CN114175914A - Automatic weeding device, method and storage medium - Google Patents
Automatic weeding device, method and storage medium Download PDFInfo
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Abstract
The application relates to an automatic weeding device, a method and a storage medium, belonging to the technical field of automatic control, wherein the device comprises: the light beam weeding machine comprises a light beam weeding mechanism arranged at the bottom of a shell, a control assembly connected with the light beam weeding mechanism through signals, a moving mechanism connected with the control assembly and an image acquisition assembly; the control assembly is used for controlling the movement mechanism to operate in the current working area; acquiring a ground image acquired by an image acquisition assembly in the moving process of the automatic weeding device; determining whether the ground image includes an image of a weed; controlling the light beam weeding mechanism to be started after the ground image is determined to comprise the image of the weeds so as to eliminate the weeds by emitting a specific light beam through the light beam weeding mechanism; the problem that weeds under the specific scene can not be effectively cleared away in the existing weeding mode can be solved, and the weeds in the gaps can be irradiated by the light beam weeding mechanism through the specific light beams, so that the weeds in the gaps can be cleared away, and the weed clearing effect under the specific scene can be improved.
Description
Technical Field
The application relates to an automatic weeding device, an automatic weeding method and a storage medium, and belongs to the technical field of automatic control.
Background
A weeder is a mechanical tool used for trimming lawns and vegetation. With the development of intellectualization, in order to improve the working efficiency of the weeding machine, the application of the automatic weeding machine is more and more extensive.
The existing automatic weeding machines have various weeding modes, but the weeding modes have poor removing effect on weeds in certain specific scenes (such as weeds generated in cracks).
Disclosure of Invention
The application provides an automatic weeding device, an automatic weeding method and a storage medium, which can solve the problem that weeds in a specific scene cannot be effectively cleared. The technical scheme provided by the application can effectively kill weeds growing on cracks such as concrete (brick roads) and driveways in specific scenes or weeds in courtyards. The technical scheme is as follows:
in a first aspect, there is provided an automatic weeding apparatus, comprising: the device comprises: the device comprises a shell, a light beam weeding mechanism arranged at the bottom of the shell, a control assembly connected with the light beam weeding mechanism in a signal mode, a moving mechanism connected with the control assembly and an image acquisition assembly; the control assembly is configured to:
controlling the moving mechanism to operate in the current working area so as to enable the automatic weeding device to move in the current working area;
acquiring a ground image acquired by the image acquisition assembly in the moving process of the automatic weeding device;
determining whether the ground image includes an image of a weed;
after determining that the ground image includes an image of the weeds, controlling the light beam weeding mechanism to be activated to emit a specific light beam through the light beam weeding mechanism to eliminate the weeds.
Optionally, the determining whether the ground image includes an image of a weed includes:
determining that the ground image includes an image of the weed when the pixel information of the ground image includes green pixel information;
determining that the ground image does not include the image of the weed when the pixel information of the ground image does not include green pixel information.
Optionally, the beam weeding mechanism comprises a light emitting assembly and a reflective cover;
the light-emitting component is used for emitting the specific light beam;
the reflector is used for reflecting a specific light beam emitted by the light-emitting component to a desired focal position.
Optionally, the specific light beam is an ultraviolet light beam; or a combination of ultraviolet and near infrared light.
Optionally, the device further comprises a positioning component in signal connection with the control component; the control assembly is further configured to:
after the fact that the ground image comprises the image of the weeds is determined, controlling the positioning assembly to collect current positioning information to obtain position information of the weeds;
storing the location information.
Optionally, the control component is further configured to:
when the weeds are cleared again, acquiring the stored position information;
controlling the moving mechanism to drive the automatic weeding device to move to the position indicated by the position information;
and controlling the light beam weeding mechanism to be started when the position information indicates the position, so that the special light beam is emitted by the light beam weeding mechanism to eliminate the weeds.
