CN115589830A - Rotary pressure detection device for mowing robot and mowing robot - Google Patents
Rotary pressure detection device for mowing robot and mowing robot Download PDFInfo
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- 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
- A01D75/00—Accessories for harvesters or mowers
- A01D75/18—Safety devices for parts of the machines
- A01D75/185—Avoiding collisions with obstacles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/40—Investigating hardness or rebound hardness
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Abstract
The invention discloses a rotary pressure detection device for a mowing robot and the mowing robot, wherein the pressure detection device is arranged on a base of the mowing robot and comprises a contact unit and a pressure detection assembly, the lower part of the contact unit is positioned outside the base, the upper part of the contact unit is butted with the pressure detection assembly, a pressure sensor is arranged in the pressure detection assembly, the pressure sensor can be triggered to obtain a detection pressure value after the contact unit touches an obstacle, the pressure detection assembly is positioned in the base, a groove is formed in the base, the upper part of the contact unit is butted with the pressure detection assembly through the groove, and the contact unit can rotate after touching the obstacle so as to trigger the pressure sensor in the pressure detection assembly. When the mowing robot contacts with an obstacle, the contact unit contacts with the obstacle and triggers the pressure detection assembly to detect a pressure value, so that the aim of automatic obstacle meeting processing of the mowing robot can be fulfilled in a mode of matching pressure detection and height detection.
Description
The present application is a divisional application of a patent entitled "a pressure detection device and a self-propelled device" having an application date of 2021, 11/15/20263 and an application number of 202111348045.4.
Technical Field
The invention belongs to the technical field of intelligent equipment control, and particularly relates to a rotary pressure detection device for a mowing robot and the mowing robot.
Background
With the application of new technologies, the technology of the mower is increasingly intelligent, an electronic fence is generated on a pre-buried coil of a lawn or a virtual map is constructed through image recognition, navigation and positioning and the like by the existing intelligent mower, and the mower carries out mowing work in a circled area.
However, the existing intelligent mower has poor obstacle handling capacity, turns around when encountering a common obstacle, is convenient, but cannot mow in the area near the obstacle, forms a missed mowing area, and causes low mowing efficiency; when the lawn mower encounters a short obstacle, the short obstacle can not be detected and identified, and directly goes over to carry out mowing operation, but certain obstacles such as stones and stumps are small in size and large in hardness, so that blades are easily abraded, the lawn mower is trapped, and equipment failure and even damage can be caused in severe cases.
Disclosure of Invention
The invention aims to provide a rotary pressure detection device for a mowing robot and the mowing robot, so that equipment can detect the hardness of an obstacle, and comprehensively judge how to avoid the obstacle according to a pressure detection result.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a rotary pressure detection device for a mowing robot is arranged on a base of the mowing robot and comprises a contact unit and a pressure detection assembly, wherein the lower portion of the contact unit is positioned outside the base, the upper portion of the contact unit is in butt joint with the pressure detection assembly, a pressure sensor is arranged in the pressure detection assembly,
when the contact unit touches an obstacle, the pressure sensor in the pressure detection assembly can be triggered to obtain a detection pressure value,
the contact unit is a rotary contact element, the base is provided with a rotary groove, the pressure detection assembly comprises a cover body, a fixed block and a pressure sensor, the fixed block and the pressure sensor are positioned in the cover body,
rotatory contact includes the pivot, and the pivot both ends are provided with the connecting axle, and the pivot lateral part is provided with flywheel and contact arm, and the arc recess of swivelling chute main part for laminating pivot, arc recess both ends correspond the connecting axle and are provided with the constant head tank, are provided with the opening that link up in the arc recess, and the contact arm on the rotatory contact passes the opening extends in base outside, pivot and connecting axle imbed arc recess and constant head tank respectively in, correspond the pivot on the lid and also be provided with the spacing groove, when the lid is installed to the base on, the rotatable setting of connecting axle is provided with on the fixed block in the space that spacing groove and constant head tank combination constitute pressure sensor, the position relative with pressure sensor on the flywheel is provided with bellied contact platform.
