CN113064419B - Intelligent mowing system and channel identification method thereof - Google Patents

Abstract

An intelligent mowing system and a channel identification method thereof, wherein the intelligent mowing system comprises a physical boundary, the physical boundary is arranged around a driving area, and the driving area comprises at least one first working area, a second working area and a channel connecting the first working area and the second working area; and intelligent mowing equipment, include: a control module; the control module is connected with the intelligent mowing equipment and used for controlling the intelligent mowing equipment to acquire position information of the intelligent mowing equipment; the channel detection module is connected with the control module and comprises a plurality of boundary detectors, wherein the boundary detectors are used for detecting the physical boundary and are arranged to construct the position information meeting the preset conditions as the channel position information when the detection result meets the preset conditions related to the channel.

Description

Intelligent mowing system and channel identification method thereof

The present application claims priority from chinese patent application No. 201911395409.7, having application date 2019, 12, 30, the entire contents of which are incorporated herein by reference.

Technical Field

The invention relates to the technical field of intelligent control, in particular to an intelligent mowing system and a channel identification method thereof.

Background

With the continuous progress of artificial intelligence technology, intelligent robots have gradually become popular in human life, such as intelligent sweeping robots, intelligent dust collectors, intelligent mowing equipment, snowploughs, etc.; usually, the manual robot does not need manual control, automatically cruises and walks through intelligent control operation, and automatically returns to the charging seat to charge when the electric quantity is low, so that manual intervention of a user is not needed, a large amount of manpower is liberated, and the robot is popular with users.

The intelligent control system generally plans and guides the robot to walk or walk randomly according to the path planning, but in the actual use environment, the intelligent control system mainly comprises narrow areas, such as narrow channels, and the like, most of the current intelligent control systems control the robot to stop walking after encountering obstacles, boundary lines or unknown terrains and then turn to return to a working area, and the control system can only control the robot to automatically keep away after detecting the obstacles or the boundaries in the running process; if a special region such as a narrow passage is to be detected and identified, a guide wire is usually required to be additionally paved manually or other guiding devices capable of generating signal transmission with the robot, and meanwhile, a detection device capable of sensing the guiding devices or the guide wires is required to be arranged on the robot, so that the structure is complex, more manpower is required to be consumed, and the detection accuracy is required to be improved; therefore, how to simply and effectively identify a special area is currently a major technical difficulty encountered in intelligent control of robots.

Disclosure of Invention

In order to solve the defects in the prior art, the invention aims to provide an intelligent mowing system which is simple and does not depend on an external guiding device and a channel identification method thereof.

In order to achieve the above object, the present invention adopts the following technical scheme:

An intelligent mowing system comprises a physical boundary, wherein the physical boundary is arranged around a driving area, and the driving area comprises at least one first working area, a second working area and a channel for connecting the first working area and the second working area; and

Intelligence grass cutting equipment includes:

A control module;

The control module is connected with the intelligent mowing equipment and used for controlling the intelligent mowing equipment to acquire position information of the intelligent mowing equipment; and

The channel detection module is connected with the control module, and comprises a plurality of boundary detectors, wherein the boundary detectors are used for detecting the physical boundary and are arranged to construct the position information meeting the preset conditions as the channel position information when the detection result meets the preset conditions related to the channel.

Further, the physical boundary is a wire, alternating current is introduced into the wire, and the boundary detector is an electromagnetic sensor.

Further, the positioning module receives positioning signals from any one or more of a GPS, an inertial measurement component and an odometer.

Further, one electromagnetic sensor is arranged, and one electromagnetic sensor is arranged on the intelligent mowing device.

Further, the electromagnetic sensor comprises a front end sensor and a rear end sensor, wherein one front end sensor and one rear end sensor are respectively arranged;

The two sensors are arranged on a central axis, and the central axis refers to a central line extending from the front end of the intelligent mowing equipment to the rear end.

Further, the electromagnetic sensor includes an inner sensor and an outer sensor symmetrically arranged on the intelligent mowing apparatus with respect to a central axis, the central axis referring to a center line extending from a front end of the intelligent mowing apparatus to a rear end direction;

the inner side sensor and the outer side sensor are respectively provided with two sensors, and the inner side sensor and the outer side sensor are respectively arranged along a direction parallel to the central axis.

Further, the intelligent mowing device also comprises an indication module arranged on the intelligent mowing device, and the indication module indicates and feeds back the position relationship between the intelligent mowing device and the channel.

Further, the indication module is a loudspeaker or an indication lamp.

A method of channel identification for an intelligent mowing system, the intelligent mowing system comprising: the intelligent mowing system comprises a physical boundary and intelligent mowing equipment, wherein the physical boundary is arranged around a driving area, and the driving area comprises at least one first working area, a second working area and a channel for connecting the first working area and the second working area; the intelligent mowing equipment comprises a control module, a positioning module and a channel detection module, wherein the channel detection module comprises a plurality of boundary detectors;

The channel identification method comprises the following steps:

controlling the intelligent mowing apparatus to move along the physical boundary in the working area;

the boundary detector detects the physical boundary;

If the detection result accords with the preset condition related to the channel, controlling the positioning module to acquire the position information when the intelligent mowing accords with the preset condition, and constructing the position information as the channel position information; the preset conditions are associated with corresponding preset attributes, and the preset attributes represent the position relation of the intelligent mowing equipment relative to the channel.

Further, the physical boundary is a wire, alternating current is introduced into the wire, and the boundary detector is an electromagnetic sensor.

Further, the electromagnetic sensor is provided with one, and the preset conditions comprise a first preset condition, and the first preset condition is associated with a first preset attribute;

the first preset condition is as follows: the magnetic field signal intensity of the physical boundary detected by the sensor is changed from weakening to strengthening;

the first preset attribute characterizes that the intelligent mowing apparatus is passing through the center of the channel.

Further, the preset conditions further comprise a second preset condition and a third preset condition, which are respectively associated with the second preset attribute and the third preset attribute;

the second preset condition is: the magnetic field intensity of the physical boundary detected by the sensor is smaller than a first preset threshold value, and the second preset attribute represents that the intelligent mowing equipment is close to the channel;

The third preset condition is: the detected magnetic field strength of the physical boundary is greater than a second predetermined threshold, and the third preset attribute characterizes that the intelligent mowing equipment exits the channel.

Further, the electromagnetic sensor comprises a front end sensor and a rear end sensor, wherein one front end sensor and one rear end sensor are respectively arranged;

the two sensors are arranged on the central axis, and the central axis refers to a central line extending from the front end of the intelligent mowing equipment to the rear end.