Optionally, the apparatus further comprises other cleaning means than the beam weeding means; the working modes of the automatic weeding device comprise a first working mode and a second working mode, wherein the first working mode is a mode that the light beam weeding mechanism is in a running state, and the other cleaning mechanisms are in a closed state; the second working mode is a mode that the light beam weeding mechanism is in a closed state, and the other cleaning mechanisms are in an operating state; the control assembly is further configured to:
after the fact that the ground image comprises the image of the weeds is determined, if the working mode is the second working mode, the fact that the positioning assembly is controlled to collect current positioning information is triggered and executed, and position information of the weeds is obtained; storing the location information;
when the working mode is switched from the second working mode to the first working mode, acquiring the position information;
controlling the moving mechanism to drive the automatic weeding device to move to the position indicated by the position information;
controlling the light beam weeding mechanism to be activated when the position information indicates the position, so as to emit the specific light beam to remove the weeds through the light beam weeding mechanism.
In a second aspect, there is provided an automatic weeding method for use in the automatic weeding apparatus provided in the first aspect, the method comprising:
controlling the moving mechanism to operate in the current working area so as to enable the automatic weeding device to move in the current working area;
acquiring a ground image acquired by the image acquisition assembly in the moving process of the automatic weeding device;
determining whether the ground image includes an image of the weed;
controlling the light beam weeding mechanism to be activated to remove the weeds through the light beam weeding mechanism after determining that the ground image comprises the image of the weeds.
In a third aspect, an automated weeding apparatus is provided, the apparatus comprising a processor and a memory; the memory stores a program that is loaded and executed by the processor to implement the automatic weeding method according to the second aspect.
In a fourth aspect, there is provided a computer-readable storage medium having a program stored therein, the program being loaded and executed by the processor to implement the automatic weeding method according to the second aspect.
The beneficial effect of this application lies in: the light beam weeding mechanism is used for removing weeds, so that the problem that weeds in a specific scene cannot be effectively removed in the conventional weeding mode can be solved, and the light beam weeding mechanism can irradiate the weeds in the gaps through specific light beams, so that the weeds in the gaps can be removed, and the removing effect of the weeds in the specific scene can be improved. Meanwhile, the light beam weeding mechanism can irradiate weeds in the courtyard through a specific light beam, and the requirement of removing the weeds in a common scene is met.
In addition, whether weeds exist or not is determined according to the pixel information of the ground image in a specific working area, so that the control assembly can identify the weeds without executing a complicated calculation process, the weed identification speed can be increased, and equipment resources can be saved.
In addition, by installing a reflection cover on the light beam weeding mechanism, the reflection cover can reflect the light beam emitted by the light emitting component to a desired focus position, such as: the roots of the plants, and thus, the removal of weeds can be improved.
In addition, when the automatic weeding device comprises other cleaning mechanisms, if the other cleaning mechanisms are in working states, the positions of weeds are stored, and the light beam weeding mechanism is not used for weeding; the light beam weeding mechanism is used for weeding until other cleaning mechanisms are not in the working state and move to the position of weeds again, and the scene of operation of the automatic weeding device with multiple functions can be met.
The foregoing description is only an overview of the technical solutions of the present application, and in order to make the technical solutions of the present application more clear and clear, and to implement the technical solutions according to the content of the description, the following detailed description is made with reference to the preferred embodiments of the present application and the accompanying drawings.
Drawings
FIG. 1 is a schematic structural view of an automatic weeding apparatus according to an embodiment of the present application;
FIG. 2 is a schematic view of an automatic weeding apparatus according to another embodiment of the present application;
FIG. 3 is a schematic structural view of a beam weeding mechanism according to an embodiment of the present application;
FIG. 4 is a flow chart of an automated weeding method according to an embodiment of the present application;
fig. 5 is a block diagram of an automatic weeding apparatus provided in an embodiment of the present application.
Detailed Description
The following detailed description of embodiments of the present application will be described in conjunction with the accompanying drawings and examples. The following examples are intended to illustrate the present application but are not intended to limit the scope of the present application.
