CN112612278A - Method for collecting position information, position collecting device and mower - Google Patents
Method for collecting position information, position collecting device and mower Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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Abstract
The invention provides a position acquisition device, a method for acquiring position information and a mower, wherein the position acquisition device comprises: the information acquisition module is used for acquiring the current coordinate information of the position acquisition device; the information acquisition module comprises a timing mode for acquiring coordinate information at fixed time, a fixed-distance mode for acquiring the coordinate information at fixed distance and a manual mode triggered by a user to acquire the coordinate information; and the control module controls the information acquisition module to work in one or more combinations of a timing mode, a fixed-distance mode and a manual mode according to the received instruction. Compared with the prior art, the position acquisition device can acquire the coordinate information of the boundary line of the plot area through the combination of one or more working modes, so that the data processing module can generate a high-precision navigation path conveniently.
Description
Technical Field
The invention relates to a method for acquiring position information, a position acquisition device and a mower with the position acquisition device.
Background
A lawn mower is a garden tool for trimming lawns, vegetation, and the like, and typically includes a self-propelled assembly, a cutter assembly, and a power source, which may be a gasoline engine, a battery pack, and the like. Battery powered mowers are popular with users because of low noise and zero pollution. The existing intelligent lawn mower can automatically mow the lawn along a preset planned path. However, existing commercial map positioning by GPS has an error of over 1 meter. Compared with the required operation precision of the existing mower, the mower can cut part of the area by mistake or repeatedly cut part of the area.
In view of the above problems, it is desirable to provide a position acquisition device to solve the above problems.
Disclosure of Invention
The invention aims to provide a position acquisition device which can acquire coordinate information of a boundary line of a land area through combination of one or more working modes, so that a data processing module can generate a high-precision navigation path conveniently.
In order to achieve the above object, the present invention provides a method for acquiring location information, which is applied to a location acquisition device, wherein the location acquisition device acquires current location information in real time, and the location acquisition device has at least two location acquisition operation modes, and the method comprises: collecting current position information; evaluating a path between the current position and the next position to obtain path information; and determining a position acquisition working mode from the current position to the next position according to the path information.
As a further improvement of the present invention, the position acquisition device includes an RTK real-time positioning module, and the RTK real-time positioning module is used for acquiring current position information.
As a further improvement of the present invention, the position acquisition operation mode includes at least one of a fixed period acquisition mode, a fixed distance acquisition mode or a manual operation mode.
As a further improvement of the present invention, the position collecting device includes a communication module, and the communication module transmits the position information to a device.
As a further improvement of the present invention, the path information includes an approximately straight path, a curved path, or a broken-line path.
As a further improvement of the present invention, the position acquisition working mode includes a fixed period acquisition mode, a fixed distance acquisition mode or a manual mode, and when the path information is an approximately straight path, the position acquisition working mode is determined to be the manual mode; when the path information is a curve path, determining that the position acquisition working mode is a fixed period acquisition mode; and when the path information is a discount path, determining that the position acquisition working mode is a fixed distance acquisition mode.
As a further improvement of the present invention, the position acquisition device includes a GPS positioning module, and in the evaluation step of the path information, the path information is acquired by the GPS positioning module.
As a further improvement of the present invention, the position acquisition device includes a camera module, and in the evaluation step of the path information, the path information is acquired by the camera module.
The present invention also provides a position acquisition apparatus, comprising: the information acquisition module is used for acquiring the current coordinate information of the position acquisition device; the information acquisition module comprises a timing mode for acquiring coordinate information at fixed time, a fixed-distance mode for acquiring the coordinate information at fixed distance and a manual mode triggered by a user to acquire the coordinate information; and the control module controls the information acquisition module to work in one or more combinations of a timing mode, a fixed-distance mode and a manual mode according to the received instruction.
As a further improvement of the present invention, the information acquisition module includes a position acquisition unit for acquiring current coordinate information of the position acquisition device, a timing trigger unit for triggering the position acquisition unit to work at a fixed time, and a distance trigger unit for triggering the position acquisition unit to work at a fixed distance.
