CN105988472B - Intelligent mowing system, intelligent mower and trimming method thereof - Google Patents
Intelligent mowing system, intelligent mower and trimming method thereof Download PDFInfo
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- CN105988472B CN105988472B CN201510084729.6A CN201510084729A CN105988472B CN 105988472 B CN105988472 B CN 105988472B CN 201510084729 A CN201510084729 A CN 201510084729A CN 105988472 B CN105988472 B CN 105988472B
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Abstract
The invention discloses an intelligent mowing system, an intelligent mower and a trimming method thereof. According to the intelligent mower, the trimming control device can ensure that the working module of the intelligent mower always executes the cutting instruction, and the intelligent mower turns back only after the boundary monitoring module monitors that at least part of the working module is out of bounds, so that the edge of the lawn, which is located outside the boundary of the working area of the intelligent mower, is also cut, and trimming is achieved. The automatic working system of the intelligent mower can automatically trim the edge, so that the intelligent mower is more humanized, convenient and is worry-saving. The intelligent lawn mower edge trimming method can be used for turning back to cut the lawn edge after at least part of the working module of the intelligent lawn mower is out of bounds, so that edge trimming is achieved.
Description
Technical Field
The invention relates to the field of intelligent control, in particular to an intelligent mowing system, an intelligent mower and a trimming method thereof.
Background
In the field of gardening, intelligent lawn mowers are widely used. In order to ensure that the intelligent lawn mower works within a preset working range, a boundary system is generally adopted to control the working range of the lawn mower. The boundary system comprises a boundary line paved on the ground surface, a signal generator connected with the boundary line, and the mower comprises a detection unit and a control unit for processing the signal and controlling the walking path of the mower. The control unit controls the mower to work within a preset working range according to the received signal.
Generally, two sensors are provided in front of the body of the lawnmower, one on each side. The control unit judges whether each sensor is positioned on the inner side or the outer side of the boundary line according to signals of the sensors, and when any sensor is changed from being positioned in the line to being positioned out of the line, the control unit judges that the sensor is out of the line, and the control unit executes the turning-back action.
However, since the border line will generally be arranged more inward than the actual lawn, some margin is left to avoid the machine going out directly. When the control unit judges that the sensor is changed from being positioned in the boundary line to being positioned outside the line, the mower can perform the turning-back action, so that grass on the boundary of the lawn cannot be trimmed, the grass needs to be manually cut off again, and the automatic trimming of the mower cannot be realized.
Disclosure of Invention
Accordingly, it is desirable to provide an intelligent mowing system, an intelligent mower and a trimming method thereof, which can solve the problem that the intelligent mower cannot automatically trim.
The intelligent mower is used for walking and working within a working range limited by a limit, and comprises the following components:
a housing;
the walking module is arranged on the shell and drives the intelligent mower to walk and turn, and the walking module comprises a wheel set and a driving motor for driving the wheel set to walk;
the boundary monitoring module is used for monitoring the position relation between the intelligent mower and the boundary;
the energy module is arranged on the shell and used for providing energy for the intelligent mower;
the working module is used for executing the lawn cutting work;
the control module is electrically connected with the walking module, the working module and the boundary monitoring module; controlling the intelligent mower to turn to drive away from the limit after driving towards the limit and reaching the preset position relation; also comprises
The trimming control device is connected with the control module and is used for enabling the intelligent mower to turn back after the boundary monitoring module monitors that at least part of the working module of the intelligent mower is out of bounds;
the trimming control device comprises a preset module, a judgment module and a turn-back module;
the preset module is used for presetting a triggering condition for starting the turning-back action of the intelligent mower;
the judging module is used for comparing and judging the monitored running state of the intelligent mower with the turning-back triggering condition preset by the preset module;
and the turn-back module is used for receiving the judgment result of the judgment module and controlling the turn-back of the intelligent mower when the running state of the intelligent mower reaches the turn-back triggering condition.
In one embodiment, the boundary monitoring module is at least one boundary sensing element which is arranged at the front part of the shell and in front of the working module and is used for sensing the position relation of the intelligent mower and the boundary.
In one embodiment, the preset module is a time preset module, and the time preset module is configured to preset a time for the boundary sensing element to continue working after sensing that the intelligent mower is out of bounds as a turning-back trigger condition.
In one embodiment, the judging module comprises an intelligent mower walking timing module and a comparing module;
the walking timing module is used for timing after the boundary sensing element senses that the working module of the intelligent mower is out of range;
and the comparison module is used for comparing and judging the timing information of the walking timing module with the time value preset by the time presetting module.
In one embodiment, the boundary monitoring module is at least one boundary sensing element which is arranged at the front part of the shell and in front of the working module and is used for sensing the position relation of the intelligent mower and the boundary.
In one embodiment, the preset module is a distance preset module, and the distance preset module is configured to preset a distance for the intelligent lawn mower to continue to work after the boundary sensing element senses that the intelligent lawn mower is out of bounds as a turning-back trigger condition.
In one embodiment, the judging module comprises an intelligent mower walking distance judging module and a comparing module;
the walking distance judging module is used for judging the distance between the intelligent mower and the boundary according to the signal sensed by the boundary sensing element;
and the comparison module is used for comparing and judging the distance between the intelligent mower judged by the walking distance judgment module and the boundary with a distance value preset by the distance preset module.
In one embodiment, the boundary monitoring module is a boundary sensing element which is arranged at the rear part of the shell and behind the working module and is used for sensing the position relation of the intelligent mower and the boundary.
In one embodiment, the preset module is used for presetting that the output signal of the boundary sensing element is a turning-back trigger condition when the rear part of the intelligent mower is located on the boundary.
In one embodiment, the judging module compares the output signal of the boundary sensing element with the foldback trigger condition.
The intelligent mowing system comprises:
the boundary is used for limiting the working range of the intelligent mowing system and also comprises the intelligent mower.
