Detection system for humidity degree of grassland

Abstract

The embodiment of the utility model provides a grassland humidity degree detection system, which comprises at least one lead arranged around a grassland area and used for transmitting a detection electric signal; the signal generator is connected with the wire and injects a detection electric signal to at least one direction of the wire according to the control instruction; the magnetic induction sensor is arranged around the wire and is used for detecting a magnetic field signal generated around the wire by the injected detection electric signal and converting the magnetic field signal into an induction electric signal; and the processor is in communication connection with the signal generator and the magnetic induction sensor and is used for determining the humidity degree of the grassland area by analyzing and receiving the detection electric signal and the induction electric signal. According to the embodiment of the invention, the humidity degree of the lawn can be accurately calculated, the detection accuracy and reliability are improved, the change condition of the humidity of the lawn can be detected in real time, timely and accurate humidity information is provided for the operation of the robot, and the robot is ensured to operate under the appropriate humidity condition.

Description

Technical Field

[0001] The present application relates to the field of detection technology, and in particular to a system for detecting the wetness of grassland. Background Art

[0002] When a robot is operating on a humid lawn, the humidity can cause the robot to slip and its working parts to rust. Therefore, high humidity can affect the robot's operation. To ensure the robot can function properly, it's necessary to check the lawn humidity before the robot is operating.

[0003] However, existing humidity detection technologies typically only monitor humidity at specific locations by embedding humidity sensors there. While this approach can provide a snapshot of local humidity conditions, it cannot provide a comprehensive, real-time, and accurate understanding of humidity distribution and changes across the entire area. Furthermore, it lacks accuracy and anti-interference capabilities. Utility Model Content

[0004] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a lawn wetness detection system that accurately calculates the wetness of the lawn, improves the accuracy and reliability of detection, and can detect changes in lawn humidity in real time.

[0005] In a first aspect, an embodiment of the present application provides a system for detecting the wetness of a grassland.

[0006] at least one conductive wire arranged around the grass area for transmitting a detection electrical signal;

[0007] a signal generator connected to the wire and injecting the detection electrical signal into at least one direction of the wire according to a control instruction;

[0008] a magnetic induction sensor, disposed around the conductive wire, for detecting a magnetic field signal generated around the conductive wire by the injected detection electrical signal, and converting the magnetic field signal into an induced electrical signal;

[0009] The processor is in communication with the signal generator and the magnetic induction sensor, and is used to determine the wetness of the grass area by analyzing and receiving the detection electric signal and the induced electric signal.

[0010] According to some embodiments of the present application, the grass wetness detection system further includes a robot and a charging station, and the magnetic induction sensor is arranged on the charging station and / or the robot.

[0011] According to some embodiments of the present application, the wire is passed through the central axis of the charging station base.

[0012] According to some embodiments of the present application, the magnetic induction sensor is disposed directly above the conducting wire.

[0013] According to some embodiments of the present application, the distance between the magnetic induction sensor and the conducting wire is less than or equal to 10 cm.

[0014] According to some embodiments of the present application, when the magnetic induction sensor is provided on the charging station, the signal generator and the magnetic induction sensor are both provided in a mounting base of the charging station.

[0015] According to some embodiments of the present application, a straight-line distance between the magnetic induction sensor and the signal generator is less than or equal to 5 cm.

[0016] According to some embodiments of the present application, when the magnetic induction sensor is provided on the robot, the magnetic induction sensor is located on the central axis of the robot.

[0017] According to some embodiments of the present application, the magnetic induction sensor is arranged at the front of the robot.

[0018] According to some embodiments of the present application, the magnetic induction sensor is an inductive coil.

[0019] According to some embodiments of the present application, the sensing direction of the inductor coil is perpendicular to the conductive wire.

[0020] This application utilizes the principle of electromagnetic induction to generate a changing magnetic field around a conductor by injecting a detection electrical signal into the conductor. When the moisture content of the soil or lawn surrounding the conductor changes, the magnetic field signal changes along the propagation path between the conductor and the magnetic induction sensor. The magnetic induction sensor receives the changed magnetic field signal and converts it into an induced electrical signal. By processing the detection and induced electrical signals, the wetness of the lawn is determined. Using this technical solution, not only can the wetness of the lawn be accurately calculated, improving the accuracy and reliability of detection, but it can also detect changes in lawn humidity in real time, providing timely and accurate humidity information for the robot's operations, ensuring that the robot can operate under appropriate humidity conditions.

