CN205912478U - Lawn mower based on vision control and automatic navigation - Google Patents
Lawn mower based on vision control and automatic navigation Download PDFInfo
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- CN205912478U CN205912478U CN201620348445.3U CN201620348445U CN205912478U CN 205912478 U CN205912478 U CN 205912478U CN 201620348445 U CN201620348445 U CN 201620348445U CN 205912478 U CN205912478 U CN 205912478U
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- 238000012544 monitoring process Methods 0.000 claims description 16
- 238000002372 labelling Methods 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 9
- 230000001681 protective effect Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 2
- 230000005389 magnetism Effects 0.000 abstract 2
- 230000000694 effects Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 239000002689 soil Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000002463 transducing effect Effects 0.000 description 1
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Abstract
The utility model provides a lawn mower based on vision control and automatic navigation, includes the frame, mow dish and universal wheel, the universal wheel is installed in the frame bottom, the lawn mower still includes drive wheel, mark magnetism nail, electromagnetism inductor and camera, the frame includes undercarriage support, top cap and side cap, the side cap is located between undercarriage support and the top cap, the dish of mowing is installed the undercarriage support bottom, universal wheel and drive wheel are located the undercarriage support bottom respectively, the drive wheel is connected with drive arrangement, electromagnetism inductor installs on undercarriage support, electromagnetism inductor and the mark magnetism nail cooperation that is used for definite border of mowing, the camera is fixed respectively the front end and the rear end of side cap, camera, electromagnetism inductor and drive arrangement's control switch all is connected with being used for the automatic control who realizes navigation and control. The utility model provides an automation mechanized operation, high -efficient quick lawn mower based on vision control and automatic navigation.
Description
Technical field
This utility model is related to mowing apparatus, especially a kind of hay mover of self-navigation.
Background technology
With the development of today's society, the meadow such as park, home garden, playground finishing problem gets more and more.Now, we
Be usually used is manually to carry out meadow finishing with reference to installations, but manual amendment high labor intensive, efficiency is low, consume into
This height, finishing effect it cannot be guaranteed that.
Content of the invention
In order to overcome the shortcomings of artificial operation, the inefficiency of existing hay mover, this utility model provides a kind of automatization
Operation, the hay mover of efficiently quickly view-based access control model monitoring and self-navigation.
This utility model solves its technical problem and be the technical scheme is that
A kind of view-based access control model monitoring and the hay mover of self-navigation, including frame, mowing disk and universal wheel, universal wheel is pacified
It is contained in bottom of the frame, described hay mover also includes driving wheel, labelling magnetic nail, electromagnetic inductor and photographic head, described frame includes
Chassis overhang, top cover and side cover, described side cover is located between chassis overhang and top cover, and described mowing disk is arranged on described chassis and props up
Frame bottom, described universal wheel and driving wheel are located at chassis overhang bottom respectively, and described driving wheel is connected with driving means, described electricity
Magnetic inductor is arranged on chassis overhang, and described electromagnetic inductor follows closely cooperation with the labelling magnetic for determining mowing border, described
Photographic head is separately fixed at the front-end and back-end of described side cover, and the control of described photographic head, electromagnetic inductor and driving means is opened
Guan Junyu is used for realizing navigation and the automatic controller of monitoring connects.
Further, install sensor support on described chassis overhang, the pipe on the vertical direction of described sensor stand
For limiting direction when acid-base value detection sensor is stretched, by inside and outside two section set systems, the inner tube of retractable top is by stretching for pipe
Cylinder controls；Tip for the arrowhead form smoothly breaking ground is arranged at the bottom of sensor stand, and institute is placed in the inside of described bottom
State acid-base value detection sensor.
Further, described mowing disk is placed mowing blade and protective cover, described protective cover is located at the week of mowing blade
Side.
Automatic controller is installed on described top cover.
LED lamp is installed on described side cover.
Technology design of the present utility model is: in order to break away from manpower constraint, improves efficiency, reduces cost, utility model
Vision monitoring, the hay mover of self-navigation, it is not required to want hand control it is only necessary to be operated on the route setting, right
Acid-base value in soil was detected by corresponding sensor before mowing, timely feedback data is so that gardener's reference；?
