WO2018010650A1 - Automatic operating system and return control method of self-moving gardening apparatus - Google Patents

Automatic operating system and return control method of self-moving gardening apparatus Download PDF

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Publication number
WO2018010650A1
WO2018010650A1 PCT/CN2017/092543 CN2017092543W WO2018010650A1 WO 2018010650 A1 WO2018010650 A1 WO 2018010650A1 CN 2017092543 W CN2017092543 W CN 2017092543W WO 2018010650 A1 WO2018010650 A1 WO 2018010650A1
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guide line
self
moving
distance
automatic
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PCT/CN2017/092543
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French (fr)
Chinese (zh)
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刘芳世
何明明
董永明
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苏州宝时得电动工具有限公司
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Publication of WO2018010650A1 publication Critical patent/WO2018010650A1/en

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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

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  • the problem to be solved by the present invention is to provide an automatic working system with a regression pitch function and a regression control method for a self-moving gardening device.
  • control module controls a distance between the second guide line detecting sensor and the third guide line detecting sensor and the guide line to control a distance between the mobile gardening device and the guide line.
  • a regression control method for a self-moving gardening device comprising the steps of: controlling the movement of the self-moving gardening device along a guide line to a docking station, comprising the steps of: controlling a distance between the self-moving gardening device and a guide line; Controlling the self-moving gardening device to move at least a first predetermined distance parallel to the guide line; controlling the self-mobile gardening device to repeat the above steps.
  • the method further comprises: (101) detecting whether the automatic lawn mower needs to move to the docking station, and entering when the automatic lawn mower needs to move to the docking station The step (102).
  • the method further comprises: (103) controlling the automatic lawn mower to position the boundary line at an intermediate position of the automatic lawn mower.
  • the step (106) further comprises (107) controlling the automatic lawn mower to position the boundary line at an intermediate position of the automatic lawn mower.
  • Fig. 2 is a schematic structural view of an automatic lawn mower according to a first embodiment of the present invention.
  • Figure 8 is a supplementary flow chart of the regression control method of the automatic lawn mower of Figure 2.
  • the automatic working system includes a self-moving gardening device.
  • the self-moving gardening device is an automatic lawn mower.
  • the self-moving gardening device may also be automatic. Snow sweeper, automatic sweeping machine, etc.
  • the automatic working system also includes a docking station, which can be a rest station or a charging station of the automatic lawn mower.
  • the automatic lawn mower further includes a guide line detection module, and the guide line detection module includes at least one guide line detection sensor for detecting a positional relationship between the automatic lawn mower and the guide line.
  • the positional relationship between the automatic lawn mower and the guide line includes one side of the automatic lawn mower on either side of the guide line, or the distance between the automatic lawn mower and the guide line.
  • the guide line includes a boundary line defining a working area of the automatic mower.
  • the guide wire may also be a wire disposed in the work area, which is led out by the docking station for guiding the automatic mower to move to the docking station.
  • the guide line may also be a physical boundary formed by a fence or the like, or a physical boundary formed between the lawn and the non-turf.
  • the guide line detecting sensor can be a camera and a capacitor Sensors and more.
  • the automatic mower is controlled to move in a moving direction parallel to the boundary line, and the moving direction of the automatic mower is substantially parallel to the boundary line.
  • the moving direction of the automatic mower and the boundary line are clamped.
  • the angular angle is less than 5°.
  • the guide line detection module of the automatic mower is further used to detect the inflection point of the limit.
  • the inflection point of the boundary line may be determined according to the change of the boundary signal strength detected by the guide line detecting sensor, and when the inflection point of the boundary line is detected, the automatic mower is periodically or randomly changed. The distance between the boundary lines. Specifically, the change in the positional area where the boundary signal intensity is detected is changed such as increasing or decreasing the distance between the automatic lawn mower and the boundary line.
  • step S240 the moving direction of the automatic mower is not changed.
  • the charging station when the docking station is a charging station, the charging station can be arranged in a cylindrical shape.
  • the charging pole piece is arranged on the upper and lower rings, and the charging interface of the automatic mower is set to U-shaped or V-shaped, so that the automatic mower can realize the precise docking of the automatic mower and the charging station as long as the radial direction of the charging column .
  • the automatic mower is precisely docked with the charging station at any angle in the 360-degree direction.
  • Step S520 controlling the automatic mower to move to the boundary line in the direction in which the boundary signal intensity is strongest.
  • Step S102 controlling the automatic mower to find the boundary line.
  • the automatic mower after the automatic mower receives the pilot signal, it can move to the docking station according to the guidance signal or the guidance of the boundary line. In this embodiment, it is preferable that the automatic lawn mower moves directly along the boundary line when moving to the docking station according to the guidance of the pilot signal.
  • step S140 it may be determined whether the automatic mower moves the distance S by detecting whether the boundary signal strength received by the automatic mower is a preset value M1; or
  • step S106 When the automatic lawn mower is returned to the boundary line by step S106, since the step S104 needs to be repeated again, if the position of the automatic lawn mower is not adjusted to the same posture as that of step S103, the offset of the automatic lawn mower is also caused. Unable to control.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Guiding Agricultural Machines (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

An automatic operating system comprises a self-moving gardening apparatus, a docking station (10) and a guide line. The guide line guides the self-moving gardening apparatus (10) towards the docking station (10). The self-moving gardening apparatus comprises: a housing (3); a movement module (5) installed at the housing (3) and driving the self-moving gardening apparatus to move within an operating region; a guide line detecting module (620), comprising at least one guide line detecting sensor, for detecting a positional relation between the self-moving gardening apparatus and the guide line; and a control module, controlling the movement module (5) to drive and move the self-moving gardening apparatus. In an operating mode, the control module controls the self-moving gardening apparatus to move towards the docking station (10). During the process in which the self-moving gardening apparatus moves along the guide line towards the docking station (10), the control module controls the self-moving gardening apparatus so to change a distance between the self-moving gardening apparatus and the guide line, further controls the self-moving gardening apparatus to move in parallel to the guide line by at least one predetermined distance, and controls the self-moving gardening apparatus to repeat the above steps. A return control method for a self-moving gardening apparatus is further disclosed. The return control method comprises: controlling the self-moving gardening apparatus to move along the guide line towards the docking station (10). The step of controlling the self-moving gardening apparatus to move along the guide line towards the docking station (10) comprises: controlling the self-moving gardening apparatus to change a distance between the self-moving gardening apparatus and the guide line; controlling the self-moving gardening apparatus to move in parallel to the guide line by at least one predetermined distance; and controlling the self-moving gardening apparatus to repeat the above steps.

Description

自动工作***及自移动园艺设备的回归控制方法Automatic working system and regression control method for self-moving gardening equipment 技术领域Technical field
本发明涉及一种自动工作***，及自移动园艺设备的回归控制方法。The invention relates to an automatic working system and a regression control method for a self-moving gardening device.
背景技术Background technique
随着科学技术的发展，智能的自移动设备为人们所熟知，由于自移动设备可以自动预先设置的程序执行预先设置的相关任务，无须人为的操作与干预，因此在工业应用及家居产品上的应用非常广泛。自移动园艺设备属于自移动设备的一种，用于在花园中执行特定任务。自移动园艺设备包括自动割草机，可自动实现对草坪的修剪。自动割草机通常在边界线内工作，为方便充电，边界线上设置有充电站，当自动割草机在修剪草坪电量不足时、避雨、工作完成、或者由于用户发出了回归命令时，可以自动返回充电站进行回归充电。但通常自动割草机回归充电时均沿着固定的线路返回(一般自动割草机均沿着边界线返回充电)，较多次数的沿着同样的路线返回充电，自动割草机会对该线路上的草坪进行反复碾压，导致该路线上的草坪被碾坏，严重时，该路线上的草坪会被碾压成光地。With the development of science and technology, intelligent self-mobile devices are well known. Since mobile devices can automatically perform pre-set tasks in advance, they do not require manual operation and intervention, so they are used in industrial applications and home products. The application is very extensive. Self-mobile gardening equipment is a type of self-mobile device used to perform specific tasks in a garden. Self-moving gardening equipment includes automatic lawn mowers that automatically trim the lawn. The automatic mower usually works in the boundary line. To facilitate charging, a charging station is set on the boundary line. When the automatic mower is not enough to trim the lawn, shelter from the rain, work is completed, or when the user issues a return command, It can automatically return to the charging station for regenerative charging. However, usually the automatic mower returns to the fixed line when it returns to charging (the automatic lawn mower returns to charge along the boundary line), and returns to the same route more times, automatically cutting the machine to the line. The lawn on the lawn is repeatedly crushed, causing the lawn on the route to be crushed. In severe cases, the lawn on the route will be crushed into light.
发明内容Summary of the invention
为克服现有技术的缺陷，本发明所要解决的问题是提供一种具有回归变距功能的自动工作***，以及自移动园艺设备的回归控制方法。In order to overcome the deficiencies of the prior art, the problem to be solved by the present invention is to provide an automatic working system with a regression pitch function and a regression control method for a self-moving gardening device.
本发明解决现有技术问题所采用的技术方案是：The technical solution adopted by the present invention to solve the prior art problem is:
一种自动工作***，包括自移动园艺设备、停靠站以及引导线，所述引导线用于将所述自移动园艺设备向停靠站引导；所述自移动园艺设备包括：壳体；移动模块，安装于壳体，带动自移动园艺设备在工作区域内移动；引导线侦测模块，包括至少一个引导线检测传感器，用于检测自移动园艺设备与引导线之间的位置关系；控制模块，控制所述移动模块带动自移动园艺设备移动；一工作模式下，所述控制模块控制自移动园艺设备沿所述引导线向停靠站移动；所述自移动园艺设备沿所述引导线向停靠站移动的过程中，所述控制模块控制所述自移动园艺设备改变自身与引导线之间的距离，然后控制所述自移动园艺设备平行于所述引导线移动至少第一预设距离，并控制所述自移动园艺设备重复上述步骤。 An automatic working system comprising a self-moving gardening device, a docking station and a guide line for guiding the self-moving gardening device to a docking station; the self-moving gardening device comprising: a housing; a moving module, Installed in the casing to drive the self-moving gardening equipment to move in the working area; the guiding line detecting module includes at least one guiding line detecting sensor for detecting the positional relationship between the self-moving gardening equipment and the guiding line; the control module, the control The mobile module drives movement from the mobile gardening device; in a working mode, the control module controls movement of the self-moving gardening device along the guiding line to the docking station; the self-moving gardening device moves along the guiding line to the docking station The control module controls the self-moving gardening device to change the distance between itself and the guide line, and then controls the self-moving gardening device to move at least a first predetermined distance parallel to the guide line, and controls the Repeat the above steps from the mobile gardening equipment.
