Mowing equipment

Abstract

The utility model discloses mowing equipment. The mowing equipment comprises a machine body; the wheels are connected with the machine body and used for driving the machine body to move; the camera is arranged at the top of the machine body; the light supplementing element is arranged at the top of the machine body, the shooting direction of the camera is the same as the light irradiation direction of the light supplementing element, and at least part of the irradiation range of the light supplementing element is located in the shooting range of the camera. The mowing equipment is not influenced by the height of crops or plants and the like, light can be effectively supplemented to the camera shooting range under the condition that the light source is insufficient, a large range can be illuminated during light supplementing, and the clarity of collected images is guaranteed.

Description

Technical Field

[0001] The present application relates to the technical field of harvesting equipment, and more specifically, to a lawn mowing device. Background Art

[0002] An autonomous mobile harvester is a mechanical tool for harvesting crops or plants such as wheat, rice, forage, vegetation, and lawns. In order to cooperate with the automated and intelligent operation of the autonomous mobile harvester, a camera for collecting image information is installed on the fuselage. The image taken by the camera is greatly affected by external light. For example, on cloudy days or in dark environments, it is easy to cause unclear images, affecting the operating efficiency of the harvester.

[0003] Moreover, autonomous mobile harvesting equipment is generally relatively low, and the cameras on the autonomous mobile harvesting equipment are easily blocked by taller crops or plants, resulting in unclear images taken by the cameras, affecting the working efficiency of the harvesting equipment.

[0004] In summary, how to avoid the problem of unclear shooting is a problem that needs to be solved urgently by those skilled in the art. Utility Model Content

[0005] In view of this, the purpose of this application is to provide a mowing equipment that is not affected by the height of crops or plants, etc., and can effectively fill in the light of the camera range. When filling in the light, a larger range can be illuminated to ensure the clarity of the captured image.

[0006] In order to achieve the above objectives, this application provides the following technical solutions:

[0007] A lawn mowing device comprising:

[0008] body;

[0009] Wheels, connected to the fuselage, and used to drive the fuselage to move;

[0010] A camera, disposed on the top of the body;

[0011] A fill light element is arranged on the top of the body, the shooting direction of the camera is the same as the light irradiation direction of the fill light element, and the irradiation range of the fill light element is at least partially located within the shooting range of the camera.

[0012] In one implementation, the fill light element is located in front of the shooting direction of the camera, and the highest point B of the fill light element is lower than the lowest point A of the camera.

[0013] In one implementation, on a horizontal projection plane, the fill light element is located just in front of a shooting direction of the camera.

[0014] In one implementation, the fill light element includes at least two fill light lamps arranged along the height direction of the fuselage.

[0015] In one implementation, projections of at least two of the fill lights on the horizontal plane overlap or partially overlap.

[0016] In one implementation, it further includes a mounting member connected to the body to form an installation space, and the fill light element is disposed in the installation space.

[0017] In one implementation, one side of the mounting member has a mounting groove for accommodating the fill light element, the opening of the mounting groove faces the front side of the fuselage, and the mounting groove blocks the top of the fill light element.

[0018] In one implementation, a mowing module is disposed at the bottom of the fuselage, and the camera and the fill light element are both located close to the front side of the fuselage relative to the mowing module.

[0019] In one implementation, the fill light element includes a fill light, and the fill light includes a plurality of lamp bodies;

[0020] The mowing equipment further comprises a control device, the fill light is electrically connected to the control device, and the control device is used to control the working state of the lamp body.

[0021] In one implementation, the fill light element is located on one side of the camera.

[0022] In one implementation, the lens of the camera and the light outlet of the fill light element are both facing the front side of the body.

