KR101202399B1 - Agricultural mower robot and thereby method of driving guidance - Google Patents

Abstract

The present invention relates to a grass turf mower robot and a driving guide method thereof.

Method for guiding the running of the lawn mower mower for farming according to an embodiment of the present invention through the gyro sensor mounted on the lawn mower mower robot for the angular speed, the steering angle data through the steering angle sensor, through the speed sensor Detecting the data of the speed, respectively, and storing the data of the detected angular velocity, the steering angle data, the data of the speed, the magnetic field sensor mounted on the agricultural lawn mower mower robot to detect the magnetic, and by the detected magnetic Identifying a boundary, recognizing a first moving path for the agricultural lawn mower through at least two of the data of the boundary and the angular velocity by the magnetic, the data of the steering angle and the data of the velocity, the grass lawn mower Controlling the robot to operate along the first movement path, operating along the first movement path Detecting obstacles or shields that may be placed around the grass mower mowers, and if the obstacles or shields are detected, recognizing the first path to avoid the obstacles or shields and Controlling to operate according to another second movement path.

Mower, Relative Navigation, Magnetic Field Sensor, Magnetic

Description

Agricultural mower robot and thereby method of driving guidance

The present invention relates to a grass turf mower robot and a driving guide method thereof.

As the standard of living improves, the role of greenery, including grass, is taking on an important position. In particular, grass provides functional aspects such as pollution prevention and soil leakage prevention in addition to aesthetic functions, so expansion of cultivation and utilization should be accompanied with advancement. Therefore, technology development of related equipment is required as the grass area is increased.

The present invention provides an agricultural lawn mower mower robot and its driving guidance method which can reduce the time and labor required for mowing a large area of grass through an unmanned work by placing a magnetic boundary around facility obstacles and a shield. There is a purpose.

Method for guiding the running of the lawn mower mower for farming according to an embodiment of the present invention through the gyro sensor mounted on the lawn mower mower robot for the angular speed, the steering angle data through the steering angle sensor, through the speed sensor Detecting the data of the speed, respectively, and storing the data of the detected angular velocity, the steering angle data, the data of the speed, the magnetic field sensor mounted on the agricultural lawn mower mower robot to detect the magnetic, and by the detected magnetic Identifying a boundary, recognizing a first moving path for the agricultural lawn mower through at least two of the data of the boundary and the angular velocity by the magnetic, the data of the steering angle and the data of the velocity, the grass lawn mower Controlling the robot to operate along the first movement path, operating along the first movement path Detecting obstacles or shields that may be placed around the grass mower mowers, and if the obstacles or shields are detected, recognizing the first path to avoid the obstacles or shields and Controlling to operate according to another second movement path.

In addition, the grass sensor mounted on the agricultural grass mower robot detects the height of the grass, and selects a moving path for the agricultural grass mower mower robot by comparing the detected grass height with the height of the grass set by the user. It may include the step.

In addition, the first movement path or the second movement path may include a preset by the user.

In addition, by using the detected angular velocity data, the steering angle data and the data of the speed to estimate the current position of the lawn mower mower robot for farming, using the relative navigation to determine the first movement path or the second movement path Can be.

Agricultural lawn mower mower robot according to an embodiment of the present invention is mounted on the agricultural grass mower mower robot to detect the angular velocity, steering angle and speed to extract the current position for the agricultural lawn mower mower robot, agricultural use Magnetic field sensor mounted on the grass mower robot to detect the magnetic field and identify the boundary of the detected magnetic field, data on the current position provided by the relative navigation unit and the magnetic field sensor unit, and data on the economy by the identified magnetic field. It includes a drive control unit for controlling the lawn mower mower robot to recognize and operate the first movement path through the power supply unit for supplying power to the relative navigation unit, the field line detail and the drive control unit.

The relative navigation unit may include: a gyro sensor unit configured to detect an angular velocity and store data of the detected angular velocity; The steering angle sensor unit may detect a steering angle, store data of the detected steering angle, and a speed sensor unit detect a speed and store data of the detected speed.

In addition, the magnetic field sensor unit further comprises a grass sensor unit, the grass sensor unit detects the height of the grass, and selects the movement path for the lawn mower mower robot compared to the detected grass height and the height of the grass set by the user. It may include doing.

In addition, the first movement path may include a predetermined setting by the user.

