Grassland recognition device based on vibration detection

Abstract

The invention discloses a grassland recognition device based on vibration detection. The grassland recognition device comprises a motion platform capable of autonomously moving, wherein a vibration detection sensor is mounted at the bottom part of the motion platform; the grassland recognition device also comprises a processor used for centralized control; the processor is connected with the vibration detection sensor; and a grassland recognition algorithm is set in the processor and used for determining whether the forward motion direction of the motion platform is a grassland or not throughthe following steps: (1) allowing the processor to read measurement data H(t) of the vibration detection sensor at equal intervals delta t, wherein 1 represents that grass exists, and 0 represents that no grass exists; (2) calculating the sum S of the measurement data H(t) in a recent time period T; and (3) if the sum S is greater than K, judging that the forward motion direction of the motion platform is the grassland, otherwise, judging that the forward motion direction of the motion platform is not a grassland.

Description

technical field [0001] This patent relates to a grass recognition device based on vibration detection, which belongs to the technical field of mobile robots. Background technique [0002] Grass recognition is very important for mowing robots. Only with the ability to recognize grass can the mowing robot work safely without falling into ponds, roads or sidewalks. However, the current grassland identification technology is immature, and it is not possible to do grassland identification in the true sense. It is only laying cables around the grassland and passing direct current on the cables. The mower determines the working area by identifying the direction of the electric field. This method has high reliability, but it needs to increase the hardware cost, and with the increase of the grassland area, the hardware cost also increases rapidly. In addition to the color feature, the grass on the grass has a certain height and hardness, which can be used as an effective feature for...

AI Technical Summary

Problems solved by technology

However, the current grass identification technology is immature, and it is not yet possible to identify grass in the true sense. It is only laying cables around the grass and passing direct current on the cables. The mower determines the working area by identifying the direction of the electric field.

This method has high reliability, but it needs to increase the hardware cost, and as the grass area increases, the hardware cost also increases rapidly

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