[0023] The mowing equipment provided by the present application includes a camera, a fill light element, a fuselage, and wheels, wherein the camera is used to be installed on the top of the fuselage to provide visual information for the operation of the mowing equipment; the wheels are connected to the fuselage to drive the fuselage to move, so as to realize the movement of the mowing equipment to perform mowing operations; the fill light element is arranged on the top of the fuselage, and is used to be turned on for fill light to ensure the clarity of the image captured by the camera; the camera is arranged on the top to have a higher shooting field of view, the shooting direction of the camera is the same as the irradiation direction of the fill light element, and the irradiation range of the fill light element is at least partially located within the shooting range of the camera, so as to ensure that the fill light element is turned on to effectively fill light the camera range. Among them, the fill light element is also arranged on the top of the fuselage, and can illuminate a larger range when filling light, so that the fill light element is not affected by the height of crops or plants, etc., to ensure the clarity of the collected image and the working efficiency of the mowing equipment. The above-mentioned mowing equipment is not affected by the height of crops or plants, etc., can effectively fill light the camera range, and can illuminate a larger range when filling light, to ensure the clarity of the collected image. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0025] Figure 1 Schematic diagram of the lawn mowing equipment provided for this application;

[0026] Figure 2 for Figure 1 Right view of .

[0027] Figure 1-Figure 2 , the reference numerals include:

[0028] 1- camera; 2- fill light element; 3- mounting part; 4- body; 5- mowing module. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0030] The core of this application is to provide a mowing device that is not affected by the height of crops or plants, etc., and can effectively fill in the camera range with light. When filling in the light, a larger range can be illuminated to ensure the clarity of the collected image.

[0031] The lawn mowing device provided in this application includes a camera 1, a fill light element 2, a body 4, and wheels. Figure 1 The wheels are connected to the body 4 to drive the body 4 to move, thereby achieving the effect of moving the mowing device to mow the grass.

[0032] The camera 1 is installed on the top of the body 4 to collect visual information, including image information or video information, etc., to provide visual information for the harvesting operation of the mowing equipment. The mowing equipment can be an automated device or an unmanned device.

[0033] Taking the lawn mowing equipment, specifically an unmanned lawn mower, as an example, by installing a camera 1 on the top of the body 4 of the lawn mower, the camera 1 identifies the grass in the target area and other objects outside the grass by taking images, thereby providing guidance for the harvesting operation.

[0034] The camera 1 is mounted on the top of the body 4, and will not block the camera 1 even when the grass is high, thereby ensuring a larger shooting range for the camera 1 and ensuring complete shooting of the grass and other objects in the target area.

[0035] The fill light element 2 is arranged on the top of the body 4. The shooting direction of the camera 1 is the same as the irradiation direction of the fill light element 2, ensuring that both are aimed at the target area. When necessary, the fill light element 2 can be turned on to provide reliable and effective fill light for the camera 1, providing a larger lighting range while ensuring the clarity of the captured image.

[0036] Whether to start the fill light element 2 can be determined based on light conditions, weather conditions, etc., in combination with specific usage requirements.

[0037] Specifically, the shooting direction of the camera 1 and the irradiation direction of the fill light element 2 are the same, for example, the shooting direction of the camera 1 and the irradiation direction of the fill light element 2 are both toward the front of the fuselage 4; for example, the shooting direction of the camera 1 and the irradiation direction of the fill light element 2 are both toward the bottom of the fuselage 4. The shooting direction of the camera 1 and the irradiation direction of the fill light element 2 relative to the fuselage 4 can be set according to actual conditions.

[0038] The fill light element 2 can be one, two, or more fill light lamps, which are turned on when fill light illumination is performed to ensure a better fill light effect.

[0039] The irradiation range of the fill light element 2 is at least partially located within the shooting range of the camera 1, providing a fill light effect for the shooting of the camera 1. In a specific embodiment, the fill light element 2 can be specifically set in the front position of the front side of the camera 1. The fill light element 2 will not block the shooting of the camera 1, and will not affect the image acquisition process while filling the light, and will not affect the normal operation of the camera 1. A certain height difference can be set between the fill light element 2 and the camera 1. In another specific embodiment, the fill light element 2 can also be set on the side in front of the camera 1. If there are two or more fill light elements 2, they can also be set on both sides in front of the camera.