Further, if the magnetic field strength detected by the front end sensor is R1, the magnetic field strength detected by the rear end sensor is R2;

the preset conditions comprise first preset conditions, and the first preset conditions are associated with first preset attributes;

The first preset condition includes: R1/R2 is more than or equal to 0.85 and less than or equal to 1.15, R1 is in an increasing state, and R2 is in a decreasing state; the first preset attribute characterizes that the intelligent mowing apparatus is passing through the center of the channel.

Further, the preset conditions further comprise a second preset condition and a third preset condition, which are respectively associated with the second preset attribute and the third preset attribute;

The second preset condition is: r1 is less than R2, and R1 and R2 are both in a reduced state; the second preset attribute characterizes that the intelligent mowing equipment is close to the channel;

The third preset condition is: r2 is less than R1, and R1 and R2 are both in an increased state; and the third preset attribute characterizes that the intelligent mowing equipment exits the channel.

Further, the method comprises the steps of,

The second preset condition further includes: the reduction speed of R1 is faster than that of R2;

The third preset condition further includes: the rate of increase of R2 is faster than the rate of increase of R1.

Further, the electromagnetic sensor includes an inner sensor and an outer sensor symmetrically arranged on the intelligent mowing apparatus with respect to a central axis, the central axis referring to a center line extending from a front end of the intelligent mowing apparatus to a rear end direction;

the inner side sensor and the outer side sensor are respectively provided with two sensors, and the inner side sensor and the outer side sensor are respectively arranged along a direction parallel to the central axis.

Further, if R1 'represents the magnetic field signal strength of the outer front sensor, R2' represents the magnetic field signal strength of the inner front sensor; r3 'represents the magnetic field signal intensity of the outer back-end sensor, and R4' represents the magnetic field signal intensity of the inner back-end sensor; wherein the outer side refers to the side of the intelligent mowing equipment far away from the physical boundary, and the inner side refers to the side close to the physical boundary;

the preset conditions include a first preset condition, the first preset condition being associated with a first preset attribute;

the first preset condition includes: r1'/R3' < 1.15,0.85 ' < R2'/R4' < 1.15, and 0.85 < R2' -R1 ')/(R4 ' -R3 ') < 1.15; the first preset attribute characterizes that the intelligent mowing apparatus is passing through the center of the channel.

Further, the preset conditions further comprise a second preset condition and a third preset condition, which are respectively associated with the second preset attribute and the third preset attribute;

The second preset condition is: r1 '/R3'. Ltoreq.1.15, R4 '> R2'; the second preset attribute characterizes that the intelligent mowing equipment approaches the channel;

The third preset condition is: r1 '/R3'. Ltoreq.1.15, R2 '> R4'; and the third preset attribute characterizes that the intelligent mowing equipment exits the channel.

Further, the method further comprises a checking step of judging whether the running of the intelligent mowing equipment meets the detection condition, and the checking step comprises the following steps:

Before the intelligent mowing apparatus approaches the channel, ensuring that the intelligent mowing apparatus walks a predetermined distance along the physical boundary;

And

After the intelligent mowing apparatus exits the channel, the intelligent mowing apparatus is ensured to walk a predetermined distance along the physical boundary.

Further, the method also comprises the step of marking the channel position on a map and storing the channel position.

The invention has the advantages that:

According to the intelligent mowing system and the channel identification method, external guide equipment is not required to be additionally arranged, the identification and marking of the channel entrance can be realized by means of the boundary identification sensor arranged on the mowing equipment, the redundancy and the complex test method of the structure are avoided, and the robot can find a possible narrow channel entrance and record the position coordinates of the narrow channel entrance in the operation process; the operation is simple, the reliability is high, and the cost of equipment is effectively reduced.

Drawings

FIG. 1 is a schematic diagram of an intelligent mowing system according to the present invention;

FIG. 2 is a flow chart of the operation of the intelligent mowing system of the present invention;

FIG. 3 is a schematic view of a first embodiment of an intelligent mowing apparatus according to the present invention;

FIGS. 4-7 are flowcharts illustrating the identification of a channel of the intelligent mowing system according to the first preferred embodiment of the present invention;

FIG. 8 is a schematic diagram of a second embodiment of the intelligent mowing apparatus according to the present invention;

FIGS. 9-12 are flow charts of channel identification for a smart grass cutting system in accordance with a second preferred embodiment of the present invention;

FIG. 13 is a schematic view of a third embodiment of the intelligent mowing apparatus according to the present invention;

fig. 14-17 are flowcharts of a channel identification process for the intelligent mowing system in accordance with a third preferred embodiment of the present invention.

Reference numerals illustrate:

100-physical boundaries;

200-intelligent mowing equipment; 210-a controller; 220-a positioning module; 230-a channel detection module; 240-an indication module; 250-a memory module; 260-a communication module;

300-central axis;

400-driving area; 410-working area; 420-channel.

Detailed Description

The invention describes an intelligent mowing system, as shown in fig. 1, comprising a physical boundary 100, an intelligent mowing apparatus 200.

Referring to fig. 1, a physical boundary 100 is disposed around a travel zone 400 for defining travel of the intelligent mowing apparatus, and the physical boundary 100 is generally joined end-to-end to enclose the travel zone 400. The physical boundary 100 may be a physical boundary or a virtual boundary signal, such as an electromagnetic signal or an optical signal, which is sent by a wire, a signal emitting device, or the like.

The physical boundary 100 in the invention is a wire, and periodically-changing alternating current is introduced into the wire, so that periodic magnetic fields are generated near the inner side and the outer side of the physical boundary 100 (wherein the inner side refers to the area enclosed by the physical boundary 100, namely, the running area, and the outer side refers to the area enclosed by the physical boundary), and the magnetic field signals are stronger when the magnetic field signals are closer to the physical boundary 100.

Referring to fig. 1, the driving area 400 of the present invention includes a working area 410 and a passage 420, wherein the working area 410 includes at least one first working area and at least one second working area, and the passage 420 connects the first working area and the second working area; the working area 410 in the present invention refers to an area where mowing operations can be performed, such as a forecourt and a backyard, and the channel 420 refers to a narrow channel between two working areas 410, which is generally set up for facilitating the intelligent mowing apparatus 200 to travel from one working area to another working area, and it should be noted that the narrow channel in the present invention refers to a channel having a width of no more than two meters.

As shown in fig. 3, 8 and 13, the intelligent mowing apparatus 200 according to the present invention is a schematic structural diagram, wherein the intelligent mowing apparatus 200 includes a control module 210, and a working module, a positioning module 220, a channel detecting module 230, an indicating module 240, a storage module 250, and the like connected thereto.

The intelligent mowing apparatus 200 includes a body housing in which a control module 210, a positioning module 220, a channel detection module 230, an indication module 240, and a storage module 250 are all mounted. The control module 210 is configured to receive signals sent by the channel detection module 230 and the positioning module 220, send control instructions to each module, and store relevant parameters of the intelligent mowing apparatus 200 in a working process, information returned by the positioning module 220 and the channel detection module 230, and the like in the storage module 250, where the storage module 250 may also store a control program.