Furthermore, the pressure detection assembly is positioned in the base, a groove is formed in the base, and the upper portion of the contact unit is in butt joint with the pressure detection assembly through the groove.
Further, the pressure detection subassembly still includes the piece that resets, and the piece that resets is for having elastic lamellar body, and its one end is fixed in on the fixed block, and another tip is contradicted the flywheel pushes away pressure sensor with the flywheel.
Further, a second redundant stroke is arranged between the contact platform and the pressure sensor, and the size of the second redundant stroke is set to be that the contact platform just contacts with the pressure sensor when the lower end part of the contact rod swings upwards to the lowest ground level of the cutter disc of the mower.
A robot lawnmower comprises the rotary pressure detection device for the robot lawnmower.
Compared with the prior art, the invention has the remarkable advantages that:
(1) The invention provides a pressure detection device aiming at the problem that equipment can not know the hardness of an obstacle, the device can be arranged at the bottom of the equipment, when the device contacts the obstacle, the device contacts the obstacle through a contact unit and triggers a pressure detection assembly to detect a pressure value, so that the aim of automatically processing the obstacle of a mowing robot in a way of matching pressure detection with height detection can be fulfilled, the obstacle processing capability and mowing efficiency of the mowing robot are improved, the equipment abrasion is reduced, and the service life of the equipment is prolonged;
(2) The invention provides two specific implementation structures of a pressure detection device, pressure detection is realized through a sliding type structure and a rotating type structure which are specially designed, the hardness of an obstacle is judged according to a detection value, a redundancy stroke can be provided for the device through the designed related structures of a spring and a reset sheet, the pressure sensor is prevented from being started too frequently, meanwhile, a certain buffer memory is provided before a contact part contacts the pressure sensor, the measured value of the pressure sensor is prevented from jumping under the action of impact force, the judgment of a machine is prevented from being influenced due to too large error value, the overall structure is reasonable and ingenious in design, and the practicability is high.
Drawings
Fig. 1 is a schematic view of the internal structure of embodiment 1 of the pressure detection device.
Fig. 2 is an exploded view of a first perspective of the pressure detection device of embodiment 1.
Fig. 3 is an exploded view of a second perspective of the pressure sensing device embodiment 1.
Fig. 4 is a sectional view of embodiment 1 of the pressure detection device.
Fig. 5 is a schematic view of the internal structure of embodiment 2 of the pressure detection device.
Fig. 6 is an external configuration diagram of embodiment 2 of the pressure detection device.
Fig. 7 is an exploded view of embodiment 2 of the pressure detection device.
Fig. 8 is a schematic view of the structure of the cover body of embodiment 2 of the pressure detection device.
Fig. 9 is a schematic view of the structure of the components of embodiment 2 of the pressure detection device.
Fig. 10 is a sectional view of embodiment 2 of the pressure detection device.
FIG. 11 is a flow chart of a smart mower fault control method of the present invention.
FIG. 12 is a high-level schematic view of the modules of the intelligent mower of the present invention with respect to the ground.
Fig. 13 is an obstacle crossing flow chart of the intelligent mower of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1-10, a pressure detection device, the pressure detection device sets up on base 2 from the walking equipment, the pressure detection device includes contact unit and pressure detection subassembly, the lower part of contact unit is located outside base 2, upper portion with the butt joint of pressure detection subassembly, include pressure sensor in the pressure detection subassembly, can trigger the pressure sensor in the pressure detection subassembly after the contact unit touches the barrier thereby obtains a detection pressure value, thereby can take place to slide or rotate after the contact unit touches the barrier and trigger the pressure sensor in the pressure detection subassembly, below respectively to slide and the rotation mode give specific embodiment.