First, several terms referred to in the present application will be described.
Ultraviolet (UV): has the property of decomposing organic substances and organic substances, such as organic substances, proteins, and bacteria and insects. UV destroys the activity of plant cells, such as: the plant cells are killed by ultraviolet rays with the wavelength of the artificial ultraviolet rays of 200-380 nanometers. Of course, other wavelength bands of ultraviolet light may be used to kill plants, such as: ultraviolet rays having a wavelength of 200 to 280 nm, ultraviolet rays having a wavelength of 280 to 315 nm, and the like.
Near Infrared light (NIR): is an electromagnetic wave between visible (vis) and mid-infrared (MIR) light. The penetration of near infrared light is strong, and the cell activity of plants can be inhibited.
Fig. 1 and 2 are schematic structural views of an automatic weeding apparatus provided in an embodiment of the present application, the apparatus including at least: the device comprises a shell 10, a light beam weeding mechanism 12 arranged at the bottom of the shell 10, a control component 14 connected with the light beam weeding mechanism 12 in a signal mode, a moving mechanism 16 connected with the control component 14 and an image acquisition component 18.
The housing 10 is used for protecting, dust-proof, water-proof, etc. the automatic weeding apparatus. Optionally, the material of the housing 10 is a metal material or a plastic material, and the material of the housing 10 is not limited in this embodiment. The bottom of the housing 10 refers to a surface of the housing 10 opposite to the ground.
The light beam weeding mechanism 12 is used for suppressing the activity of plant cells by emitting a specific light beam, thereby realizing the removal of weeds by the specific light beam.
Optionally, the specific beam is an ultraviolet beam; or a combined beam of ultraviolet and near-infrared light.
The beam weeding mechanism 12 includes a light emitting assembly. Wherein the light emitting assembly is adapted to emit a specific light beam, the light emitting assembly may be an LED bulb, such as an ultraviolet LED, which kills weeds by emitting UV light and combining with near infrared light. Alternatively, the light emitting assembly may be powered using a lithium battery; in other embodiments, the light emitting assembly may also be powered by a power supply plug, and the present embodiment does not limit the power supply manner of the light emitting assembly.
Optionally, the beam weeding mechanism 12 further includes a reflective cover covering the light emitting assembly, and the reflective cover is provided with a reflective material R, and after the light emitting assembly emits a specific beam, the beam can be projected to a desired focus position through reflection of the reflective cover, such as: the position of the weeds is positioned, thereby improving the weeding effect of the light beam weeding mechanism.
Referring to the beam weeding mechanism 12 shown in fig. 3, the beam weeding mechanism 12 includes a light emitting assembly 121 and a reflection cover 122. After the light emitting assembly 121 emits a specific light beam, the reflective cover 122 reflects the specific light beam emitted by the light emitting assembly to a desired focal position.
Optionally, the desired focal position includes, but is not limited to: the root and stem of the plant are not limited to the desired focal position in this embodiment.
In other examples, the beam weeding mechanism 12 may include only the light emitting assembly 121, and the present embodiment does not limit the type of the beam weeding mechanism.
In this embodiment, the control component 14 is in signal connection with the light emitting component, and in this case, the control component 14 is configured to adjust a light emitting parameter of the light emitting component, where the light emitting parameter includes a light emitting duration and/or a light emitting intensity.
Alternatively, when the control component 14 adjusts the lighting parameters, the adjustment may be performed based on the lighting parameters input by the user; alternatively, the adjustment is performed based on the pre-stored light emitting parameters, and the embodiment does not limit the adjustment manner of the light emitting parameters.
Optionally, the reflector is in transmission connection with a cover driving device, and the control assembly 14 is in communication connection with the cover driving device, in this case, the control assembly 14 is further configured to adjust a position parameter of the reflector to adjust the desired focal position, where the position parameter of the reflector includes a height parameter and/or an angle parameter of the reflector relative to the light emitting assembly, and the content of the position parameter is not limited in this embodiment.