Of course, a control panel may be further disposed on the body of the intelligent mowing apparatus 200, for a user to input an operation instruction, etc.; or a mobile terminal for inputting operation instructions by a user may be provided, and the mobile terminal is in communication connection with the intelligent mowing apparatus 200 through the communication module 260.

The working module comprises a blade for mowing, a blade motor for driving the blade, and the like, and the structure of the working module adopts a conventional cutter disc and a driving transmission structure in the field, and is not described herein. The control module 210 is used for controlling the start and stop of the working module of the intelligent mowing apparatus 200.

The channel detection module 230 comprises a plurality of boundary detectors arranged in the housing of the intelligent mowing apparatus 200; the boundary detector may detect and identify the physical boundary 100, the control module 210 analyzes and obtains a judgment parameter according to a detection result of the boundary detector 232, and when the judgment parameter meets a preset condition, the control module 210 controls the positioning module 220 to collect current position information of the intelligent mowing apparatus 200, and according to the position information of the intelligent mowing apparatus 200, the position of the channel 420 is obtained and marked in a map. It will be appreciated that the above procedure may be implemented by a program preset in the memory module 250.

Wherein the positioning module 220 may receive positioning signals from any one or more of GPS, inertial measurement component, odometer. The positioning module 220 of the present invention is configured to obtain position data of the intelligent mowing apparatus 200, where the position data refers to position coordinates and direction information of the intelligent mowing apparatus 200.

When the intelligent mowing apparatus 200 is operating, it may be positioned using only the GPS positioning signal, at which time the real-time position data and the direction data of the intelligent mowing apparatus 200 are determined according to the GPS position signal received by the intelligent mowing apparatus mobile station; of course, the inertial measurement component and the odometer can be utilized to calculate and acquire the position information of the intelligent mowing equipment when the GPS signal is weak; or comprehensively judging the data of the GPS, the inertia measurement assembly and the odometer, and then acquiring the position information of the intelligent mowing equipment. It can be appreciated that there may be various positioning manners, as long as the coordinates and directions of the various places passed by the automatic intelligent mowing apparatus 200 in the running process can be obtained, and the position information is sent to the storage module 250 for storage after being obtained.

The intelligent mowing apparatus 200 of the present invention further comprises an indication module 240 arranged on the intelligent mowing apparatus 200, wherein the indication module 240 receives the signal indication of the control module 210 to feed back the position relationship between the intelligent mowing apparatus 200 and the channel 420. For example: the indication module 240 is a speaker, when the intelligent mowing apparatus 200 approaches the channel 420, a prompt tone can be sent out, and the position relationship between the intelligent mowing apparatus 200 and the channel 420 can be reflected by setting the sound of the prompt tone to be louder or the sound frequency of the prompt tone to be faster when the intelligent mowing apparatus 200 passes through the center line position of the channel 420, and the prompt tone is loudest or the sound frequency of the prompt tone is fastest when the intelligent mowing apparatus 200 passes through the center line position of the channel 420.

Or the indication module 240 may also use an indication lamp, when the intelligent mowing apparatus 200 approaches the channel 420, the indication lamp starts to flash, the faster the indication lamp approaches the channel 420, so as to reflect the position relationship between the intelligent mowing apparatus 200 and the channel 420, and when the intelligent mowing apparatus 200 passes through the center line position of the channel 420, the flash frequency of the indication lamp is the fastest.

Specifically, the boundary detector of the present invention employs electromagnetic sensors for sensing the magnetic field generated by the physical boundary 100. Wherein the boundary detector of the present invention may be provided with one as shown in fig. 3, two as shown in fig. 8, or four as shown in fig. 13. Different numbers of sensors can be arranged to obtain the position information of the narrow channel by adopting different judging modes.

Of course, the intelligent mowing system of the invention can also be applied to the channel identification in intelligent equipment such as snowplow, dust collector, sweeper and the like.

The intelligent mowing system can realize the identification and marking of the channel by means of the boundary identification sensor arranged on the mowing equipment without external guiding equipment, avoids the complex and complicated test method of the structure, has simple operation and high reliability, and effectively reduces the cost of the equipment.

Referring to fig. 2, a method for identifying a channel of the intelligent mowing system in the invention is described:

the intelligent mowing apparatus 200 is activated.

The intelligent mowing apparatus 200 is maintained to travel within the current work area 410 and moves in a direction approaching the physical boundary 100, and the boundary detector detects the arrival at a predetermined interval from the vicinity of the physical boundary 100, and the adjustment direction is maintained to travel along the physical boundary 100 while being parallel to the front work area 410 at the predetermined interval from the physical boundary 100.

The boundary detector detects the physical boundary 100 and records the detection result to the storage module 250, the control module 210 processes the detection result of the analysis channel detection module 230 and judges whether the detection result meets the preset condition related to the channel, if so, the detection result gives the preset attribute related to the detection result according to the preset condition, and the control module 220 is controlled to acquire the position information of the intelligent mowing device 200 when the detection result meets the preset condition. The preset attribute characterizes a positional relationship of the intelligent mowing apparatus 200 with respect to the channel 420 of the channel.

And finally, marking the acquired position information on a map as a channel position.

According to the channel identification method, the identification and marking of the channel can be realized by means of the boundary detector of the mowing equipment, and a guide device is not required to be additionally constructed, so that a robot can find a possible narrow channel entrance in the operation process and record the position coordinates of the narrow channel entrance; the operation is simple, the reliability is high, and the cost of equipment is effectively reduced.

The working mode of the intelligent mowing system of the invention is described below by combining different setting numbers and detection modes of the sensors.

Referring to fig. 3, in a first preferred embodiment of the present invention, 1 boundary detector is provided, wherein one of the boundary detectors in the first preferred embodiment is disposed on a central axis 300 of the body, which may be disposed at a front end, a center or a rear end of the intelligent mowing apparatus 200, wherein the front end refers to a head portion (e.g., right side in fig. 3) when the intelligent mowing apparatus is normally advanced, and the rear end refers to a tail portion (e.g., left side in fig. 3) when the intelligent mowing apparatus is normally advanced.

The intelligent mowing apparatus 200 has a horizontal central axis 300, the central axis 300 divides the fuselage into an inner side and an outer side, wherein when the intelligent mowing apparatus 200 travels normally along the physical boundary 100, the side close to the physical boundary 100 is the inner side, and the side far from the physical boundary 100 is the outer side.

In the first preferred embodiment the boundary detector is an electromagnetic sensor, the strength of the magnetic field signal detected by which is denoted by R.