Example 1
The self-walking device is an intelligent mower, and is combined with figures 1-4, the contact unit is a sliding contact block 3, the pressure detection assembly comprises a cover body 4, a sliding seat 5, a fixed seat 6, a spring 8, a sensor mounting seat 10 and a pressure sensor, the sliding seat 5, the fixed seat 6 and the sliding seat 5 are located in the cover body 4, the cover body 4 is arranged in a base 2, the sliding seat 5 and the fixed seat 6 are arranged in the cover body 4, a sliding groove 7 is arranged on the base 2, the upper portion of the sliding contact block 3 is connected with the sliding seat 5 through a connecting seat 9, the whole formed by combining the sliding contact block 3 and the sliding seat 5 can slide along the sliding groove 7, a raised contact head 501 is arranged on one side, facing the fixed seat 6, of the sliding seat 5, a mounting seat 502 is arranged at the root of the contact head 501, a counter bore 601 is arranged on the fixed seat 6 correspondingly, a raised pressure sensor mounting seat 10 is arranged at the bottom of the counter bore 601, a pressure sensor is arranged at the end of the pressure sensor mounting seat 10, the spring 8 is sleeved outside the contact head 501, and two ends of the spring 8 are respectively limited in the mounting seat 502 and the counter bore 601. A first redundant stroke is arranged between the end part of the contact head 501 and the pressure sensor, the size of the first redundant stroke can be set as the product of the walking speed of the mower and the delay time of an electronic control system, the pressure sensor is prevented from being triggered when the machine is displaced due to electric control delay in the action processes of stopping, turning and the like, in the using process, the sliding contact block 3 slides towards the tail end of the machine after contacting a ground obstacle, the contact head 501 contacts the pressure sensor after passing through the first redundant stroke, the first redundant stroke is set to prevent the pressure sensor from being started too frequently, meanwhile, a certain buffer memory is provided before the contact head 501 contacts the pressure sensor, and the measured value of the pressure sensor jumps under the action of impact force, and the occurrence of an overlarge error value is prevented from influencing the judgment of the machine.
Example 2
With reference to fig. 5-10, the contact unit is a rotary contact element 12, a rotary groove 14 is formed in the base 2, the pressure detection assembly includes a cover 11, a fixing block 15, a reset plate 13 and a pressure sensor which are located in the cover 11, the cover 11 is disposed in the base 2, the rotary contact element 12 and the fixing block 15 are disposed in the cover 11, the rotary groove 14 is disposed on the base 2, the rotary contact element 12 includes a rotating shaft 1201, connecting shafts 1204 are disposed at two ends of the rotating shaft 1201, a flywheel 1202 and a contact rod 1203 are disposed at a lateral portion of the rotating shaft 1201, a main body of the rotary groove 14 is an arc-shaped groove 1401 which is attached to the rotating shaft 1201, positioning grooves 1403 are disposed at two ends of the arc-shaped groove 1401 and correspond to the connecting shaft 1204, through openings 1402 are disposed in the arc-shaped groove 1401, the contact rod 1203 on the rotary contact element 12 penetrates through the openings 1402 and extends to the bottom of the machine, the rotating shaft 1201 and the connecting shaft 1204 are respectively embedded into the arc-shaped groove 1401 and the positioning grooves 1403, a limiting groove 1101 is also disposed on the cover 11 corresponding to the rotating shaft 1101, and when the cover 11 is mounted on the base 2, the rotatable, the connecting shaft 1204 is fixed in a space formed by the combination of the limiting grooves 1101 and the positioning grooves 1403. Be provided with reset plate 13 and pressure sensor 16 on the fixed block 15, be provided with bellied contact station 1205 on the flywheel 1202, reset plate 13 is for having elastic lamellar body, and on its part was fixed in fixed block 15, the tip was contradicted flywheel 1202, with flywheel 1202 to keeping away from pressure sensor 16 direction promotion, the redundant stroke of second has between contact station 1205 and the pressure sensor, the size of the redundant stroke of second can set up to the lower tip upwards swing of contact lever 1203 to the cutterhead of lawn mower when high to ground the height the contact station 1205 just contacts with pressure sensor, avoids highly being less than the barrier of minimum cutting height to produce unnecessary the influence to the machine operation. In the use, contact rod 1203 touches behind the bottom surface barrier, can rotate to the machine tail end, flywheel 1202 overcomes reset plate 13 and moves towards fixed block 15, after the second redundant stroke, contact table 1205 touches pressure sensor 16, the setting of the second redundant stroke is that avoid pressure sensor too frequent is started, provide certain buffer memory before contact table 1205 touches pressure sensor simultaneously, avoid pressure sensor measured value to jump under the impact force effect, too big error value appears, influence the judgement of machine.