优选的,所述自移动园艺设备沿引导线向停靠站移动的过程中，所述自移动园艺设备平行于所述引导线移动经过的距离，与自移动园艺设备沿引导线移动的起点和终点之间引导线的长度的比值大于等于3:1。Preferably, during the movement of the self-moving gardening device to the docking station along the guiding line, the distance moved by the self-moving gardening device parallel to the guiding line, and the starting point and the ending point of the self-moving gardening device moving along the guiding line The ratio of the length of the guide line is greater than or equal to 3:1.
优选的,所述第一预设距离大于等于3m。Preferably, the first preset distance is greater than or equal to 3 m.
优选的,所述壳体包括平行于移动方向的长度方向，所述第一预设距离大于等于壳体长度的6倍。Preferably, the housing includes a longitudinal direction parallel to the moving direction, and the first predetermined distance is greater than or equal to 6 times the length of the housing.
优选的,所述引导线侦测模块包括第一引导线检测传感器和第二引导线检测传感器，用于检测自身位于引导线两侧中的其中一侧。Preferably, the guide line detecting module includes a first guide line detecting sensor and a second guiding line detecting sensor for detecting one side of one of the two sides of the guiding line.
优选的,所述引导线生成引导线信号，所述第一或第二引导线检测传感器检测引导线信号的相位，所述控制模块基于所述第一或第二引导线检测传感器检测到的引导线信号的相位判断其位于引导线两侧中的其中一侧。Preferably, the guide line generates a guide line signal, the first or second guide line detection sensor detects a phase of the guide line signal, and the control module detects the guidance detected by the sensor based on the first or second guide line The phase of the line signal is judged to be located on one of the two sides of the guide line.
优选的,所述控制模块控制所述自移动园艺设备以所述第一引导线检测传感器和所述第二引导线检测传感器分别位于引导线两侧的姿态移动，以使得所述自移动园艺设备的移动方向与引导线平行。Preferably, the control module controls the self-moving gardening device to move the posture of the first guide line detecting sensor and the second guiding line detecting sensor on both sides of the guiding line, respectively, so that the self-moving gardening device The direction of movement is parallel to the guide line.
优选的,所述壳体包括纵轴线；所述引导线侦测模块包括第二引导线检测传感器和第三引导线检测传感器，用于检测自身与引导线之间的距离；所述第二引导线检测传感器和第三引导线检测传感器设置于壳体的纵轴线的同一侧，且与纵轴线的距离一致。Preferably, the housing includes a longitudinal axis; the guide line detecting module includes a second guiding line detecting sensor and a third guiding line detecting sensor for detecting a distance between itself and the guiding line; the second guiding The line detecting sensor and the third guide line detecting sensor are disposed on the same side of the longitudinal axis of the housing and have a distance from the longitudinal axis.
优选的,所述控制模块控制所述第二引导线检测传感器和第三引导线检测传感器与引导线之间的距离，来控制自移动园艺设备与引导线之间的距离。Preferably, the control module controls a distance between the second guide line detecting sensor and the third guide line detecting sensor and the guide line to control a distance between the mobile gardening device and the guide line.
优选的,所述控制模块控制所述第二引导线检测传感器和第三引导线检测传感器与引导线之间的距离一致，以使得自移动园艺设备的移动方向与引导线平行。Preferably, the control module controls the distance between the second guide line detecting sensor and the third guide line detecting sensor and the guide line to be uniform such that the moving direction of the self-moving gardening device is parallel to the guiding line.
优选的,所述引导线生成引导线信号，所述第二或第三引导线检测传感器检测引导线信号的强度，所述控制模块基于所述第二或第三引导线检测传感器检测到的引导线信号的强度判断其与引导线的距离。Preferably, the guide line generates a guide line signal, the second or third guide line detection sensor detects an intensity of the guide line signal, and the control module detects the guidance detected by the sensor based on the second or third guide line The strength of the line signal determines its distance from the guide line.
优选的,所述控制模块控制自移动园艺设备与引导线之间的距离周期性的变化或者随机的变化。Preferably, the control module controls a periodic change or a random change in the distance between the mobile gardening device and the guide line.
优选的,所述控制模块控制所述自移动园艺设备交替的增大和减小与引导线之间的距离。Preferably, the control module controls the self-moving gardening device to alternately increase and decrease the distance from the guide line.
优选的,所述控制模块控制自移动园艺设备每移动预设时间间隔，或每移 动预设路程，改变与引导线之间的距离。Preferably, the control module controls a preset time interval per movement of the mobile gardening device, or each shift Move the preset distance and change the distance from the guide line.
优选的,所述引导线侦测模块还用于检测引导线的拐点，当所述引导线侦测模块检测到引导线的拐点时，所述控制模块控制自移动园艺设备改变与引导线之间的距离。Preferably, the guide line detecting module is further configured to detect an inflection point of the guide line, and when the guide line detecting module detects an inflection point of the guide line, the control module controls the change between the mobile gardening device and the guide line. the distance.
优选的,所述控制模块控制所述自移动园艺设备转动预设角度并以转向完成时的姿态向前移动，以改变所述自移动园艺设备与引导线之间的距离。Preferably, the control module controls the self-moving gardening device to rotate a preset angle and move forward in a posture when the steering is completed to change a distance between the self-moving gardening device and the guide line.
优选的,所述控制模块控制所述自移动园艺设备转向的角度不大于15°。Preferably, the control module controls the angle of the self-moving gardening device to be turned by no more than 15°.
优选的,所述引导线侦测模块的至少一个引导线检测传感器，用于检测自身与引导线的距离；所述自移动园艺设备转动并移动过程中，所述控制模块基于所述引导线检测传感器的检测结果，判断所述引导线检测传感器与引导线的距离是否达到第二预设距离，若达到第二预设距离，则控制自移动园艺设备向相反方向转动。Preferably, at least one guide line detecting sensor of the guide line detecting module is configured to detect a distance between itself and the guiding line; during the rotating and moving of the self-moving gardening device, the control module detects based on the guiding line The detection result of the sensor determines whether the distance between the guide line detecting sensor and the guide line reaches a second preset distance. If the second preset distance is reached, the control is rotated from the mobile gardening device in the opposite direction.
优选的,所述自移动园艺设备包括计时器，记录自移动园艺设备转动预设角度后移动的时间，所述控制模块判断自移动园艺设备转动预设角度后移动的时间是否达到预设时间，若达到预设时间，则控制自移动园艺设备向相反方向转动。Preferably, the self-moving gardening device includes a timer for recording a time after the mobile gardening device rotates by a preset angle, and the control module determines whether the time of moving after the mobile gardening device rotates the preset angle reaches a preset time. If the preset time is reached, the control is rotated from the mobile gardening device in the opposite direction.
优选的,所述引导线侦测模块的至少一个引导线检测传感器，用于检测自身位于引导线的两侧中的其中一侧；所述自移动园艺设备转动并移动过程中，若引导线检测传感器检测到自身由引导线的一侧移动至另一侧，则控制模块控制自移动园艺设备向相反方向转动。Preferably, at least one guide line detecting sensor of the guide line detecting module is configured to detect one side of one of the two sides of the guiding line; and if the self-moving gardening device rotates and moves, if the guiding line is detected The sensor detects that it is moving from one side of the guide line to the other, and the control module controls the rotation from the mobile gardening device in the opposite direction.
优选的,所述控制模块控制所述自移动园艺设备以平行于引导线的方向为初始移动方向，以顺时针方向和逆时针方向的其中之一转动预设角度，再以其中另一转动相同角度，使得转向完成时自移动园艺设备的移动方向与引导线平行。Preferably, the control module controls the self-moving gardening device to rotate the preset angle in one of a clockwise direction and a counterclockwise direction with the direction parallel to the guide line as the initial moving direction, and then the other rotation is the same The angle is such that the direction of movement of the self-moving gardening device is parallel to the guide line when the steering is completed.
优选的,所述自移动园艺设备包括转角检测装置，检测自移动园艺设备转动的角度，还包括里程计，检测自移动园艺设备移动的路程，所述控制模块基于自移动园艺设备转动的角度和移动的路程，判断自移动园艺设备与引导线之间的距离变化。Preferably, the self-moving gardening device comprises a corner detecting device for detecting the angle of rotation of the mobile gardening device, and further comprising an odometer for detecting a distance moved from the mobile gardening device, the control module being based on an angle of rotation of the self-moving gardening device and The distance traveled determines the change in distance between the mobile gardening equipment and the guide line.
优选的,所述壳体包括平行于工作平面且垂直于移动方向的宽度方向，在所述自移动园艺设备向停靠站移动的过程中，所述控制模块控制所述自移动园艺设备与引导线的距离不大于壳体宽度的6倍。 Preferably, the housing comprises a width direction parallel to the working plane and perpendicular to the moving direction, the control module controls the self-moving gardening equipment and the guiding line during the movement of the self-moving gardening device to the docking station The distance is not more than 6 times the width of the housing.
优选的,所述自动工作***包括引导信号发生器，生成引导信号，所述自移动园艺设备包括引导信号检测器，检测引导信号，所述自移动园艺设备在距离所述停靠站第三预设距离内检测到所述引导信号，所述自移动园艺设备检测到所述引导信号后，以与所述引导线固定的距离向停靠站移动。Preferably, the automatic working system includes a pilot signal generator that generates a pilot signal, the self-mobile gardening device includes a pilot signal detector that detects a pilot signal, and the self-moving gardening device is preset at a third distance from the docking station The pilot signal is detected within the distance, and the self-moving gardening device moves to the docking station at a fixed distance from the guide line after detecting the pilot signal.
优选的,所述引导信号发生器安装于所述停靠站。Preferably, the pilot signal generator is mounted to the docking station.
优选的,所述引导线包括边界线，限定所述自移动园艺设备的工作区域。Preferably, the guide line includes a boundary line defining a working area of the self-moving gardening equipment.
一种自移动园艺设备的回归控制方法，包括步骤：控制所述自移动园艺设备沿引导线向停靠站移动，其中包括步骤：控制所述自移动园艺设备改变与引导线之间的距离；然后控制所述自移动园艺设备平行于引导线移动至少第一预设距离；控制所述自移动园艺设备重复上述步骤。A regression control method for a self-moving gardening device, comprising the steps of: controlling the movement of the self-moving gardening device along a guide line to a docking station, comprising the steps of: controlling a distance between the self-moving gardening device and a guide line; Controlling the self-moving gardening device to move at least a first predetermined distance parallel to the guide line; controlling the self-mobile gardening device to repeat the above steps.
优选的,所述自移动园艺设备沿引导线向停靠站移动的过程中，所述自移动园艺设备平行于所述引导线移动经过的距离，与自移动园艺设备沿引导线移动的起点和终点之间引导线的长度的比值大于等于3:1。Preferably, during the movement of the self-moving gardening device to the docking station along the guiding line, the distance moved by the self-moving gardening device parallel to the guiding line, and the starting point and the ending point of the self-moving gardening device moving along the guiding line The ratio of the length of the guide line is greater than or equal to 3:1.