The invention discloses an intelligent mower trimming method, wherein the intelligent mower is used for walking and working within a working range limited by a limit, and comprises the following steps:
the intelligent mower is driven to the boundary;
the intelligent mower monitors the position relation between the intelligent mower and a boundary;
after the working module of the intelligent mower is at least partially out of bounds, the intelligent mower turns back;
wherein after the working module of intelligent lawn mower at least partly out of bounds, intelligent lawn mower goes back, still includes following step:
presetting a turning-back trigger condition after at least part of working modules of the intelligent mower go out of bounds;
comparing and judging the monitored running state of the intelligent mower with the preset turning triggering condition;
and receiving the judgment result, and turning back the intelligent mower when the running state of the intelligent mower reaches the turn-back triggering condition.
In one embodiment, after the working module of the intelligent lawn mower is at least partially out of bounds, the intelligent lawn mower folds back to cut the lawn edge to achieve trimming, and the method further includes the following steps:
presetting the time for continuing working after the working of the intelligent mower is out of bounds as a turning-back trigger condition;
timing the time for continuing cutting after the working module of the intelligent mower is out of bounds;
comparing and judging the calculated time value with a preset time value;
when the preset time value is reached, the intelligent mower turns back.
In one embodiment, the positional relationship between the boundary and the self-body is monitored by at least one boundary sensing element disposed in front of the housing of the intelligent mower and in front of the operating module.
In one embodiment, the positional relationship between the boundary and the self-body is monitored by at least one boundary sensing element disposed in front of the housing of the intelligent mower and in front of the operating module.
In one embodiment, after the working module of the intelligent lawn mower is at least partially out of bounds, the intelligent lawn mower performs foldback, and the method further comprises the following steps:
presetting a distance value for continuing working after the intelligent mower is out of bounds as a turning-back trigger condition;
judging the distance between the intelligent mower and the limit according to the induction signal of the boundary induction element;
comparing the judged distance between the intelligent mower and the limit with the preset distance value for judgment;
and when the preset distance value is reached, the intelligent mower turns back.
In one embodiment, the position relationship between the boundary and the self-body is monitored by a boundary sensing element arranged at the rear part of the shell of the intelligent mower and at the rear part of the working module.
In one embodiment, after the working module of the intelligent lawn mower is at least partially out of bounds, the intelligent lawn mower performs foldback, and the method further comprises the following steps:
presetting that the output signal of the boundary induction element is a turn-back trigger condition when the rear part of the intelligent mower is positioned on the boundary;
comparing and judging the output signal of the induction element on the boundary of the intelligent mower with the turning-back trigger condition;
the preset turning-back triggering condition is met, and the intelligent mower turns back.
Compared with the prior art, the intelligent mower has the advantages that the trimming control device can ensure that the working module of the intelligent mower always executes the cutting instruction, and the intelligent mower turns back only after the boundary monitoring module monitors that at least part of the working module is out of bounds, so that the lawn edge which is positioned outside the boundary of the working area of the intelligent mower is also cut, and trimming is realized. The automatic working system of the intelligent mower can automatically trim the edge, so that the intelligent mower is more humanized, convenient and is worry-saving. The intelligent lawn mower edge trimming method can be used for turning back to cut the lawn edge after at least part of the working module of the intelligent lawn mower is out of bounds, so that edge trimming is achieved.
Drawings
FIG. 1 is a schematic diagram of a prior art intelligent lawnmower cutting at a margin edge;
FIG. 2 is a schematic block diagram of an intelligent lawnmower according to an embodiment of the present invention;
FIG. 3 is a schematic view of an intelligent lawnmower cutting at a margin edge in accordance with an embodiment of the present invention;
FIG. 4 is a functional block diagram of an intelligent lawnmower according to yet another embodiment of the present invention;
FIG. 5 is a functional block diagram of an intelligent lawnmower according to yet another embodiment of the present invention;
FIG. 6 is a schematic view of a smart mower cutting at a threshold edge in accordance with yet another embodiment of the present invention;
FIG. 7 is a functional block diagram of an intelligent lawnmower according to yet another embodiment of the present invention;
FIG. 8 is a flowchart of an intelligent lawnmower trimming method according to an embodiment of the present invention;
FIG. 9 is a flow chart of an intelligent mower trimming method according to another embodiment of the present invention;
FIG. 10 is a flow chart of a method for trimming an intelligent mower according to another embodiment of the present invention;
FIG. 11 is a flow chart of a method for trimming an intelligent mower according to another embodiment of the present invention;
FIG. 12 is a flow chart of a method for trimming an intelligent mower according to another embodiment of the present invention;
fig. 13 is a flowchart of an intelligent mower trimming method according to another embodiment of the present invention.
Detailed Description
In order to further explain the technical means and effects of the present invention, the following description of the present invention with reference to the accompanying drawings and preferred embodiments will be made for clarity and completeness.
As shown in fig. 1, the conventional intelligent lawn mower mowing system 200 cuts and trims the lawn in the working area surrounded by the boundary 210, and in practice, according to actual needs, the area actually required to be cut is the working area surrounded by the dotted line 220, and the area which can be monitored by the intelligent lawn mower 100 is the area surrounded by the boundary 210. When the boundary sensing element 121 of the intelligent lawn mower 100 detects the boundary 210, the cutting area 171 of the intelligent lawn mower 100 cannot cut to the edge of the area surrounded by the dotted line 220, which actually needs to be cut, so that the working effect of the whole intelligent lawn mowing system 200 is affected.
Referring to fig. 2, a schematic block diagram of an intelligent lawn mower 100 according to the present invention is shown as an example. The intelligent lawn mower 100 for walking and working within a working range defined by a limit, comprises: housing 110, walk module 130, limit monitor module 120, energy module 160, work module 170, control module 150, and trim control device 140.
The walking module 130 is installed in the housing 110 and can drive the intelligent lawn mower 100 to turn, and the walking module 130 further comprises a wheel set and a driving motor for driving the wheel set to walk. The driving motor provides driving force for the wheel set to satisfy the requirement that the intelligent mower 100 works.