The preset conditions comprise a first preset condition, a second preset condition and a third preset condition, wherein the first preset condition is associated with a first preset attribute, the second preset condition is associated with a second preset attribute, and the third preset condition is associated with a third preset attribute.

The settings of the preset conditions and preset attributes in the first preferred embodiment of the present invention are as follows:

the first preset condition is as follows: the magnetic field signal intensity R of the physical boundary detected by the boundary detector is changed from decrease to increase; the first preset attribute characterizes the intelligent mowing apparatus 200 as passing through the center of the channel 420.

If the detected result of the boundary detector meets the above change rule, the positioning module 220 is controlled to collect the position information, and the position information when the intelligent mowing apparatus 200 meets the first preset condition is collected and sent to the storage module 250.

The second preset condition is: the magnetic field intensity detected by the boundary detector is smaller than a first preset threshold value; the second preset attribute characterizes the intelligent mowing apparatus 200 being proximate to the channel 420.

The third preset condition is: the magnetic field intensity detected by the boundary detector is larger than a second preset threshold value; the third preset attribute characterizes the intelligent mowing apparatus being driven out of the channel 420.

In this embodiment, the change of the magnetic field strength R may be represented by using the electromagnetic signal change rate P as a judging parameter, where the electromagnetic signal change rate P refers to the change rate of the magnetic field strength R with time, and if P is positive, it indicates that the magnetic field signal is enhanced, and if P is negative, it indicates that the magnetic field signal is weakened; specifically P is the second derivative of R with respect to time, then correspondingly:

The first preset condition is: p changes from negative to positive;

The second preset condition is: p < -a < 0, -a is a preset threshold;

The third preset condition is: p > b > 0, b is another preset threshold, and the values of a and b can be set by combining the magnetic field intensity generated by the periphery of the physical boundary and the distance between the intelligent mowing equipment and the physical boundary.

When P meets the first preset condition, the control module 210 sends a position detection signal to the positioning module 220, and the positioning module 220 detects and records the position information of the current intelligent mowing apparatus 200 and stores the feedback to the storage module 250.

After the position information acquisition is completed, the acquired channel position information can be marked in a map.

Of course, to ensure the accuracy of the detection result, the first preferred embodiment further includes a verification step for determining whether the running of the intelligent mowing apparatus 200 meets the detection condition, where the verification step includes:

ensuring that the intelligent mowing apparatus 200 walks a predetermined distance along the physical boundary 100 before the intelligent mowing apparatus 200 approaches the aisle 420;

and/or ensure that the intelligent mowing apparatus 200 walks a predetermined distance along the physical boundary 100 after the intelligent mowing apparatus 200 exits the aisle 420.

Specifically, whether the detection result of the boundary detector meets the check condition is determined, the check condition is that R is in a predetermined numerical range within a preset time, and if the detection result of the boundary detector meets the check condition, the intelligent mowing apparatus 200 travels a predetermined distance along the physical boundary 100.

As the distance between the boundary detector and the physical boundary 100 changes once, the strength of the detected magnetic field signal changes, the accuracy of the channel identification can be further improved by setting the verification step, and the occurrence of false detection caused by the position deviation of the intelligent mowing equipment 200 can be avoided.

Referring to fig. 4-7, a flow chart of identifying a channel of the intelligent mowing system according to a first preferred embodiment of the present invention is shown as follows:

referring to fig. 4, the intelligent mowing apparatus 200 receives the control signal, and the channel recognition process starts;

s101: approaching to the physical boundary, entering into a boundary line walking recognition mode, and entering into step S102;

s102: judging whether the detection result of the boundary detector meets a check condition, wherein the check condition refers to that: the intelligent mowing equipment walks along the physical boundary for a preset distance at preset intervals from the physical boundary;

If yes, go to S103;

if not, returning to S101;

referring to fig. 5, S103: the intelligent mowing equipment runs at a preset interval from the physical boundary, and is controlled to keep straight, and the step S104 is performed;

s104: judging whether the detection result of the boundary detector meets a second preset condition or not; wherein the second preset condition is the second preset condition described in the first preferred embodiment;

If yes, go to S105;

if not, returning to S103;

S105: the intelligent mowing equipment approaches the channel, controls the intelligent mowing equipment to keep straight, and proceeds to step S106;

s106: judging whether the detection result meets a first preset condition or not, wherein the first preset condition is the first preset condition recorded in the first preferred embodiment;

If yes, go to S107;

if not, returning to S105;

referring to fig. 6, S107: the intelligent mowing equipment is passing through the symmetry center of the narrow channel, is controlled to keep straight, and goes to step S108;

S108: the control positioning module collects and records the position information of the intelligent mowing equipment, and the step S109 is carried out;

S109: judging whether the detection result meets a third preset condition; wherein the third preset condition is the third preset condition as described in the first preferred embodiment;

If yes, enter S110;

if not, returning to S108;

Referring to fig. 7, S110: the intelligent mowing equipment is driven away from the narrow channel, keeps the intelligent mowing equipment moving straight, and enters step S111;

S111: judging whether the detection result meets the verification condition;

if yes, entering S112;

If not, return to S110.

S112: and after the intelligent mowing equipment runs at a preset interval from the physical boundary, ending the channel identification process.

Of course, the step of marking the position of the channel 420 on the map and storing it may be further included after the step S108, thereby marking the center position of the channel.

Of course, steps S104 and S109 may also be similarly followed by a step of recording the mower position information and marking the corresponding information on a map and storing, thereby marking the start point and end point positions in the width direction of the passage. Referring to fig. 8, in a second preferred embodiment of the present invention, two boundary detectors are provided on the central axis 300 of the body, and the two boundary detectors are respectively provided at the front end and the rear end of the intelligent mowing apparatus 200, wherein the front end refers to the head portion when the intelligent mowing apparatus normally advances (i.e., the right side in fig. 8), and the rear end refers to the tail portion when the intelligent mowing apparatus normally advances (i.e., the left side in fig. 8). Specifically, the mounting positions of the two boundary detectors R1, R2 are shown in fig. 8.

The intelligent mowing apparatus 200 has a horizontal central axis 300, the central axis 300 divides the fuselage into an inner side and an outer side, wherein when the intelligent mowing apparatus 200 travels normally along the physical boundary, the side close to the physical boundary 100 is the inner side, and the side far from the physical boundary is the outer side.

Of course, the straight line passing through the positions of the two boundary detectors may not coincide with the central axis, and the two boundary detectors may be respectively disposed at the front end and the rear end and the straight line is parallel to the central axis.