优选的,所述第一预设距离大于等于3m。Preferably, the first preset distance is greater than or equal to 3 m.
优选的,所述自移动设备包括壳体，所述壳体包括平行于移动方向的长度方向，所述第一预设距离大于等于壳体长度的6倍。Preferably, the self-moving device comprises a housing comprising a length direction parallel to the moving direction, the first predetermined distance being greater than or equal to 6 times the length of the housing.
优选的,所述引导线生成引导线信号，所述自移动园艺设备包括至少一个引导线检测传感器，检测引导线信号。Preferably, the guide line generates a guide line signal, and the self-moving gardening apparatus includes at least one guide line detecting sensor that detects a guide line signal.
优选的,还包括步骤：控制所述自移动园艺设备在引导线上移动；控制所述自移动园艺设备转向并移动；检测所述自移动园艺设备转动的角度和移动的路程，根据所述自移动园艺设备转动的角度和移动的路程判断自移动园艺设备到引导线的距离；判断所述引导线检测传感器检测到的引导线信号的强度；建立所述引导线检测传感器检测到的引导线信号的强度与自移动园艺设备到引导线的距离之间的对应关系。Preferably, the method further includes the steps of: controlling the self-moving gardening equipment to move on the guiding line; controlling the self-moving gardening equipment to turn and move; detecting the angle of the self-moving gardening equipment rotation and the moving distance, according to the self The angle of the movement of the gardening equipment and the distance of the movement determine the distance from the mobile gardening equipment to the guide line; determine the strength of the guide line signal detected by the guide line detection sensor; establish a guide line signal detected by the guide line detection sensor The correspondence between the intensity and the distance from the mobile gardening equipment to the guide line.
优选的,所述自移动园艺设备包括壳体，壳体包括纵轴线，所述自移动园艺设备还包括第二引导线检测传感器和第三引导线检测传感器，用于检测自身与引导线之间的距离，所述第二引导线检测传感器和第三引导线检测传感器位于壳体的纵轴线的同一侧，且与纵轴线的距离一致；所述回归控制方法包括步骤：通过控制所述第二引导线检测传感器和第三引导线检测传感器检测到的引导线信号的强度，来控制所述自移动园艺设备与引导线之间的距离。Preferably, the self-moving gardening apparatus includes a housing including a longitudinal axis, and the self-moving gardening apparatus further includes a second guide line detecting sensor and a third guiding line detecting sensor for detecting between itself and the guiding line The distance between the second guide line detecting sensor and the third guide line detecting sensor on the same side of the longitudinal axis of the housing and the distance from the longitudinal axis; the regression control method includes the step of: controlling the second The guide line detecting sensor and the third guide line detect the intensity of the guide line signal detected by the sensor to control the distance between the self-moving gardening device and the guide line.
优选的,包括步骤：控制所述第二引导线检测传感器和第三引导线检测传 感器检测到的引导线信号的强度一致，使得自移动园艺设备的移动方向与引导线平行。Preferably, the method includes the steps of: controlling the second guide line detecting sensor and the third guide line detecting transmission The intensity of the guide line signals detected by the sensor is uniform such that the direction of movement of the self-moving gardening device is parallel to the guide line.
优选的,在所述自移动园艺设备向停靠站移动的过程中，控制自移动园艺设备与引导线之间的距离周期性的变化或者随机的变化。Preferably, during the movement of the self-moving gardening device to the docking station, a periodic or random change in the distance between the mobile gardening device and the guide line is controlled.
优选的,在所述自移动园艺设备向停靠站移动的过程中，控制所述自移动园艺设备交替的增大和减小自移动园艺设备与引导线之间的距离。Preferably, during the movement of the self-moving gardening device to the docking station, the self-moving gardening device is controlled to alternately increase and decrease the distance between the self-moving gardening device and the guide line.
优选的,在所述自移动园艺设备向停靠站移动的过程中，控制自移动园艺设备每移动预设时间间隔，或每移动预设路程，改变与引导线之间的距离。Preferably, in the process of moving the self-moving gardening device to the docking station, the distance between the self-moving gardening device and the guiding line is changed every time the preset time interval is moved, or every preset distance is moved.
优选的,包括步骤：检测引导线的拐点，当检测到引导线的拐点时，控制自移动园艺设备改变与引导线之间的距离。Preferably, the method comprises the steps of: detecting an inflection point of the guide line, and controlling the distance between the self-moving gardening device and the guide line when the inflection point of the guide line is detected.
优选的,控制所述自移动园艺设备转动预设角度并以转向完成时的姿态向前移动，以改变所述自移动园艺设备与引导线之间的距离。Preferably, the self-moving gardening device is controlled to rotate a preset angle and move forward in a posture when the steering is completed to change a distance between the self-moving gardening device and the guide line.
优选的,控制所述自移动园艺设备转向的角度不大于15°。Preferably, the angle at which the self-moving gardening equipment is turned is no more than 15°.
优选的,所述自移动园艺设备转动并移动过程中，判断自移动园艺设备与引导线的距离是否达到第二预设距离，若达到第二预设距离，则控制自移动园艺设备向相反方向转动。Preferably, during the rotation and movement of the self-moving gardening device, determining whether the distance from the mobile gardening device and the guide line reaches a second preset distance, and if the second preset distance is reached, controlling the self-moving gardening device to the opposite direction Turn.
优选的,判断自移动园艺设备转动预设角度后移动的时间是否达到预设时间，若达到预设时间，则控制自移动园艺设备向相反方向转动。Preferably, it is determined whether the time of moving from the mobile gardening device after the preset angle is rotated reaches a preset time, and if the preset time is reached, the control is rotated from the mobile gardening device in the opposite direction.
优选的,自移动园艺设备转动并移动过程中，判断自移动园艺设备是否跨越引导线，若是，则控制自移动园艺设备向相反方向转动。Preferably, during the rotation and movement of the mobile gardening equipment, it is determined whether the self-moving gardening equipment crosses the guide line, and if so, the control is rotated from the mobile gardening equipment in the opposite direction.
优选的,以自移动园艺设备与引导线平行的方向为初始移动方向，控制自移动园艺设备以顺时针方向和逆时针方向的其中之一转动预设角度后，再以其中另一转动相同角度，使得转向完成时自移动园艺设备的移动方向与引导线平行。Preferably, the direction parallel to the guide line from the mobile gardening device is the initial moving direction, and the self-moving gardening device is controlled to rotate the preset angle in one of a clockwise direction and a counterclockwise direction, and then rotate the same angle with the other one. The direction of movement of the self-moving gardening equipment is parallel to the guide line when the steering is completed.
优选的,包括步骤：检测引导信号，检测到引导信号后，控制所述自移动园艺设备以与引导线固定的距离向停靠站移动。Preferably, the method comprises the steps of: detecting a guiding signal, and after detecting the guiding signal, controlling the self-moving gardening device to move to the stopping station at a fixed distance from the guiding line.
优选的,所述自移动园艺设备包括壳体，壳体包括平行于工作平面且垂直于移动方向的宽度方向，在所述自移动园艺设备向停靠站移动的过程中，控制所述自移动园艺设备与引导线的距离不大于壳体宽度的6倍。Preferably, the self-moving gardening device comprises a casing comprising a width direction parallel to the working plane and perpendicular to the moving direction, and controlling the self-moving gardening during the movement of the self-moving gardening device to the docking station The distance between the device and the guide wire is not more than 6 times the width of the housing.
一种自动工作***，包括自移动园艺设备、停靠站以及引导线，所述引导线用于将所述自移动园艺设备向停靠站引导；所述自移动园艺设备包括： 壳体；移动模块，安装于壳体，带动自移动园艺设备在工作区域内移动；引导线侦测模块，包括至少一个引导线检测传感器，用于检测自移动园艺设备与引导线之间的位置关系；控制模块，控制所述移动模块带动自移动园艺设备移动；一工作模式下，所述控制模块控制自移动园艺设备沿所述引导线向停靠站移动；所述自移动园艺设备沿引导线向停靠站移动的路径，包括若干与引导线平行且与引导线不等距的路段，所述自移动园艺设备每次沿引导线向停靠站移动的起点不同，使得所述自移动园艺设备沿引导线向停靠站移动的路径至少部分不重合。An automated working system includes a self-moving gardening device, a docking station, and a guide line for guiding the self-moving gardening device to a docking station; the self-moving gardening device comprising: a housing; a moving module mounted on the housing to move the mobile gardening device in the working area; a guide line detecting module including at least one guide line detecting sensor for detecting a position between the self-moving gardening device and the guiding line a control module that controls the movement of the mobile device to move from the mobile gardening device; in a working mode, the control module controls the movement of the self-moving gardening device to the docking station along the guiding line; the self-moving gardening device along the guiding line a path moving to the docking station, comprising a plurality of sections parallel to the guiding line and not equidistant from the guiding line, the starting point of the self-moving gardening device moving to the docking station each time along the guiding line, such that the self-moving gardening equipment is along The path of the guide line moving to the docking station is at least partially non-coincident.
与现有技术相比，本发明的有益效果是：自移动园艺设备在沿引导线向停靠站移动的过程中，通过改变与引导线之间的距离，避免每次回归沿同一路径移动，导致碾压草坪的技术问题。在一次回归过程中改变与引导线的距离，路径变换方式更灵活。通过在变距后平行于引导线移动预设距离，提高回归效率，改善用户体验，同时起到更好的维护草坪美观的效果。Compared with the prior art, the beneficial effects of the present invention are: in the process of moving the moving gardening equipment to the docking station along the guiding line, by changing the distance between the guiding line and the movement, the movement is prevented from moving along the same path each time, resulting in The technical problem of crushing the lawn. Changing the distance from the guide line during a regression process makes the path transformation more flexible. By moving the preset distance parallel to the guide line after the variable pitch, the regression efficiency is improved, the user experience is improved, and the effect of maintaining the turf aesthetic is better.
本发明还提供一种自动割草机回归停靠站的控制方法，包括：接收回归控制信号；在接收到所述回归控制信号后对边界线发出的边界信号进行检测；所述边界线用于界定所述自动割草机的工作区域；控制所述自动割草机以所述边界线为引导线进行移动直至接收到停靠站引导信号；在所述自动割草机移动过程中，根据检测到的边界信号强度确定所述自动割草机与边界线之间的距离并改变所述自动割草机与所述边界线之间的距离；接收停靠站引导信号；以及根据所述停靠站引导信号控制所述自动割草机回归至所述停靠站。The invention also provides a control method for an automatic lawn mower returning to a docking station, comprising: receiving a regression control signal; detecting a boundary signal emitted by the boundary line after receiving the regression control signal; the boundary line is used for defining a working area of the automatic lawn mower; controlling the automatic lawn mower to move with the boundary line as a guide line until receiving a stop station guiding signal; during the moving of the automatic lawn mower, according to the detected a boundary signal strength determining a distance between the automatic mower and a boundary line and changing a distance between the automatic mower and the boundary line; receiving a stop guide signal; and controlling according to the stop signal of the stop The automatic mower returns to the docking station.