Agricultural lawn mower mower robot and its driving guidance method according to an embodiment of the present invention includes a relative navigation unit and a magnetic field sensor unit, it is possible to reduce the time and labor required to mow a large area of grass through unmanned work It has an effect.

Hereinafter, with reference to the accompanying drawings will be described in detail a preferred embodiment of the present invention.

1 is for explaining a method for guiding the running of the lawn mower mower robot for farming according to an embodiment of the present invention, Figure 2 is for explaining the lawn mower mower robot for farming according to an embodiment of the present invention 3 is for explaining the operation of the agricultural lawn mower mower robot according to an embodiment of the present invention through the movement path, Figure 4 is an agricultural lawn mower mower robot according to an embodiment of the present invention This is to explain how to avoid obstacles.

Referring to Figure 1, the method for guiding the driving of agricultural grass mower mower robot according to an embodiment of the present invention through the gyro sensor mounted on the agricultural grass mower mower robot, the data of the angular velocity, the steering angle data through the steering angle sensor , Respectively, detecting the speed data through the speed sensor, and storing the data of the detected angular speed, the steering angle data, and the speed data, respectively, by detecting the magnetic field through the magnetic field sensor mounted on the agricultural grass mower. Identifying a first boundary of motion for the lawn mower mower robot, at least through at least two of the detected boundary due to the magnetic, data of the boundary and the angular velocity of the magnetic, data of the steering angle and data of the velocity, Controlling the lawn mower mower robot to operate along the first movement path, and controlling the first movement path. Detecting obstacles or shields that may be placed in the vicinity of the agricultural lawn mower mower during operation and if the obstacles or shields are detected, recognizing the first movement path to avoid the obstacles or shields And controlling to operate according to a second movement path different from the movement path.

First, the agricultural lawn mower mower robot may choose whether to start the lawn mowing operation (S100).

When the agricultural lawn mower mower robot starts the lawn mowing operation, the agricultural lawn mower mower robot may operate a cutter for mowing the lawn (S200). A detailed description thereof will be omitted here since it can be sufficiently understood through the conventional agricultural lawn mower.

Then, the agricultural lawn mower mower robot detects the data of the angular velocity through the gyro sensor disposed on the agricultural lawn mower mower robot, detects the data of the steering angle through the steering angle sensor, and detects the data of the speed through the speed sensor. It may be (S300). In this way, each of the detected angular velocity data, the steering angle data, and the velocity data can be stored. Here, each storage unit may be stored in one storage unit, or each storage unit may be configured and stored.

Thereafter, the current position of the lawn mower mower robot may be extracted through at least two or more of the detected and stored angular velocity data, the steering angle data, and the velocity data (S400). That is, the relative navigation which can extract the current position of the lawn mower mower robot by combining the data of the angular velocity, the data of the steering angle and the data of the velocity.

Then, the magnetic field through the magnetic field sensor mounted on the lawn mower mower robot can be detected (S500). Accordingly, the boundary due to the magnetic sensed by the magnetic field sensor can be identified. Here, the magnetic may be formed by the user. That is, by forming a magnetic to distinguish between a place that needs to be mowed and a place that is not necessary, it is possible to set a range in which the lawn mower mower robot can operate.

Thereafter, the lawn mower mower robot moves through at least two of the boundary and angular velocity data, the steering angle data, and the velocity data of the magnetic field through the magnetic field sensor to recognize the first movement path capable of mowing the lawn. It may be (S600). As such, it may be controlled to operate along the first movement path recognized by the agricultural lawn mower mower.

Thereafter, while operating along the first movement path, it is possible to detect an obstacle or a shield that may be disposed around the lawn mower mower robot for farming (S700).

Subsequently, when an obstacle or a shield is sensed, the first movement path may be re-recognized to avoid the obstacle or the shield, and the controller may be controlled to operate according to the second movement path different from the first movement path (S800). Here, the process of recognizing the second movement path by the lawn mower mower robot is substantially the same as the process of recognizing the first movement path. As such, the lawn turf mower robot may operate according to the second movement path re-recognized to avoid the obstacle or the shield.

Thereafter, the height of the grass may be sensed through the grass sensor mounted on the agricultural lawn mower mower (S900).

