KR20230105063A - Lawn mower system with markers to set working areas outdoors - Google Patents

Abstract

The present invention relates to a lawn mowing system capable of setting up a work area outdoors using a marker. The lawn mowing system capable of setting up the work area outdoors using the marker of the present invention comprises: a weeding robot wherein a wheel is formed to move to the outside, and a weeding blade is provided at a lower part to mow a lawn; a plurality of markers formed outdoors, located on a path along which the weeding robot moves, and providing a coordinate system so that the weeding robot can recognize a work area and a current location; and a docking station configured to dock the weeding robot and to charge a battery of the weeding robot or check a status. An objective of the present invention is to provide the lawn mowing system which can identify the work area when the marker is recognized when the weeding robot moves, and can set the work area outdoors using the marker.

Description

Lawn mower system with markers to set working areas outdoors}

The present invention relates to a lawn mowing system capable of setting a work area outdoors using a marker, and more particularly, to a lawn mowing system capable of unmanned lawn mowing using a weeding robot without installing a separate guide line in a large area where GPS is not available or where a separate guide line is not installed. It relates to a lawn mowing system capable of setting a work area outdoors using a marker.

A lawn mower robot is a device that moves by itself and mows grass or lawns according to preset control information.

A user may input control information related to a desired lawn mowing operation, time, and cycle in advance, and the lawn mowing robot operates according to the input control information.

The lawn mowing robot may perform work while moving in a specific area along a predetermined path. In order to determine whether the lawn mowing robot is moving along the path, the lawn mowing robot may be equipped with an encoder sensor. can

The encoder sensor may detect the rotation number and time of the wheel of the lawn mower robot, and the distance traveled by the lawn mower robot may be calculated using the detected rotation number and time.

However, it is common for lawn mower robots to perform work outdoors, such as in gardens or grass fields, and are formed to distinguish work areas based on location information using GPS for accurate control.

However, in the case of the prior art as described above, it is difficult to determine location information when GPS reception is impossible or the reception rate is low, and precise control is difficult because location information cannot be precisely determined.

In addition, even when the location is determined using an encoder, when a slip occurs while rolling on the terrain or grass, it is not recognized, so there is a problem in that an error occurs and the work area is exceeded.

In order to solve this problem, a guide line that can be recognized by the robot is installed to prevent the robot from leaving the area when the guide line is recognized, but there is a problem in that it is difficult to install the guide line in a large outdoor area.

Korean Patent Document No. 10-1526334

An object of the present invention to solve the above problems is to set a work area outdoors using a marker that can identify the work area when the marker is recognized when the weeding robot moves using the marker formed at the corner of the set work area. It is to provide a lawn mowing system that is available.

In addition, another object of the present invention is to provide a marker that is formed to distinguish between an area where weeding has been completed and an area where weeding has not been completed when mowing the lawn, so that when performing rework after returning, the marker can directly enter the unfinished area and perform the work. An object of the present invention is to provide a lawn mowing system capable of setting a work area outdoors.

Another object of the present invention is to use a marker that can automatically wash the wheels and weeding blades of a weeding robot and replace or automatically polish the weeding blades after weeding to prevent deterioration of weeding function in an outdoor working area. It is to provide a lawn mowing system that can be set.

In order to solve the above problems, a lawn mowing system capable of setting a work area outdoors using the marker of the present invention includes a weeding robot having wheels for moving outdoors and a weeding blade for mowing grass at the bottom thereof; A plurality of markers formed outdoors and located on a path along which the weeding robot is moving to provide a coordinate system so that the weeding robot can recognize a working area and a current position; It is characterized in that it includes a docking station formed to charge the battery of or check the state.