In the case of vision monitoring, what we can be long-range checks finishing effect, can directly lead to if there are what unsatisfied place
Cross mobile phone app software it is adjusted.Thus liberating labour force, improve efficiency.
The beneficial effects of the utility model are mainly manifested in: automation mechanized operation, efficiently quick.
Brief description
Fig. 1 is the structural representation of the hay mover of view-based access control model monitoring and self-navigation, and wherein, (a) represents vertical view side
To structure；B direction structure is looked up in () expression.
Fig. 2 is the structural representation of the chassis entirety of the hay mover of view-based access control model monitoring and self-navigation, wherein, (a)
Represent overlook direction structure；B direction structure is looked up in () expression.
Fig. 3 is mowing disk and net cover structure schematic diagram.
Fig. 4 is cap structure schematic diagram.
Fig. 5 is side cover structure schematic diagram.
Fig. 6 is the structural representation of sensor stand.
Fig. 7 is the schematic flow sheet of hay mover.
Specific embodiment
Below in conjunction with the accompanying drawings this utility model is further described.
With reference to Fig. 1～Fig. 7, the hay mover of a kind of view-based access control model monitoring and self-navigation, including frame, mowing disk 5 and
Universal wheel 3, universal wheel 3 is arranged on bottom of the frame, and described hay mover also includes driving wheel 4, labelling magnetic nail 22, electromagnetic inductor 15
With photographic head 16, described frame includes chassis overhang 2, top cover 9 and side cover 10, and described side cover 10 is located at chassis overhang 2 and top cover 9
Between, described mowing disk 5 is arranged on described chassis overhang 2 bottom, and described universal wheel 3 and driving wheel 4 are located at chassis overhang respectively
Bottom, described driving wheel 4 is connected with driving means 1, and described electromagnetic inductor 15 is arranged on chassis overhang 2, described electromagnetism sense
Device 15 is answered to follow closely 22 cooperations with the labelling magnetic for determining mowing border, before described photographic head 16 is separately fixed at described side cover 10
End and rear end, the controlling switch of described photographic head 16, electromagnetic inductor 15 and driving means 1 all with for realizing navigating and monitoring
Automatic controller connect.
Described automatic controller includes: for being determined mowing border and being arranged mowing path based on the labelling magnetic nail detecting
Automatic operation mode unit；For manually entering the manual work pattern unit in mowing path before starting；Cut for basis
The mowing control unit of careless path clustering driving wheel walking；Image acquisition for image before and after the mowing of two photographic head of collection
Unit；Export and accept the wireless communication module of remote control commands for image before and after the mowing by collection.
Described driving means 1 adopt electric rotating machine, and electric rotating machine is two motors, rotate for after controlling two
Speed, controls the direct of travel (including turning etc.) of hay mover.
Described chassis overhang 2, be used for laying driving wheel 4, electric rotating machine, mowing disk 5, universal wheel 3, sensor stand 11,
Electromagnetic inductor 15, charge port 23.
Described mowing disk 5, for placing hay knife 7 and protective cover 8.
Described protective cover 8, for isolating debris, prevents from damaging blade.
Described top cover 9, for placing control circuit 18, receiving circuit 19, signal transmission circuit 20, display screen 21, power supply
Switch 24.
Described side cover 10, for placing LED lamp 17 and photographic head 16 (preferably pinhole cameras), supports top cover 9, contact
Chassis overhang 2.
Described sensor stand 11, for placing acid-base value detection sensor 12, the moment is in recovery state.
Described acid-base value detection sensor 12, for detecting soil acidity or alkalinity, timely feedback data, to tackle.
Described telescopic cylinder 14, ejects and withdrawal acid-base value detection sensor for slow.
Described labelling magnetic nail 22, placement markers magnetic is followed closely for limiting hay mover range of activity, as mowing border.
Described electromagnetic inductor 15, for induced indicia magnetic nail, limits hay mover within border.
Described photographic head 16, for non-mowing grassland in front of BR hay mover and one, rear meadow photo.