[0021] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings are used to provide a further understanding of the technical solution of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solution of the present application and do not constitute a limitation on the technical solution of the present application.

[0023] Figure 1 1 is a schematic diagram of a system for detecting the wetness of grassland provided by an embodiment of the present application;

[0024] Figure 2 is a schematic diagram of waveform distribution provided by an embodiment of the present application;

[0025] Reference numerals: detection system 800 , wire 810 , signal generator 820 , magnetic induction sensor 830 , grass area 840 , charging station 850 , charging station base 860 . DETAILED DESCRIPTION

[0026] The following describes in detail embodiments of the present application. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and are not to be construed as limiting the present application.

[0027] In the description of this application, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on this application.

[0028] In the description of this application, "several" means one or more, "many" means more than two, "greater than," "less than," and "exceed" are understood to exclude the number itself, while "above," "below," and "within" are understood to include the number itself. The terms "first" and "second" are used solely to distinguish technical features and are not to be construed as indicating or implying relative importance, or as implicitly specifying the number or order of the technical features indicated.

[0029] In the description of this application, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in this application based on the specific content of the technical solution.

[0030] In some cases, existing humidity detection technologies typically only embed sensors in specific locations to monitor humidity there. While this method can provide a snapshot of local humidity conditions, due to the limited number of sensors, it cannot provide a comprehensive, accurate, and real-time understanding of humidity distribution and changes across the entire area.

[0031] Based on the above situation, the embodiment of the present application proposes a lawn wetness detection system, which aims to accurately calculate the wetness of the lawn, improve the accuracy and reliability of detection, and be able to detect changes in lawn humidity in real time.

[0032] The following further describes various embodiments of the system for detecting the wetness of grassland of the present application in conjunction with the accompanying drawings.

[0033] See also Figure 1 , Figure 1 This is a schematic diagram of a system for detecting the wetness of grassland provided in one embodiment of the present application.

[0034] An embodiment of the present application provides a system 800 for detecting the wetness of a lawn, including but not limited to at least one wire 810 arranged around a lawn area 840 for transmitting a detection electrical signal;

[0035] The signal generator 820 is connected to the wire 810 and injects a detection electrical signal into at least one direction of the wire 810 according to a control instruction;

[0036] The magnetic induction sensor 830 is disposed around the conductor 810 to detect a magnetic field signal generated around the conductor 810 by the injected detection electrical signal and convert the magnetic field signal into an induced electrical signal;

[0037] The processor is in communication with the signal generator 820 and the magnetic induction sensor 830 and is used to determine the wetness of the grass area by analyzing the received detection electrical signal and the induced electrical signal.

[0038] In one embodiment, the signal generator 820 has at least one signal transmitting terminal connected to the end of the wire 810. Furthermore, the wire 810 is arranged near the boundary of the grass area. The wire 810 can be arranged on the boundary line or at a predetermined distance from the boundary. The wire 810 can be a metal wire, a guide wire, an electric wire, or a cable with an insulation layer.

[0039] Furthermore, a signal generator 820 is connected to both ends of the wire 810. The signal generator 820 transmits a first detection electrical signal in a first direction of the wire 810 and transmits a second detection electrical signal in a second direction of the wire 810. Furthermore, the first detection electrical signal and the second detection electrical signal are identical. It should be understood that in other embodiments, the first detection electrical signal and the second detection electrical signal may also be different.

[0040] In one embodiment, the charging station 850 in the system incorporates a built-in magnetic induction sensor 830 and a signal generator 820, while the wire 810 is connected to the signal generator 820. When the signal generator 820 injects an electrical signal into the wire 810, a magnetic field signal is generated around the wire 810. The characteristics of this magnetic field signal are affected by the medium surrounding the wire 810 (e.g., the moisture content of the lawn soil), thereby changing the phase, distribution, and / or intensity of the magnetic field signal. The wetness of the lawn can be determined based on the altered magnetic field signal. Before performing a task, the robot can first determine the wetness of the lawn by detecting the magnetic field signal generated by the wire 810, which is detected by the magnetic induction sensor 830. If the lawn is too wet, the robot can automatically adjust its operating mode or suspend operation to avoid damage to the machine or the lawn that could result from operating on wet and soft lawns.

