CN106102446A - 自动割草机 - Google Patents
自动割草机 Download PDFInfo
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- CN106102446A CN106102446A CN201580004705.3A CN201580004705A CN106102446A CN 106102446 A CN106102446 A CN 106102446A CN 201580004705 A CN201580004705 A CN 201580004705A CN 106102446 A CN106102446 A CN 106102446A
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Classifications
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
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- A01D34/001—Accessories not otherwise provided for
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
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- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D42/00—Mowers convertible to apparatus for purposes other than mowing; Mowers capable of performing operations other than mowing
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
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- B08B5/02—Cleaning by the force of jets, e.g. blowing-out cavities
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- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- G—PHYSICS
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- G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
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- A—HUMAN NECESSITIES
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
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- Engineering & Computer Science (AREA)
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- General Physics & Mathematics (AREA)
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- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Guiding Agricultural Machines (AREA)
- Harvester Elements (AREA)
Abstract
Description
Claims (17)
- 一种自动割草机,在工作区域内自动行走及工作,包括:壳体;割草模块,收容在所述壳体内,执行预定割草工作;行走模块,支撑所述壳体并带动所述自动割草机行走;信息采集装置,设置在所述壳体上,用于采集外部环境信息;能量模块,为自动割草机提供能量;控制模块,连接并且控制所述割草模块、所述行走模块、所述信息采集装置和所述能量模块,以实现自动割草机自动行走及自动工作;其特征在于,所述自动割草机还包括用于报警的报警模块;所述控制模块包括识别单元,所述识别单元接收信息采集装置所采集的信息;所述自动割草机具有安全巡视工作模式,在安全巡视工作模式下,所述识别单元根据信息采集装置所采集的信息分析判断工作区域内是否存在异常物体;若存在异常物体,所述控制模块控制所述报警模块向外界发出警报信号。
- 根据权利要求1所述的自动割草机,其特征在于,所述信息采集装置包括图像采集装置,所述识别单元根据所述图像采集装置所获取的图像信息,分析判断工作区域内是否存在异常物体。
- 根据权利要求2所述的自动割草机,其特征在于,所述识别单元通过图像信息中物体呈现的大小或者轮廓来识别该物体是否为异常物体。
- 根据权利要求2所述的自动割草机,其特征在于,所述识别单元包括人脸识别程序,所述人脸识别程序识别人脸并判断识别的人脸是否为陌生人脸,若是则判断工作区域内存在异常物体。
- 根据权利要求2所述的自动割草机,其特征在于,所述图像采集装置可旋转地固定在所述壳体上。
- 根据权利要求5所述的自动割草机,其特征在于,所述自动割草机还包括驱动所述图像采集装置做旋转运动的驱动装置,所述控制模块通过所述驱动装置控制所述图像采集装置的旋转运动。
- 根据权利要求1所述的自动割草机,其特征在于,所述信息采集装置包括红外传感器,所述红外传感器检测外界物体的温度,所述识别单元根据温度是否处于预定范围,相应判断外界物体是否为异常物体。
- 根据权利要求1所述的自动割草机,其特征在于,所述报警模块包括设置在所述自动割草机上的发光报警装置或者发声报警装置。
- 根据权利要求1至7任一项所述的自动割草机,其特征在于,所述自动割草机还包括无线通信模块,所述无线通信模块包括Wi-Fi模块、蜂窝通讯模块或者蓝牙模块。
- 根据权利要求9所述的自动割草机,其特征在于,所述报警模块通过所述无线通信模块向外界设备传输图像、文字或者音频等警报信号。
- 根据权利要求9所述的自动割草机,其特征在于,所述自动割草机通过所述无线通信模块接收外界设备发送的控制指令,并且按照所述控制指令控制自身工作或行走。
- 根据权利要求1所述的自动割草机,其特征在于,在工作环境相关的参数满足预设条件时,所述控制模块启动所述安全巡视工作模式。
- 根据权利要求1所述的自动割草机,其特征在于,所述控制模块包括路径设定单元,所述路径设定单元用于设定巡视路线,所述自动割草机在安全巡视工作模式下按照所述巡视路线进行巡逻。
- 一种自动割草机,在工作区域内自动行走及工作,包括:壳体;割草模块,收容在所述壳体内,执行预定割草工作;行走模块,支撑所述壳体并带动所述自动割草机行走;信息采集装置,设置在所述壳体上,用于采集外部环境信息;能量模块,为自动割草机提供能量;控制模块,连接并且控制所述割草模块、所述行走模块、所述信息采集装置和所述能量模块,实现自动割草机自动行走及自动工作;其特征在于,所述自动割草机还包括用于报警的报警模块;所述控制模块包括识别结果处理单元;所述自动割草机具有安全巡视工作模式,在安全巡视工作模式下,所述识别结果处理单元将采集的外部环境信息发送给外界设备并且接收外界设备基于所述信息分析判断得出的识别结果,所述识别结果表示工作区域内是否存在异常物体;若存在异常物体,则所述控制模块控制所述报警模块向外界发出警报信号。
- 根据权利要求14所述的自动割草机,其特征在于,所述自动割草机包括无线通信模块,所述识别结果处理单元通过无线通信模块与外界设备进行通信。
- 根据权利要求14所述的自动割草机,其特征在于,所述信息采集装置包括图像采集 装置,所述外部环境信息包括所述图像采集装置采集到的图像或视频信息。