For the pressure detection device, a specific use method is given in the obstacle crossing function of the intelligent mower as follows:
with reference to fig. 11, the method for using the pressure detection device in obstacle crossing of the intelligent lawn mower comprises the following steps: the mowing robot carries out normal mowing work in a circled working area at a preset walking speed, a collision sensor in front of the mowing robot emits a detection signal to the front at preset time intervals, the detection signal can be ultrasonic waves, laser, infrared rays and the like, a reflection signal is returned when the detection signal meets an obstacle, the distance and the approximate volume of the obstacle are confirmed, whether the mowing robot can normally cross the obstacle is judged, if the obstacle cannot cross the obstacle is detected, obstacle avoidance action is carried out, the mowing robot slowly turns, a walking route is changed by combining the detection of an external sensor, and straight line mowing work is continuously carried out after the mowing robot bypasses the obstacle;
if the obstacle can cross, the obstacle crossing action is carried out, the mowing robot is controlled to gradually decelerate and continue to advance, and the contact unit below the mowing robot contacts the obstacle, so that the pressure sensor obtains a detection pressure value: the sliding contact block 3 slides to the tail end of the machine after contacting with a ground obstacle, and the contact head 501 contacts with the pressure sensor after passing through a first redundant stroke to obtain a pressure detection value; or the contact rod 1203 rotates towards the tail end of the machine after contacting with the bottom obstacle, the flywheel 1202 overcomes the reset sheet 13 to move towards the fixed seat 15, and after the second redundant stroke, the contact platform 1205 contacts with the pressure sensor 16 to obtain a pressure detection value. The pressure detection device is located on the right lower side of the advancing direction of the mowing robot and is located on the same horizontal line with the left side and the right side of the cutter head respectively, and the stress condition can be detected through contact.
If the detected pressure value is lower than the preset pressure threshold value, the hardness of the obstacle is considered to be low, and the blade cannot be damaged when the cutter disc cuts, the mowing robot is controlled to pass through the obstacle at the current low speed, and the mowing robot is controlled to resume working at the normal speed after passing through the obstacle;
if the detected pressure value is higher than the preset pressure threshold value, the obstacle hardness is considered to be enough to wear the equipment, and the mowing robot continues to decelerate and advance and stops mowing. Through the height to ground sensor detection barrier, ground sensor can be to ultrasonic sensor, the laser sensor etc. of ground transmission be used for carrying on apart from the component of judging, ground sensor has two, one is placed in pressure measurement device rear side, the preceding intermediate position of blade disc, and another is placed in blade disc rear side position, and current preceding ground sensor detects the height of barrier is greater than first height and predetermines the threshold value, and is less than or equal to the second when highly predetermineeing the threshold value, controls mowing robot upwards adjusts the blade disc height for the blade disc is a little higher than the barrier height, treat behind the ground sensor of blade disc rear side detects through the barrier, descend the blade disc again and continue the sharp work of mowing.
Referring to fig. 12, each module of the mowing robot is set to the ground height, wherein the first preset threshold is smaller than the second preset threshold, the first preset threshold is equal to the lowest ground height of the cutterhead, the second preset threshold is equal to the highest ground height of the cutterhead, and the pressure sensor is at the same level as the lowest ground height of the cutterhead. When the height of the obstacle is smaller than a first preset threshold value, the mowing robot can mow grass at a low speed through the obstacle; when the height of the obstacle is greater than or equal to a first preset threshold value and less than a second preset threshold value, the mowing robot needs to stop mowing and adjust the height of the cutter head upwards.