Alternatively, the control component 14 may make adjustments based on user-entered position parameters when adjusting the position parameters; alternatively, the adjustment is performed based on the position parameter stored in advance, and the embodiment does not limit the adjustment manner of the position parameter.
Of course, the beam weeding mechanism 12 may also include other components, such as: the present embodiment does not list the components of the beam weeding mechanism.
The moving mechanism 16 is used for moving or stopping the automatic weeding device. In one example, the movement mechanism 16 includes a drive mechanism in communication with the control assembly 14 and a wheel assembly to which the drive mechanism is connected; under the control of the control assembly 14, the driving mechanism drives the wheel assembly to move, so that the automatic weeding device is driven to move; the driving mechanism drives the wheel component to stop moving, so that the automatic weeding device is driven to stop moving.
The image acquisition component 18 is used for acquiring ground images in the current working area and sending the acquired ground images to the control component 14. Alternatively, the image capturing assembly 18 may be a camera, a video camera, etc., and the present embodiment does not limit the type of the image capturing assembly 18.
In one example, the image capturing assembly 18 is mounted to the bottom of the robotic weeding apparatus. Of course, in other embodiments, the image capturing assembly 18 may be installed at other positions where the ground image can be captured, and the installation position of the image capturing assembly 18 is not limited in this embodiment.
Alternatively, the current working area refers to an area where each of the other ground objects except the weeds has a color different from that of the weeds. A ground object refers to an object located on the ground or the ground itself. In one example, the current working area is an area having crevices and where weeds grow only in the crevices; such as: in basketball court, concrete road, lane, brick road and other areas, except green weeds, other ground objects in the current working area are not green.
The control assembly 14 is an assembly having processing and control capabilities in an automated weeding apparatus. The control component 14 may be implemented by a control chip; alternatively, the control system can be realized by combining various control chips. The control assembly 14 is mounted within the housing of the robotic weeding device.
In this embodiment, the control component 14 is configured to: controlling the movement mechanism 16 to operate in the current working area so that the automatic weeding device moves in the current working area; acquiring a ground image acquired by the image acquisition assembly 18 in the moving process of the automatic weeding device; determining whether the ground image includes an image of a weed; after determining that the ground image includes an image of weeds, the light beam weeding mechanism 12 is controlled to be activated to remove the weeds by the light beam weeding mechanism 12.
In one example, determining whether the ground image includes an image of a weed includes: determining that the ground image includes an image of the weed when the pixel information of the ground image includes green pixel information; when the pixel information of the ground image does not include the green pixel information, it is determined that the ground image does not include the image of the weed.
Since the control unit 14 does not need to go through a complicated calculation process when determining the weed image from the pixel information, the determination speed is fast and less equipment resources are consumed.
In other embodiments, the control assembly 14 may also identify whether the image of the weeds is included in the ground image based on other image recognition algorithms. In this case, other image recognition algorithms include, but are not limited to: a local feature point algorithm, a speckle detection algorithm, etc., and the present embodiment does not limit the type of the image recognition algorithm.
In a first scenario, control assembly 14, upon determining that the image of the ground includes an image of a weed, controls the activation of light beam weeding mechanism 12 to remove the weed by emitting a specific light beam by light beam weeding mechanism 12.
Alternatively, to ensure that the control assembly 14 can locate the position of the weeds directly without image recognition during the next weeding, the control assembly 14 can obtain the current location information after determining that the ground image includes an image of the weeds. At this time, the automatic weeding apparatus further includes a Positioning component 20 communicatively connected to the control component 14, where the Positioning component 20 may implement Positioning based on a Real-time kinematic (RTK) technology, or implement Positioning based on a Global Positioning System (GPS), and the implementation manner of the Positioning component 20 is not limited in this embodiment. Accordingly, the control assembly 14 is also configured to: after determining that the ground image comprises the image of the weeds, controlling the positioning assembly 20 to acquire current positioning information to obtain position information of the weeds; the location information is stored.