As a further improvement of the invention, the distance trigger unit comprises a mileage sensor for sensing the distance traveled by the position acquisition device.
As a further improvement of the invention, the position acquisition device further comprises a navigation module with a preset navigation map, a walking module for driving the position acquisition device to run and an interaction module; marking boundary lines of the land area on the navigation map by the user through the interactive module; the control module controls the walking module to work and collects accurate coordinate information along the boundary line under the guidance of the navigation module.
As a further improvement of the present invention, the position acquisition device further comprises a partitioning module for partitioning the boundary line into an approximately straight line region and a curved line region; when the position acquisition device enters an approximately straight line region, the control module controls the position acquisition device to work in a timing mode, and the time interval of the timing mode is T1; when the position acquisition device enters a curve area, the control module sets the time interval of the timing mode to be T2; wherein T1> T2.
As a further improvement of the present invention, the position acquisition device further comprises a partitioning module for partitioning the boundary line into an approximately straight line region and a curved line region; when the position acquisition device enters an approximate straight line region, the control module controls the position acquisition device to work in a distance mode, and the distance interval of the distance mode is S1; when the position acquisition device enters a curve region, the control module sets a distance interval of a distance mode to be S2; wherein S1> S2.
As a further improvement of the present invention, the position acquisition device further comprises a map generation module; and the map generation module generates an accurate boundary curve of the plot area according to the coordinate information and fits the accurate boundary curve into a map of the plot area.
As a further improvement of the present invention, the map generation module determines whether the precise boundary curve is a closed curve; if yes, the map generation module fits the accurate boundary curve into a map of the parcel area; if not, the map generation module sends prompt information to remind workers of finishing the coordinate information collection of the plot area.
As a further improvement of the present invention, the position collecting device further comprises a boundary identifying module for identifying the boundary of the lawn; when the distance between the boundary identified by the boundary identification module and the boundary line on the navigation map is smaller than a threshold value, the control module controls the walking module to work, so that the position acquisition device moves to the boundary identified by the boundary identification module.
As a further improvement of the present invention, the boundary identifying module includes an image generating unit for capturing an image of an area near the position capture device and an image identifying unit for analyzing the image acquired by the image generating unit to identify the boundary of the lawn.
The invention also discloses a mower which comprises the position acquisition device.
The invention has the beneficial effects that: the position acquisition device can acquire the coordinate information of the boundary line of the plot area through the combination of one or more working modes, so that a data processing module can generate a high-precision navigation path conveniently.
Drawings
FIG. 1 is a block schematic diagram of a position capture device of the present invention.
Fig. 2 is a block diagram of a position acquisition module.
Fig. 3 is a schematic diagram of the boundaries of an application scene plot area.
FIG. 4 is a block diagram of a boundary identification module.
Fig. 5 is a schematic view of the structure of the lawn mower.
Fig. 6 is a flow chart illustrating a method for collecting location information according to the present invention.
Fig. 7 is a schematic diagram illustrating a method of collecting location information according to the present invention.
Fig. 8 is a block diagram of a position acquisition apparatus according to a second embodiment of the present invention.
Fig. 9 is a diagram of a simulated usage scenario.
Fig. 10 is a schematic diagram of the operation of the fixed period acquisition mode.
Fig. 11 is an operational schematic of a fixed distance acquisition mode.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1, the present invention discloses a position collecting device 100, which includes an information collecting module 10 for collecting current coordinate information of the position collecting device 100, a walking module 20 for driving the position collecting device 100 to travel, a navigation module 30, an interaction module 40, a boundary identifying module 50, a partitioning module 60, a map generating module 70, and a control module 80.