[0041] In one embodiment, the grass wetness detection system 800 further includes a robot and a charging station 850 , and the magnetic induction sensor 830 is disposed on the charging station 850 and / or the robot.

[0042] In one embodiment, a magnetic induction sensor 830 is positioned within the robot to prevent collisions with debris during operation, ensuring a stable operating environment for the magnetic induction sensor 830 and ensuring operational stability. The magnetic induction sensor 830 is connected to the robot's control system. When the magnetic induction sensor 830 receives the magnetic field signal generated by the detection electrical signal and converts the magnetic field signal into an induced electrical signal, the robot's control system determines the wetness of the grass area based on the detection and induced electrical signals. The magnetic induction sensor 830 is positioned at a height within the range of the magnetic field signal generated by the detection electrical signal, enabling it to locate and monitor the robot's position, improving the accuracy and real-time nature of monitoring.

[0043] In one embodiment, the wire 810 is passed through the central axis of the charging station base 860, and the wire 810 is connected to the signal generator 820 inside the charging station 850. The design of passing the wire 810 through the central axis of the charging station 850 optimizes the distribution of the magnetic field signal and the sensor position setting at the receiving end, thereby further improving the accuracy and stability of monitoring.

[0044] In one embodiment, when magnetic induction sensor 830 is installed in charging station 850, it is positioned directly above conductor 810. Precisely positioned above conductor 810, magnetic induction sensor 830 uses a magnetic induction receiving module to detect the magnetic field signal generated by the signal generating module. The magnetic field signal is a sine wave or cosine wave, and the lawn humidity is indirectly inferred based on changes in the signal. This method enables remote, non-contact monitoring of lawn humidity, improving the accuracy and real-time nature of monitoring.

[0045] In one embodiment, the vertical distance between the magnetic induction sensor 830 and the wire 810 is less than or equal to 10 cm. In other embodiments, the vertical distance between the magnetic induction sensor 830 and the wire 810 is less than or equal to 6 cm. This embodiment does not specifically limit the specific vertical distance.

[0046] See Figure 1 and Figure 2 , Figure 1 1 is a schematic diagram of a system for detecting the wetness of grassland provided by an embodiment of the present application; Figure 2 This is a schematic diagram of waveform distribution provided by an embodiment of the present application.

[0047] In one embodiment, a calculation formula for determining the current position of the magnetic induction sensor 830 based on the total length, the transmission speed, the first phase delay, and the second phase delay is as follows:

[0048] L1-L2=[(T3-T2)-(T1-T0)]*V;

[0049] L1+L2=total length L;

[0050] By measuring T3 / T1, the position of magnetic induction sensor 830 on wire 810 can be determined. L1 is the distance from one end of wire 810 to magnetic induction sensor 830. L2 is the distance from the other end of wire 810 to magnetic induction sensor 830. T2 is the time when signal generator 820 sends the second detection signal to one end of wire 810, and T3 is the time when the second detection signal reaches magnetic induction sensor 830. T0 is the time when signal generator 820 sends the first detection signal to the other end of wire 810, and T1 is the time when the first detection signal reaches magnetic induction sensor 830. L is the total length of wire 810, and V is the transmission speed.

[0051] In one embodiment, when a magnetic induction sensor 830 is provided on the charging station 850, the signal generator 820 and the magnetic induction sensor 830 are both arranged in a mounting base of the charging station 850. When the magnetic induction sensor 830 receives the magnetic field signal generated by the detection electrical signal and converts the magnetic field signal into an induced electrical signal, the control system of the robot determines the wetness of the grass area based on the detection electrical signal and the induced electrical signal.

[0052] In one embodiment, the linear horizontal distance between the magnetic induction sensor 830 and the signal generator 820 is less than or equal to 5 cm. In other embodiments, the linear horizontal distance between the magnetic induction sensor 830 and the signal generator 820 is less than or equal to 3 cm. This embodiment does not impose any specific limitation on the linear horizontal distance. The strength of the magnetic field signal decreases rapidly with increasing distance. Maintaining a relatively close distance between the magnetic induction sensor 830 and the signal generator 820 ensures that the received magnetic field signal is sufficiently strong, thereby improving measurement accuracy.