The working module 170 is connected to the control module of the intelligent lawn mower 100, and is configured to perform cutting of a lawn, and includes a cutter 172, where the cutter 172 is disposed at the bottom of the intelligent lawn mower 100 and performs cutting and trimming of the lawn by rotating or the like, and the cutter 172 may be a blade or a cutter disc, and has a cutting area 171 as shown in fig. 3 during working, so as to perform cutting and trimming of the lawn.
The boundary monitoring module 120 monitors a positional relationship between the smart mower 100 and the boundary. Because the intelligent mower 100 intelligently walks and works in the area enclosed by the boundary, the boundary monitoring module 120 is required to monitor the position relation between the intelligent mower 100 and the boundary in the working process, and the monitoring result is transmitted to the control center of the intelligent mower 100 in real time, so that the control center issues a corresponding working instruction.
And an energy module 160 mounted to the housing 110 for providing energy to the intelligent lawn mower 100.
The control module 150 is electrically connected with the walking module 130, the working module 170 and the boundary monitoring module 120; the intelligent lawnmower 100 turns to drive away from the limit after driving toward the limit and reaching the preset positional relationship. The module is the whole control center of the intelligent mower 100 and is electrically connected with other related structures in the intelligent mower 100 to receive related information and issue related instructions, so that the intelligent mower 100 can execute work tasks orderly.
And the trimming control device 140 is connected with the control module 150 and is used for enabling the intelligent mower 100 to turn back to cut the lawn edge after the boundary monitoring module 120 monitors that the working module 170 of the intelligent mower 100 at least partially goes out of the boundary. Referring to fig. 3, since the real zone boundary 220 to be cut by the intelligent lawn mower 100 is outside the boundary 210, when the boundary monitoring module 120 of the intelligent lawn mower 100 detects that the intelligent lawn mower 100 reaches the boundary 210, the cutter 172 of the working module 170 of the intelligent lawn mower 100 turns back to perform other zone cutting without cutting to the real zone boundary 220, and there is a missing lawn trimming at the cutting zone boundary. The trimming control device 140 can ensure that the cutter 172 of the working module 170 of the intelligent lawn mower 100 always executes the cutting command, and the cutting command is continuously turned back until the boundary monitoring module 120 monitors that at least part of the working module 170 of the intelligent lawn mower 100 is out of bounds, so that the problem that boundary edge cutting is missed is solved.
The trimming control device 140 includes a preset module 141, a judgment module 142, and a return module 143.
The presetting module 141 is configured to preset a trigger condition for starting the turning-back action of the intelligent lawn mower 100. Here, the working module 170 of the intelligent lawn mower 100 is at least partially out of bounds, meaning that it is ensured that the cutter 172 of the working module 170 has cut onto the bounds 210. The triggering condition may be a condition set by the factory, or a suitable condition set by the user of the intelligent lawn mower according to the need and the structural type of the intelligent lawn mower 100, so as to achieve the purpose of perfectly judging that the working module 170 of the intelligent lawn mower is at least partially out of bounds.
And a judging module 142, configured to compare and judge the monitored operation state of the intelligent lawn mower 100 with the turning-back triggering condition preset by the preset module 141. The module receives the real-time working state of the intelligent mower 100 monitored by the limit monitoring module 120, compares the received working state parameters with the preset trigger conditions, and determines whether the current working state of the intelligent mower 100 meets at least part of out-of-bounds conditions of the working module 170 of the intelligent mower.
And the turning-back module 143 is configured to receive the determination result of the determining module 142, and control the intelligent lawn mower 100 to turn back when the operation state of the intelligent lawn mower 100 reaches a turning-back triggering condition, so as to cut the edge of the lawn and achieve trimming. The module is specifically controlled by the control module 150, and is implemented by a wheel set and a driving motor in the walking module 130.
As shown in fig. 3, in one embodiment, the boundary monitoring module is at least one boundary sensing element 121, and the boundary sensing element 121 is disposed at the front of the housing and the front of the working module for sensing the position relationship of the intelligent lawn mower 100 and the boundary 210. The boundary sensing element 121 is generally a sensor, and when the intelligent lawn mower 100 cuts in an area, an electrical signal is transmitted in the boundary 210, the sensor can sense the direction and strength of a magnetic field generated by the electrical signal, and the sensor is to sense whether the intelligent lawn mower 100 is out of bounds, so the sensor should be arranged at the front part of the housing of the intelligent lawn mower 100, and generally, one sensor is arranged at both symmetrical sides of the front part of the intelligent lawn mower 100, and is also used for returning the intelligent lawn mower 100 while sensing whether the intelligent lawn mower 100 is out of bounds. When only the judgment of the out-of-range state of the intelligent mower 100 is realized, only one sensor arranged at the front part of the intelligent mower is needed, and a plurality of sensors can be realized.
Referring to fig. 4, the preset module is a time preset module 141, configured to preset, as a turning-back triggering condition, a time for continuing to work after the boundary sensing element 121 senses that the intelligent lawn mower 100 is out of bounds. The time needs to be determined according to the requirements of users, the structural type of the intelligent mower and other conditions. For example, if the normal speed of the intelligent mower is V meters/minute, and the boundary sensing element 121 detects that the intelligent mower reaches the boundary 210 and continues to cut L meters as the case may be, the preset time should be L/V minutes. Of course, the time value used as the trigger condition is also related to the distance between the front end of the cutter 172 of the intelligent mower working module 170 and the front end of the intelligent mower body, so that the walking distance can enable the cutter 172 to go out of the boundary for a certain distance after the front sensor goes out of the boundary, and the cutting of the zone edge can be realized.
The judging module 142 includes an intelligent mower travel timing module 142a and a comparing module 142 b.
And the walking timing module 142a is used for timing after the boundary sensing element 121 senses that the working module 170 of the intelligent mower is out of the boundary. The comparing module 142b is configured to compare and determine the timing information of the walking timing module 142a with a time value preset by the time presetting module. The turning-back module 143 receives the judgment result of the judgment module 142, and when the preset time value is reached, the intelligent lawn mower 100 stops cutting and controls turning-back to cut the lawn edge and trim the lawn edge.