The following description will be given taking a specific height as an example.
For example, in one embodiment, the lowest height of the cutterhead of the mowing robot is 4cm, the highest height of the cutterhead is 10cm, and the height of the cutterhead relative to the ground during the current mowing operation is 6cm, so that the height of the pressure sensor arranged on the mowing robot relative to the ground is 4cm, the first preset threshold value is set to be 4cm, and the second preset threshold value is set to be 10cm.
And when the height of the obstacle is larger than 10cm or the obstacle is too large to pass through, the mowing robot carries out obstacle avoidance action and turns around.
When the height of the obstacle is smaller than 4cm, the obstacle can directly pass through the device, the mowing robot passes through the obstacle at a low speed, mowing does not need to be stopped, and obstacle crossing action is completed.
And when the height of the obstacle is detected to be larger than or equal to 4cm and smaller than 10cm, the mowing robot stops mowing, the height of the cutter head is adjusted to be higher than the height of the obstacle, the cutter head passes through the obstacle at a low speed, the cutter head is adjusted to the preset height again after the obstacle passes through, and mowing operation is continued.
Referring to fig. 13, when the robot mower performs an obstacle crossing operation, the robot mower should move forward over an obstacle, and if the moving direction changes or the obstacle has a certain width and height, the robot mower may be jammed or blocked and cannot pass through the obstacle smoothly, resulting in an obstacle crossing failure; and controlling the mowing robot to retreat until the mowing robot is away from the position of the obstacle by a preset length, adjusting the advancing direction, and trying to cross the obstacle again until the mowing robot is successfully aligned with the obstacle and smoothly passes through the obstacle.
If the obstacle crossing operation is repeated for three times, the obstacle crossing failure still indicates that the mowing robot cannot cross the obstacle, the mowing robot is controlled to separate from the obstacle crossing action, the obstacle avoiding action is executed, mowing work is continued by bypassing the obstacle, and meanwhile, when a working route is planned in a later period, the obstacle is determined to be of a non-reversible type and is avoided, so that the normal operation of the mowing robot is ensured.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (5)
1. A rotary pressure detection device for a robot lawnmower, the pressure detection device being arranged on a base (2) of the robot lawnmower, wherein the pressure detection device comprises a contact unit and a pressure detection assembly, the contact unit having a lower portion located outside the base (2) and an upper portion abutting against the pressure detection assembly, the pressure detection assembly comprising a pressure sensor therein,
when the contact unit touches an obstacle, the pressure sensor in the pressure detection assembly can be triggered to obtain a detection pressure value,
the contact unit is a rotary contact element (12), a rotary groove (14) is formed in the base (2), the pressure detection assembly comprises a cover body, and a fixed block (15) and a pressure sensor which are positioned in the cover body,
the rotating contact piece (12) comprises a rotating shaft (1201), connecting shafts (1204) are arranged at two ends of the rotating shaft (1201), a flywheel (1202) and a contact rod (1203) are arranged on the side portion of the rotating shaft (1201), a main body of the rotating groove (14) is an arc-shaped groove (1401) attached to the rotating shaft (1201), positioning grooves (1403) are formed in two ends of the arc-shaped groove (1401) and correspond to the connecting shafts (1204), a through opening (1402) is formed in the arc-shaped groove (1401), the contact rod (1203) on the rotating contact piece (12) penetrates through the opening (1402) to extend to the outside of the base (2), the rotating shaft (1201) and the connecting shafts (1204) are respectively embedded into the arc-shaped groove (1401) and the positioning grooves (1403), a limiting groove (1101) is also formed in the cover body corresponding to the rotating shaft (1201), when the cover body is installed on the base (2), the connecting shafts (1204) are rotatably arranged in a space formed by combining the limiting groove (1101) and the positioning grooves (1403), the pressure sensor is arranged on the fixed block (15), and a raised contact platform (1205) opposite to the pressure sensor is arranged on the 1202).