Thereafter, when the weeds are cleared again, the control module 14 acquires the stored positional information; the moving mechanism 16 is controlled to drive the automatic weeding device to move to the position indicated by the position information; the light beam weeding mechanism 12 is controlled to be activated when moved to the position indicated by the position information, so that the light beam weeding mechanism 12 emits a specific light beam to remove the weeds. Thus, the automatic weeding device does not need to perform image recognition on weeds at the next weeding time, and can automatically kill the weeds when walking to the stored weed position.
In the second scenario, the control module 14, after determining that the ground image includes an image of a weed, temporarily does not control the beam weeding mechanism 12 to activate, but stores the position information of the weed; after the subsequent travel to the position indicated by the position information again, the control beam weeding mechanism 12 is activated again to remove the weeds.
In this case, the automatic weeding apparatus further includes a positioning unit 20 in signal communication with the control unit 14. The control assembly 14 is used for controlling the positioning assembly 20 to collect current positioning information after determining that the ground image comprises an image of the weeds, so as to obtain position information of the weeds; the location information is stored. When the control beam weeding mechanism 12 is operated again to the position indicated by the position information, the control beam weeding mechanism 12 is started to remove the weeds.
In one implementation, the automated weeding apparatus further comprises other cleaning mechanisms 22. Other cleaning mechanisms 22 include, but are not limited to: at least one of a mowing mechanism, a sweeping mechanism and a mopping mechanism. At this time, the operation mode of the automatic weeding device includes a first operation mode and a second operation mode. The first mode of operation is a mode in which the beam weeding mechanism 12 is in an operating state and the other cleaning mechanism 22 is in an off state; the second mode of operation is a mode in which the beam weeding mechanism 12 is in the off state, and the other cleaning mechanism 22 is in the operating state. At this time, when the operation mode is the second operation mode (i.e., when the other cleaning mechanism 22 is operated), even if the automatic weeding apparatus recognizes weeds, the weeding task cannot be performed because the light beam weeding mechanism 12 is not in the operation state. Therefore, only the position information of the weeds needs to be stored, and when the first working mode is switched, the position information can be directly read to obtain the positions of the weeds, so that the positioning speed of the positions of the weeds can be improved.
Based on the above principle, the control assembly 14 is configured to: after determining that the ground image comprises the image of the weeds, if the working mode is the second working mode, executing the control positioning assembly 20 to acquire the current positioning information to obtain the position information of the weeds; storing the location information; when the working mode is switched from the second working mode to the first working mode, acquiring (or reading) the position information; the moving mechanism 16 is controlled to drive the automatic weeding device to move to the position indicated by the position information; the light beam weeding mechanism 12 is controlled to be activated when moved to the position indicated by the position information, so that the light beam weeding mechanism 12 emits a specific light beam to remove the weeds.
Alternatively, after determining that the ground image includes an image of a weed, the control assembly 14 may process according to the processing logic of the first scenario if the operation mode is the first operation mode.
In summary, the automatic weeding device provided by this embodiment can solve the problem that the existing weeding method cannot effectively remove weeds in a specific scene by using the light beam weeding mechanism to remove weeds, and the light beam weeding mechanism can irradiate weeds in the gaps through the specific light beams, so that the weeds in the gaps can be removed, and the removing effect of the weeds in the specific scene can be improved. Meanwhile, the light beam weeding mechanism can irradiate weeds in the courtyard through a specific light beam, and the requirement of removing the weeds in a common scene is met.
In addition, whether weeds exist or not is determined according to the pixel information of the ground image in a specific working area, so that the control assembly can identify the weeds without executing a complicated calculation process, the weed identification speed can be increased, and equipment resources can be saved.
In addition, by installing a reflection cover on the light beam weeding mechanism, the reflection cover can reflect the light beam emitted by the light emitting component to a desired focus position, such as: the roots of the plants, and thus, the removal of weeds can be improved.