In this embodiment, when the boundary sensing element 121 of the intelligent lawn mower 100 senses that it is out of the crossing boundary 210, the walking timing module 142a is started to start timing, and the intelligent lawn mower 100 continues to advance to the cutter 172 of the working module 170 to continue cutting. Meanwhile, the comparison module 142b compares the timing result of the intelligent mower 100 with the preset time value, and when the preset time value is reached, the intelligent mower 100 stops cutting and controls turning back to cut the lawn edge to achieve trimming.
As shown in fig. 5 in combination with fig. 3, in one embodiment, the boundary monitoring module 120 is at least one boundary sensing element 121, and the boundary sensing element 121 is disposed at the front of the housing and in front of the working module for sensing the position relationship between the intelligent lawn mower 100 and the boundary 210. The information related to the sensing signal output by the boundary sensing element 121 corresponds to the distance of the intelligent lawn mower 100 from the boundary 210, and the intelligent lawn mower 100 is located within, outside or on the boundary 210. For example, the distance between the intelligent mower 100 and the limit 210 may be measured by a mileage gauge, a timer, a tachometer, and the like provided in the intelligent mower 100.
In this embodiment, the boundary sensing element 121 is generally a sensor, when the intelligent lawn mower 100 cuts within the area enclosed by the boundary, the boundary 210 transmits an electrical signal, the sensor can sense the direction and strength of the magnetic field generated by the electrical signal, the sensor is to sense whether the intelligent lawn mower 100 is out of the boundary, and therefore the sensor should be disposed at the front of the housing of the intelligent lawn mower 100 and in front of the working module, and generally one sensor is disposed at both symmetrical sides of the front of the intelligent lawn mower 100, and is used for returning the intelligent lawn mower 100 while sensing whether the intelligent lawn mower 100 is out of the boundary. When only the judgment of the out-of-range state of the intelligent mower 100 is realized, only one sensor arranged at the front part of the intelligent mower is needed, and a plurality of sensors can be realized.
The preset module is a distance preset module 141, and is configured to preset a distance for continuing to work after the boundary sensing element 121 senses that the intelligent lawn mower 100 is out of bounds as a turning-back trigger condition. Since, in this embodiment, the strength of the sensing signal outputted by the boundary sensing element 121 corresponds to the distance of the intelligent lawn mower 100 from the boundary 210; the phase of the output sensing signal of the boundary sensing element 121 corresponds to the smart lawn mower 100 being located within, outside of, or on the boundary 210. Therefore, the foldback trigger condition here may be an induction signal output by the boundary induction element 121, or information related to the induction signal, where the signal information and the distance value are in a one-to-one correspondence relationship. The specific distance needs to be determined according to the requirements of users, the structural type of the intelligent mower 100 and the like.
The judging module 142 comprises an intelligent mower walking distance judging module 142c and a comparing module 142 d. And a walking distance judging module 142c, configured to judge, according to the signal sensed by the boundary sensing element 121, a distance between the intelligent lawn mower 100 and the boundary 210. The comparing module 142c is configured to compare the distance between the intelligent lawn mower 100 and the boundary 210, which is determined by the walking distance determining module 142c, with a distance value preset by the distance presetting module 141. The turning-back module 143 receives the judgment result of the judgment module 142, and the intelligent lawn mower 100 stops cutting and controls turning-back to cut the lawn edge and trim the lawn when the preset distance value is reached.
In this embodiment, when the boundary sensing element 121 of the intelligent lawn mower 100 senses that the boundary crossing point 210 is out of the boundary, the walking distance determining module 142c is activated to start calculating the walking distance of the intelligent lawn mower after the boundary crossing point, and at this time, the intelligent lawn mower 100 continues to advance, and the cutter 172 of the operating module 170 continues to cut. Meanwhile, the comparison module 142d compares the distance calculation result of the intelligent mower 100 with the preset distance value, and when the preset distance value is reached, the intelligent mower 100 stops cutting and controls turning back to cut the lawn edge to achieve trimming.
As shown in fig. 6, in one embodiment, the boundary monitoring module 120 is a boundary sensing element 121, and the boundary sensing element 121 is disposed at the rear of the housing 110 and behind the working module for sensing the position relationship between the intelligent lawn mower 100 and the boundary 210. In this embodiment, the boundary sensing element 121 is generally a sensor, and when the intelligent lawn mower 100 cuts within the area enclosed by the boundary, the boundary 210 transmits an electrical signal, the sensor can sense the direction and strength of the magnetic field generated by the electrical signal, and the sensor is disposed at the rear of the intelligent lawn mower 100 to sense whether the tail of the intelligent lawn mower 100 is out of bounds. When only judging whether the tail of the intelligent mower is out of bounds, the intelligent mower can be realized only by one sensor arranged at the rear part of the intelligent mower, and certainly, a plurality of sensors can also be realized.
Referring to fig. 7, the presetting module 141 presets that the output signal of the boundary sensing element 121 is the turning-back triggering condition when the rear portion of the intelligent lawn mower is located on the boundary 210. In this embodiment, the rear boundary sensing element 121 is used to monitor whether the tail of the intelligent lawn mower is out of bounds, so as to determine whether the intelligent lawn mower 100 is out of bounds. The boundary sensing element 121 only sends a sensing signal for monitoring the boundary 210 when the tail of the intelligent lawn mower is out of range, so the turning-back triggering condition of the preset module 141 should be a triggering signal sent by the rear boundary sensing element 121 when the rear boundary sensing element 121 senses the boundary 210.
The determining module 142 compares the output signal of the boundary sensing element 121 with the foldback trigger condition. The turning-back module 143 receives the judgment result of the judgment module 142, and when the judgment result is consistent with the preset trigger condition, the intelligent lawn mower 100 stops cutting and controls turning-back to cut the lawn edge and trim the lawn edge.