The boundary detector in the second preferred embodiment is an electromagnetic sensor, wherein the second preferred embodiment includes two electromagnetic sensors, respectively, a front sensor (i.e., the boundary detector located on the right side in fig. 8), and the strength of the detected magnetic field signal is denoted by R1; and a back-end sensor (i.e., boundary detector located on the left side in fig. 8) whose detected magnetic field signal strength is denoted by R2.

The preset conditions comprise a first preset condition, a second preset condition and a third preset condition, wherein the first preset condition is associated with a first preset attribute, the second preset condition is associated with a second preset attribute, and the third preset condition is associated with a third preset attribute.

The settings of the preset conditions and preset attributes in the second preferred embodiment of the present invention are as follows:

The first preset condition is as follows: R1/R2 is more than or equal to 0.85 and less than or equal to 1.15, R1 is in an increasing state, and R2 is in a decreasing state; the first preset attribute characterizes the intelligent mowing apparatus 200 as passing through the center of the channel 420.

The second preset condition is: r1 is less than R2, and R1 and R2 are both in a reduced state; the second preset attribute characterizes the proximity of the intelligent mowing apparatus 200 to the area of the channel 420.

The third preset condition is: r2 is less than R1, and R1 and R2 are both in an increased state; the third preset attribute characterizes the intelligent mowing apparatus exiting the channel 420.

If the detected result of the boundary detector meets the change rule of the first preset condition, the positioning module 220 is controlled to perform position information collection, and the position information of the intelligent mowing device 200 at the moment is collected and sent to the storage module 250.

In this embodiment, the electromagnetic signal change rates P1 and P2 may be used as evaluation parameters to represent the changes of the magnetic field intensities of the front end sensor and the rear end sensor, where the electromagnetic signal change rates P1 and P2 represent the change rates of the detection results R1 and R2 of the boundary detector with time, respectively, if P is positive, the magnetic field signal is enhanced, if P is negative, the magnetic field signal is reduced, and if the absolute value of P is greater, the change is greater, specifically, P is the second derivative of R with respect to time; then:

the first preset condition is: R1/R2 is more than or equal to 0.85 and less than or equal to 1.15, P1 is more than 0, and P2 is less than 0;

The second preset condition is: r1 is less than R2, P1 is less than-c is less than P2 is less than 0;

The third preset condition is: r2 is less than R1, P2 is more than d is more than P1 is more than 0; wherein, c and d are positive numbers, and the values of c and d can be combined with the magnetic field intensity generated by the periphery of the physical boundary and the distance between the intelligent mowing equipment and the physical boundary.

When the first preset condition is met, the control module sends a position detection signal to the positioning module 220, and the positioning module 220 detects and records the position information of the current intelligent mowing apparatus 200 and stores the feedback to the storage module 250.

After the detection is completed, the obtained position information of the narrow channel can be marked into a map.

Of course, to ensure the accuracy of the detection result, the method further includes a checking step for determining whether the running of the intelligent mowing apparatus 200 meets the borderline running condition, including:

ensuring that the intelligent mowing apparatus 200 walks a predetermined distance along the physical boundary 100 before the intelligent mowing apparatus 200 approaches the aisle 420;

And ensuring that the intelligent mowing apparatus 200 walks a predetermined distance along the physical boundary 100 after exiting the aisle 420.

Specifically, whether the detection result of the boundary detector meets the check condition can be judged, and the check condition is that the R1 and the R2 are in a predetermined range within a preset running time, and if the detection result meets the check condition, the intelligent mowing device 200 runs a distance along the boundary.

As the detected magnetic field signal intensity changes once the distance between the boundary detector and the physical boundary 100 changes, the accuracy of identifying the narrow channel can be further improved by setting the verification step, and false detection caused by the position deviation of the intelligent mowing equipment 200 is avoided.

The embodiment further includes a fourth preset condition and a fifth preset condition, and a fourth preset attribute and a fifth preset attribute associated with the fourth preset condition and the fifth preset condition respectively.

The fourth preset condition is as follows: r1 is less than R2, and P2 is less than P1 and less than 0; the fourth preset attribute characterizes that the intelligent mowing device is positioned in a narrow channel and runs towards the center of the approaching channel;

The fifth preset condition is: r2 is less than R1, and 0 < P2 < P1; a fifth preset attribute characterizes the intelligent mowing apparatus being located in a narrow aisle and traveling away from the aisle center.

Of course, as an alternative embodiment, it may also be configured that when the first to fifth preset conditions are met, the positioning module 220 respectively collects and records the position information of the current intelligent mowing device 200, and through the above operation, not only the center position of the channel can be marked, but also the entering position, the exiting position, and the like of the opening of the channel can be perfected, so that the position, the width, and other information of the channel are perfected.

Referring to fig. 9-12, a flow chart of identifying a channel of the intelligent mowing system according to a second preferred embodiment of the present invention is shown as follows:

The intelligent mowing equipment receives the control signal, and a channel identification process starts;

referring to fig. 9, S201: approaching the physical boundary, entering a boundary line walking recognition mode, and entering step S202;

S202: judging whether the detection result of the boundary detector meets a check condition, wherein the check condition refers to that: the intelligent mowing equipment walks along the physical boundary for a preset distance at preset intervals from the physical boundary;

if yes, go to S203;

if not, returning to S201;

Referring to fig. 10, S203: the intelligent mowing equipment runs at a preset interval from the physical boundary, and is controlled to keep straight, and the step S204 is performed;

s204: judging whether the detection result meets a second preset condition; wherein the second preset condition is the second preset condition described in the second preferred embodiment;

If yes, go to S205;

if not, returning to S203;

S205: the intelligent mowing equipment approaches the channel area, the intelligent mowing equipment is controlled to keep straight, and step S206 is carried out;

s206: judging whether the detection result meets a fourth preset condition; wherein the fourth preset condition is the fourth preset condition described in the second preferred embodiment;

If yes, go to S207;

if not, returning to S205;

Referring to fig. 11, S207: the intelligent mowing equipment enters a narrow channel, runs towards the center of the channel, controls the mowing equipment to keep straight, and enters step S208;

S208: judging whether the detection result meets a first preset condition; wherein the first preset condition is the first preset condition described in the second preferred embodiment;

If yes, go to S209;

If not, returning to S207;

s209: the intelligent mowing device is passing through the symmetry center of the narrow channel, the intelligent mowing device is controlled to keep straight, and step S210 is carried out;

S210: the control positioning module collects and records the position information of the intelligent mowing equipment, and the step S211 is carried out;

s211: judging whether the detection result meets a fifth preset condition, wherein the fifth preset condition is the fifth preset condition described in the second preferred embodiment;

if yes, go to S212;

if not, returning to S209;

Referring to fig. 12, S212: the intelligent mowing equipment runs in the direction away from the center of the channel, and is controlled to keep straight, and the step S213 is performed;

S213: judging whether the detection result meets a third preset condition, wherein the third preset condition is the third preset condition described in the second preferred embodiment;

If yes, go to S214;

if not, returning to S212;

S214: the intelligent mowing equipment is driven away from the narrow channel, the intelligent mowing equipment is controlled to keep straight, and step S215 is performed;

s215: judging whether the detection result accords with a check condition, wherein the check condition refers to that: the intelligent mowing equipment walks along the physical boundary for a preset distance at preset intervals from the physical boundary; ;

If yes, go to S216;

If not, return to S214.

