility model discloses a KNN algorithm establishes the model. The method comprises the following specific steps:
firstly, calibrating the LED spectrum of the lighting module 1 through a reference white board, then collecting a large amount of multi-channel spectrum data of objects in lawns and environments, carrying out spectrum calibration on the data, carrying out data normalization processing, and then establishing a model through a KNN mode recognition algorithm. The spectral data gives higher weight according to the data of plant characteristic spectrum, which mainly utilizes red light 650nm and infrared light 730nm, 760 nm and 810nm, and spectral model building and identification are carried out. As shown in fig. 3. FIG. 3 shows the characteristic absorption spectrum of lawn at 400-900 nm, with an absorption peak around 650nm and a near infrared reflection peak above 730nm, which are two sections of characteristic spectra of plants different from the environment.
Then, the trained KNN algorithm model program is transplanted to the main controller 3, and the optimal main controller 3 selects a single chip microcomputer of STM 32. In the working environment of the mowing robot, the data collected by the multi-channel infrared spectrum module 2 is processed by a model algorithm of the main controller 3, and as shown in fig. 4, the data in the wavelength range of 400-900 nm can be seen to comprise the two sections of characteristic spectra of the plants. The utility model discloses mainly use this section spectrum to carry out lawn identification as data, distinguish it with other environment objects to realize that lawn mowing robot develops the operation of mowing more accurately.
Claims (7)
1. The utility model provides a be applied to meadow recognition device of meadow robot that mows, includes main control unit (3) of meadow robot that mows, its characterized in that: the lawn mowing robot is characterized in that an illumination module (1) and a multi-channel infrared spectrum module (2) are respectively arranged at the position, 5-10 cm away from the lawn ground, of the bottom of the lawn mowing robot; the lighting module (1) and the multi-channel infrared spectrum module (2) are respectively connected with the main controller (3).
2. A lawn identification apparatus as claimed in claim 1 for use in a lawn mowing robot comprising: the wavelength range of the lighting module (1) is between the red and near infrared wavelength ranges.
3. A lawn identification apparatus as claimed in claim 1 for use in a lawn mowing robot comprising: the lighting module (1) corresponds to the wavelength range of the multi-channel infrared spectrum module (2).
4. A lawn identification apparatus as claimed in claim 2 for use with a lawn mowing robot, wherein: the lighting module (1) is composed of a plurality of red light LED transmitting tubes and a plurality of infrared LED transmitting tubes.
5. A lawn identification apparatus as claimed in claim 4 for use in a lawn mowing robot comprising: the red light LED transmitting tube is formed by combining a plurality of LED lamp beads with red light wave bands of 610-680 nm.
6. A lawn identification apparatus as claimed in claim 4 for use in a lawn mowing robot comprising: the infrared LED transmitting tube is formed by combining a plurality of LED lamp beads with infrared bands of 680-870 nm.
7. A lawn identification apparatus as claimed in claim 1 for use in a lawn mowing robot comprising: the multi-channel infrared spectrum module (2) is composed of a plurality of multi-channel infrared spectrum module sensors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023115662.3U CN213749597U (en) | 2020-12-22 | 2020-12-22 | Be applied to meadow recognition device of meadow robot of mowing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023115662.3U CN213749597U (en) | 2020-12-22 | 2020-12-22 | Be applied to meadow recognition device of meadow robot of mowing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213749597U true CN213749597U (en) | 2021-07-20 |
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| CN202023115662.3U Active CN213749597U (en) | 2020-12-22 | 2020-12-22 | Be applied to meadow recognition device of meadow robot of mowing |
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| Country | Link |
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| CN (1) | CN213749597U (en) |
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2020
- 2020-12-22 CN CN202023115662.3U patent/CN213749597U/en active Active
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