In this embodiment, when the rear boundary sensing element 121 of the intelligent lawn mower 100 senses that the tail of the intelligent lawn mower is out of bounds, a sensing signal is generated, the determining module 142 compares the sensing signal generated by the rear boundary sensing element 121 of the intelligent lawn mower 100 with a preset turning triggering condition for determining, and when the sensing signal is consistent with the preset triggering condition, the intelligent lawn mower 100 stops cutting and controls turning back to cut the edge of the lawn, so as to achieve trimming.
As shown in fig. 6 in combination with fig. 7, in one embodiment, the limit monitoring module 120 is a camera 122, and the camera 122 is disposed at the rear of the housing 110 for capturing image information of the rear of the intelligent lawn mower 100. In this embodiment, the photographing element 122 may be a camera or the like that can capture image information. The photographing element 122 is disposed at the rear of the housing 110 of the intelligent mower to sense whether the tail of the intelligent mower 100 is out of range. When only judging whether the tail of the intelligent mower is out of bounds is achieved, only one shooting element 122 arranged at the rear part of the intelligent mower is needed, and a plurality of shooting elements can be achieved.
The preset module 141 presets the image containing the boundary 210 as a foldback trigger condition. In this embodiment, the image information of the rear view of the tail of the intelligent lawn mower 100 is acquired by the rear camera 122, so as to determine whether the intelligent lawn mower 100 is out of bounds. Only when the tail of the intelligent lawn mower 100 is out of bounds, the photographing element 122 will acquire the image information representing the out of bounds, so the turning-back trigger condition of the preset module 141 should be that the rear photographing element 122 acquires the image information of the bounds 210.
The judgment module 142 compares the image information collected by the shooting element 122 with the foldback trigger condition. The turning-back module 143 receives the judgment result of the judgment module 142, and when the judgment result is consistent with the preset image information, the cutter 172 of the intelligent mower working module 170 stops cutting and controls turning-back to cut the lawn edge and trim the lawn edge.
In this embodiment, the rear shooting element 122 of the intelligent lawn mower 100 collects image information with the tail thereof as a visual field, when the tail of the intelligent lawn mower 100 is out of bounds, corresponding image information is collected, the judging module 142 compares the image information collected by the rear shooting element 122 of the intelligent lawn mower 100 with preset image information for judgment, and when the image information is consistent with the preset image information, the working module 170 of the intelligent lawn mower stops cutting and controls turning back to cut the lawn edge to achieve trimming.
The intelligent mowing system 200 of the present invention comprises:
the boundary 210 is used to define the operating range of the intelligent mowing system 200, and also includes the intelligent mower 100 as described above. In this embodiment, the intelligent lawn mower automatically cuts the lawn in the area surrounded by the boundary 210, and the intelligent mowing system 200 of the intelligent lawn mower can automatically trim the lawn, so that the intelligent lawn mower is more humanized, convenient and is worry-saving.
As shown in fig. 8, the intelligent lawn mower trimming method of the present invention, the intelligent lawn mower 100 is used for walking and working within the working range defined by the limit 210, comprising the steps of:
s310 the intelligent lawn mower 100 is driven to the limit.
S320, the intelligent lawn mower 100 monitors the position relationship between itself and the boundary.
S330, after the working module 170 of the intelligent lawn mower is at least partially out of bounds, the intelligent lawn mower 100 folds back to cut the lawn edge, so as to achieve trimming.
In this embodiment, since the real zone boundary 220 that the intelligent mower 100 needs to cut is outside the boundary 210, when the intelligent mower 100 detects that it reaches the boundary 210, the cutter 172 of the intelligent mower working module 170 turns back to perform other zone cutting without cutting to the real zone boundary 220. At the cutting zone boundary edges, there are omissions of the trimming of the lawn. The cutter 172 of the intelligent mower working module 170 executes the cutting instruction all the time, and the cutting is stopped and the intelligent mower turns back after monitoring that at least part of the working module 170 of the intelligent mower is out of bounds, so that the problem of omission of boundary edge cutting is solved.
As shown in fig. 9, after the intelligent lawn mower working module 170 is at least partially out of bounds, the intelligent lawn mower 100 folds back to cut the lawn edge to achieve trimming, further comprising the following steps:
s301, a turning-back triggering condition after at least part of working modules of the intelligent mower go out of bounds is preset. In this step, the working module 170 of the intelligent lawn mower 100 is at least partially out of bounds, which means that it is ensured that the cutter 172 of the working module 170 has cut onto the bounds 210. The triggering condition is that the intelligent mower user sets an appropriate condition according to the need and the structural type of the intelligent mower 100, so as to achieve the purpose of perfectly judging that the intelligent mower working module 170 is at least partially out of bounds.
S302, comparing and judging the monitored running state of the intelligent mower with the preset turning triggering condition. In this step, the intelligent lawn mower 100 compares the monitored real-time working state with the preset trigger condition, and determines whether the current working state of the intelligent lawn mower 100 meets at least a part of out-of-range conditions of the working module 170 of the intelligent lawn mower.
And S303, receiving the judgment result, and turning back the intelligent mower to cut the edge of the lawn and realize trimming when the running state of the intelligent mower reaches the turn-back triggering condition. In this step, the control is specifically performed by the control center of the intelligent lawn mower 100, and is realized by the wheel set in the walking structure and the matched driving motor.
Referring to fig. 3, in one embodiment, the positional relationship between the boundary 210 and the mower housing 110 is monitored by at least one boundary sensing element 121 disposed at the front of the mower housing and in front of the operating module.
In this embodiment, the boundary sensing element 121 is generally a sensor, when the intelligent lawn mower 100 cuts in a region, an electrical signal is transmitted in the boundary 210, the sensor can sense the direction and strength of a magnetic field generated by the electrical signal, the sensor is to sense whether the intelligent lawn mower 100 is out of bounds, and therefore should be arranged in the front part of the housing of the intelligent lawn mower 100, and generally, one sensor is arranged on both symmetrical sides of the front part of the intelligent lawn mower 100, and is used for sensing whether the intelligent lawn mower 100 is out of bounds and returning the intelligent lawn mower 100. When only the judgment of the out-of-range state of the intelligent mower 100 is realized, only one sensor arranged at the front part of the intelligent mower is needed, and a plurality of sensors can be realized.