Thereafter, the moving path of the lawn mower mower robot may be selected by comparing the height of the grass detected by the grass sensor with the height of the grass set by the user (S1000). That is, if the height of the detected grass is longer than the height of the grass set by the user, the lawn mower mower robot is operated as the first movement path or the second movement path, and the detected grass height is the grass set by the user. If less than the height of the lawn mower mower robot can terminate the operation.

In addition, the user has to install the magnetic field in advance to the lawn to be mowed, and in advance by setting the first movement path and the second movement path, to mow the grass quickly and efficiently through the agricultural grass mowing mower robot without the user Can be.

2, the lawn mower mower robot 100 according to an embodiment of the present invention includes a relative navigation unit 110, a magnetic field sensor unit 120, a drive control unit 130, and a power supply unit 140. It may include.

The relative navigation unit 110 may be mounted on the agricultural lawn mower robot 100 to detect the angular velocity, the steering angle, and the speed to extract the current position of the agricultural lawn mower mower robot 100.

The relative navigation unit 110 detects an angular velocity, a gyro sensor unit (not shown) for storing data of the detected angular velocity, a steering angle sensor unit (not shown) for detecting a steering angle, and storing data of the detected steering angle; A speed sensor unit (not shown) for detecting the speed and storing data of the detected speed may be included. The relative navigation unit 110 is a gyro sensor (not shown), the steering angle sensor (not shown), the speed sensor (not shown), respectively, the data of the angular velocity, the steering angle data, the speed of the data detected in real time Can be sent to the user. Accordingly, the user can easily grasp the current position of the lawn mower mower robot 100 in real time.

In addition, the relative navigation unit 110 is mounted on the agricultural lawn mower robot 100 detects and stores the angular velocity, steering angle and speed at the same time, the agricultural lawn mower mower robot 100 is the same through the stored data. This can prevent duplicate operations at the location.

The magnetic field sensor 120 may be mounted on the agricultural lawn mower robot 100 to detect the magnetic 200 and identify a boundary by the detected magnetic 200. That is, the magnetic sensor 120 may detect a predetermined region of the magnetic 200 and identify a boundary of the magnetic 200.

The magnetic field sensor unit 120 may be disposed in front of the lawn mower mower robot 100, and may include at least two. Accordingly, the agricultural lawn mower mower robot 100 may not only easily detect the magnetic 200, but also identify a boundary for the more accurate magnetic 200. At this time, the agricultural lawn mower mower robot 100 may move a predetermined distance along the detected magnetic 200, but does not overlap with the magnetic 200.

In addition, the magnetic field sensor unit 120 further includes a grass sensor unit 121, the grass sensor unit 121 detects the height of the grass, and compared with the detected height of the grass and the height of the grass set by the user It may include selecting a moving path for the agricultural lawn mower mower robot (100). That is, if the height of the detected grass is longer than the height of the grass set by the user, the lawn mower mower robot 100 to operate as the first movement path, the height of the grass detected by the height of the grass set by the user If it is shorter than the lawn mowing mower robot 100 can be terminated operation.

The driving controller 130 is a lawn mower mower robot 100 through the data on the current position provided by the relative navigation unit 110 and the magnetic field sensor unit 120 and the data on the economy by the identified magnetic 200 ) May be controlled to recognize and operate the first movement path.

The power supply unit 140 may stably supply power so that the relative navigation unit 110, the magnetic field sensor unit 120, and the driving control unit 130 can be easily operated.

In addition, the agricultural lawn mower mower robot 100 may include a grass cutter unit 150 for mowing the lawn. Description of the grass cutter unit 150 will be omitted here because it can be known through a conventional grass lawn mower.

Referring to Figure 3, the grass turf mower robot 100 according to an embodiment of the present invention for explaining the operation through the movement path.

Agricultural lawn mower mower robot 100 is the data about the boundary by the magnetic 200 provided by the magnetic field sensor unit 120 and the data of the angular velocity provided by the relative navigation unit 110, the data of the steering angle and the data of the speed The first movement path 300a capable of mowing the lawn may be recognized through at least two of them, and may operate along the recognized first movement path 300a.

Referring to FIG. 4, the lawn mower mower robot 100 according to an exemplary embodiment of the present invention will be described to operate to avoid obstacles.