S216: after the intelligent mowing equipment runs at a preset interval from the physical boundary, ending the channel identification process;

of course, the step S210 may be followed by a step of marking the position of the channel 420 on a map and storing the same, thereby marking the center position of the channel.

Of course, steps S204 and S213 may also be similarly followed by a step of recording the mowing device position information and marking the corresponding information on a map and storing, thereby marking the start and end positions in the channel width direction.

Of course, step S206 and step S211 may not be included as alternative embodiments.

Referring to fig. 13, in the third preferred embodiment of the present invention, four boundary detectors are provided, the intelligent mowing apparatus 200 has a horizontal central axis 300, and the central axis 300 divides the body into inner and outer sides, wherein when the intelligent mowing apparatus 200 travels normally along the physical boundary, a side close to the physical boundary 100 is an inner side (i.e., a lower side of the mowing apparatus 200 in fig. 1 is an inner side), and a side far from the physical boundary is an outer side (i.e., an upper side of the mowing apparatus 200 in fig. 1 is an outer side).

As shown in fig. 13, wherein four boundary detectors include an inside sensor and an outside sensor symmetrically arranged on the intelligent mowing apparatus 200 with respect to a central axis 300, the central axis 300 referring to a center line extending from a front end of the intelligent mowing apparatus toward a rear end direction; the two inner side sensors and the two outer side sensors are respectively arranged at the front end (the front end on the right side of the mowing device 200 in fig. 1) and the rear end (the rear end on the left side of the mowing device 200 in fig. 1) of the intelligent mowing device, respectively, and the straight lines where the two inner side sensors are positioned are parallel to the central axis 300; likewise, the straight lines of the two outer sensors are also parallel to the central axis 300, and the two outer sensors are also respectively arranged at the front end and the rear end of the intelligent mowing apparatus 200.

In the third preferred embodiment, the boundary detector is an electromagnetic sensor, and the detected magnetic field signal strength is denoted by R, specifically, R1 'denotes the magnetic field signal strength of the outer front end sensor (i.e., the electromagnetic sensor in the upper right corner in fig. 13), and R2' denotes the magnetic field signal strength of the inner front end sensor (i.e., the electromagnetic sensor in the lower right corner in fig. 13); r3 'represents the magnetic field signal strength of the outside rear end sensor (i.e., the electromagnetic sensor in the upper left corner in fig. 13), and R4' represents the magnetic field signal strength of the inside rear end sensor (i.e., the electromagnetic sensor in the lower left corner in fig. 13).

The preset conditions comprise a first preset condition, a second preset condition and a third preset condition, wherein the first preset condition is associated with a first preset attribute, the second preset condition is associated with a second preset attribute, and the third preset condition is associated with a third preset attribute.

The settings of the preset conditions and preset attributes in the third preferred embodiment of the present invention are as follows:

The first preset condition is as follows: r1 '. Ltoreq.R3'. Ltoreq. 1.15,0.85.ltoreq.R2 '/R4'. Ltoreq.1.15, and 0.85.ltoreq.R 2 '-R1')/(R4 '-R3'). Ltoreq.1.15, wherein R2'-R1' > 0, R4'-R3' > 0; the first preset attribute characterizes the intelligent mowing apparatus 200 being passed through the center of the narrow channel 420. If the detected result of the boundary detector meets the change rule, the positioning module 220 is controlled to collect the position information, and the position information of the intelligent mowing apparatus 200 at the moment is collected and sent to the storage module 250.

The second preset condition is: r1 '/R3'. Ltoreq.1.15, R4 '> R2'; the second preset attribute characterizes the proximity of the intelligent mowing apparatus 200 to the area of the channel 420.

The third preset condition is: r1 '/R3'. Ltoreq.1.15, R2 '> R4'; the third preset attribute characterizes the intelligent mowing apparatus exiting the channel 420.

Of course, as an alternative embodiment, to further improve the accuracy of the determination;

The second preset condition may be: r1 '/R3'. Ltoreq.1.15, R4 '> R2', and 0 < (R2 '-R1') < (R4 '-R3'); the second preset attribute characterizes the proximity of the intelligent mowing apparatus 200 to the area of the channel 420.

The third preset condition may be: r1 '/R3'. Ltoreq.1.15, R2 '> R4', and 0 < (R4 '-R3') < (R2 '-R1'); the third preset attribute characterizes the intelligent mowing apparatus exiting the channel 420.

When the first preset condition is met, the control module sends a position detection signal to the positioning module 220, and the positioning module 220 detects and records the position information of the current intelligent mowing apparatus 200 and stores the feedback to the storage module 250.

After the detection is completed, the obtained position information of the narrow channel can be marked in the map.

Of course, to ensure the accuracy of the detection result, the method further includes a checking step for determining whether the running of the intelligent mowing apparatus 200 meets the detection condition, including:

ensuring that the intelligent mowing apparatus 200 walks a predetermined distance along the physical boundary 100 before the intelligent mowing apparatus 200 approaches the aisle 420;

And ensuring that the intelligent mowing apparatus 200 walks a predetermined distance along the physical boundary 100 after exiting the aisle 420.

Specifically, whether the detection result of the boundary detector meets the check condition or not can be judged, the specific check condition is that R is in a preset range in preset time, and if the detection result meets the check condition, the intelligent mowing equipment runs for a certain distance along the boundary.

As the detected magnetic field signal intensity changes once the distance between the boundary detector and the physical boundary 100 changes, the accuracy of the narrow channel identification can be further improved by setting the verification step, and false detection caused by the position deviation of the intelligent mowing equipment 200 is avoided.

The embodiment further includes a fourth preset condition and a fifth preset condition, and a fourth preset attribute and a fifth preset attribute associated with the fourth preset condition and the fifth preset condition respectively.

The fourth preset condition is as follows: r1 '/R3'. Ltoreq.1.15, R4 '> R2'; the fourth preset attribute characterizes that the intelligent mowing device is positioned in a narrow channel and runs towards the center of the approaching channel;

the fifth preset condition is: r1 '/R3'. Ltoreq.1.15, R2 '> R4'; a fifth preset attribute characterizes the intelligent mowing apparatus being located in a narrow aisle and traveling away from the aisle center.