As shown in fig. 10, in one embodiment, after the working module of the intelligent lawn mower is at least partially out of bounds, the intelligent lawn mower folds back to cut the edge of the lawn to achieve trimming, further comprising the following steps:
s401, presetting time for continuing working after the intelligent mower is out of bounds as a turning-back trigger condition. In this step, the time needs to be determined according to the requirements of users, the structure type of the intelligent mower and the like. For example, if the normal speed of the intelligent mower is V meters/minute, and the boundary sensing element 121 detects that the intelligent mower reaches the boundary 210 and continues to cut L meters as the case may be, the preset time should be L/V minutes. Of course, the time value used as the trigger condition is also related to the distance between the front end of the cutter 172 of the intelligent mower working module 170 and the front end of the intelligent mower body, so that the walking distance can enable the cutter 172 to go out of the boundary for a certain distance after the front sensor goes out of the boundary, and the cutting of the zone edge can be realized.
S402, timing the time for continuing cutting after the working module of the intelligent mower is out of range. In this step, when the boundary sensing element 121 of the intelligent lawn mower 100 senses that it is out of the crossing boundary 210, the walking timing module 142a is started to start timing, and the intelligent lawn mower 100 continues to advance to the cutter 172 of the working module 170 to continue cutting.
S403 compares the calculated time value with a preset time value. In this step, the timing result of the intelligent mower 100 is compared with the preset time value.
And S404, when the preset time value is reached, the intelligent mower turns back to cut the lawn edge to achieve trimming. In this step, when the preset time value is reached, the intelligent lawn mower 100 stops cutting and controls turning back to cut the lawn edge to achieve trimming.
Referring to fig. 3, in one embodiment, the position relationship between the boundary and the self-body is monitored by at least one boundary sensing element arranged at the front part of the housing of the intelligent mower and in front of the working module. The information related to the sensing signal output by the boundary sensing element 121 corresponds to the distance of the intelligent lawn mower 100 from the boundary 210, and the intelligent lawn mower 100 is located within, outside or on the boundary 210. For example, the distance between the intelligent mower 100 and the limit 210 may be measured by a mileage gauge, a timer, a tachometer, and the like provided in the intelligent mower 100.
In this embodiment, the boundary sensing element 121 is generally a sensor, when the intelligent lawn mower 100 cuts within the area enclosed by the boundary, the boundary 210 transmits an electrical signal, the sensor can sense the direction and strength of the magnetic field generated by the electrical signal, the sensor is to sense whether the intelligent lawn mower 100 is out of the boundary, and therefore the sensor should be disposed at the front of the housing of the intelligent lawn mower 100 and in front of the working module, and generally one sensor is disposed at both symmetrical sides of the front of the intelligent lawn mower 100, and is used for returning the intelligent lawn mower 100 while sensing whether the intelligent lawn mower 100 is out of the boundary. When only the judgment of the out-of-range state of the intelligent mower 100 is realized, only one sensor arranged at the front part of the intelligent mower is needed, and a plurality of sensors can be realized.
As shown in fig. 11, in one embodiment, after the intelligent lawn mower work module 170 is at least partially out of bounds, the intelligent lawn mower 100 folds back to cut the edge of the lawn to achieve trimming, further comprising the following steps:
s501, presetting a distance value for continuing working after the intelligent mower is out of bounds as a turning-back trigger condition. In this step, since the intensity of the sensing signal outputted through the boundary sensing element 121 corresponds to the distance of the intelligent lawn mower 100 from the boundary 210; the phase of the output sensing signal of the boundary sensing element 121 corresponds to the smart lawn mower 100 being located within, outside of, or on the boundary 210. Therefore, the foldback trigger condition here may be an induction signal output by the boundary induction element 121, or information related to the induction signal, where the signal information and the distance value are in a one-to-one correspondence relationship. The specific distance needs to be determined according to the requirements of users, the structural type of the intelligent mower 100 and the like.
S502, judging the distance between the intelligent mower and the limit according to the induction signal of the boundary induction element. In this step, when the boundary sensing element 121 of the intelligent lawn mower 100 senses that the boundary crossing point 210 is out of the boundary, the control center of the intelligent lawn mower 100 calculates the distance the intelligent lawn mower travels after crossing the boundary through the signal information sent by the boundary sensing element 121, and at this time, the intelligent lawn mower 100 continues to advance and the cutter 172 of the working module 170 continues to cut.
S503, comparing the judged distance between the intelligent mower and the limit with a preset distance value for judgment. In this step, the distance calculation result of the intelligent lawnmower 100 is compared with the preset distance value.
And S504, when the preset distance value is reached, the intelligent mower turns back to cut the edge of the lawn and trim the lawn. In this step, when the preset distance value is reached, the intelligent lawn mower 100 stops cutting and controls turning back to cut the lawn edge to achieve trimming.
In one embodiment, as shown in fig. 6, the positional relationship between itself and the boundary is monitored by a boundary sensing element 121 disposed at the rear of the intelligent mower housing 110 and at the rear of the operating module.
In this embodiment, the boundary sensing element 121 is generally a sensor, and when the intelligent lawn mower 100 cuts within the area enclosed by the boundary, the boundary 210 transmits an electrical signal, the sensor can sense the direction and strength of the magnetic field generated by the electrical signal, and the sensor is disposed at the rear of the intelligent lawn mower 100 to sense whether the tail of the intelligent lawn mower 100 is out of bounds. When only judging whether the tail of the intelligent mower is out of bounds, the intelligent mower can be realized only by one sensor arranged at the rear part of the intelligent mower, and certainly, a plurality of sensors can also be realized.
