Obstacle-detecting obstacle-avoiding system and method suitable for full automatic weeding machine

Abstract

The invention discloses an obstacle-detecting obstacle-avoiding system and method suitable for a full automatic weeding machine. The system comprises an MCU module, the MCU module is connected with anultrasonic transducer, used for transmission, of an ultrasonic phased array through a transmitting circuit, and the ultrasonic transducer used for the transmission is located at the top of the weeding machine; the MCU module controls the transmitting circuit to drive the ultrasonic transducer to transmit ultrasonic signals, the ultrasonic signals are reflected back through an obstacle ahead, thetransmitting signals are received by a plurality of ultrasonic transducers used for receiving, and the plurality of ultrasonic transducers used for receiving are used to form an ultrasonic phased array receiving array; the ultrasonic phased array receiving array is connected with the MCU processing module sequentially through a signal amplification conditioning module, a detection low-pass filterand an A / D conversion module; and the MCU processing module is connected with an upper computer. The system and method provided by the invention use the pattern recognition technology and the ultrasonic phased array technology to recognize and judge the obstacle ahead, thereby realizing intelligent full automatic operation of a robot and the full automatic weeding machine.

Description

technical field [0001] The invention relates to an obstacle detection and obstacle avoidance system and method suitable for a fully automatic weeder. Background technique [0002] With the improvement of people's living conditions, fully automatic weeding machines have been widely used. However, in many courtyards or green spaces, in addition to the planted grass, there are also facilities such as trees, swings, and artificial landscapes of different materials. The requirement for the weeder is to only trim the lawn, avoid trees, rockery, etc., and also pass through swings (if the height allows) and other facilities, that is, as much as possible, the lawn in the space that the weeder can pass through should be trimmed . Existing fully automatic weeding machines cannot identify artificial facilities such as grass, shrubs, and swings in front of them, so some plots cannot be trimmed, trees are cut off, or even knives are injured. [0003] At present, there are many inventio...

AI Technical Summary

Problems solved by technology

The cost of using video technology is very high, and it will be affected by environmental factors such as light, rain, snow, dust, temperature, etc., thus limiting its application range

The use of infrared sensors is easily affected by surrounding environmental factors such as sunlight, and measurement deviations will occur in actual use

CN202939487 patent discloses an all-round ultrasonic obstacle avoidance device for a mobile robot, which uses an ultrasonic sensor as an obstacle positioning and measurement device to determine the position and distance of the obstacle to achieve the purpose of obstacle avoidance, but it cannot provide obstacle Object attribute information cannot distinguish different obstacles, and is prone to misjudgment due to the influence of rain, snow, wind and sand, etc., and cannot intelligently identify and avoid obstacles ahead

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