As an alternative embodiment, the fourth preset condition may be: r1 '/R3'. Ltoreq.1.15, R4 '> R2', and 0 < (R2 '-R1') < (R4 '-R3'); the fourth preset attribute characterizes that the intelligent mowing device is positioned in a narrow channel and runs towards the center of the approaching channel;

As an alternative embodiment, the fifth preset condition may be: r1 '/R3'. Ltoreq.1.15, R2 '> R4', and 0< (R4 '-R3') < (R2 '-R1'); a fifth preset attribute characterizes the intelligent mowing apparatus being located in a narrow aisle and traveling away from the aisle center.

Of course, it may also be provided that when the first to fifth preset conditions are met, the positioning module 220 respectively collects and records the position information of the current intelligent mowing apparatus 200, and through the above operation, not only the center position of the channel can be marked, but also the entering position, the exiting position, and the like of the opening of the channel can be perfected, so that the position, the width, and the like of the channel are perfected.

Referring to fig. 14-17, a flow chart of identifying a channel of the intelligent mowing system according to a third preferred embodiment of the present invention is shown as follows:

The intelligent mowing equipment receives the control signal, and a channel identification process starts;

Referring to fig. 14, S301: approaching to the physical boundary, entering into a boundary line walking recognition mode, and entering into step S302;

S302: judging whether the detection result of the boundary detector meets a check condition, wherein the check condition refers to that: the intelligent mowing equipment walks along the physical boundary for a preset distance at preset intervals from the physical boundary;

if yes, go to S303;

If not, returning to S301;

Referring to fig. 15, S303: the intelligent mowing equipment runs at a preset interval from the physical boundary, and is controlled to keep straight, and the step S304 is performed;

S304: judging whether the detection result meets a second preset condition; wherein the second preset condition is the second preset condition described in the third preferred embodiment;

if yes, go to S305;

if not, returning to S303;

s305: the intelligent mowing equipment approaches the channel area, the intelligent mowing equipment is controlled to keep straight, and step S306 is carried out;

S306: judging whether the detection result meets a fourth preset condition; wherein the fourth preset condition is the fourth preset condition as described in the above third preferred embodiment;

if yes, go to S307;

If not, returning to S305;

referring to fig. 16, S307: the intelligent mowing equipment enters a narrow channel, runs towards the center of the channel, controls the mowing equipment to keep straight, and enters step S308;

S308: judging whether the detection result meets a first preset condition; wherein the first preset condition is the first preset condition described in the third preferred embodiment;

If yes, go to S309;

If not, returning to S307;

S309: the intelligent mowing device passes through the symmetry center of the narrow channel, the intelligent mowing device is controlled to keep straight, and the step S310 is carried out;

S310: the control positioning module collects and records the position information of the intelligent mowing equipment, and the step S311 is performed;

S311: judging whether the detection result meets a fifth preset condition, wherein the fifth preset condition is the fifth preset condition described in the third preferred embodiment;

if yes, go to S312;

If not, returning to S309;

Referring to fig. 17, S312: the intelligent mowing equipment runs in the direction away from the center of the channel, and is controlled to keep straight, and the step S313 is performed;

s313: judging whether the detection result meets a third preset condition, wherein the third preset condition is the third preset condition described in the third preferred embodiment;

if yes, go to S314;

If not, returning to S312;

S314: the intelligent mowing equipment is driven away from the narrow channel, the intelligent mowing equipment is controlled to keep straight, and step S315 is performed;

s315: judging whether the detection result accords with a check condition, wherein the check condition refers to that: the intelligent mowing equipment walks along the physical boundary for a preset distance at preset intervals from the physical boundary; ;

If yes, go to S316;

If not, return to S314.

S316: after the intelligent mowing equipment runs at a preset interval from the physical boundary, ending the channel identification process;

of course, the step of marking the position of the channel 420 on the map and storing it may be further included after the step S310, thereby marking the center position of the channel.

Of course, steps S304 and S313 may also be similarly followed by a step of recording the mowing device position information and marking the corresponding information on a map and storing, thereby marking the start point and end point positions in the channel width direction.

Of course, step S306 and step S311 may not be included as alternative embodiments.

According to the channel identification method, the identification and marking of the channel can be realized by means of the boundary detector of the mowing equipment, and a guide device is not required to be additionally constructed, so that a robot can find a possible narrow channel entrance in the operation process and record the position coordinates of the narrow channel entrance; the operation is simple, the reliability is high, and the cost of equipment is effectively reduced.

The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be appreciated by persons skilled in the art that the above embodiments are not intended to limit the invention in any way, and that all technical solutions obtained by means of equivalent substitutions or equivalent transformations fall within the scope of the invention.

Claims (20)

1. An intelligent mowing system comprises a physical boundary, wherein the physical boundary is arranged around a driving area, and the driving area comprises at least one first working area, a second working area and a channel for connecting the first working area and the second working area; and

Intelligence grass cutting equipment includes:

A control module;

The control module is connected with the intelligent mowing equipment and used for controlling the intelligent mowing equipment to acquire position information of the intelligent mowing equipment; and

The channel detection module is connected with the control module and comprises a plurality of boundary detectors, the control module controls the intelligent mowing equipment to move along the physical boundary in a working area, and the boundary detectors are used for detecting the physical boundary and are arranged to construct the position information meeting the preset conditions as the channel position information when the detection result meets the preset conditions related to the channel;

The preset conditions comprise first preset conditions, and the first preset conditions are associated with first preset attributes; the first preset condition is that the magnetic field intensity of the physical boundary detected by the boundary detector is changed from weakening to strengthening, and the first preset attribute represents that the intelligent mowing equipment passes through the center of the channel; and/or the preset conditions comprise a second preset condition, and the second preset condition is associated with a second preset attribute; the second preset condition is that the magnetic field intensity of the physical boundary detected by the boundary detector is smaller than a first preset threshold value, and the second preset attribute represents that the intelligent mowing equipment is close to the channel; and/or the preset conditions comprise a third preset condition, and the third preset condition is associated with a third preset attribute; the third preset condition is that the magnetic field intensity of the physical boundary detected by the boundary detector is larger than a second preset threshold value, and the third preset attribute represents that the intelligent mowing equipment exits the channel.

2. The intelligent mowing system according to claim 1, wherein: the physical boundary is a wire, alternating current is introduced into the wire, and the boundary detector is an electromagnetic sensor.

3. The intelligent mowing system of claim 2, wherein: the positioning module receives positioning signals from any one or more of a GPS, an inertial measurement component and an odometer.

4. The intelligent mowing system of claim 2, wherein: the electromagnetic sensors are arranged on the intelligent mowing device, and one electromagnetic sensor is arranged on the intelligent mowing device.