Described LED lamp 17, for the place illumination in dark, is easy to the photo of shooting clear.
Described control circuit 18, has automatic operation mode and manual work pattern, for contexture by self hay mover traveling road
Line, controls the path in hay mover range of activity.
Described receiving circuit 19, for receiving the adjustment signal of remote handset app control end transmission.
Described signal transmission circuit 20, for sending the pictorial information of photographic head shooting to remote control terminal.
Described charging inlet 23, for charging to hay mover it is ensured that hay mover runs well.
Described sensor stand is fixed on chassis overhang, and the pipe on its vertical direction is used for limiting acid-base value detection biography
Direction when sensor stretches, by two section set systems, scalable, top is by telescopic cylinder control for pipe；The point of arrowhead form is arranged at bottom
Head, for smoothly breaking ground, makes soil contact with sensor bottom transducing part, internal placement sensor.Mow at set intervals
Chance stop motion, it is that acid-base value detection sensor is started working that support stretches out, and after support withdraws, hay mover moves again；
Described electromagnetic inductor is fixed on around chassis overhang, and for experiencing labelling magnetic nail, receptive field is ten meters, sense
After labelling magnetic nail should be arrived, its magnetic nail position is fed back to control device, control device employs straight line between each two magnetic nail certainly
Connect as movable boundary；
Described pinhole cameras are fixed on side cover rear and front end, the situation before and after mowing for timing acquiring, after feedback, make
Basis for estimation for remote control terminal；
Described control circuit is fixed on top cover, and its automatic operation mode is based on the side determined by magnetic nail detecting
Boundary, arranges optimal mowing path automatically.Manual work pattern is the route that input wants that hay mover is advanced before operation, afterwards
According to the border detecting, if the path planned in advance is in border, execute path planning in advance；If some is not or not side
In boundary, then first carry out the path in border, path is not then planned automatically in border.
In conjunction with accompanying drawing 7, handling process of the present utility model is described in further detail:
(1) placement markers magnetic nail
(2) power-on, selects mode of operation
(3) setting timing photo opporunity interval, arranges Timing measurement acid-base value time interval, if selecting manual work pattern
Then path planning in advance
(4) start hay mover, independently detect border
(5) if selecting automatic operation mode, optimal path is set automatically；If selection manual work pattern, after judging
Execution route again
(6) photo of BR is sent to remote control terminal in time with the acid-base value detecting, if remote control terminal
The signal having altered sends, then by the action that the signal execution receiving is related after reception
(7) path is finished, automatic charging
Claims (5)
1. the hay mover of a kind of view-based access control model monitoring and self-navigation, including frame, mowing disk and universal wheel, universal wheel is installed
In bottom of the frame it is characterised in that: described hay mover also includes driving wheel, labelling magnetic nail, electromagnetic inductor and photographic head, described
Frame includes chassis overhang, top cover and side cover, and described side cover is located between chassis overhang and top cover, and described mowing disk is arranged on institute
State chassis overhang bottom, described universal wheel and driving wheel are located at chassis overhang bottom respectively, and described driving wheel is with driving means even
Connect, described electromagnetic inductor is arranged on chassis overhang, described electromagnetic inductor is followed closely with the labelling magnetic for determining mowing border
Cooperation, described photographic head is separately fixed at the front-end and back-end of described side cover, described photographic head, electromagnetic inductor and driving means
Controlling switch all with for realize navigation and monitoring automatic controller be connected.
2. view-based access control model as claimed in claim 1 monitoring and self-navigation hay mover it is characterised in that: described chassis is propped up
Install sensor support on frame, the pipe on the vertical direction of described sensor stand is used for limiting acid-base value detection sensor to be stretched
Direction during contracting, by inside and outside two section set systems, the inner tube of retractable top is by telescopic cylinder control for pipe；The bottom of sensor stand has
The tip of the arrowhead form for smoothly breaking ground, described acid-base value detection sensor is placed in the inside of described bottom.
3. view-based access control model as claimed in claim 1 or 2 monitoring and self-navigation hay mover it is characterised in that: described cut
Mowing blade and protective cover are placed on careless disk, described protective cover is located at the periphery of mowing blade.