Referring to fig. 1 and fig. 2, the operation modes of the information collecting module 10 include a timing mode for collecting coordinate information at fixed time, a distance mode for collecting coordinate information at fixed distance, and a manual mode triggered by a user to collect coordinate information. Specifically, the information acquisition module 10 includes a position acquisition unit 11 configured to acquire current coordinate information of the position acquisition device 100, a timing trigger unit 12 configured to trigger the position acquisition unit 11 to operate at a fixed time, and a distance trigger unit 13 configured to trigger the position acquisition unit 11 to operate at a fixed distance. In this embodiment, the coordinate information refers to coordinates of a central point of the position acquisition unit 100, and the position acquisition unit 11 is an rtk (real time kinematic) positioning module, so as to acquire precise coordinate information of the position acquisition apparatus 100. The timing trigger unit 12 controls the position acquisition unit 11 to operate at intervals of time T to acquire current coordinate information of the position acquisition device 100. The distance trigger unit 13 controls the position acquisition unit 11 to operate every distance S to acquire current coordinate information of the position acquisition apparatus 100. The distance trigger unit 13 includes a mileage sensor (not shown) for sensing a distance traveled by the position detecting device 100. The odometer sensor may be a wheel counter, a photoelectric odometer, or the like. When the timing trigger unit 12 works, the information acquisition module 10 is in a timing mode; when the distance trigger unit 13 works, the information acquisition module 10 is in a distance mode; when the timing trigger unit 12 and the fixed-distance trigger unit 13 do not work, the information acquisition module 10 is in a manual mode, and at this time, a user needs to manually control the position acquisition unit 11 to acquire coordinate information. The information acquisition module 10 has three working modes, so that a user can select a corresponding working mode to work according to the bending degree of the boundary line of the land parcel. For example, fig. 3 shows a boundary diagram of a lawn plot area. The boundary line A, B, E is a straight line or an approximate straight line, and can be selected to operate in a manual mode, a timed mode, or a fixed distance mode. When the timing mode or the fixed-distance mode is selected, the time interval or the distance interval can be set to be larger, so that the data acquisition amount is reduced, and the data processing load is further reduced. Boundary line C, D is a curve that allows for selection of time mode and distance mode operation. When the timing mode or the distance mode is selected, the time interval and the distance interval need to be set to be smaller so as to increase the data acquisition amount, thereby facilitating the generation of an accurate boundary curve.
Referring to fig. 1, the walking module 20 is used for driving the position collecting device 100 to run, and includes a wheel (not shown) and a motor (not shown) for driving the wheel to rotate. A GPS navigation map is preset in the navigation module 30 to guide the traveling module 20 to travel. The interaction module 40 is used for displaying a navigation map, coordinate information, and the like, and allowing a user to input instructions. The interaction module 40 may be a touch screen, or may be composed of a display screen, a keyboard, and a mouse. The user can mark the boundary line of the land area on the navigation map through the interactive module 40, so that the navigation module 30 automatically guides the position collecting device 100 to travel to the designated land area for collecting the coordinate information. The boundary recognition module 50 is used for recognizing the boundary of the lawn, and includes an image generation unit 51 for capturing an image of an area near the position capture device 100 and an image recognition unit 52 for analyzing the image captured by the image generation unit 51 to recognize the boundary of the lawn. When the distance between the boundary identified by the boundary identification module 50 and the boundary line on the navigation map is less than the threshold, the control module 80 controls the walking module 20 to work, so that the position acquisition device 100 moves to the boundary identified by the boundary identification module 50, and the position acquisition device 100 can acquire accurate coordinate information of the actual boundary line of the parcel area. When the distance between the boundary identified by the boundary identification module 50 and the boundary line on the navigation map is greater than a threshold value, the control module 80 controls the walking module 20 to walk along the boundary line on the navigation map. The threshold may be set by the user as desired.