优选的，所述在接收到所述回归控制信号后对边界线发出的边界信号进行检测的步骤之后、所述控制所述自动割草机以所述边界线为引导线进行移动直至接收到停靠站引导信号的步骤之前，还包括判断所述自动割草机内是否存储有边界信号强度和所述自动割草机与所述边界线之间的距离的对应关系的步骤；若所述自动割草机内存储有所述对应关系，则执行所述控制所述自动割草机以所述边界线为引导线进行移动直至接收到停靠站引导信号的步骤；若所述自动割草机内未存储有所述对应关系，则在执行所述控制所述自动割草机以所述边界线为引导线进行移动直至接收到停靠站引导信号的步骤之前，执行：控制所述自动割草机沿边界信号强度最强的方向移动至边界线 上；控制所述自动割草机以预设偏转角移动至所述边界线内，并获取移动过程中不同位置的数据信息；所述数据信息包括各位置检测到的边界信号强度以及所述自动割草机从所述边界线移动至对应位置的路程长度；根据各位置对应的路程长度以及所述偏转角确定各位置与所述边界线之间的距离；根据各位置对应的边界信号强度和对应的距离确定边界信号强度和所述自动割草机与所述边界线之间的距离的对应关系。Preferably, after the step of detecting the boundary signal sent by the boundary line after receiving the regression control signal, the controlling the automatic mower to move with the boundary line as a guide line until receiving the docking Before the step of guiding the signal, further comprising the step of determining whether a boundary signal strength and a distance between the automatic mower and the boundary line are stored in the automatic mower; if the automatic cutting If the corresponding relationship is stored in the grass machine, the step of controlling the automatic lawn mower to move the boundary line as a guide line until receiving the stop station guiding signal is performed; if the automatic lawn mower is not Storing the corresponding relationship, before performing the step of controlling the automatic lawn mower to move the boundary line as a guide line until receiving the stop station guiding signal, performing: controlling the automatic lawn mower along the edge The direction with the strongest boundary signal strength moves to the boundary line Controlling the automatic mower to move into the boundary line with a preset deflection angle, and acquiring data information of different positions during the movement; the data information includes boundary signal strength detected at each position and the automatic a path length of the lawn mower moving from the boundary line to the corresponding position; determining a distance between each position and the boundary line according to the path length corresponding to each position and the deflection angle; and according to the boundary signal strength corresponding to each position The corresponding distance determines a correspondence between the boundary signal strength and the distance between the automatic mower and the boundary line.
优选的，所述停靠站为单向充电的充电站；所述在接收到所述回归控制信号后对边界线发出的边界信号进行检测的步骤之后、所述控制所述自动割草机以所述边界线为引导线进行移动直至接收到停靠站引导信号的步骤之前，还包括：控制所述自动割草机沿边界信号强度最强的方向移动至边界线上；根据检测到的边界信号相位确定自动割草机的移动方向并根据所述移动方向调整所述自动割草机的机身位置；以及控制所述自动割草机移动至所述边界线内。Preferably, the docking station is a charging station that is unidirectionally charged; after the step of detecting a boundary signal sent by a boundary line after receiving the regression control signal, the controlling the automatic lawn mower to control Before the step of moving the guide line to the guide line to receive the stop signal, the method further comprises: controlling the automatic mower to move to the boundary line in the direction of the strongest signal strength of the boundary; according to the detected boundary signal phase Determining a moving direction of the automatic mower and adjusting a body position of the automatic mower according to the moving direction; and controlling the automatic mower to move into the boundary line.
优选的，改变所述自动割草机与所述边界线之间的距离为：在所述边界信号强度增强的位置区域改变所述自动割草机与所述边界线之间的距离，或者控制所述自动割草机在每移动预设时间间隔或预设移动路程改变一次与边界线之间的距离。Preferably, changing a distance between the automatic lawn mower and the boundary line is: changing a distance between the automatic lawn mower and the boundary line in a position area where the boundary signal strength is enhanced, or controlling The automatic mower changes the distance between the boundary line and the preset movement time every preset time interval or preset movement path.
优选的，在改变所述自动割草机与所述边界线之间的距离中，所述自动割草机与边界线的最大距离小于等于所述自动割草机能感应到的停靠站引导信号对应的距离。Preferably, in changing the distance between the automatic lawn mower and the boundary line, the maximum distance between the automatic lawn mower and the boundary line is less than or equal to the guidance signal of the stop station that can be sensed by the automatic lawn mower. the distance.
优选的，改变所述自动割草机与所述边界线之间的距离为：获取所述自动割草机与所述边界线之间的距离；判断所述距离在预设时间间隔内或者预设移动路程内是否发生变化；若是，则判断变化后的距离是否在预设距离范围内；若变化后的距离在预设距离范围内，则不改变所述自动割草机的移动方向。Preferably, changing a distance between the automatic lawn mower and the boundary line is: obtaining a distance between the automatic lawn mower and the boundary line; determining that the distance is within a preset time interval or pre- It is determined whether there is a change in the moving distance; if yes, it is determined whether the changed distance is within a preset distance range; if the changed distance is within the preset distance range, the moving direction of the automatic mower is not changed.
优选的，所述判断所述距离在预设时间间隔内或者预设移动路程内是否发生变化的步骤中，若所述距离在预设时间间隔内或者预设移动路程内没有发生变化，则改变所述自动割草机与所述边界线之间的距离。 Preferably, in the step of determining whether the distance changes within a preset time interval or within a preset moving distance, if the distance does not change within a preset time interval or within a preset moving distance, then the change is The distance between the automatic mower and the boundary line.
优选的，在所述自动割草机移动过程中，还包括：对障碍物进行检测；以及在检测到障碍物时调整所述自动割草机与边界线之间的距离以避开所述障碍物。Preferably, during the moving of the automatic mower, the method further comprises: detecting an obstacle; and adjusting a distance between the automatic mower and a boundary line when the obstacle is detected to avoid the obstacle Things.
一种自动割草机回归停靠站的控制***，所述控制***包括：回归控制信号接收模块，用于接收回归控制信号；边界信号检测模块，用于对边界线发出的边界信号进行检测；所述边界线用于界定所述自动割草机的工作区域；移动控制模块，分别与所述回归控制信号接收模块、所述边界信号检测模块连接，用于在接收到所述回归控制信号时控制所述自动割草机以所述边界线为引导线进行移动直至接收到停靠站引导信号；所述移动控制模块还用于在所述自动割草机移动过程中，根据检测到的边界信号强度确定所述自动割草机与边界线之间的距离并改变所述自动割草机与所述边界线之间的距离；以及停靠站引导信号检测模块，用于检测停靠站引导信号；所述移动控制模块还用于根据所述停靠站引导信号控制所述自动割草机回归至所述停靠站。An automatic mower returning to a control system of a docking station, the control system comprising: a regression control signal receiving module for receiving a regression control signal; and a boundary signal detecting module for detecting a boundary signal emitted by the boundary line; The boundary line is used to define a working area of the automatic lawn mower; the movement control module is respectively connected to the regression control signal receiving module and the boundary signal detecting module, and is configured to control when receiving the regression control signal The automatic lawn mower moves with the boundary line as a guide line until receiving a stop station guiding signal; the movement control module is further configured to: according to the detected boundary signal strength during the movement of the automatic mower Determining a distance between the automatic mower and a boundary line and changing a distance between the automatic mower and the boundary line; and a stop guiding signal detecting module for detecting a stop guiding signal; The mobile control module is further configured to control the automatic mower to return to the docking station according to the stop station guiding signal.
优选的，所述边界信号检测模块包括第一引导线检测传感器、第二引导线检测传感器和第三引导线检测传感器；所述第一引导线检测传感器和所述第二引导线检测传感器对称设置于所述自动割草机的中心轴的两侧；所述第二引导线检测传感器和所述第三引导线检测传感器平行于所述自动割草机的中心轴设置；所述第一引导线检测传感器和所述第二引导线检测传感器用于检测边界信号相位，以识别所述自动割草机是在所述边界线内还是在边界线外或者跨在边界线上；所述第二引导线检测传感器和所述第三引导线检测传感器用于确定所述自动割草机与所述边界线之间的距离，并确定所述自动割草机与所述边界线是否处于平行状态。Preferably, the boundary signal detecting module includes a first guiding line detecting sensor, a second guiding line detecting sensor, and a third guiding line detecting sensor; the first guiding line detecting sensor and the second guiding line detecting sensor are symmetrically arranged On both sides of a central axis of the automatic mower; the second guide line detecting sensor and the third guide line detecting sensor are disposed parallel to a central axis of the automatic mower; the first guiding line a detection sensor and the second guide line detection sensor for detecting a boundary signal phase to identify whether the automatic lawn mower is within the boundary line or outside a boundary line or across a boundary line; the second guide The line detecting sensor and the third guide line detecting sensor are configured to determine a distance between the automatic lawn mower and the boundary line, and determine whether the automatic lawn mower and the boundary line are in a parallel state.
一种自动割草机，包括设备本体，还包括上述自动割草机回归停靠站的控制***。An automatic lawn mower, comprising an apparatus body, further comprising a control system of the automatic lawn mower returning to the docking station.
本发明还提供一种回归控制方法，包括：控制自动割草机寻找到边界线；(104)控制所述自动割草机向边界线内部偏移角度A，并沿所述角度A移动距离S或时间T；(106)以所述自动割草机向边界线内部偏移角度A的时针为第一时针方向，控制所述自动割草机沿与所述第一时针方向反向的第二 时针方向偏移角度B，并移动至所述边界线；(108)检测所述自动割草机是否接收到停靠站发射的引导信号；(109)若所述自动割草机未接收到引导信号，则进入步骤(104)；(112)若所述自动割草机接收到引导信号，则所述自动割草机根据所述引导信号或边界线引导移动至所述停靠站。The present invention also provides a regression control method, comprising: controlling an automatic lawn mower to find a boundary line; (104) controlling the automatic lawn mower to shift an angle A toward the boundary line, and moving the distance S along the angle A Or time T; (106) controlling the automatic lawn mower to be in a second direction opposite to the first hour hand direction by the hour hand of the automatic lawn mower offsetting the angle A from the inside of the boundary line as the first hour hand direction The hour hand direction shifts the angle B and moves to the boundary line; (108) detects whether the automatic mower receives the pilot signal transmitted by the docking station; (109) if the automatic lawn mower does not receive the pilot signal And proceeding to step (104); (112) if the automatic lawn mower receives the guiding signal, the automatic lawn mower guides movement to the stopping station according to the guiding signal or the boundary line.