4. view-based access control model as claimed in claim 3 monitoring and self-navigation hay mover it is characterised in that: on described top cover
Automatic controller is installed.
5. view-based access control model as claimed in claim 1 or 2 monitoring and self-navigation hay mover it is characterised in that: described side
Cover installation LED lamp.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620348445.3U CN205912478U (en) | 2016-04-21 | 2016-04-21 | Lawn mower based on vision control and automatic navigation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620348445.3U CN205912478U (en) | 2016-04-21 | 2016-04-21 | Lawn mower based on vision control and automatic navigation |
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| Publication Number | Publication Date |
|---|---|
| CN205912478U true CN205912478U (en) | 2017-02-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620348445.3U Active CN205912478U (en) | 2016-04-21 | 2016-04-21 | Lawn mower based on vision control and automatic navigation |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112567960A (en) * | 2020-12-02 | 2021-03-30 | 衢州学院 | Intelligent weeding robot |
| CN114568108A (en) * | 2022-02-28 | 2022-06-03 | 清华大学深圳国际研究生院 | Unmanned mower track tracking control method and computer readable storage medium |
| CN117859500A (en) * | 2024-03-12 | 2024-04-12 | 锐驰激光(深圳)有限公司 | Mower boundary-out prevention method, device, equipment and storage medium |
-
2016
- 2016-04-21 CN CN201620348445.3U patent/CN205912478U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112567960A (en) * | 2020-12-02 | 2021-03-30 | 衢州学院 | Intelligent weeding robot |
| CN114568108A (en) * | 2022-02-28 | 2022-06-03 | 清华大学深圳国际研究生院 | Unmanned mower track tracking control method and computer readable storage medium |
| CN114568108B (en) * | 2022-02-28 | 2022-11-11 | 清华大学深圳国际研究生院 | Unmanned mower trajectory tracking control method and computer readable storage medium |
| CN117859500A (en) * | 2024-03-12 | 2024-04-12 | 锐驰激光(深圳)有限公司 | Mower boundary-out prevention method, device, equipment and storage medium |
| CN117859500B (en) * | 2024-03-12 | 2024-05-24 | 锐驰激光(深圳)有限公司 | Mower boundary-out prevention method, device, equipment and storage medium |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 322001 5th floor, zone a, science and technology building, Yiwu science and Technology Pioneer Park, No. 968, Xuefeng West Road, Yiwu City, Jinhua City, Zhejiang Province Patentee after: YIWU SCIENCE AND TECHNOLOGY INSTITUTE CO LTD OF ZHEJIANG University OF TECHNOLOGY Patentee after: Shouhua Gas Technology (Shanghai) Co.,Ltd. Address before: 322001 5th floor, zone a, science and technology building, Yiwu science and Technology Pioneer Park, No. 968, Xuefeng West Road, Yiwu City, Jinhua City, Zhejiang Province Patentee before: YIWU SCIENCE AND TECHNOLOGY INSTITUTE CO LTD OF ZHEJIANG University OF TECHNOLOGY Patentee before: SHANGHAI WORTH GARDEN PRODUCTS Co.,Ltd. |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210909 Address after: 322001 5th floor, zone a, science and technology building, Yiwu science and Technology Pioneer Park, No. 968, Xuefeng West Road, Yiwu City, Jinhua City, Zhejiang Province Patentee after: YIWU SCIENCE AND TECHNOLOGY INSTITUTE CO LTD OF ZHEJIANG University OF TECHNOLOGY Patentee after: SHANGHAI WOSHI INDUSTRIAL Co.,Ltd. Address before: 322001 5th floor, zone a, science and technology building, Yiwu science and Technology Pioneer Park, No. 968, Xuefeng West Road, Yiwu City, Jinhua City, Zhejiang Province Patentee before: YIWU SCIENCE AND TECHNOLOGY INSTITUTE CO LTD OF ZHEJIANG University OF TECHNOLOGY Patentee before: Shouhua Gas Technology (Shanghai) Co.,Ltd. |