Referring to fig. 1, the partitioning module 60 is configured to divide the boundary line on the navigation map into an approximately straight line area and a curved line area. When the position acquisition device 100 enters an approximately straight-line region, the control module 80 controls the position acquisition device 100 to work in a timing mode, and the time interval of the timing mode is T; when the position capture device 100 enters the curve region, the control module 80 sets the time interval of the timing mode to T2; wherein T1> T2. For example, referring to fig. 3, the boundary line A, E is a straight line, and the boundary line B is an approximate straight line, so that the time interval for acquiring coordinate information can be lengthened, which not only reduces the data acquisition amount and thus the data processing load, but also does not affect the accuracy of the boundary line fit according to the coordinate information. The boundary line C, D is a curve, and the curvature of the boundary line C is greater than that of the boundary line D, so that the time interval for acquiring the coordinate information needs to be shortened to avoid affecting the accuracy of the boundary line fitted from the coordinate information. Preferably, the time interval when the boundary line C is acquired is larger than the time interval when the boundary line D is acquired. Of course, it is understood that the position acquisition apparatus 100 may also be configured to: when the position acquiring device 100 enters an approximately straight line region, the control module 80 controls the position acquiring device 100 to operate in a distance mode, where a distance interval of the distance mode is S1; when the position acquisition apparatus 100 enters the curved region, the control module 80 sets the distance interval of the distance mode to S2; wherein S1> S2. In this embodiment, when the position acquisition device 100 is located in the approximately straight line region or the approximately curved line region, the position acquisition device 100 is operated in the timing mode or the distance mode, but in other embodiments, the position acquisition device 100 may be operated in the timing mode in the approximately straight line region and operated in the distance mode in the curved line region; alternatively, the operation is performed in a fixed-distance mode in the approximately linear section and in a time mode in the approximately linear section.
Referring to fig. 1, the map generating module 70 fits and generates an accurate boundary curve of the parcel area according to the coordinate information acquired by the position acquiring device 100, so as to fit and generate an accurate navigation map of the parcel area. Preferably, the map generating module 70 determines whether the precise boundary curve is a closed curve; if yes, the map generation module 70 fits the accurate boundary curve to be an accurate map of the parcel area; if not, the map generation module 70 sends prompt information to remind the staff to complete the coordinate information collection of the plot area. The control module 80 controls the information collecting module 100 to work in one or more combinations of a timing mode, a distance mode and a manual mode according to the received instruction. The instruction may be issued by the user or by the partition module 60.
Of course, in other embodiments, the position acquisition apparatus 100 may further be provided with a wireless communication module (not shown) to transmit the coordinate information acquired by the position acquisition apparatus 100 to other devices, such as a server, for data processing by the other devices. Or, the position acquisition device 100 directly processes the data, fits the data to generate an accurate navigation map, and then sends the accurate map to a third device through the wireless communication module, for example: lawn mowers, and the like.
Compared with the prior art, the position acquisition device 100 of the invention can acquire the coordinate information of the boundary line of the plot area through the combination of one or more working modes, thereby facilitating the data processor to generate an accurate boundary curve and a navigation map in a fitting manner.
Referring to fig. 5, the present invention further discloses a lawn mower 200, wherein the lawn mower 200 includes the position capture device 100, and the walk module 20 is shared by the lawn mower 200 and the position capture device 100.
Referring to fig. 6, the present invention further discloses a method for collecting location information, which is applied to the location collecting device 300. The position collecting device 300 is used for collecting current position information in real time and has at least two position collecting working modes. The method for collecting the position information comprises the following steps:
s1: and collecting current position information.
S2: a path between the current location and the next location is evaluated, thereby obtaining path information.
S3: and determining a position acquisition working mode from the current position to the next position according to the path information.
Referring to fig. 7 and 8, in the present embodiment, the position acquisition device 300 acquires position information according to the principle of satellite positioning. The position acquisition apparatus 300 includes an RTK real-time positioning module 310, a GPS positioning module 320, a camera module 330, a communication module 340, and a control module 350. The RTK real-time positioning module 310 is configured to acquire current position information in real time. The GPS positioning module is configured to position the position acquisition device 300 and acquire GPS positioning information. The camera module 330 is used for capturing and acquiring a path between a current position and a next position. The control module 350 generates a navigation path according to the positioning information of the GPS positioning module and the path information, and guides the position acquisition device 300 to travel along the navigation path. The communication module 340 transmits the data collected by the RTK real-time positioning module 310 to another device, for example: lawn mowers, cell phones, tablets, backend servers, cloud-side, etc., for another device to process the data to generate an accurate boundary curve. Preferably, the communication module 340 is a wireless communication module. The position acquisition working mode comprises at least one of a fixed period acquisition mode, a fixed distance acquisition mode or a manual mode. The path information includes a straight path, a curved path, a broken path, and the like. The straight path includes a straight line in a strict sense and also includes an approximate straight line.