As shown in fig. 12, in one embodiment, after the working module 170 of the intelligent lawn mower is at least partially out of bounds, the intelligent lawn mower 100 folds back to cut the edge of the lawn to achieve trimming, further comprising the following steps:
s601, when the rear part of the intelligent mower is located on a limit, the output signal of the boundary sensing element is a turn-back trigger condition. In this step, since the rear boundary sensing element 121 is used to monitor whether the tail of the intelligent lawn mower is out of bounds, it is determined whether the intelligent lawn mower 100 is out of bounds. The boundary sensing element 121 only sends a sensing signal for monitoring the boundary 210 when the tail of the intelligent lawn mower is out of range, so the turning-back triggering condition of the preset module 141 should be a triggering signal sent by the rear boundary sensing element 121 when the rear boundary sensing element 121 senses the boundary 210.
S602, the output signal of the induction element on the boundary of the intelligent mower is compared with the turning-back trigger condition for judgment. In this step, when the rear boundary sensing element 121 of the intelligent mower 100 senses that the tail of the intelligent mower is out of range, a sensing signal is generated, and the sensing signal generated by the rear boundary sensing element 121 of the intelligent mower 100 is compared with a preset turning triggering condition for judgment.
S603, the preset turning triggering condition is met, and the intelligent mower turns back to cut the edge of the lawn and achieve trimming. In this step, when the cutting is consistent with the preset trigger condition, the intelligent lawn mower 100 stops cutting and controls turning back to cut the lawn edge to achieve trimming.
In one embodiment, as shown in fig. 6, the positional relationship between itself and the limits 210 of the limits is monitored by a camera element 122 disposed at the rear of the housing 110 of the intelligent mower. The camera 122 may be a camera or other device capable of capturing image information. The photographing element 122 is disposed at the rear of the intelligent lawn mower 100 to sense whether the tail of the intelligent lawn mower 100 is out of bounds. When only judging whether the tail of the intelligent mower is out of bounds or not is achieved, only one image pickup element arranged at the rear part of the intelligent mower is needed to achieve the judgment, and certainly, a plurality of image pickup elements can also achieve the judgment.
As shown in fig. 13, in one embodiment, after the working module 170 of the intelligent lawn mower is at least partially out of bounds, the intelligent lawn mower 100 folds back to cut the edge of the lawn to achieve trimming, further comprising the following steps:
s701, presetting an image containing the boundary as a foldback trigger condition. In this step, since the image information of the rear view of the tail of the intelligent lawn mower 100 is captured by the rear camera 122, it is determined whether the intelligent lawn mower 100 is out of bounds. Only when the tail of the intelligent lawn mower 100 is out of bounds, the photographing element 122 will acquire the image information representing the out of bounds, so the turning-back trigger condition of the preset module 141 should be that the rear photographing element 122 acquires the image information of the bounds 210.
S702, comparing and judging the image information acquired by the camera element on the intelligent mower with the turning triggering condition. In this step, the rear camera 122 of the intelligent lawn mower 100 collects image information with the tail as a visual field, when the tail of the intelligent lawn mower 100 is out of bounds, corresponding image information is collected, and the image information collected by the rear camera 122 of the intelligent lawn mower 100 is compared with preset image information for judgment.
S703, the preset turning-back condition is met, and the intelligent mower turns back to cut the edge of the lawn and achieve trimming. In this step, when the image information is consistent with the preset image information, the working module 170 of the intelligent lawn mower stops cutting and controls turning back to cut the lawn edge and achieve trimming.
Compared with the prior art, the trimming control device 140 of the intelligent mower 100 can ensure that the working module 170 of the intelligent mower always executes a cutting instruction, and the intelligent mower turns back until the limit monitoring module 120 monitors that at least part of the working module 170 is out of the bound, so that the lawn edge of the working area of the intelligent mower, which is located outside the limit 210, is also cut, and trimming is realized. The automatic working system 200 of the intelligent mower can automatically trim the edge, so that the intelligent mower is more humanized, convenient and is worry-saving. The intelligent lawn mower trimming method can be used for turning back to cut the lawn edge after the intelligent lawn mower working module 170 at least partially goes out of bounds, so that trimming is achieved.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (17)
1. An intelligent lawn mower for walking and working within a working range defined by a boundary, comprising:
a housing;
the walking module is arranged on the shell and drives the intelligent mower to walk and turn, and the walking module comprises a wheel set and a driving motor for driving the wheel set to walk;
the boundary monitoring module is used for monitoring the position relation between the intelligent mower and the boundary;
the energy module is arranged on the shell and used for providing energy for the intelligent mower;
the working module is used for executing the lawn cutting work;
the control module is electrically connected with the walking module, the working module and the boundary monitoring module; controlling the intelligent mower to turn to drive away from the limit after driving towards the limit and reaching the preset position relation; it is characterized by also comprising
The trimming control device is connected with the control module and is used for enabling the intelligent mower to turn back after the boundary monitoring module monitors that at least part of the working module of the intelligent mower is out of bounds;
the trimming control device comprises a preset module, a judgment module and a turn-back module;
the preset module is used for presetting a triggering condition for starting the turning-back action of the intelligent mower;
the judging module is used for comparing and judging the monitored running state of the intelligent mower with the turning-back triggering condition preset by the preset module;
and the turn-back module is used for receiving the judgment result of the judgment module and controlling the turn-back of the intelligent mower when the running state of the intelligent mower reaches the turn-back triggering condition.
2. The intelligent mower of claim 1 wherein said margin monitoring module is at least one margin sensing element disposed at the front of said housing and in front of said operating module for sensing the positional relationship of the intelligent mower to said margin.
3. The intelligent mower according to claim 2, wherein the preset module is a time preset module, and the time preset module is configured to preset a time for the boundary sensing element to continue working after sensing that the intelligent mower is out of bounds as a turning-back trigger condition.