In addition, the light beam weeding mechanism can be adjusted to a state expected by a user by adjusting the light-emitting parameters of the light-emitting assembly and/or the position parameters of the reflector, so that the weeding effect is improved.
In addition, when the automatic weeding device comprises other cleaning mechanisms, if the other cleaning mechanisms are in working states, the positions of weeds are stored, and the light beam weeding mechanism is not used for weeding; the light beam weeding mechanism is used for weeding until other cleaning mechanisms are not in the working state and move to the position of weeds again, so that the operation scene of the multifunctional automatic weeding device can be met.
Fig. 4 is a flowchart of an automatic weeding method according to an embodiment of the present application, where the present application is described by taking the method as an example applied to the automatic weeding apparatus shown in fig. 1 and 2, and the main execution subject of each step is the control component 14 in the apparatus. The method at least comprises the following steps:
and step 401, controlling the moving mechanism to operate in the current working area so as to enable the automatic weeding device to move in the current working area.
The related description of this step is described in detail in the above device embodiment, and this embodiment is not described herein again.
And 402, acquiring a ground image acquired by the image acquisition assembly in the moving process of the automatic weeding device.
At step 403, it is determined whether the ground image includes an image of a weed.
In one example, determining whether the ground image includes an image of a weed from pixel information of the ground image includes: determining that the ground image includes an image of the weed when the pixel information of the ground image includes green pixel information; when the pixel information of the ground image does not include the green pixel information, it is determined that the ground image does not include the image of the weed.
In other embodiments, the weed image may be identified as being included in the ground image based on other image recognition algorithms. In this case, other image recognition algorithms include, but are not limited to: a local feature point algorithm, a speckle detection algorithm, etc., and the present embodiment does not limit the type of the image recognition algorithm.
And step 404, after determining that the ground image comprises an image of the weeds, controlling the light beam weeding mechanism to be started so as to eliminate the weeds by emitting a specific light beam through the light beam weeding mechanism.
Optionally, after determining that the ground image includes an image of a weed, controlling the light beam weeding mechanism to activate to remove the weed by the light beam weeding mechanism, including but not limited to the following scenarios:
the first scenario is: immediately after determining that the ground image includes an image of the weeds, the light beam weeding mechanism is controlled to be activated to remove the weeds by the light beam weeding mechanism.
Optionally, in order to ensure that the position of the weeds can be directly located without image recognition during the next weeding, after determining that the ground image includes the image of the weeds, the current location information may be acquired. Thereafter, the stored positional information is acquired when the weeds are removed again; controlling the moving mechanism to drive the automatic weeding device to move to the position indicated by the position information; and controlling the light beam weeding mechanism to be started when the light beam weeding mechanism moves to the position indicated by the position information so as to eliminate weeds through the light beam weeding mechanism. Thus, the automatic weeding device does not need to perform image recognition on weeds when weeding next time, and weeds can be automatically killed when the automatic weeding device walks to the stored weed position.
The second scenario is: after determining that the ground image comprises an image of the weeds, temporarily not controlling the light beam weeding mechanism to start, but storing the position information of the weeds; when the position information indicates the position, the light beam weeding mechanism is controlled to be started again to remove the weeds.
In one implementation, the automated weeding apparatus further comprises other cleaning mechanisms. Other cleaning mechanisms include, but are not limited to: at least one of a mowing mechanism, a sweeping mechanism and a mopping mechanism. At this time, the operation mode of the automatic weeding device includes a first operation mode and a second operation mode. The first working mode is a mode that the light beam weeding mechanism is in an operating state, and other cleaning mechanisms are in a closed state; the second operating mode is a mode in which the beam weeding mechanism is in an off state and the other cleaning mechanism is in an operating state. At this time, when the operation mode is the second operation mode (i.e., other cleaning means are operated), even if the automatic weeding apparatus recognizes weeds, the weeding task cannot be performed because the light beam weeding means is not in the operation state. Therefore, only the position information of the weeds needs to be stored, and when the first working mode is switched, the position information can be directly read to obtain the positions of the weeds, so that the positioning speed of the positions of the weeds can be improved.