[0040] If the fill light element 2 is used for fill light in the case of insufficient light, the specific insufficient light situation can be manually turned on, or directly turned on by the control device, or determined by the control device analyzing the image taken by the camera 1. For example, if the color of the captured image is obviously low or the image is obviously blurred, the fill light element 2 is turned on. For an unmanned lawn mower, the control device can pre-store information on conditions that require fill light, such as brightness information, clarity information, etc.

[0041] Optionally, if the camera 1 is set to be angle-adjustable, the corresponding fill light element 2 is also set to be angle-adjustable, and the angles of the two after adjustment are consistent to suit different harvesting conditions. The specific method of implementing angle adjustment can be through the cooperation of a pin shaft, a pin hole and a locking member, such as the pin hole between the camera 1 and the body 4 is connected by a pin shaft, and when there is no need to adjust the angle of the camera 1, the locking member passes through the pin hole and presses against the pin shaft to limit the rotation of the camera 1.

[0042] The above-mentioned mowing equipment includes a camera 1, a fill light element 2, a fuselage 4, and wheels, wherein the camera 1 is used to be installed on the top of the fuselage 4 to provide visual information for the operation of the mowing equipment; the wheels are connected to the fuselage 4 to drive the fuselage 4 to move; the fill light element 2 is arranged on the top of the fuselage 4, and is used to be turned on for fill light to ensure the clarity of the image captured by the camera 1; the camera 1 is arranged on the top to have a higher shooting field of view, the shooting direction of the camera 1 is the same as the irradiation direction of the fill light element, and the irradiation range of the fill light element 2 is at least partially located within the shooting range of the camera 1, ensuring that the fill light element 2 can be turned on to effectively fill light the shooting range of the camera 1. Among them, the fill light element 2 is also arranged on the top of the fuselage 4, and can illuminate a larger range when filling light, so that the fill light element 2 is not affected by the height of crops or plants, etc., to ensure the clarity of the captured image and the working efficiency of the mowing equipment. The above-mentioned mowing equipment is not affected by the height of crops or plants, etc., can effectively fill light the shooting range, and can illuminate a larger range when filling light, to ensure the clarity of the captured image.

[0043] On the basis of the above embodiment, the fill light element 2 is located at the front side of the shooting direction of the camera 1 , and the highest point B of the fill light element 2 is lower than the lowest point A of the camera 1 .

[0044] Please refer to Figure 1-Figure 2 The fill light element 2 is located in front of the shooting direction of the camera 1. There is a height difference between the highest point B of the fill light element 2 and the lowest point A of the camera 1. The fill light element 2 will not block the shooting of the camera 1. While filling the light, it will not affect the image acquisition process and the normal operation of the camera 1. Figure 1 As shown, specifically, the highest point B of the fill light element 2 is lower than the lowest point A of the camera 1. The highest point and the lowest point here are based on the bottom of the wheel of the mowing equipment as the reference plane. In the height direction of the mowing equipment, the highest position point of the fill light element 2 relative to the reference plane is the highest point B of the fill light element 2, and the lowest position point of the camera 1 relative to the reference plane is the lowest point A of the camera 1. For example, the highest point B of the fill light element 2 can be the highest position point of the housing of the fill light element 2, and the lowest point A of the camera 1 can be the lowest position point of the mirror surface of the camera 1.

[0045] The highest point B of the fill light element 2 is lower than the lowest point A of the camera 1 to avoid blocking the camera 1, and the height difference between the two is designed in combination with the actual situation. The fill light element 2 and the camera 1 are both installed on the top of the fuselage 4 and are still at a certain distance from the position of the head. The operation of both is not affected by the objects at the front of the fuselage 4, such as grass and obstacles, to ensure reliable detection of the target area.

[0046] On the basis of any of the above embodiments, on the horizontal projection plane, the fill light element 2 is located right in front of the shooting direction of the camera 1 .

[0047] On the horizontal projection plane, the fill light element 2 is located just in front of the shooting direction of the camera 1, ensuring that the light from the fill light element 2 can be more concentratedly irradiated on the target area. Through precise lighting control, the contrast and clarity of the image taken by the camera 1 are improved, making the target features of the target area such as grass and other plants more prominent, which is convenient for subsequent image processing and recognition, and is conducive to improving the shooting quality and harvesting efficiency.