优选的，所述步骤(106)之前还包括：以所述自动割草机向边界线内部偏移角度A的时针为所述第一时针方向，控制所述自动割草机沿与所述第一时针方向反向的第二时针方向偏移角度F，并沿偏移后的方向移动时间T或距离S。Preferably, before the step (106), the method further comprises: controlling the automatic lawn mower along the first hour hand direction by the hour hand offsetting the angle A from the automatic lawn mower to the boundary line The second hour hand direction reversed in the one-shot direction is offset by the angle F, and the time T or the distance S is moved in the shifted direction.
优选的，所述步骤(102)之前还包括：(101)检测所述自动割草机是否需要移动至所述停靠站，并在所述自动割草机需要移动至所述停靠站时，进入所述步骤(102)。Preferably, before the step (102), the method further comprises: (101) detecting whether the automatic lawn mower needs to move to the docking station, and entering when the automatic lawn mower needs to move to the docking station The step (102).
优选的，所述步骤(102)之后还包括：(103)控制所述自动割草机使所述边界线位于所述自动割草机的中间位置。Preferably, after the step (102), the method further comprises: (103) controlling the automatic lawn mower to position the boundary line at an intermediate position of the automatic lawn mower.
优选的，所述步骤(104)中：通过检测所述自动割草机接收到的边界信号强度是否为预设值M1判断所述自动割草机是否移动距离S；或者通过检测所述自动割草机沿所述角度A移动的时间是否达到预设的时间值T1判断所述自动割草机是否移动距离S。Preferably, in the step (104): determining whether the automatic mower moves the distance S by detecting whether the boundary signal strength received by the automatic mower is a preset value M1; or by detecting the automatic cutting Whether the time when the grass machine moves along the angle A reaches a preset time value T1 determines whether the automatic mower moves the distance S.
优选的，所述步骤(106)之后还包括(107)控制所述自动割草机使所述边界线位于所述自动割草机的中间位置。Preferably, the step (106) further comprises (107) controlling the automatic lawn mower to position the boundary line at an intermediate position of the automatic lawn mower.
优选的，所述角度A与B均小于90度。Preferably, the angles A and B are both less than 90 degrees.
一种回归***，包括自动割草机及规定所述自动割草机移动范围的边界线，所述边界线上设置有所述自动割草机返回的停靠站，其特征在于，所述自动割草机包括：分别对称设置于所述自动割草机两侧的引导线检测传感器，用于识别所述边界线发射的边界线信号以寻找定位所述边界线；第一控制模块，用于控制所述自动割草机向边界线内部偏移角度A，并沿所述角度A移动距离S或时间T；第二控制模块，用于以所述自动割草机向边界线内部偏移角度A的时针为第一时针方向，控制所述自动割草机沿与所述第一时针方向反向的第二时针方向偏移所述角度F，并沿偏移后的方向移动时间T或距 离S；第三控制模块，用于控制所述自动割草机沿所述第二时针方向偏移角度B，并移动至所述边界线；信号检测模块，用于检测所述自动割草机是否接收到停靠站发射的引导信号；回归模块，用于在所述自动割草机接收到引导信号时，控制所述自动割草机根据所述引导信号或边界线引导移动至所述停靠站。A regression system includes an automatic lawn mower and a boundary line defining a range of movement of the automatic lawn mower, wherein the boundary line is provided with a docking station returned by the automatic lawn mower, wherein the automatic cutting The grass machine includes: guide line detecting sensors respectively symmetrically disposed on both sides of the automatic mower, for identifying a boundary line signal emitted by the boundary line to locate the boundary line; and a first control module for controlling The automatic mower is offset from the inside of the boundary line by an angle A and moved along the angle A by a distance S or a time T; and a second control module is used to offset the angle A from the automatic mower to the boundary line. The hour hand is a first hour hand direction, and the automatic lawn mower is controlled to be offset from the second hour hand direction opposite to the first hour hand direction by the angle F, and moved in the shifted direction by a time T or a distance a third control module, configured to control the automatic lawn mower to shift the angle B along the second hour hand direction and move to the boundary line; and a signal detecting module for detecting the automatic lawn mower Receiving a guidance signal transmitted by the docking station; and a regression module, configured to control the automatic lawn mower to guide the movement to the docking station according to the guiding signal or the boundary line when the automatic lawn mower receives the guiding signal .
优选的，所述自动割草机还包括：回归检测模块，用于检测所述自动割草机是否需要移动至所述停靠站；启动模块，用于在所述自动割草机需要移动至所述停靠站时，启动所述引导线检测传感器寻找定位所述边界线。Preferably, the automatic lawn mower further comprises: a regression detecting module, configured to detect whether the automatic lawn mower needs to move to the docking station; and a starting module, wherein the automatic lawn mower needs to move to the When the docking station is described, the guide line detecting sensor is activated to find the boundary line.
优选的，所述第一控制模块通过检测所述引导线检测传感器接收到的边界信号强度是否为预设值M1判断所述自动割草机是否移动距离S；或者通过检测所述引导线检测传感器沿所述角度A移动的时间是否达到预设的时间值T1判断所述自动割草机是否移动距离S。Preferably, the first control module determines whether the automatic mower moves the distance S by detecting whether the boundary signal strength received by the guide line detecting sensor is a preset value M1; or by detecting the guide line detecting sensor Whether or not the automatic lawn mower moves the distance S is determined whether the time moved along the angle A reaches a preset time value T1.
优选的，所述回归模块通过控制所述自动割草机根据所述引导信号沿所述边界线引导移动至所述停靠站。Preferably, the regression module guides movement to the docking station along the boundary line according to the guiding signal by controlling the automatic lawn mower.
优选的，所述引导信号为超声波信号、蓝牙信号或WIFI信号。Preferably, the guiding signal is an ultrasonic signal, a Bluetooth signal or a WIFI signal.
优选的，所述停靠站为充电站的位置。Preferably, the docking station is the location of the charging station.
优选的，所述角度A与B均小于90度。Preferably, the angles A and B are both less than 90 degrees.
附图说明DRAWINGS
以上所述的本发明的目的、技术方案以及有益效果可以通过下面附图实现：The objects, technical solutions, and advantageous effects of the present invention described above can be achieved by the following figures:
图1是本发明的第一实施例的自动割草机的回归控制方法流程图。BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a flow chart showing a method of regression control of an automatic lawn mower according to a first embodiment of the present invention.
图2是本发明的第一实施例的自动割草机的结构示意图。Fig. 2 is a schematic structural view of an automatic lawn mower according to a first embodiment of the present invention.
图3是图2中的自动割草机的回归路径示意图。3 is a schematic diagram of a regression path of the automatic lawn mower of FIG. 2.
图4是图2中的自动割草机的另一回归路径示意图。4 is a schematic diagram of another regression path of the automatic mower of FIG. 2.
图5是图2中的自动割草机的回归控制方法的补充流程图。Figure 5 is a supplementary flow chart of the regression control method of the automatic mower of Figure 2.
图6是图5中对应的自动割草机的距离调整示意图。Figure 6 is a schematic view showing the distance adjustment of the corresponding automatic lawn mower of Figure 5.
图7是图2中的自动割草机的回归控制方法的补充流程图。Figure 7 is a supplementary flow chart of the regression control method of the automatic lawn mower of Figure 2.
图8是图2中的自动割草机的回归控制方法的补充流程图。Figure 8 is a supplementary flow chart of the regression control method of the automatic lawn mower of Figure 2.
图9是图8中对应的自动割草机的控制方法示意图。 Figure 9 is a schematic view showing the control method of the corresponding automatic lawn mower of Figure 8.
图10是图2中的自动割草机的回归控制方法的补充流程图。Figure 10 is a supplementary flow chart of the regression control method of the automatic mower of Figure 2.
图11是图2中的自动割草机的控制***的结构框图。Figure 11 is a block diagram showing the structure of the control system of the automatic lawn mower of Figure 2;
图12是本发明的第二实施例的自动割草机的回归控制方法流程图。Figure 12 is a flow chart showing a method of regression control of the automatic lawn mower according to the second embodiment of the present invention.
图13是本发明的第二实施例的自动割草机回归控制方法的补充流程图。Figure 13 is a supplementary flow chart of the automatic lawn mower regression control method of the second embodiment of the present invention.
图14是本发明的第二实施例的自动割草机回归控制方法的补充流程图。Figure 14 is a supplementary flow chart of the automatic lawn mower regression control method of the second embodiment of the present invention.
图15是本发明的第二实施例的自动割草机的结构示意图。Figure 15 is a schematic view showing the structure of an automatic lawn mower according to a second embodiment of the present invention.
图16是图15中的自动割草机的回归路径示意图。Figure 16 is a schematic illustration of the return path of the automatic mower of Figure 15.
具体实施方式detailed description
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
本发明的第一实施例中，自动工作***包括自移动园艺设备，具体的，本实施例中，自移动园艺设备为自动割草机，在其他实施例中，自移动园艺设备也可以是自动扫雪机、自动扫落叶机等。自动工作***还包括停靠站，停靠站可以为自动割草机的休息站或者充电站。In the first embodiment of the present invention, the automatic working system includes a self-moving gardening device. Specifically, in the embodiment, the self-moving gardening device is an automatic lawn mower. In other embodiments, the self-moving gardening device may also be automatic. Snow sweeper, automatic sweeping machine, etc. The automatic working system also includes a docking station, which can be a rest station or a charging station of the automatic lawn mower.
如图2所示，本实施例中，自动割草机1包括壳体3，壳体包括纵轴线Z1，与自动割草机1的移动方向一致。壳体包括平行于移动方向的长度方向，以及平行于工作表面且垂直于移动方向的宽度方向。自动割草机还包括移动模块5，切割模块(图未示)，能源模块，控制模块等，均安装于壳体，移动模块5带动自动割草机在工作区域内移动，切割模块执行割草任务，能源模块包括电池包(图未示)，为自动割草机的移动和工作提供能量，控制模块与移动模块、切割模块、能源模块等电连接，控制移动模块带动自动割草机移动，并控制切割模块执行割草任务。As shown in Fig. 2, in the present embodiment, the automatic lawn mower 1 includes a casing 3 including a longitudinal axis Z1 which coincides with the moving direction of the automatic mower 1. The housing includes a length direction parallel to the moving direction, and a width direction parallel to the working surface and perpendicular to the moving direction. The automatic mower further comprises a moving module 5, a cutting module (not shown), an energy module, a control module, etc., all mounted on the casing, the moving module 5 drives the automatic mower to move in the working area, and the cutting module performs mowing The task, the energy module includes a battery pack (not shown), provides energy for the movement and work of the automatic mower, and the control module is electrically connected with the mobile module, the cutting module, the energy module, etc., and controls the mobile module to drive the automatic mower to move, And control the cutting module to perform the mowing task.