5. The intelligent mowing system of claim 2, wherein: the electromagnetic sensor comprises a front end sensor and a rear end sensor, wherein the front end sensor and the rear end sensor are respectively provided with one electromagnetic sensor;

The two sensors are arranged on a central axis, and the central axis refers to a central line extending from the front end of the intelligent mowing equipment to the rear end.

6. The intelligent mowing system of claim 2, wherein: the electromagnetic sensor comprises an inner sensor and an outer sensor which are symmetrically arranged on the intelligent mowing device relative to a central axis, wherein the central axis refers to a central line extending from the front end of the intelligent mowing device to the rear end;

the inner side sensor and the outer side sensor are respectively provided with two sensors, and the inner side sensor and the outer side sensor are respectively arranged along a direction parallel to the central axis.

7. The intelligent mowing system according to any one of claims 1-6, wherein: the intelligent mowing device also comprises an indication module arranged on the intelligent mowing device, and the indication module indicates and feeds back the position relationship between the intelligent mowing device and the channel.

8. The intelligent mowing system according to claim 7, wherein: the indication module is a loudspeaker or an indication lamp.

9. A method of channel identification for an intelligent mowing system, the intelligent mowing system comprising: the intelligent mowing system comprises a physical boundary and intelligent mowing equipment, wherein the physical boundary is arranged around a driving area, and the driving area comprises at least one first working area, a second working area and a channel for connecting the first working area and the second working area; the intelligent mowing equipment comprises a control module, a positioning module and a channel detection module, wherein the channel detection module comprises a plurality of boundary detectors;

The channel identification method comprises the following steps:

controlling the intelligent mowing apparatus to move along the physical boundary in the working area;

the boundary detector detects the physical boundary;

If the detection result accords with the preset condition related to the channel, controlling the positioning module to acquire the position information when the intelligent mowing accords with the preset condition, and constructing the position information as the channel position information; wherein the preset conditions are associated with corresponding preset attributes that characterize the positional relationship of the intelligent mowing device relative to the channel;

The intelligent mowing equipment comprises a front end sensor and a rear end sensor which are arranged on a central axis, wherein the central axis refers to a central line extending from the front end of the intelligent mowing equipment to the rear end; if the magnetic field intensity detected by the front-end sensor is R1, the magnetic field intensity detected by the rear-end sensor is R2; the preset conditions comprise first preset conditions, and the first preset conditions are associated with first preset attributes; the first preset condition includes: r1 is in an increasing state, and R2 is in a decreasing state; the first preset attribute characterizes that the intelligent mowing apparatus is passing through the center of the channel.

10. The identification method as claimed in claim 9, wherein: the physical boundary is a wire, alternating current is introduced into the wire, and the boundary detector is an electromagnetic sensor.

11. The identification method as claimed in claim 10, wherein: the electromagnetic sensor is provided with one, and the preset conditions comprise a first preset condition, and the first preset condition is associated with a first preset attribute;

the first preset condition is as follows: the magnetic field signal intensity of the physical boundary detected by the sensor is changed from weakening to strengthening;

the first preset attribute characterizes that the intelligent mowing apparatus is passing through the center of the channel.

12. The identification method as claimed in claim 11, wherein: the preset conditions further comprise a second preset condition and a third preset condition which are respectively associated with the second preset attribute and the third preset attribute;

the second preset condition is: the magnetic field intensity of the physical boundary detected by the sensor is smaller than a first preset threshold value, and the second preset attribute represents that the intelligent mowing equipment is close to the channel;

The third preset condition is: the detected magnetic field strength of the physical boundary is greater than a second predetermined threshold, and the third preset attribute characterizes that the intelligent mowing equipment exits the channel.

13. The identification method as claimed in claim 9, wherein: the first preset condition includes: R1/R2 is more than or equal to 0.85 and less than or equal to 1.15.

14. The identification method as claimed in claim 13, wherein: the preset conditions further comprise a second preset condition and a third preset condition which are respectively associated with the second preset attribute and the third preset attribute;

The second preset condition is: r1 is less than R2, and R1 and R2 are both in a reduced state; the second preset attribute characterizes that the intelligent mowing equipment is close to the channel;

The third preset condition is: r2 is less than R1, and R1 and R2 are both in an increased state; and the third preset attribute characterizes that the intelligent mowing equipment exits the channel.

15. The identification method as claimed in claim 14, wherein:

The second preset condition further includes: the reduction speed of R1 is faster than that of R2;

The third preset condition further includes: the rate of increase of R2 is faster than the rate of increase of R1.

16. The identification method as claimed in claim 10, wherein: the electromagnetic sensor comprises an inner side sensor and an outer side sensor which are symmetrically arranged on the intelligent mowing device relative to a central axis, wherein the central axis refers to a central line extending from the front end of the intelligent mowing device to the rear end;

the inner side sensor and the outer side sensor are respectively provided with two sensors, and the inner side sensor and the outer side sensor are respectively arranged along a direction parallel to the central axis.

17. The identification method as claimed in claim 16, wherein: if R1 'represents the magnetic field signal strength of the outer front end sensor, R2' represents the magnetic field signal strength of the inner front end sensor; r3 'represents the magnetic field signal intensity of the outer back-end sensor, and R4' represents the magnetic field signal intensity of the inner back-end sensor; wherein the outer side refers to the side of the intelligent mowing equipment far away from the physical boundary, and the inner side refers to the side close to the physical boundary;

the preset conditions include a first preset condition, the first preset condition being associated with a first preset attribute;

the first preset condition includes: r1'/R3' < 1.15,0.85 ' < R2'/R4' < 1.15, and 0.85 < R2' -R1 ')/(R4 ' -R3 ') < 1.15; the first preset attribute characterizes that the intelligent mowing apparatus is passing through the center of the channel.

18. The identification method as claimed in claim 17, wherein: the preset conditions further comprise a second preset condition and a third preset condition which are respectively associated with the second preset attribute and the third preset attribute;

The second preset condition is: r1 '/R3'. Ltoreq.1.15, R4 '> R2'; the second preset attribute characterizes that the intelligent mowing equipment approaches the channel;

The third preset condition is: r1 '/R3'. Ltoreq.1.15, R2 '> R4'; and the third preset attribute characterizes that the intelligent mowing equipment exits the channel.

19. The identification method according to any one of claims 10 to 18, further comprising a verification step of determining whether the travel of the intelligent mowing apparatus meets a detection condition, the verification step comprising:

Before the intelligent mowing apparatus approaches the channel, ensuring that the intelligent mowing apparatus walks a predetermined distance along the physical boundary;

And

After the intelligent mowing apparatus exits the channel, the intelligent mowing apparatus is ensured to walk a predetermined distance along the physical boundary.

20. The identification method of claim 19, further comprising the step of marking the channel location on a map and storing.