In addition, the markers of the lawn mowing system capable of setting a work area outdoors using the markers of the present invention are formed at the corners of the work area, and are formed on the outer surface of the support installed on the ground so that the weeding robot can recognize them. It is characterized by having

In addition, the weeding robot of the lawn mowing system capable of setting a working area outdoors using the marker of the present invention further includes a camera configured to acquire image information by photographing the marker and the lawn, the camera It is formed to recognize the currently photographed marker and acquire location information of the current location and the next marker, and the weeding state according to the length of the grass can be grasped, so that weeding areas requiring weeding and pass-through areas that do not require weeding can be distinguished. It is characterized by having

In addition, the weeding robot of the lawn mowing system capable of setting a work area outdoors using the markers of the present invention sequentially moves to the position where the markers are formed at the beginning of the weeding operation, recognizing all the markers and setting the work area, , It is characterized in that weeding the grass formed in the work area.

In addition, the docking station of the lawn mowing system capable of setting a working area outdoors using the marker of the present invention includes a charging unit that supplies power to charge the battery when the weeding robot returns, and weeding to the weeding blade and the wheels It is characterized in that it consists of a washing unit that removes foreign substances deposited during operation, and a polishing unit that checks the state of the weeding blade and polishes the weeding blade using an abrasive.

In addition, the weeding robot of the lawn mowing system capable of setting a work area outdoors using the marker of the present invention further includes a recovery unit formed of a rake to collect the grass scattered on the ground while weeding, and the docking unit is characterized in that it further includes a discharge unit that sucks in the turf collected by the weeding robot, discharges it to the outside, and stores it.

As described above, according to the lawn mowing system capable of setting a work area outdoors using a marker according to the present invention, when the marker is recognized when the weeding robot moves using the marker formed at the edge of the set work area, the work area is set. There is an effect of setting a work area outdoors using a marker that can be grasped.

In addition, according to the lawn mowing system capable of setting a working area outdoors using a marker according to the present invention, it is formed to distinguish a zone where weeding has been completed and an area where weeding has not been completed when mowing the lawn, so that rework can be performed after returning. It has the effect of immediately entering the unfinished area and performing the work.

In addition, according to the lawn mowing system capable of setting a working area outdoors using the marker according to the present invention, the wheels and weeding blades of the weeding robot can be automatically washed, and the weeding blades can be replaced or automatically polished after weeding to achieve a weeding function. There is an effect that can prevent this from deteriorating.

1 is a block diagram showing the overall configuration of a lawn mowing system capable of setting a work area outdoors using a marker according to the present invention.
2 is an exemplary view showing a work area recognized by a weeding robot of a lawn mowing system capable of setting a work area outdoors using a marker according to the present invention through a marker;
FIG. 3 is an exemplary view showing a state in which a weeding robot of a lawn mowing system capable of setting an outdoor working area using a marker according to the present invention distinguishes a weeding area from a passing area.

Specific features and advantages of the present invention will be described in detail below with reference to the accompanying drawings. Prior to this, if it is determined that the detailed description of functions and configurations related to the present invention may unnecessarily obscure the gist of the present invention, the detailed description will be omitted.

The present invention relates to a lawn mowing system capable of setting a work area outdoors using a marker, and more particularly, to a lawn mowing system capable of unmanned lawn mowing using a weeding robot without installing a separate guide line in a large area where GPS is not available or where a separate guide line is not installed. It relates to a lawn mowing system capable of setting a work area outdoors using a marker.

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

1 is a configuration diagram showing the overall configuration of a lawn mowing system capable of setting a work area outdoors using a marker according to the present invention, and FIG. 2 is a block diagram showing a work area set outdoors using a marker according to the present invention. 3 is an exemplary diagram showing a work area recognized by a weeding robot of a lawn mowing system through a marker, and FIG. It is an example diagram showing how to divide the area.