[0048] Based on any of the above embodiments, the fill light element 2 includes at least two fill light lamps arranged along the height direction of the fuselage 4.

[0049] Please refer to Figure 1 The fill light element 2 includes at least two fill lights arranged along the height direction of the fuselage 4. When the image taken by the camera 1 is unclear or there is insufficient light source, at least two fill lights are turned on to provide sufficient and effective lighting to ensure the clarity of the imaging of the camera 1.

[0050] The highest point of each fill light is lower than the lowest point of the camera 1 to ensure that the camera 1 is not affected and the camera 1 is not blocked. The height difference between the two fill lights can be designed in combination with the specific installation space on the fuselage 4.

[0051] In this embodiment, if the light source is insufficient, at least two fill-in lights must be turned on. If one of them is damaged, the fill-in light element 2 can still ensure the effect of use, realize redundant design, and avoid the image acquisition operation of the camera 1 being affected by the damage of a single fill-in light. However, if it is determined according to the actual situation that all fill-in lights must maintain normal operation, such as in a night environment, if one or more fill-in lights are damaged, it is necessary to be informed in time and replaced or repaired. The specific way to know can be to compare the images taken by the camera 1 to determine whether there is a situation where all fill-in lights are not working normally, and timely feedback information, such as alarming or sending text messages and emails to relevant personnel, etc. For unmanned lawn mowing machines, relevant personnel can be notified in time to intervene and take relevant measures.

[0052] Based on any of the above embodiments, projections of at least two fill lights on the horizontal plane overlap or partially overlap.

[0053] like Figure 2 If the moving direction of the fuselage 4 is the X direction, the vertical direction is the Y direction, and the position of the camera 1 is the origin, at least one of the X-direction coordinates and the Y-direction coordinates of at least two fill lights is inconsistent. The projection of the horizontal plane here is the projection of the X direction.

[0054] When the projections of at least two fill lights on the horizontal plane overlap, at least two fill lights are arranged in sequence from high to low in the vertical direction, and the X-coordinates of at least two fill lights are consistent and the Y-coordinates are inconsistent, so that the light source points are on the same straight line when the fill light element 2 is turned on, ensuring the consistent effectiveness of the fill light, allowing the light to be more concentrated on the target area, and ensuring the quality of the image captured by the camera 1.

[0055] When the projections of at least two fill lights on the horizontal plane are partially overlapped, that is, the X-axis coordinates and Y-axis coordinates of at least two fill lights are inconsistent, the difference between the X-axis coordinates of at least two fill lights is not large, and the positions of two adjacent fill lights in the X direction are partially staggered, the light source points are not on the same straight line when the fill light element 2 is turned on, effective fill light can still be guaranteed, so that the light can be more concentratedly irradiated on the target area, thereby ensuring the quality of the image collected by the camera 1 when the light source is insufficient.

[0056] It should be noted that, in the above case, at least two fill lights have a height difference in the height direction.

[0057] On the basis of any of the above embodiments, it further includes a mounting member 3 connected to the body 4 to form an installation space, and the fill light element 2 is arranged in the installation space.

[0058] Please refer to Figure 1-Figure 2 The mounting member 3 is detachably connected to the fuselage 4 to facilitate the installation of the fill light element 2. Specifically, the fill light element 2 is arranged in the installation space formed by the fuselage 4 and the mounting member 3, so as to facilitate the assembly and disassembly of the fill light element 2 and the connection with the fuselage 4, and the structure of the mounting member 3 is not too limited.

[0059] In this embodiment, the mounting member 3 is preferably formed in one piece, and may also be provided as a separate member according to actual conditions to facilitate assembly.

[0060] Based on any of the above embodiments, one side of the mounting member 3 has a mounting groove for accommodating the fill light element 2 , the opening of the mounting groove faces the front side of the fuselage 4 , and the mounting groove blocks the top of the fill light element 2 .