Based on the above principle, after determining that the ground image includes an image of the weed, controlling the light beam weeding mechanism to be activated includes: if the working mode is the second working mode, controlling the positioning assembly to collect current positioning information to obtain the position information of the weeds; storing the location information; when the working mode is switched from the second working mode to the first working mode, acquiring (or reading) the position information; controlling the moving mechanism to drive the automatic weeding device to move to the position indicated by the position information; and controlling the light beam weeding mechanism to be started when the light beam weeding mechanism moves to the position indicated by the position information so as to eliminate weeds through the light beam weeding mechanism.
Optionally, after determining that the ground image includes an image of the weeds, if the operation mode is the first operation mode, directly controlling the light beam weeding mechanism to be activated to remove the weeds through the light beam weeding mechanism. Optionally, after the direct control light beam weeding mechanism is started, the current positioning information can be acquired, and the position information of the weeds can be obtained for use when the weeds are cleared next time. Thereafter, the stored positional information is acquired when the weeds are removed again; controlling the moving mechanism to drive the automatic weeding device to move to the position indicated by the position information; and controlling the light beam weeding mechanism to be started when the light beam weeding mechanism moves to the position indicated by the position information, so that the special light beam is emitted by the light beam weeding mechanism to eliminate weeds.
For relevant details reference is made to the above-described apparatus embodiments.
In summary, the automatic weeding method provided by this embodiment can solve the problem that the existing weeding method cannot effectively remove weeds in a specific scene by controlling the light beam weeding mechanism to remove weeds, and the light beam weeding mechanism can irradiate weeds in the gaps through specific light beams, so that the weeds in the gaps can be removed, and the removing effect of the weeds in the specific scene can be improved. Meanwhile, the light beam weeding mechanism can irradiate weeds in the courtyard through a specific light beam, and the requirement of removing the weeds in a common scene is met.
In addition, in a specific working area, whether weeds exist or not is determined according to the pixel information of the ground image, so that the control assembly can identify the weeds without executing a complex calculation process, the weed identification speed can be increased, and equipment resources can be saved.
In addition, when the automatic weeding device comprises other cleaning mechanisms, if the other cleaning mechanisms are in working states, the weed position is stored, and the light beam weeding mechanism is not used for weeding; when other cleaning mechanisms are not in a working state and run to the position of weeds, the light beam weeding mechanisms are used for weeding, and the running scene of the light beam weeding mechanisms can be met.
Fig. 5 is a block diagram of an automatic weeding apparatus provided in an embodiment of the present application, which may be the automatic weeding apparatus shown in fig. 1 and 2. The apparatus comprises at least a processor 501 and a memory 502.
Processor 501 may include one or more processing cores such as: 4 core processors, 8 core processors, etc. The processor 501 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 501 may also include a main processor and a coprocessor, where the main processor is a processor for Processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 501 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the display screen. In some embodiments, processor 501 may also include an AI (Artificial Intelligence) processor for processing computational operations related to machine learning.
Memory 502 may include one or more computer-readable storage media, which may be non-transitory. Memory 502 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in memory 502 is used to store at least one instruction for execution by processor 501 to implement the automated weeding method provided by the method embodiments herein.
In some embodiments, the automatic weeding device may further include: a peripheral interface and at least one peripheral. The processor 501, memory 502 and peripheral interfaces may be connected by buses or signal lines. Each peripheral may be connected to the peripheral interface via a bus, signal line, or circuit board. Illustratively, peripheral devices include, but are not limited to: radio frequency circuit, weeding mechanism, power etc..
Of course, the automatic weeding device may also comprise fewer or more components, and the embodiment is not limited thereto.
Optionally, the present application also provides a computer-readable storage medium having a program stored therein, the program being loaded and executed by a processor to implement the automatic weeding method of the above-described method embodiment.