As shown in FIGS. 1 to 3, the lawn mowing system capable of setting a work area outdoors using the marker 320 according to the present invention has wheels to move outdoors and a lower part to mow the lawn. The weeding robot 100 provided with the weeding blade 110 and the weeding robot 100 formed outdoors and located on the path along which the weeding robot 100 moves so that the weeding robot 100 can recognize the work area 300 and the current location A plurality of markers 320 providing a coordinate system, and a docking station 200 configured to allow the weeding robot 100 to be docked and to charge the battery 140 of the weeding robot 100 or check its condition. It is characterized by including.

In addition, the markers 320 are formed at the corners of the work area 300 and are formed on the outer surface of the support 310 installed on the ground so that the weeding robot 100 can recognize them.

In addition, the weeding robot 100 further includes a camera 130 configured to acquire image information by photographing the marker 320 and the grass, and the camera 130 recognizes the currently photographed marker 320 and It is formed to acquire positional information on the position and the next marker 320, and it is possible to determine the weeding status according to the grass length, so that weeding area 340 that requires weeding and passing area 350 that does not require weeding can be distinguished. It is characterized by having

In addition, the weeding robot 100 sequentially moves to the position where the markers 320 are formed at the beginning of the weeding operation, recognizes all the markers 320, sets the work area 300, and weeds the grass formed within the work area 300. It is characterized by doing.

Wheels are formed at the bottom of the weeding robot 100 so that it can move freely outdoors, and a weeding blade 110 that rotates to cut grass is formed at the front of the bottom so that the lawn can be cut and removed while moving.

At this time, the weeding robot 100 has a battery 140 inside, so that it can work outdoors without external power supply, and it is formed so that its current location can be roughly grasped through the GPS 150.

The weeding robot 100 can roughly determine its current location through the GPS 150, and docking based on the GPS 150 when the battery 140 is exhausted because the location where the docking station 200 is formed is recorded. It is configured to be able to return to the station 200.

In addition, a camera 130 capable of capturing images is provided at the top of the weeding robot 100 so as to recognize the state of the grass or the marker 320. The camera 130 uses a stereo camera 130 It is desirable to photograph and analyze grass or topography three-dimensionally.

Based on the information photographed by the camera 130, it is possible to determine the length of the grass or the state of weeding, and grass that has grown longer than the set length is identified as a target for weeding, so that weeding can be performed on the area where the grass is formed. .

At this time, based on the length of the grass analyzed by the camera 130, it is possible to distinguish between a weeding area 340 requiring weeding and a passage area 350 where weeding is completed or only passes because there is no grass.

In addition, a virtual map for the weeding area 340 may be formed based on information input through the camera 130, and the work status is displayed on the corresponding map to return to the docking station 200 after the battery 140 is discharged. When it is put into work again, based on the virtual map, the previous work can be continued.

In the weeding area 340 and the passage area 350, it is preferable to collect information on video images of grass being cut through a deep learning method so that it is possible to distinguish whether the grass is in a mowed state or a pressed state.

In particular, when the grass is toppled or laid down due to a typhoon or external pressure, the camera 130 measures the length from the root to the tip of the grass, so that an area requiring weeding can be identified in detail.

In addition, the camera 130 is formed to grasp the current location and the work area 300 based on the marker 320 formed outdoors, and through this, it is possible to prevent departure from the outside of the work area.

To this end, a plurality of markers 320 are formed in a region set by the user as the work area 300, and each marker 320 indicates the positional information of the next marker 320 based on different coordinates. is formed to

That is, the markers 320 formed in the work area 300 include location information of a plurality of markers 320 formed at adjacent locations, and the weeding robot 100 recognizes the initial marker 320, the recognized marker 320 ) and the location information of the next marker 320 is formed, and moves to the next marker 320 by turning the direction.

At this time, the weeding robot 100 can move along the edge of the work area 300 by the marker 320, and while moving, weeding is performed so that the edge of the work area 300 can be formed as a passing area. do.

The weeding robot 100 recognizing all of the markers 320 can grasp the location and current location of each marker 320, and moves inside the pass area generated while weeding the edge of the work area 300 while moving. It is possible to perform weeding work while sequentially moving toward.