[0053] In one embodiment, when a magnetic induction sensor 830 is provided on the robot, the magnetic induction sensor 830 is located on the central axis of the robot. Since the wire 810 is designed to pass through the central axis of the charging station 850, the magnetic induction sensor 830 is set to be located on the central axis of the robot. When the robot is docked on the charging station 850, the magnetic induction sensor 830 is just located directly above the wire 810, further improving the accuracy and stability of monitoring.

[0054] In one embodiment, a magnetic induction sensor 830 is located at the front of the robot and can promptly receive the detection electrical signal injected by the signal generator 820. The magnetic induction sensor 830 also receives the magnetic field signal generated by the detection electrical signal and converts the magnetic field signal into an induced electrical signal. The wetness of the grass area is determined based on the detection electrical signal and the induced electrical signal, thereby improving the accuracy of the grass wetness detection.

[0055] In one embodiment, the magnetic induction sensor is an inductor coil, which operates on the principle of electromagnetic induction. When the current in the coil changes, a changing magnetic field is generated around it. If there is a conductor nearby, this changing magnetic field induces a current in the conductor.

[0056] In one embodiment, the sensing direction of the inductor coil is perpendicular to the conductor 810. This configuration can detect changes in the magnetic field around the conductor 810. Because when the magnetic field lines are perpendicular to the coil plane, the magnetic flux of the coil is significantly affected. The vertically configured inductor coil can provide higher sensitivity because it can capture changes in the magnetic field around the conductor 810. This configuration also helps to reduce crosstalk or interference that may occur when the conductors 810 are placed in parallel.

[0057] Those skilled in the art will appreciate that all or some of the steps and systems disclosed above can be implemented as software, firmware, hardware, or any suitable combination thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on computer-readable media, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is well known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable instructions, data structures, program modules, or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disks (DVDs) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. Furthermore, as is well known to those skilled in the art, communication media typically includes computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0058] It should be understood that in this application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0059] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the scheme of this embodiment.

[0060] It should also be understood that the various implementation methods provided in the embodiments of the present application can be combined arbitrarily to achieve different technical effects.

[0061] The above is a specific description of the preferred implementation of the present application, but the present application is not limited to the above implementation mode. Technical personnel familiar with the art can also make various equivalent modifications or substitutions under the shared conditions that do not violate the spirit of the present application. These equivalent modifications or substitutions are all included in the scope defined by the claims of the present application.

Claims

1. A system for detecting the wetness of a grassland, characterized in that: include: at least one conductive wire arranged around the grass area for transmitting a detection electrical signal; a signal generator connected to the wire and injecting the detection electrical signal into at least one direction of the wire according to a control instruction; a magnetic induction sensor, disposed around the conductive wire, for detecting a magnetic field signal generated around the conductive wire by the injected detection electrical signal, and converting the magnetic field signal into an induced electrical signal; The processor is in communication with the signal generator and the magnetic induction sensor, and is used to determine the wetness of the grass area by analyzing and receiving the detection electric signal and the induced electric signal.

2. The detection system according to claim 1, characterized in that The grass wetness detection system further includes a robot and a charging station, and the magnetic induction sensor is arranged on the charging station and / or the robot.

3. The detection system according to claim 2, characterized in that The wire is passed through the central axis of the charging station base.

4. The detection system according to claim 3, characterized in that The magnetic induction sensor is arranged right above the conducting wire.

5. The detection system according to claim 4, characterized in that: The distance between the magnetic induction sensor and the conducting wire is less than or equal to 10 cm.

6. The detection system according to claim 2, characterized in that When the magnetic induction sensor is provided on the charging station, the signal generator and the magnetic induction sensor are both arranged in a mounting base of the charging station.

7. The detection system according to claim 6, characterized in that The straight-line distance between the magnetic induction sensor and the signal generator is less than or equal to 5 cm.

8. The detection system according to claim 6, characterized in that When the magnetic induction sensor is provided on the robot, the magnetic induction sensor is located on the central axis of the robot.

9. The detection system according to claim 8, characterized in that: The magnetic induction sensor is arranged at the front of the robot.

10. The detection system according to any one of claims 1 to 9, characterized in that: The magnetic induction sensor is an inductor coil.

11. The detection system according to claim 10, characterized in that: The sensing direction of the inductor coil is perpendicular to the conducting wire.

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