[0061] Please refer to Figure 1-Figure 2The mounting member 3 is an integral member, and one side of the mounting member 3 has a mounting groove for mounting the fill light element 2, and the opening of the mounting groove faces the front side of the fuselage 4. This mounting groove blocks the top of the fill light element 2 to provide shielding protection for the fill light element 2, thereby ensuring effective protection for the fill light element 2, preventing rain from entering or being scratched, and preventing light from directly hitting the camera lens, resulting in excessive image brightness.

[0062] In one implementation, the mounting groove is larger than the size of the fill light element 2 to ensure effective and reliable protection thereof.

[0063] The other side of the mounting member 3 is tilted downward along the forward direction of the fuselage 4, and the highest point of the tilted portion of the mounting member 3 is lower than the lowest point of the mounting groove, which does not affect the light source illumination of the fill light element 2, and does not cause obstruction or shadow, thereby ensuring a reliable fill light effect for the camera 1.

[0064] In this embodiment, one side and the other side of the mounting member 3 correspond to Figure 2 The right and left sides of the .

[0065] On the basis of any of the above embodiments, a mowing module 5 is provided at the bottom of the fuselage 4 , and the camera 1 and the fill light element 2 are both close to the front side of the fuselage 4 relative to the mowing module 5 .

[0066] Please refer to Figure 1-Figure 2 The camera 1 and the fill light element 2 are both located on the top of the fuselage 4, close to the front side of the mowing module 5. The mowing module 5 is arranged at the bottom of the fuselage 4. Before the mowing operation, the camera 1 arranged on the top of the fuselage 4 can have a larger shooting range and a wider field of view. When the fill light element 2 is working, a larger range of effective lighting can also be performed to ensure the clarity of the image taken by the camera 1.

[0067] In addition, a driving module is provided at the bottom of the fuselage 4 to drive the mowing equipment to move along the set route to achieve an unmanned driving effect, and the specific shooting results of the camera 1 can also provide a certain basis for the positioning of the mowing equipment itself, making it easier to know whether the driving module moves along the set route.

[0068] On the basis of any of the above embodiments, the fill light element 2 includes a fill light, and the fill light includes a plurality of lamp bodies;

[0069] The mowing equipment also includes a control device, the fill light is electrically connected to the control device, and the control device determines the working state of the lamp body according to the image captured by the camera 1.

[0070] In this embodiment, the fill light element 2 includes a fill light, the fill light includes a plurality of lamp bodies, and the fill light signal is connected to the control device.

[0071] Optionally, all lamp bodies can be controlled by one switch. If one, two or three lamp bodies in the fill light are damaged and do not work, the control device is used to control the working state of the lamp body.

[0072] Optionally, the lamp bodies may be arranged circumferentially around the center line of the fill light element 2 , or may be randomly distributed, and the specific arrangement and distribution method is not limited.

[0073] Further optionally, the control device can be connected to camera 1 to obtain the shooting results of camera 1, and can determine the working status of the lamp body based on the shooting results of camera 1, so as to timely issue an alarm or feedback information to relevant personnel to ensure the reliable operation of the fill light element 2.

[0074] Based on any of the above embodiments, the fill light element 2 is located on one side of the camera 1 .

[0075] In this embodiment, the fill light element 2 can be located at the front, left, right, rear, top or bottom of the camera 1, and can be set based on providing a fill light effect and not blocking the camera range of the camera 1 in actual application.

[0076] Based on any of the above embodiments, the lens of the camera 1 and the light outlet of the fill light element 2 are both facing the front side of the body 4 .

[0077] In this embodiment, the lens of the camera 1 and the light outlet of the fill light element 2 are both facing the front side of the fuselage 4. The shooting direction of the camera 1 is the same as the light irradiation direction of the fill light element 2. The fill light element 2 is used to fill light for the camera 1 on the target area on the front side of the fuselage 4 to ensure the clarity of the captured image.

[0078] Based on any of the above embodiments, a camera controller is further included, and the camera controller is connected to the control device and the camera 1 signal to adjust the exposure time of the camera 1.