Accordingly, the weeding robot 100 performs weeding within the work area 300 based on the position of the marker 320 and can perform the work without departing from the work area 300 .

In addition, the marker 320 is preferably formed on the outer surface of the support 310 installed on the ground near the blind spot or corner of the work area 300 so that the weeding robot 100 can easily recognize it.

At this time, since the outer surface of the support 310 is formed in a rectangular shape, it is preferable to form a code on the outer surface, and information guiding the position of each marker 320 is recorded on the surface located inside the work area 300. , It is preferable to guide location information for controlling the weeding robot 100 to move inside the work area 300 together with location information indicating that the weeding robot 100 exists outside the work area 300 on the surface located outside the work area 300. do.

In addition, the marker 320 is formed by printing on paper or stamping on a pad and then installed on the support 310 .

In addition, the docking station 200 includes a charging unit 210 that supplies power to charge the battery 140 by supplying power when the weeding robot 100 returns, and cleaning to remove foreign substances attached to the weeding blade 110 and wheels during weeding work. It is characterized in that it consists of a unit 230 and a polishing unit 220 for checking the state of the weeding blade 110 and polishing the weeding blade 110 using an abrasive.

The docking station 200 is used to check the condition of the weeding robot 100 and to charge the battery 140 when the weeding robot 100 returns, and the weeding robot 100 includes a GPS 150 and a communication module 160. ) is used to return to the docking station 200.

At this time, the communication module 160 formed in the weeding robot 100 is formed to enable wireless communication with the user's terminal 400 and the docking station 200, and the docking station 200 connects the weeding robot 100 through a wireless communication network. It is configured to determine the current location of .

Since the position of the weeding robot 100 can be determined using the GPS 150 and a wireless communication network, when the weeding robot 100 returns to the docking station 200, there is a difference in position due to wheel slip or an error in the GPS 150. When the docking station 200 does not exist at the returned position due to the above, the docking station 200 transmits a position correction signal to induce the weeding robot 100 to return to the docking station 200.

When the weeding robot 100 is returned to the docking station 200, the charging unit 210 contacts the power terminal of the weeding robot 100 to supply power to the battery 140 of the weeding robot 100. Accordingly, the charging unit 210 may be formed to replace the internal battery 140 of the weeding robot 100.

While the weeding unit is in progress of weeding, grass components or foreign substances are attached to the weeding blade 110 and the weeding blade 110 becomes dull, resulting in a decrease in weeding efficiency. do.

To this end, the docking station 200 is provided with a washing unit 230 capable of washing the weeding blades 110 and wheels with water to remove foreign substances, and the washing unit 230 applies a cleaning solution to the weeding blades 110 and the wheels. By spraying, the weeding robot 100 can be washed.

In addition, the lower surface of the weeding robot 100 can be washed together, and if necessary, it is preferable to also wash the lens portion where the camera 130 is formed to increase the recognition rate.

When the weeding robot 100 is washed with a cleaning solution, it is preferable to have a waterproof and dustproof function so that water or foreign substances do not flow into the inside.

The polishing unit 220 is used to improve weeding performance by polishing the blunt weeding blade 110, and after contact with the weeding blade 110, the polishing pad rotates to keep the weeding blade 110 sharp.

At this time, it is preferable that the docking station 200 captures the state of the weeding blade 110 so that the damaged state can be checked. (110) can be directed to replace.

If necessary, the polishing unit 220 may be configured to replace the weeding blade 110. In this case, the previously polished weeding blade 110 is replaced and the blunted weeding blade 110 is docked with the docking station ( 200) is preferably formed to be polished separately from the inside.

In addition, the weeding robot 100 further includes a collection unit 120 formed of a rake to collect grass scattered on the ground while weeding, and the docking unit sucks in the grass collected by the weeding robot 100 and discharges it to the outside. It is characterized in that it further comprises a discharge unit 240 for storage.