本实施例中，自动割草机还包括引导线侦测模块，引导线侦测模块包括至少一个引导线检测传感器，用于检测自动割草机与引导线之间的位置关系。自动割草机与引导线之间的位置关系包括，自动割草机位于引导线的两侧中的一侧，或者自动割草机与引导线之间的距离等。本实施例中，引导线包括边界线，限定自动割草机的工作区域。在其他实施例中，引导线也可以是布置在工作区域中的导线，由停靠站所在位置引出，用于引导自动割草机向停靠站移动。当然，引导线也可以是篱笆等形成的物理边界，或者草坪与非草坪之间形成的物理边界等。相应的，引导线检测传感器可以是摄像头、电容 传感器等等。In this embodiment, the automatic lawn mower further includes a guide line detection module, and the guide line detection module includes at least one guide line detection sensor for detecting a positional relationship between the automatic lawn mower and the guide line. The positional relationship between the automatic lawn mower and the guide line includes one side of the automatic lawn mower on either side of the guide line, or the distance between the automatic lawn mower and the guide line. In this embodiment, the guide line includes a boundary line defining a working area of the automatic mower. In other embodiments, the guide wire may also be a wire disposed in the work area, which is led out by the docking station for guiding the automatic mower to move to the docking station. Of course, the guide line may also be a physical boundary formed by a fence or the like, or a physical boundary formed between the lawn and the non-turf. Correspondingly, the guide line detecting sensor can be a camera and a capacitor Sensors and more.
如图3所示，本实施例中，自动工作***包括边界线，传输电信号，生成磁场信号。边界线绕设形成的内部区域为自动割草机的工作区域，停靠站位于边界线上。引导线检测传感器包括电感，检测边界线生成的磁场信号，根据检测到的边界线信号的相位判断自身位于工作区域内或外，或者，根据检测到的边界线信号的强度判断自身与边界线的距离。在其他实施例中，边界线也可以传输其他信号，例如开环的边界线传输无线电信号。As shown in FIG. 3, in the embodiment, the automatic working system includes a boundary line, transmits an electrical signal, and generates a magnetic field signal. The inner area formed by the boundary line winding is the working area of the automatic lawn mower, and the stopping station is located on the boundary line. The guide line detecting sensor includes an inductor, detects a magnetic field signal generated by the boundary line, determines whether it is located inside or outside the working area according to the phase of the detected boundary line signal, or judges itself and the boundary line according to the detected intensity of the boundary line signal. distance. In other embodiments, the boundary line may also transmit other signals, such as an open loop boundary line to transmit radio signals.
本发明的第一实施例中，停靠站为自动割草机的能源模块补充电能，当自动割草机需要补充电能时，控制模块控制自动割草机沿边界线向停靠站移动。控制模块控制自动割草机沿边界线向停靠站移动的过程中，控制自动割草机改变自身与边界线之间的距离，然后控制自动割草机以与边界线平行的移动方向移动至少第一预设距离，并重复上述步骤。图3、图4为自动割草机沿边界线回归停靠站的路径示意图。In the first embodiment of the present invention, the docking station supplements the energy module of the automatic mower, and when the automatic mower needs to supplement the electric energy, the control module controls the automatic mower to move along the boundary line to the docking station. The control module controls the automatic mower to change the distance between itself and the boundary line during the movement of the automatic mower along the boundary line to the docking station, and then controls the automatic mower to move at least the first direction in parallel with the boundary line. Preset the distance and repeat the above steps. Figure 3 and Figure 4 are schematic diagrams showing the path of the automatic mower returning to the stop station along the boundary line.
如图3、图4所示，自动割草机沿边界线向停靠站移动的路径，包括若干与边界线平行且与边界线不等距的路段，由于自动割草机每次沿边界线向停靠站移动的起始点不同，因此自动割草机沿边界线向停靠站移动的路径不重合。As shown in Fig. 3 and Fig. 4, the path of the automatic mower moving along the boundary line to the stopping station includes a number of sections parallel to the boundary line and not equidistant from the boundary line, since the automatic lawn mower moves to the stop station along the boundary line each time. The starting point of the movement is different, so the path of the automatic mower moving along the boundary line to the docking station does not coincide.
本实施例中，控制自动割草机以与边界线平行的移动方向移动，指自动割草机的移动方向与边界线保持基本平行，优选的，自动割草机的移动方向与边界线的夹角角度小于5°。In this embodiment, the automatic mower is controlled to move in a moving direction parallel to the boundary line, and the moving direction of the automatic mower is substantially parallel to the boundary line. Preferably, the moving direction of the automatic mower and the boundary line are clamped. The angular angle is less than 5°.
通过控制自动割草机在回归过程中改变与边界线的距离，可以使得自动割草机的回归路径不重复，从而减少自动割草机回归过程对草坪的碾压损伤。通过在一次回归过程中改变自动割草机与边界线的距离，使得路径的变化更灵活。自动割草机与边界线的距离的多种选择，以及两次变距之间的时间间隔或路程的不同选择，形成多种组合方式，使得自动割草机的回归路径***，几乎不存在被重复碾压的路段，从而更好的解决自动割草机回归过程中碾压草坪的技术问题。通过在回归过程中控制自动割草机以与边界线平行的移动方向移动至少第一预设距离，保证自动割草机的回归效率，避免频繁变距导致回归效率低以及碾压草坪的问题。变距时自动割草机通常先原地转向，原地转向的次数多容易造成草坪的磨损，因此，在回归过程中连续变距非但不能起到减少对草坪的碾压损伤的效果，反而会使草坪的损伤更加严重， 因此，在回归过程中使自动割草机以平行于边界线的移动方向移动预设距离是必要的。另外，自动割草机频繁的变距使自动割草机的行为看上去很不智能，影响用户体验。自动割草机与边界线平行移动的距离，相比于自动割草机变距过程中沿边界线移动过的距离，可以是n:1(n≥2)的关系。具体的，自动割草机沿边界线向停靠站移动的过程中，自动割草机平行于边界线移动经过的距离与自动割草机沿边界线移动的起点和终点之间边界线长度的比值大于等于3:1。自动割草机两次变距之间平行于边界线移动的距离大于等于3m，或者大于等于壳体长度的6倍。在下面的描述中，还会介绍一种使自动割草机仅在边界线的拐点处变距的方法，该方法使用户几乎观察不到自动割草机在回归过程中变距，回归效率高，用户体验好。By controlling the automatic mower to change the distance from the boundary line during the regression process, the return path of the automatic mower can be made non-repetitive, thereby reducing the crushing damage of the lawn by the automatic mower return process. By changing the distance between the automatic mower and the boundary line during a regression process, the path changes are more flexible. The multiple choices of the distance between the automatic mower and the boundary line, and the different choices of the time interval or distance between the two variable distances, forming a variety of combinations, making the return path of the automatic mower ever-changing, almost no Repeat the rolling section to better solve the technical problems of rolling lawn in the return process of automatic mower. By controlling the automatic lawn mower to move at least the first preset distance in a moving direction parallel to the boundary line during the regression process, the regression efficiency of the automatic lawn mower is ensured, and the problem of low return efficiency and the problem of rolling the lawn are avoided. When changing the distance, the automatic lawn mower usually turns in the ground. The number of in-situ turning is easy to cause the abrasion of the lawn. Therefore, the continuous variable distance during the regression process can not reduce the crushing damage on the lawn, but instead Make the damage of the lawn more serious, Therefore, it is necessary to move the automatic mower in a moving direction parallel to the boundary line during the regression process. In addition, the frequent variable pitch of the automatic mower makes the behavior of the automatic mower look unintelligent and affects the user experience. The distance that the automatic mower moves parallel to the boundary line may be n:1 (n≥2) compared to the distance moved along the boundary line during the automatic mower variable pitch. Specifically, in the process of moving the automatic mower along the boundary line to the docking station, the ratio of the distance that the automatic mower moves parallel to the boundary line and the length of the boundary line between the start point and the end point of the automatic mower moving along the boundary line is greater than or equal to 3:1. The distance between the two variable pitches of the automatic mower moving parallel to the boundary line is greater than or equal to 3 m, or greater than or equal to 6 times the length of the casing. In the following description, a method of making the automatic mower only change the pitch at the inflection point of the boundary line will be introduced, which makes the user almost unable to observe the automatic mower changing pitch during the regression process, and the regression efficiency is high. The user experience is good.
下面根据图1所示的流程图，详细介绍自动割草机回归停靠站的控制方法，该方法包括以下步骤。The control method of the automatic mower returning to the docking station is described in detail below according to the flowchart shown in FIG. 1, and the method includes the following steps.
步骤S110，接收回归控制信号。Step S110, receiving a regression control signal.
回归控制信号可以由自动割草机自主发出也可以由外部设备输入至自动割草机内。例如，在自动割草机的电池电压低于某一门限值(最小工作电压)时可以自动触发回归控制信号。在自动割草机长时间工作到达休息时间时，同样可以触发回归控制信号。在一实施例中，自动割草机可以在露天场所作业。自动割草机具有雨淋检测模块，从而在检测到设备被雨淋时触发回归控制信号。可以理解，用户也可以通过自动割草机上的物理按键或者触控按键发出回归控制信号或者通过遥控等方式发出回归控制信号，以控制自动割草机回归停靠站。The return control signal can be issued by the automatic mower or imported into the automatic mower by an external device. For example, the return control signal can be automatically triggered when the battery voltage of the automatic mower is below a certain threshold (minimum operating voltage). The return control signal can also be triggered when the automatic mower is working for a long time to reach the rest time. In an embodiment, the automatic mower can be operated in an open space. The automatic mower has a rain detection module that triggers a regression control signal when it detects that the device is raining. It can be understood that the user can also issue a regression control signal through a physical button or a touch button on the automatic lawn mower or a remote control signal to control the automatic lawn mower to return to the docking station.
步骤S120，对边界线发出的边界信号进行检测。In step S120, the boundary signal sent by the boundary line is detected.
