Grassland recognition method based on sound wave reflection peak analysis

Abstract

The invention discloses a grassland recognition method based on sound wave reflection peak analysis. A motion platform is provided, a processor is arranged in the motion platform; an ultrasonic transmitting module and an ultrasonic receiving module which are connected with the processor and have the characteristic frequency of v are arranged at the bottom of the motion platform; a grassland recognition algorithm is set in the processor; the method comprises the following steps that (1) an ultrasonic transmitting module transmits a set of ultrasonic waves with the frequency being v, after the interval of delta T time, AD sampling is conducted on output signals of an ultrasonic receiving module, the output signals are converted into sampling signals f (n), and the sampling time interval delta t is equal to 1 / (N.v); when the sampling frequency reaches x.N, the sampling process is ended; (2) the maximum value fmax of the sampling signal f (n) is obtained through comparison, and the sampling sequence number is nmax; (3) the peak value sum sigma f = f (nmax) + f (nmax + N) + f (nmax + 2N) +...is calculated; and (5) if the sum sigma f of the peak values is less than K, it is judged to bethe grassland, otherwise, it is not judged to be the grassland.

Description

technical field [0001] This patent relates to a grassland recognition method based on acoustic wave reflection peak analysis, which belongs to the technical field of mobile robots. Background technique [0002] With the development of society, people's quality of life has been greatly improved. In the field of production, six-degree-of-freedom robots have become one of the three pillars of automation, freeing people from heavy and repetitive work. Automatic welding, automatic painting and automatic handling, etc. In recent years, the further development of society has promoted the wide application of logistics robots, including parcel sorting and transshipment of logistics companies, and material transportation at production sites. In the near future, unmanned production will become a common form. In the civilian field, robots have not been developed correspondingly. But the actual situation is that people spend a lot of time on housework in daily life, and it is easy to...

AI Technical Summary

Problems solved by technology

And lawn maintenance is also a very time-consuming and hard work, so the automatic lawn mower was born

The working environment of a robotic lawn mower is simpler than that of a robotic vacuum cleaner, without complicated furniture and the like, but without inherent boundaries

At present, there is no reliable grassland recognition technology, and automatic lawn mowers cannot recognize the boundaries of their own work areas. This feature restricts the popularity of automatic lawn mowers.

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