4. The intelligent mower according to claim 3, wherein the judging module comprises an intelligent mower travel timing module, a comparing module;
the walking timing module is used for timing after the boundary sensing element senses that the working module of the intelligent mower is out of range;
and the comparison module is used for comparing and judging the timing information of the walking timing module with the time value preset by the time presetting module.
5. The intelligent mower according to claim 2, wherein the preset module is a distance preset module, and the distance preset module is configured to preset a distance for continuing to work after the boundary sensing element senses that the intelligent mower is out of range as a turning-back trigger condition.
6. The intelligent mower according to claim 5, wherein the judging module comprises an intelligent mower travel distance judging module, a comparing module;
the walking distance judging module is used for judging the distance between the intelligent mower and the boundary according to the signal sensed by the boundary sensing element;
and the comparison module is used for comparing and judging the distance between the intelligent mower judged by the walking distance judgment module and the boundary with a distance value preset by the distance preset module.
7. The intelligent mower of claim 1 wherein said margin monitoring module is a margin sensing element disposed behind said housing and behind said operating module for sensing the positional relationship of the intelligent mower to said margin.
8. The intelligent mower according to claim 7, wherein the preset module presets the output signal of the boundary sensing element to be a foldback trigger condition when the rear portion of the intelligent mower is located on the boundary.
9. The intelligent mower according to claim 8, wherein the determining module compares the output signal of the boundary sensing element with the foldback trigger condition.
10. An intelligent mowing system comprising:
a boundary for defining an operating range of the intelligent mowing system, characterized in that:
a smart lawn mower as claimed in any preceding claim.
11. An intelligent lawn mower trimming method for walking and working within a working range defined by a limit, characterized by comprising the steps of:
the intelligent mower is driven to the boundary;
the intelligent mower monitors the position relation between the intelligent mower and a boundary;
after the working module of the intelligent mower is at least partially out of bounds, the intelligent mower turns back to cut the edge of the lawn;
wherein after the work module of intelligent lawn mower at least partly out of bounds, intelligent lawn mower turns back to cut the lawn edge, still include following step:
presetting a turning-back trigger condition after at least part of working modules of the intelligent mower go out of bounds;
comparing and judging the monitored running state of the intelligent mower with the preset turning triggering condition;
and receiving the judgment result, and turning back the intelligent mower when the running state of the intelligent mower reaches the turn-back triggering condition.
12. The intelligent mower trimming method according to claim 11, wherein the intelligent mower folds after the working module of the intelligent mower is at least partially out of bounds, further comprising the steps of:
presetting the time for continuing working after the working of the intelligent mower is out of bounds as a turning-back trigger condition;
timing the time for continuing cutting after the working module of the intelligent mower is out of bounds;
comparing and judging the calculated time value with a preset time value;
when the preset time value is reached, the intelligent mower turns back.
13. The intelligent mower trimming method according to claim 12, wherein the positional relationship between the boundary and the self is monitored by at least one boundary sensing element disposed at the front of the intelligent mower housing and in front of the operating module.
14. The intelligent mower trimming method according to claim 11, wherein the positional relationship between the boundary and the self is monitored by at least one boundary sensing element disposed in front of the working module and in front of the housing of the intelligent mower.
15. The intelligent mower trimming method according to claim 14, wherein the intelligent mower folds after the working module of the intelligent mower is at least partially out of bounds, further comprising the steps of:
presetting a distance value for continuing working after the intelligent mower is out of bounds as a turning-back trigger condition;
judging the distance between the intelligent mower and the limit according to the induction signal of the boundary induction element;
comparing the judged distance between the intelligent mower and the limit with the preset distance value for judgment;
and when the preset distance value is reached, the intelligent mower turns back.
16. The intelligent mower trimming method according to claim 11, wherein the positional relationship between the boundary and the self is monitored by a boundary sensing element disposed at the rear of the housing of the intelligent mower and at the rear of the operating module.
17. The intelligent lawnmower trimming method according to claim 16, wherein the intelligent lawnmower performing the foldback after the operational module of the intelligent lawnmower is at least partially out of bounds, further comprising the steps of:
presetting that the output signal of the boundary induction element is a turn-back trigger condition when the rear part of the intelligent mower is positioned on the boundary;
comparing and judging the output signal of the induction element on the boundary of the intelligent mower with the turning-back trigger condition;
the preset turning-back triggering condition is met, and the intelligent mower turns back.
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| CN201510084729.6A CN105988472B (en) | 2015-02-16 | 2015-02-16 | Intelligent mowing system, intelligent mower and trimming method thereof |
| PCT/CN2016/073618 WO2016131399A1 (en) | 2015-02-16 | 2016-02-05 | Automatic walking device |
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| WO2018142483A1 (en) * | 2017-01-31 | 2018-08-09 | 本田技研工業株式会社 | Unmanned working system, management server, and unmanned working machine |
| CN106951004A (en) * | 2017-03-31 | 2017-07-14 | 柳州顺联科技有限公司 | A kind of farm machinery control system |
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| CN109871012B (en) * | 2019-01-29 | 2022-04-12 | 宁波大叶园林设备股份有限公司 | Steering method of intelligent mower at boundary |
| CN112445213B (en) * | 2019-08-16 | 2024-01-16 | 苏州科瓴精密机械科技有限公司 | Automatic working system, automatic walking equipment, control method of automatic walking equipment, computer equipment and computer readable storage medium |
| CN112650206A (en) * | 2019-10-10 | 2021-04-13 | 苏州宝时得电动工具有限公司 | Intelligent mower walking control method and intelligent mower |
| SE543950C2 (en) * | 2019-12-04 | 2021-10-05 | Husqvarna Ab | Robotic work tool being configured to switch between at least two offset settings |
| CN113821021B (en) * | 2020-06-19 | 2024-03-29 | 南京苏美达智能技术有限公司 | Automatic walking equipment region boundary generation method and system |
| CN117859500B (en) * | 2024-03-12 | 2024-05-24 | 锐驰激光(深圳)有限公司 | Mower boundary-out prevention method, device, equipment and storage medium |
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