The agricultural lawn mower mower robot 100 operates along the first movement path 300a, and if there is an obstacle or the protection 400, the boundary of the magnetic lawn mower provided by the magnetic field sensor 120 is provided. The second moving path 300b, not the first moving path 300a that can mow the grass through at least two of the data of the angular velocity, the steering angle data, and the speed data provided by the relative navigation unit 110. Recognize and operate along the second movement path (300b) recognized by avoiding obstacles or protection.

Here, the magnetic 200 may be installed around the obstacle or the shield 400. As such, by installing the magnetic 200 around the obstacle or the shield 400, the lawn mower mower robot 100 can mow the grass more accurately and easily avoid the obstacle or the shield 400. .

The magnetic 200 described so far may be formed substantially like a wire. It is not limited to this, if the magnetic field sensor unit 200 in the lawn mowing mower robot 100 for agriculture can be easily detected, it may be formed in any shape.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments.

Rather, those skilled in the art will appreciate that many modifications and variations of the present invention are possible without departing from the spirit and scope of the appended claims.

Accordingly, all such appropriate modifications and changes, and equivalents thereof, should be regarded as within the scope of the present invention.

  1 is for explaining a method for guiding the running of the lawn mower mower robot for agriculture according to an embodiment of the present invention.

2 is for explaining a lawn mower mower robot for agriculture according to an embodiment of the present invention.

3 is for explaining the operation of the lawn mower mower robot for agriculture according to an embodiment of the present invention through a movement path.

4 is for explaining that the lawn mowing mower robot for agriculture according to an embodiment of the present invention to avoid obstacles.

Claims (8)

In the method of guiding the running of the lawn mower mower robot, Data of the angular velocity through the gyro sensor mounted on the lawn mower mower robot for detecting the data of the angular velocity through the steering angle sensor, the data of the speed through the speed sensor, respectively detected data of the angular velocity, the data of the steering angle Storing the speed data; Detecting a magnetic field through a magnetic field sensor mounted on the agricultural lawn mower robot, and identifying a boundary due to the detected magnetic field; Recognizing a first movement path for the agricultural lawnmower mower robot through at least two of the magnetic boundary and the data of the angular velocity, the steering angle data and the data of the velocity; Controlling the lawn mower mower robot to operate along the first movement path; Detecting an obstacle or a shield that may be disposed around the agricultural lawn mower mower while operating along the first movement path; And And recognizing the first movement path to operate according to the second movement path different from the first movement path to avoid the obstacle or the protection when the obstacle or the shield is detected. Detecting the height of the grass through a grass sensor mounted on the lawn mower mower robot, the movement path for the lawn mower mower robot compared to the detected height of the grass and the height of the grass set by the user Selecting; Method for guiding the running of the agricultural lawn mower mower robot comprising a. delete The method according to claim 1, The first movement path or the second movement path is a method for guiding the running of the agricultural lawn mower mower robot, characterized in that predetermined by the user. The method according to claim 1, Relative navigation is performed by combining the detected angular velocity data, the steering angle data, and the velocity data to estimate the current position of the lawn mower mower robot for determining the first movement path or the second movement path. Method for guiding the running of the lawn mower mower robot, characterized in that used. In the lawn mower mower robot for lawn mowing, A relative navigation unit mounted on the agricultural lawn mower robot and extracting a current position of the agricultural lawn mower mower by detecting an angular velocity, a steering angle, and a speed; A magnetic field sensor unit mounted on the agricultural lawn mower robot to detect a magnetic field and identify a boundary by the detected magnetic field; A drive for controlling the lawn mower mower robot to recognize and operate a first movement path through data on the current position provided through the relative navigation unit and the magnetic field sensor unit and data on the economy by the identified magnetic; Control unit; And And a power supply unit supplying power to the relative navigation unit, the magnetic field sensor unit, and the driving control unit. The relative navigation unit may include: a gyro sensor unit for detecting the angular velocity and storing data of the detected angular velocity; A steering angle sensor unit for detecting the steering angle and storing data of the detected steering angle; And a speed sensor unit for detecting the speed and storing data of the detected speed. delete 6. The method of claim 5, The magnetic field sensor unit further includes a grass sensor unit, The lawn sensor unit detects the height of the grass, and compared with the detected height of the grass and the height of the grass set by the user, the grass turf mowing for agricultural grass, characterized in that for selecting the movement path for the mower mower robot Boer robot. 6. The method of claim 5, The first grass mowing robot mower mowers, characterized in that predetermined by the user.

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