2. A rotary pressure detection device for a robot lawnmower according to claim 1, wherein the pressure detection assembly is located within the base (2), the base (2) having a slot formed therein through which an upper portion of the contact unit interfaces with the pressure detection assembly.
3. The rotary pressure detecting device for a robot lawnmower according to claim 1 or 2, wherein the pressure detecting assembly further comprises a reset plate (13), the reset plate (13) is a flexible plate, one end of the reset plate is fixed to the fixing block (15), and the other end of the reset plate abuts against the flywheel (1202) to push the flywheel (1202) away from the pressure sensor.
4. A rotary pressure detection device for a lawn mowing robot according to claim 3, characterized in that a second redundant stroke exists between the contact platform (1205) and the pressure sensor, the size of the second redundant stroke being set such that the contact platform (1205) just contacts the pressure sensor when the lower end of the contact lever (1203) swings upwards to the lowest height of the cutterhead of the lawn mower.
5. A robot lawnmower comprising a rotary pressure detection apparatus according to any one of claims 1 to 4.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211155286.1A CN115589830A (en) | 2021-11-15 | 2021-11-15 | Rotary pressure detection device for mowing robot and mowing robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211155286.1A CN115589830A (en) | 2021-11-15 | 2021-11-15 | Rotary pressure detection device for mowing robot and mowing robot |
| CN202111348045.4A CN113950935B (en) | 2021-11-15 | 2021-11-15 | Sliding type pressure detection device for mowing robot and mowing robot |
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| CN202111348045.4A Division CN113950935B (en) | 2021-11-15 | 2021-11-15 | Sliding type pressure detection device for mowing robot and mowing robot |
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| CN202111348045.4A Active CN113950935B (en) | 2021-11-15 | 2021-11-15 | Sliding type pressure detection device for mowing robot and mowing robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116300960A (en) * | 2023-03-31 | 2023-06-23 | 深圳森合创新科技有限公司 | Robot and map construction and positioning method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP4292417A1 (en) * | 2022-06-13 | 2023-12-20 | Andreas Stihl AG & Co. KG | Method and system for operating an autonomous mobile green area cultivation robot |
| CN119138188B (en) * | 2024-11-14 | 2025-02-28 | 浙江白马科技有限公司 | Autonomous operation equipment and control method thereof, and computer readable storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US6611738B2 (en) * | 1999-07-12 | 2003-08-26 | Bryan J. Ruffner | Multifunctional mobile appliance |
| DE102010044276B4 (en) * | 2010-09-02 | 2015-08-06 | AL-KO KOBER Ges.mbH | Switching device for a lawnmower |
| DE102018108024A1 (en) * | 2018-04-05 | 2019-10-10 | Horsch Maschinen Gmbh | Autonomous agricultural vehicle |
| CN111165158A (en) * | 2020-01-22 | 2020-05-19 | 南京苏美达智能技术有限公司 | Collision detection device and self-walking equipment |
| CN112425344A (en) * | 2020-11-25 | 2021-03-02 | 西南大学 | Orchard self-propelled weeding machine and autonomous navigation obstacle avoidance method thereof |
| CN214508011U (en) * | 2021-02-04 | 2021-10-29 | 塔里木大学 | A profiled obstacle avoidance grass crusher for orchards |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116300960A (en) * | 2023-03-31 | 2023-06-23 | 深圳森合创新科技有限公司 | Robot and map construction and positioning method thereof |
| CN116300960B (en) * | 2023-03-31 | 2024-05-28 | 深圳森合创新科技有限公司 | Robot and map construction and positioning method thereof |
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| CN113950935B (en) | 2023-01-13 |
| CN113950935A (en) | 2022-01-21 |
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