边界线用于界定自动割草机的工作区域。边界线上有脉冲电流。自动割草机上设置有引导线侦测模块，引导线侦测模块包括至少一个引导线检测传感器，对边界信号进行检测。引导线检测传感器可以对边界信号的强度和相位进行检测。具体地，自动割草机的引导线侦测模块包括第一引导线检测传感器Sr1、第二引导线检测传感器Sr2和第三引导线检测传感器Sr3，如图2所示。其中，第一引导线检测传感器Sr1和第二引导线检测传感器Sr2对称设置于壳体的纵轴线Z1的两侧，用于检测自身位于工作区域内或外。具体的，第一引导线检测传感器Sr1和第二引导线检测传感器Sr2检测边界信号相位，控制模块基于第一引导线检测传感器Sr1或第二引导线检测传感器Sr2 检测到的边界信号的相位，判断其位于工作区域内或外，进而判断自动割草机是在边界线内还是在边界线外或者跨在边界线上。第二引导线检测传感器Sr2和第三引导线检测传感器Sr3平行于壳体的纵轴线Z1设置，即设置于纵轴线Z1的同一侧，且与纵轴线Z1的距离一致,用于检测自身与边界线之间的距离。控制模块通过控制第二引导线检测传感器Sr2和第三引导线检测传感器Sr3与边界线之间的距离，来控制自动割草机与边界线之间的距离。具体的，第二引导线检测传感器Sr2和第三引导线检测传感器Sr3检测边界信号强度，控制模块基于第二引导线检测传感器Sr2或第三引导线检测传感器Sr3检测到的边界信号强度判断其与边界线的距离，进而判断自动割草机与边界线的距离。控制模块并且通过控制第二引导线检测传感器Sr2和第三引导线检测传感器Sr3检测到的边界信号强度一致，使得自动割草机的移动方向与边界线平行。本实施例中，第一引导线检测传感器Sr1检测边界信号相位，不检测边界信号强度；第二引导线检测传感器Sr2既检测边界信号相位，也检测边界信号强度；第三引导线检测传感器Sr3检测边界信号强度，不检测边界信号相位。在本实施例中，由于边界信号为单脉冲信号，所以引导线检测传感器感应到边界信号后会产生一个类似正弦波小信号。该小信号经过放大后，变成0～Vcc(Vcc为自动割草机的处理器电源)间的电压信号。处理器经过AD转换后可获得这个信号的大小。将AD采样频率设置为50～100KHz，则每10～20微秒可采样一次。将采样的最大值作为边界信号的强度。边界信号强度越强，则表示自动割草机与边界线的距离越小。引导线检测传感器检测到的信号经过两路比较器比较，一路和上门限比较，另一路和下门限比较，一路输出一个脉冲高电平，一路输出脉冲低电平，高电平在前，低电平在后，就表示引导线检测传感器在界内。反之如果低电平在前，高电平在后，就表示引导线检测传感器在界外。The boundary line is used to define the working area of the automatic mower. There is a pulse current on the boundary line. The automatic lawn mower is provided with a guide line detection module, and the guide line detection module includes at least one guide line detection sensor for detecting the boundary signal. The guide line detection sensor can detect the intensity and phase of the boundary signal. Specifically, the guide line detecting module of the automatic lawn mower includes a first guide line detecting sensor Sr1, a second leading line detecting sensor Sr2, and a third guiding line detecting sensor Sr3, as shown in FIG. The first guide line detecting sensor Sr1 and the second guide line detecting sensor Sr2 are symmetrically disposed on both sides of the longitudinal axis Z1 of the housing for detecting that they are located inside or outside the working area. Specifically, the first guide line detecting sensor Sr1 and the second guide line detecting sensor Sr2 detect a boundary signal phase, and the control module is based on the first guiding line detecting sensor Sr1 or the second guiding line detecting sensor Sr2 The phase of the detected boundary signal is judged to be located inside or outside the working area, thereby determining whether the automatic mower is within the boundary line or outside the boundary line or across the boundary line. The second guide line detecting sensor Sr2 and the third guide line detecting sensor Sr3 are disposed parallel to the longitudinal axis Z1 of the housing, that is, disposed on the same side of the longitudinal axis Z1, and have the same distance from the longitudinal axis Z1 for detecting itself and the boundary. The distance between the lines. The control module controls the distance between the automatic mower and the boundary line by controlling the distance between the second guide line detecting sensor Sr2 and the third guide line detecting sensor Sr3 and the boundary line. Specifically, the second guide line detecting sensor Sr2 and the third guide line detecting sensor Sr3 detect the boundary signal strength, and the control module determines the boundary signal strength based on the detected boundary signal by the second guiding line detecting sensor Sr2 or the third guiding line detecting sensor Sr3. The distance of the boundary line to determine the distance between the automatic mower and the boundary line. The control module and the boundary signal strength detected by controlling the second guide line detecting sensor Sr2 and the third guide line detecting sensor Sr3 are coincident such that the moving direction of the automatic lawn mower is parallel to the boundary line. In this embodiment, the first guide line detecting sensor Sr1 detects the boundary signal phase and does not detect the boundary signal strength; the second guide line detecting sensor Sr2 detects both the boundary signal phase and the boundary signal strength; and the third guide line detecting sensor Sr3 detects The boundary signal strength does not detect the boundary signal phase. In this embodiment, since the boundary signal is a single pulse signal, the guide line detecting sensor generates a small sine wave-like signal after sensing the boundary signal. After the small signal is amplified, it becomes a voltage signal between 0 and Vcc (Vcc is the processor power supply of the automatic lawn mower). The size of this signal can be obtained by the processor after AD conversion. When the AD sampling frequency is set to 50 to 100 KHz, it can be sampled every 10 to 20 microseconds. The maximum value of the sample is taken as the strength of the boundary signal. The stronger the boundary signal strength, the smaller the distance between the automatic mower and the boundary line. The signal detected by the guide line detection sensor is compared by the two comparators. One channel is compared with the upper threshold, and the other channel is compared with the lower threshold. One pulse outputs a high level, and one output pulse is low. The high level is in front and low. When the level is at the back, it means that the guide line detection sensor is inside the boundary. Conversely, if the low level is at the front and the high level is at the back, it indicates that the guide line detection sensor is out of bounds.
步骤S130，控制自动割草机以边界线为引导线进行移动直至接收到停靠站引导信号。Step S130, controlling the automatic mower to move with the boundary line as the guide line until receiving the stop station guiding signal.
本实施例中，自动工作***包括引导信号发生器，生成引导信号，自动割草机包括引导信号检测器，检测引导信号，自动割草机在距离停靠站一预设距离内检测到引导信号，自动割草机检测到引导信号后，以与边界线固定的距离向停靠站移动。具体的，本实施例中，引导信号发生器安装于停靠站，引导信号由停靠站发出。引导信号还可以由位于停靠站附近的其他装置发出， 甚至可以利用远处的位置获取装置来对停靠站位置进行判断告知。例如，可以由远处的摄像头进行图像分析判断，当自动割草机进入到距离停靠站的预设距离范围内时，即发出引导信号，以告知自动割草机停靠站所处的位置。引导信号可以为超声波信号、红外光信号、激光信号、图像(机器上有摄像头)信号或者通过单GPS模块进行初定位得到的定位信号等，从而使得自动割草机在接收到该引导信号后，获知自身已经到了充电站附近。在其他的实施例中，停靠站上也可以设置引导线圈，线圈上通有变化的电流，从而产生和边界线不同的信号。因此，自动割草机在距离停靠站2～3m的距离内可以感应到该信号。自动割草机能够感应停靠站引导信号的距离可以根据需要进行设定，为减少重复回归路径，该距离通常设置较小，只需使得自动割草机能够调整机身对接充电即可。In this embodiment, the automatic working system includes a pilot signal generator to generate a pilot signal, and the automatic lawn mower includes a pilot signal detector to detect the pilot signal, and the automatic lawn mower detects the pilot signal within a preset distance from the docking station. After the automatic mower detects the pilot signal, it moves to the docking station at a fixed distance from the boundary line. Specifically, in this embodiment, the pilot signal generator is installed at the docking station, and the pilot signal is sent by the docking station. The pilot signal can also be sent by other devices located near the stop. It is even possible to use a remote location acquisition device to inform the location of the stop station. For example, image analysis can be performed by a remote camera. When the automatic mower enters a predetermined distance from the stop, a guidance signal is issued to inform the position of the automatic mower stop. The guiding signal may be an ultrasonic signal, an infrared light signal, a laser signal, an image (a camera on a machine) signal, or a positioning signal obtained by initial positioning by a single GPS module, so that the automatic lawn mower receives the guiding signal after receiving the guiding signal. I know that I have reached the charging station. In other embodiments, a pilot coil can also be placed on the docking station, with a varying current flowing through the coil to produce a different signal than the boundary line. Therefore, the automatic mower can sense this signal within a distance of 2 to 3 m from the docking station. The distance that the automatic mower can sense the guidance signal of the stop station can be set as needed. To reduce the repeated regression path, the distance is usually set small, and only the automatic mower can adjust the body docking charge.
本实施例中，在控制自动割草机移动过程中，会先控制自动割草机移动至距离边界线的预设距离范围内，再控制自动割草机以边界线为引导线进行移动直至接收到停靠站引导信号。自动割草机向停靠站移动的过程中，控制模块控制自动割草机与边界线的距离不大于该预设距离范围。预设距离范围为1～6倍自动割草机的壳体宽度(或者0～3m)。距离太远容易导致自动割草机无法检测到边界信号，以至于失去方向。太远也可能导致碰到障碍物的情况会多些，影响回归效率。太远还有可能导致不在停靠站引导信号的覆盖范围内，从而无法实现自动割草机的正常回归。In this embodiment, during the process of controlling the automatic mower movement, the automatic mower is first controlled to move within a preset distance range from the boundary line, and then the automatic mower is controlled to move the boundary line as a guide line until receiving. Go to the stop to guide the signal. During the movement of the automatic mower to the docking station, the control module controls the distance between the automatic mower and the boundary line to be no more than the preset distance range. The preset distance ranges from 1 to 6 times the housing width (or 0 to 3 m) of the automatic mower. Too far away can easily cause the automatic mower to detect the boundary signal, so that it loses its direction. Too far may also lead to more obstacles, affecting the efficiency of return. Too far may also result in not being covered by the pilot signal of the stop, so that the normal return of the automatic mower cannot be achieved.
同时，在控制自动割草机移动过程中，会周期性地或者随机地改变自动割草机与边界线之间的距离，从而使得自动割草机在回归过程中与边界线之间的距离是变化的，而非恒定的。随机性的改变自动割草机与边界线之间的距离可以使得走重复路径的概率会更低。因此，可以有效避免自动割草机每次回归均行驶相同的路径，有效降低自动割草机对回归路径上的草的磨损程度，满足用户的使用需求。自动割草机至边界线的距离可以根据测到的边界信号强度来确定。具体地，自动割草机内预先存储有边界信号强度和自动割草机与边界线之间的距离的对应关系，因此可以利用该对应关系即可将边界信号强度转换为与之对应的距离。对应关系可以直接存储在自动割草机内，也可以由自动割草机在首次回归时执行相应的步骤来获取该对应关系，又或者由自动割草机在进入工作区域的过程中建立距离和边界线信号强度的关系，并存储。在一实施例中，在进行距离调整的过程中，自动割草机与边界 线的最大距离小于等于自动割草机能够感应到的停靠站引导信号对应的距离，从而确保自动割草机能够正常感应到或者接收到停靠站引导信号。At the same time, during the control of the automatic mower movement, the distance between the automatic mower and the boundary line is periodically or randomly changed, so that the distance between the automatic mower and the boundary line during the regression process is Changed, not constant. The change in randomness The distance between the automatic mower and the boundary line can make the probability of walking the repeated path lower. Therefore, the automatic lawn mower can effectively avoid the same path for each regression, effectively reducing the degree of wear of the automatic mower on the return path and satisfying the user's use requirements. The distance from the automatic mower to the boundary line can be determined based on the measured boundary signal strength. Specifically, the relationship between the boundary signal strength and the distance between the automatic mower and the boundary line is stored in advance in the automatic mower, so that the boundary signal strength can be converted into a corresponding distance by using the correspondence relationship. Correspondence can be stored directly in the automatic mower, or the corresponding step can be performed by the automatic mower during the first regression to obtain the correspondence, or the distance can be established by the automatic mower in the process of entering the work area. The relationship between the boundary line signal strength and storage. In an embodiment, the automatic mower and the boundary during the distance adjustment process The maximum distance of the line is less than or equal to the distance corresponding to the guidance signal of the stop that the automatic mower can sense, thereby ensuring that the automatic mower can normally sense or receive the stop guide signal.