And when the path information is a straight path, determining that the position acquisition working mode is a manual mode. Fig. 9 shows a simulated use scenario where a user needs to collect position information around a house. The straight-line path from the point P1 to the point P2 is only needed to be in a manual mode, and therefore the data volume is reduced while the requirement is met. When the path information is a curved path, it is determined that the position acquisition operating mode is a fixed-period acquisition mode, as shown in fig. 10. For example, the path from point P6 to point Pn-1 in FIG. 9 is a curved path, and a fixed period acquisition mode can be adopted, so as to increase the data acquisition amount. When the path information is a broken line path, it is determined that the position acquisition operating mode is a fixed distance acquisition mode, as shown in fig. 11. For example, point P2 to point P6 in FIG. 9 are broken line paths, and a fixed distance acquisition mode may be used.
Although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the spirit and scope of the present invention.
Claims (19)
1. A method for collecting position information is applied to a position collecting device, the position collecting device collects current position information in real time, the position collecting device has at least two position collecting working modes, and the method is characterized by comprising the following steps:
collecting current position information;
evaluating a path between the current position and the next position to obtain path information;
and determining a position acquisition working mode from the current position to the next position according to the path information.
2. The method of acquiring position information of claim 1, wherein the position acquisition device includes an RTK real-time positioning module for acquiring current position information.
3. The method of collecting location information of claim 1, wherein the location collection mode of operation comprises at least one of a fixed period collection mode, a fixed distance collection mode, or a manual mode.
4. The method of claim 1, wherein the location acquisition device comprises a communication module that transmits the location information to a device.
5. The method of collecting location information of claim 1, wherein the path information comprises a straight path, a curved path, or a polyline path.
6. The method of collecting location information of claim 5, wherein said location collection mode of operation comprises a fixed period collection mode, a fixed distance collection mode, or a manual mode,
when the path information is a straight path, determining that the position acquisition working mode is a manual mode;
when the path information is a curve path, determining that the position acquisition working mode is a fixed period acquisition mode;
and when the path information is a discount path, determining that the position acquisition working mode is a fixed distance acquisition mode.
7. The method of collecting location information of claim 1, wherein the location collecting means includes a GPS positioning module, and the path information is acquired by the GPS positioning module in the step of evaluating the path information.
8. The method of collecting position information according to claim 1, wherein the position collecting means includes a camera module, and in the evaluating step of the path information, the path information is acquired by the camera module.
9. A position acquisition device, comprising:
the information acquisition module is used for acquiring the current coordinate information of the position acquisition device; the information acquisition module comprises a timing mode for acquiring coordinate information at fixed time, a fixed-distance mode for acquiring the coordinate information at fixed distance and a manual mode triggered by a user to acquire the coordinate information; and
and the control module controls the information acquisition module to work in one or more combinations of a timing mode, a fixed-distance mode and a manual mode according to the received instruction.
10. The position acquisition device as set forth in claim 9, wherein: the information acquisition module comprises a position acquisition unit for acquiring the current coordinate information of the position acquisition device, a timing trigger unit for triggering the position acquisition unit to work at fixed time and a distance trigger unit for triggering the position acquisition unit to work at fixed distance.
11. The position acquisition device as set forth in claim 10, wherein: the distance trigger unit comprises a mileage sensor used for sensing the walking distance of the position acquisition device.