Optionally, the present application also provides a computer product comprising a computer readable storage medium having a program stored therein, the program being loaded and executed by a processor to implement the automatic weeding method of the above-described method embodiment.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. An automated weeding apparatus, said apparatus comprising: the device comprises a shell, a light beam weeding mechanism arranged at the bottom of the shell, a control assembly connected with the light beam weeding mechanism in a signal mode, a moving mechanism connected with the control assembly and an image acquisition assembly; the control assembly is configured to:
controlling the moving mechanism to operate in the current working area so as to enable the automatic weeding device to move in the current working area;
acquiring a ground image acquired by the image acquisition assembly in the moving process of the automatic weeding device;
determining whether the ground image includes an image of a weed;
after determining that the ground image includes an image of the weeds, controlling the light beam weeding mechanism to be activated to emit a specific light beam through the light beam weeding mechanism to eliminate the weeds.
2. The apparatus of claim 1, wherein the determining whether the ground image comprises an image of a weed comprises:
determining that the ground image includes an image of the weed when the pixel information of the ground image includes green pixel information;
determining that the ground image does not include the image of the weed when the pixel information of the ground image does not include green pixel information.
3. The apparatus of claim 1, wherein the beam weeding mechanism comprises a light emitting assembly and a reflective hood;
the light-emitting component is used for emitting the specific light beam;
the reflector is used for reflecting the specific light beam emitted by the light-emitting component to a desired focal position.
4. The apparatus according to claim 1, wherein the specific beam is an ultraviolet beam; or a combination of ultraviolet and near infrared light.
5. The apparatus of claim 1, further comprising a positioning assembly in signal communication with the control assembly; the control assembly is further configured to:
after the fact that the ground image comprises the image of the weeds is determined, controlling the positioning assembly to collect current positioning information to obtain position information of the weeds;
storing the location information.
6. The apparatus of claim 5, wherein the control component is further configured to:
when the weeds are cleared again, acquiring the stored position information;
controlling the moving mechanism to drive the automatic weeding device to move to the position indicated by the position information;
controlling the light beam weeding mechanism to be activated when the position information indicates the position, so as to emit the specific light beam to remove the weeds through the light beam weeding mechanism.
7. The apparatus of claim 5, further comprising other cleaning means different from the beam weeding means; the working modes of the automatic weeding device comprise a first working mode and a second working mode, wherein the first working mode is a mode that the light beam weeding mechanism is in a running state, and the other cleaning mechanisms are in a closed state; the second working mode is a mode that the light beam weeding mechanism is in a closed state, and the other cleaning mechanisms are in an operating state; the control assembly is further configured to:
after the fact that the ground image comprises the image of the weeds is determined, if the working mode is the second working mode, the fact that the positioning assembly is controlled to collect current positioning information is triggered and executed, and position information of the weeds is obtained; storing the location information;
when the working mode is switched from the second working mode to the first working mode, acquiring the position information;
controlling the moving mechanism to drive the automatic weeding device to move to the position indicated by the position information;
controlling the light beam weeding mechanism to be activated when the position information indicates the position, so as to emit the specific light beam to remove the weeds through the light beam weeding mechanism.
8. An automatic weeding method for use in an automatic weeding apparatus according to any one of claims 1 to 7, said method comprising:
controlling the moving mechanism to operate in the current working area so as to enable the automatic weeding device to move in the current working area;
acquiring a ground image acquired by the image acquisition assembly in the moving process of the automatic weeding device;
determining whether the ground image includes an image of a weed;
after determining that the ground image includes an image of the weeds, controlling the light beam weeding mechanism to be activated to emit the specific light beam by the light beam weeding mechanism to eliminate the weeds.
9. An automated weeding apparatus, said apparatus comprising a processor and a memory; the memory has stored therein a program that is loaded and executed by the processor to implement the automated weeding method according to claim 8.
10. A computer-readable storage medium, characterized in that the storage medium has stored therein a program for implementing the automatic weeding method according to claim 8, when executed by a processor.
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Application publication date: 20220315 |