[0079] In this embodiment, if there is insufficient light source, the exposure time of camera 1 is adjusted by the camera controller to assist the fill light element 2 in fill light to ensure the imaging quality of camera 1. However, it should be noted that the exposure time of camera 1 needs to be controlled within a certain range to avoid image distortion caused by overexposure.

[0080] The camera 1 signal is connected to the control device. When the control device obtains the shooting result of the camera 1 and determines that the light source is insufficient based on the shooting result of the camera 1, it can control the operation of the fill light element 2 while connecting to the camera controller through the signal, and make the camera controller adjust the exposure time of the camera 1 to ensure that the light is concentrated on the target area, to ensure the contrast and clarity of the image captured by the camera 1, and to ensure the quality of the captured image.

[0081] In this embodiment, the exposure time of the camera 1 can be adjusted by adjusting the shutter speed of the camera 1 .

[0082] On the basis of any of the above embodiments, it further includes a detection element for detecting the current lighting state, the detection element is connected to the control device, and the detection element is arranged on the side of the camera 1.

[0083] In this embodiment, the state of illumination is known through the detection element, and the illumination state here can be the overall illumination state after the fill light element 2 is detected, or the illumination state of the natural environment when the fill light element 2 is not functioning, so as to facilitate the acquisition of the working state of the fill light element 2 and the illumination state of the environment, ensure the reliable operation of the fill light element 2, and facilitate the determination of the opening or closing requirements of the fill light element 2. Optionally, the detection element is specifically arranged on the side of the camera 1, and at least one can be arranged without affecting the normal operation of the camera 1.

[0084] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0085] The above is a detailed introduction to a lawn mowing device provided by the present application. This article uses specific examples to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and its core idea of ​​the present application. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of the present application.

Claims

1. A lawn mowing device, characterized in that: include: Fuselage (4); Wheels, connected to the fuselage (4) and used to drive the fuselage (4) to move; A camera (1) is arranged on the top of the body (4); A fill light element (2) is arranged on the top of the body (4); the shooting direction of the camera (1) is the same as the light irradiation direction of the fill light element (2); and the irradiation range of the fill light element (2) is at least partially located within the shooting range of the camera (1).

2. The lawn mowing equipment according to claim 1, characterized in that The fill light element (2) is located at the front side of the shooting direction of the camera (1), and the highest point B of the fill light element (2) is lower than the lowest point A of the camera (1).

3. The lawn mowing equipment according to claim 2, characterized in that On the horizontal projection plane, the fill light element (2) is located directly in front of the shooting direction of the camera (1).

4. The lawn mowing equipment according to claim 3, characterized in that The fill light element (2) comprises at least two fill light lamps arranged along the height direction of the fuselage (4).

5. The lawn mowing equipment according to claim 4, characterized in that The projections of at least two of the fill lights on the horizontal plane overlap or partially overlap.

6. The lawn mowing device according to any one of claims 1 to 5, characterized in that It also comprises a mounting member (3) connected to the body (4) to form a mounting space, and the fill light element (2) is arranged in the mounting space.

7. The lawn mowing equipment according to claim 6, characterized in that One side of the mounting member (3) has a mounting groove for accommodating the fill light element (2), the opening of the mounting groove faces the front side of the fuselage (4), and the mounting groove shields the top of the fill light element (2).

8. The lawn mowing equipment according to claim 6, characterized in that A mowing module (5) is provided at the bottom of the fuselage (4), and the camera (1) and the fill light element (2) are both located close to the front side of the fuselage (4) relative to the mowing module (5).

9. The lawn mowing device according to any one of claims 1 to 3, characterized in that: The fill light element (2) comprises a fill light, and the fill light comprises a plurality of lamp bodies; The mowing equipment further comprises a control device, the fill light is electrically connected to the control device, and the control device is used to control the working state of the lamp body.

10. The lawn mowing equipment according to claim 1, characterized in that The fill light element (2) is located on one side of the camera (1).

11. The lawn mowing equipment according to claim 1, characterized in that The lens of the camera (1) and the light outlet of the fill light element (2) are both facing the front side of the body (4).

Images