12. The position acquisition device as set forth in claim 9, wherein: the position acquisition device also comprises a navigation module with a preset navigation map, a walking module for driving the position acquisition device to run and an interaction module; marking boundary lines of the land area on the navigation map by the user through the interactive module; the control module controls the walking module to work and collects accurate coordinate information along the boundary line under the guidance of the navigation module.
13. The position acquisition device as set forth in claim 12, wherein: the position acquisition device also comprises a partitioning module which divides the boundary line into a linear area and a curve area; when the position acquisition device enters a linear region, the control module controls the position acquisition device to work in a timing mode, and the time interval of the timing mode is T1; when the position acquisition device enters a curve area, the control module sets the time interval of the timing mode to be T2; wherein T1> T2.
14. The position acquisition device as set forth in claim 12, wherein: the position acquisition device also comprises a partitioning module which divides the boundary line into a linear area and a curve area; when the position acquisition device enters a linear region, the control module controls the position acquisition device to work in a distance mode, and the distance interval of the distance mode is S1; when the position acquisition device enters a curve region, the control module sets a distance interval of a distance mode to be S2; wherein S1> S2.
15. The position acquisition apparatus according to claim 13 or 14, wherein: the position acquisition device also comprises a map generation module; and the map generation module generates an accurate boundary curve of the plot area according to the coordinate information and fits the accurate boundary curve into a map of the plot area.
16. The position acquisition device as claimed in claim 15, wherein: the map generation module judges whether the accurate boundary curve is a closed curve; if yes, the map generation module fits the accurate boundary curve into a map of the parcel area; if not, the map generation module sends prompt information to remind workers of finishing the coordinate information collection of the plot area.
17. The position acquisition device as claimed in claim 15, wherein: the position acquisition device also comprises a boundary identification module used for identifying the boundary of the lawn; when the distance between the boundary identified by the boundary identification module and the boundary line on the navigation map is smaller than a threshold value, the control module controls the walking module to work, so that the position acquisition device moves to the boundary identified by the boundary identification module.
18. The position acquisition device of claim 17, wherein: the boundary identification module comprises an image generation unit for shooting images of the area near the position acquisition device and an image identification unit for analyzing the images acquired by the image generation unit to identify the boundary of the lawn.
19. A lawnmower comprising a position capture device according to any one of claims 9 to 18.
Priority Applications (8)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011544830.2A CN112612278A (en) | 2020-12-24 | 2020-12-24 | Method for collecting position information, position collecting device and mower |
| US17/555,491 US20220197295A1 (en) | 2020-12-22 | 2021-12-19 | Robotic mower, and control method thereof |
| EP21909313.5A EP4268042A4 (en) | 2020-12-22 | 2021-12-20 | Robotic tool system and control method thereof |
| PCT/CN2021/139509 WO2022135317A1 (en) | 2020-12-22 | 2021-12-20 | Robotic tool system and control method thereof |
| EP21216244.0A EP4020112B1 (en) | 2020-12-22 | 2021-12-21 | Robotic mower and control method thereof |
| ES21216244T ES2963141T3 (en) | 2020-12-22 | 2021-12-21 | Lawnmower robot and its control method |
| EP23207591.1A EP4293468A3 (en) | 2020-12-22 | 2021-12-21 | Robotic mower and control method thereof |
| US18/321,798 US20230292657A1 (en) | 2020-12-22 | 2023-05-23 | Robotic tool system and control method thereof |
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| CN202011544830.2A CN112612278A (en) | 2020-12-24 | 2020-12-24 | Method for collecting position information, position collecting device and mower |
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| CN112612278A true CN112612278A (en) | 2021-04-06 |
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| US20200089235A1 (en) * | 2014-09-26 | 2020-03-19 | Ecovacs Robotics Co., Ltd. | Self-moving robot movement boundary determining method |
| WO2022135317A1 (en) * | 2020-12-22 | 2022-06-30 | Globe (jiangsu) Co., Ltd. | Robotic tool system and control method thereof |
| WO2023274339A1 (en) * | 2021-06-30 | 2023-01-05 | 苏州宝时得电动工具有限公司 | Self-propelled working system |
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