When the weeding unit weeds the grass within the work area 300 to a set length, there is a need to collect the remaining grass after weeding.

To this end, a collection unit 120 for collecting grass that has been weeded and scattered is formed on the lower or rear side of the weeding robot 100, and the collection unit 120 uses a plurality of rakes to scrape and collect the grass during movement. It consists of

In addition, when grass is collected above a certain load, the weeding robot 100 moves to the docking station 200 and discharges the collected grass through the discharge unit 240 formed in the docking station 200 .

At this time, the discharge unit 240 has a suction function so that the collected grass can be sucked in and stored in a separately prepared waste pack or container, and the weeding unit is moved to collect the grass weeded in the work area 300 be able to

As described above, according to the lawn mowing system capable of setting a work area outdoors using a marker according to the present invention, when the marker is recognized when the weeding robot moves using the marker formed at the edge of the set work area, the work area is set. When mowing the lawn, it is formed to distinguish between areas where weeding has been completed and areas where weeding has not been completed, so when performing rework after returning, it is possible to directly enter the unfinished area and perform work, and the wheels of the weeding robot And the weeding blade can be automatically washed, and the weeding blade can be replaced or automatically polished after weeding to prevent the weeding function from deteriorating.

As described above, the present invention has been described with a focus on preferred embodiments, but those skilled in the art can make the present invention various within the range that does not deviate from the technical spirit and scope described in the claims of the present invention. It can be implemented by modifying or transforming accordingly. Accordingly, the scope of the present invention should be construed by the claims which are written to include examples of these many variations.

100: weeding robot
110: weeding blade
120: recovery unit
130: camera
140: battery
150: GPS
160: communication module
200: docking station
210: charging unit
220: polishing unit
230: washing unit
240: discharge unit
300: working area
310: support
320: marker
340: weeding area
350: passage area
400: terminal

Claims (6)

a weeding robot having wheels for outdoor movement and a weeding blade for mowing grass;
a plurality of markers formed outdoors and located on a path along which the weeding robot is moving to provide a coordinate system so that the weeding robot can recognize a work area and a current location;
and a docking station configured to dock the weeding robot and to charge a battery of the weeding robot or check a state thereof.
Lawn mower system that allows you to set work areas outdoors using markers.
According to claim 1,
Characterized in that the markers are formed at the corners of the work area and formed on the outer surface of the support installed on the ground so that the weeding robot can recognize it.
Lawn mower system that allows you to set work areas outdoors using markers.
According to claim 1,
The weeding robot
It further includes a camera formed to acquire image information by photographing the marker and the grass,
the camera
It is formed to recognize the currently photographed marker and acquire location information of the current location and the next marker,
Characterized in that it is possible to determine the weeding state according to the length of the grass, so that a weeding area requiring weeding and a passage area not requiring weeding can be distinguished
Lawn mower system that allows you to set work areas outdoors using markers.
According to claim 1,
The weeding robot
Characterized in that at the beginning of the weeding operation, the work area is set by recognizing all of the markers while sequentially moving to the location where the markers are formed, and the grass formed in the work area is weeded
Lawn mower system that allows you to set work areas outdoors using markers.
According to claim 1,
The docking station is
a charging unit supplying power to charge a battery when the weeding robot returns;
a washing unit for removing foreign substances attached to the weeding blade and the wheel during weeding;
characterized in that it consists of; a polishing unit for checking the condition of the weeding blade and polishing the weeding blade using an abrasive
Lawn mower system that allows you to set work areas outdoors using markers.
According to claim 1,
The weeding robot further includes a collection unit formed of a rake to collect the grass scattered on the ground while being weeded,
The docking unit may further include a discharge unit that sucks in the grass collected by the weeding robot, discharges it to the outside, and stores it.
Lawn mower system that allows you to set work areas outdoors using markers.

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