- 根据权利要求14所述的自动割草机,其特征在于,所述信息采集装置包括红外传感器,所述外部环境信息包括所述红外传感器检测外界物体的温度信息。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710383643.2A CN107357287A (zh) | 2014-01-21 | 2015-01-21 | 自动割草机 |
CN201810150663.XA CN108196553A (zh) | 2014-01-21 | 2015-01-21 | 自动行走设备 |
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201410027369.1A CN104782314A (zh) | 2014-01-21 | 2014-01-21 | 割草机 |
CN2014100273691 | 2014-01-21 | ||
CN201410096054.2A CN104904404A (zh) | 2014-03-14 | 2014-03-14 | 智能割草机 |
CN2014100960542 | 2014-03-14 | ||
PCT/CN2015/071207 WO2015110006A1 (zh) | 2014-01-21 | 2015-01-21 | 自动割草机 |
Related Child Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201810150663.XA Division CN108196553A (zh) | 2014-01-21 | 2015-01-21 | 自动行走设备 |
CN201710383643.2A Division CN107357287A (zh) | 2014-01-21 | 2015-01-21 | 自动割草机 |
Publications (1)
Publication Number | Publication Date |
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CN106102446A true CN106102446A (zh) | 2016-11-09 |
Family
ID=53680810
Family Applications (3)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201710383643.2A Pending CN107357287A (zh) | 2014-01-21 | 2015-01-21 | 自动割草机 |
CN201810150663.XA Pending CN108196553A (zh) | 2014-01-21 | 2015-01-21 | 自动行走设备 |
CN201580004705.3A Pending CN106102446A (zh) | 2014-01-21 | 2015-01-21 | 自动割草机 |
Family Applications Before (2)
Application Number | Title | Priority Date | Filing Date |
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CN201710383643.2A Pending CN107357287A (zh) | 2014-01-21 | 2015-01-21 | 自动割草机 |
CN201810150663.XA Pending CN108196553A (zh) | 2014-01-21 | 2015-01-21 | 自动行走设备 |
Country Status (4)
Country | Link |
---|---|
US (5) | US20160338262A1 (zh) |
EP (2) | EP3097755A4 (zh) |
CN (3) | CN107357287A (zh) |
WO (1) | WO2015110006A1 (zh) |
Cited By (8)
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CN107562059A (zh) * | 2017-09-20 | 2018-01-09 | 浙江映美智能装备科技有限公司 | 一种带有二维码站点位置信息的智能小车循迹*** |
CN110612492A (zh) * | 2018-06-20 | 2019-12-24 | 灵动科技(北京)有限公司 | 一种自驱动无人驾驶割草机 |
CN111326007A (zh) * | 2018-12-17 | 2020-06-23 | 丰田自动车株式会社 | 远程监视***和监视服务器 |
CN112135512A (zh) * | 2019-02-02 | 2020-12-25 | 苏州宝时得电动工具有限公司 | 割草机的无线网络连接方法及***、割草机 |
CN112438112A (zh) * | 2019-08-27 | 2021-03-05 | 南京德朔实业有限公司 | 自行走割草机 |
WO2022117001A1 (zh) * | 2020-12-01 | 2022-06-09 | 苏州宝时得电动工具有限公司 | 移动机器人智能避障方法及移动机器人 |
CN115250719A (zh) * | 2022-06-22 | 2022-11-01 | 格力博(江苏)股份有限公司 | 一种园林工具安全控制***、方法及割草机 |
CN116034734A (zh) * | 2023-03-31 | 2023-05-02 | 徐工汉云技术股份有限公司 | 收割机的安全监控***、方法与装置 |
Families Citing this family (39)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107357287A (zh) * | 2014-01-21 | 2017-11-17 | 宝时得科技(中国)有限公司 | 自动割草机 |
GB201518652D0 (en) * | 2015-10-21 | 2015-12-02 | F Robotics Acquisitions Ltd | Domestic robotic system and method |
US11172605B2 (en) | 2016-06-30 | 2021-11-16 | Tti (Macao Commercial Offshore) Limited | Autonomous lawn mower and a system for navigating thereof |
US11172608B2 (en) | 2016-06-30 | 2021-11-16 | Tti (Macao Commercial Offshore) Limited | Autonomous lawn mower and a system for navigating thereof |
CN110941270B (zh) * | 2016-11-11 | 2023-02-17 | 苏州宝时得电动工具有限公司 | 自动工作***及其控制方法 |
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US20200120863A1 (en) | 2020-04-23 |
US20190141886A1 (en) | 2019-05-16 |
CN107357287A (zh) | 2017-11-17 |
US20230240176A1 (en) | 2023-08-03 |
US20160338262A1 (en) | 2016-11-24 |
EP3097755A4 (en) | 2017-09-13 |
WO2015110006A1 (zh) | 2015-07-30 |
US11622499B2 (en) | 2023-04-11 |
CN108196553A (zh) | 2018-06-22 |
EP3682725A1 (en) | 2020-07-22 |
EP3097755A1 (en) | 2016-11-30 |
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