本实施例中，自动割草机的引导线侦测模块还用于检测界限的拐点。在一实施例中，可以根据引导线检测传感器检测到的边界信号强度的变化情况来判断边界线的拐点，当检测到边界线的拐点时，周期性地或者随机性地改变自动割草机与边界线之间的距离。具体地，在检测到边界信号强度增强的位置区域改变如增大或者减小自动割草机与边界线之间的距离。边界信号通常在边界拐角(边界线拐点)位置处会增强，也即在边界的拐角(边界线拐点)位置处对自动割草机进行距离调整，从而可以减少自动割草机的偏转次数，缩短回归时间，且可以避免在其他位置区域进行位置调整时过于生硬地对距离进行改变进而影响智能体验。在一实施例中，可以设置距离改变周期，每个距离改变周期内可以依次增大或者依次减小自动割草机与边界线之间的距离。在其他的实施例中，也可以在每个周期内设置若干调节值，从而循环调节。比如，每个周期内包括d1～d4，则先将距离调整至d1，再d2，直至d4，然后又从d1开始循环。在两次距离调整之间，自动割草机与边界线之间的距离一直保持调整后的距离，也即自动割草机平行于边界线移动，如图3所示。其中，10表示停靠站，20表示边界线。In this embodiment, the guide line detection module of the automatic mower is further used to detect the inflection point of the limit. In an embodiment, the inflection point of the boundary line may be determined according to the change of the boundary signal strength detected by the guide line detecting sensor, and when the inflection point of the boundary line is detected, the automatic mower is periodically or randomly changed. The distance between the boundary lines. Specifically, the change in the positional area where the boundary signal intensity is detected is changed such as increasing or decreasing the distance between the automatic lawn mower and the boundary line. The boundary signal is usually enhanced at the boundary corner (the boundary line inflection point), that is, the distance of the automatic mower is adjusted at the corner of the boundary (the boundary line inflection point), thereby reducing the number of deflections of the automatic mower and shortening Regression time, and can avoid the change of distance too hard to affect the intelligent experience when making position adjustments in other location areas. In an embodiment, a distance change period may be set, and each distance change period may sequentially increase or sequentially decrease the distance between the automatic lawn mower and the boundary line. In other embodiments, it is also possible to set a number of adjustment values in each cycle to cycle the adjustment. For example, if d1 ~ d4 are included in each cycle, the distance is first adjusted to d1, then d2, until d4, and then cycled from d1. Between the two distance adjustments, the distance between the automatic mower and the boundary line is maintained at an adjusted distance, that is, the automatic mower moves parallel to the boundary line, as shown in FIG. Among them, 10 means a stop, and 20 means a boundary line.
在另一实施例中，也可以控制自动割草机在每移动预设时间间隔后调整一次与边界线之间的距离，如图4所示。也即，自动割草机保持与边界线的距离d1行走时间t1后调整距离为d2，再行走时间t2后将距离调整为d3……预设时间间隔可以为等时间间隔，也可以为成递增或者递减的时间间隔。In another embodiment, the automatic mower can also be controlled to adjust the distance between the boundary line and the boundary line after each preset time interval of movement, as shown in FIG. That is, the automatic mower maintains the distance from the boundary line d1, the adjustment distance is d2 after the walking time t1, and the distance is adjusted to d3 after the walking time t2... The preset time interval may be an equal time interval or may be incremented. Or a time interval of decrement.
在又一实施例中，也可以控制自动割草机在每移动预设移动路程后调整一次与边界线之间的距离。可以理解，每次的预设移动路程可以成递增、递减变化。In still another embodiment, the automatic mower can also be controlled to adjust the distance between the boundary line and the boundary line after each movement of the preset movement. It can be understood that each preset moving distance can be changed in increments and decrements.
在其他的实施例中，改变自动割草机与边界线之间的距离还可以通过如图5所示的流程来实现，其包括以下步骤。In other embodiments, changing the distance between the automatic mower and the boundary line can also be accomplished by a flow as shown in FIG. 5, which includes the following steps.
步骤S210，获取自动割草机与边界线之间的距离。Step S210, obtaining a distance between the automatic lawn mower and the boundary line.
根据检测到的边界信号强度以及边界信号强度和自动割草机与边界线之间的距离的对应关系即可获取到自动割草机与边界线之间的距离。The distance between the automatic mower and the boundary line can be obtained according to the detected boundary signal strength and the correspondence between the boundary signal strength and the distance between the automatic mower and the boundary line.
步骤S220，判断该距离在预设时间间隔内或者预设移动路程内是否发生变化。 In step S220, it is determined whether the distance changes within a preset time interval or within a preset moving distance.
在自动割草机进行距离调整后会引起该距离的变化。同时，当边界线的某段为非直线边界线时，也会引起自动割草机与边界线之间的距离的变化。因此，如果在预设时间间隔内或者预设移动路程内距离发生了变化，则表明自动割草机执行了距离调整，或者边界线为非直线边界线。若距离发生了变化，则执行步骤S230，否则执行步骤S260。This distance change will occur after the automatic mower adjusts the distance. At the same time, when a segment of the boundary line is a non-linear boundary line, it also causes a change in the distance between the automatic mower and the boundary line. Therefore, if the distance changes within the preset time interval or within the preset travel distance, it indicates that the automatic mower performs the distance adjustment, or the boundary line is a non-linear boundary line. If the distance has changed, step S230 is performed, otherwise step S260 is performed.
步骤S230，判断变化后的距离是否在预设距离范围内。In step S230, it is determined whether the changed distance is within a preset distance range.
由于距离变化可能是由自动割草机自身的距离调整引起的，也可能是由于边界线的变化而引起的。因此需要进一步判断变化后的距离是否在预设距离范围内，以避免由于边界线的变化导致自动割草机与边界线之间的距离超过预设距离范围。在本实施例中，壳体宽度为0.5m，预设距离范围为0.5m～3m。若变化后的距离在预设距离范围内，则执行S240，否则执行步骤S250。Since the change in distance may be caused by the distance adjustment of the automatic mower itself, it may also be caused by a change in the boundary line. Therefore, it is necessary to further judge whether the changed distance is within the preset distance range, so as to avoid the distance between the automatic lawn mower and the boundary line exceeding the preset distance range due to the change of the boundary line. In this embodiment, the width of the casing is 0.5 m, and the preset distance ranges from 0.5 m to 3 m. If the changed distance is within the preset distance range, S240 is performed, otherwise step S250 is performed.
步骤S240，不改变自动割草机的移动方向。In step S240, the moving direction of the automatic mower is not changed.
当检测到距离发生变化且变化后的距离在预设距离范围内时，不对自动割草机的移动方向进行调整，自动割草机沿着原有的直行方向移动。因此，当边界线为不规则弧线时，边界线发生变化引起自动割草机与边界线之间的距离发生变化时，只要变化后的距离在预设距离范围内，就无需对自动割草机的移动方向进行调整，自动割草机可以一直保持原有移动方向上的直线行驶，可以降低自动割草机的偏转次数，提高了效率，给用户感觉也比较智能，如图6所示。When it is detected that the distance changes and the changed distance is within the preset distance range, the moving direction of the automatic mower is not adjusted, and the automatic mower moves along the original straight direction. Therefore, when the boundary line is an irregular arc, when the boundary line changes and the distance between the automatic mower and the boundary line changes, as long as the changed distance is within the preset distance range, there is no need to automatically cut the grass. The movement direction of the machine is adjusted, and the automatic mower can maintain the straight line in the original moving direction at all times, which can reduce the number of deflections of the automatic mower, improve the efficiency, and give the user a feeling of intelligence, as shown in FIG. 6.
S250，调整自动割草机以使得自动割草机与边界线之间的距离在预设距离范围内。S250: Adjust the automatic lawn mower so that the distance between the automatic lawn mower and the boundary line is within a preset distance range.
在由于边界线引起自动割草机与边界线之间的距离变化时，有可能会使得距离超出预设距离范围，因此调整自动割草机使得其在预设距离范围内即可。When the distance between the automatic mower and the boundary line changes due to the boundary line, it is possible to make the distance exceed the preset distance range, so the automatic lawn mower can be adjusted so that it is within the preset distance range.
S260，改变自动割草机与边界线之间的距离。S260, changing the distance between the automatic mower and the boundary line.
在预设时间间隔或者预设移动路程内自动割草机与边界线之间的距离均未发生变化，则改变自动割草机与边界线之间的距离，以使得自动割草机在回归过程中与边界线之间的距离是变化的。The distance between the automatic mower and the boundary line does not change during the preset time interval or the preset moving distance, and the distance between the automatic mower and the boundary line is changed, so that the automatic mower is in the regression process. The distance between the middle and the boundary line is varied.
步骤S140，接收停靠站引导信号。Step S140, receiving a stop station pilot signal.
步骤S150，根据停靠站引导信号控制自动割草机回归至停靠站。Step S150, controlling the automatic mower to return to the stop station according to the stop station guiding signal.
在本实施例中，停靠站引导信号由停靠站发出，且停靠站位于边界线上。 当接收到停靠站引导信号即可知道停靠站就在附近，因此调整自动割草机的偏转角，控制自动割草机以与边界线固定的距离向停靠站移动。本实施例中，控制自动割草机移动至边界线上，即使得自动割草机跨边界线移动，如图3和图4所示。在自动割草机移动至边界线上(也即跨在边界线上)后，即可控制自动割草机沿边界线回归至停靠站，实现与停靠站的跨线精准对接。在其他的实施例中，停靠站引导信号也可以由停靠站附近的装置或者其他能够获知停靠站位置的设备发出。此时，可以控制自动割草机通过该停靠站引导信号获知停靠站的位置，从而在该停靠站引导信号的引导下即可实现精确回归至停靠站。In this embodiment, the landing station pilot signal is issued by the docking station and the docking station is located on the boundary line. When the stop signal is received, the stop is known to be nearby, so the deflection angle of the automatic mower is adjusted to control the automatic mower to move to the stop at a fixed distance from the boundary line. In this embodiment, the automatic lawn mower is controlled to move to the boundary line, that is, the automatic lawn mower moves across the boundary line, as shown in FIGS. 3 and 4. After the automatic mower moves to the boundary line (that is, across the boundary line), the automatic mower can be controlled to return to the stop station along the boundary line to achieve accurate docking with the docking station. In other embodiments, the stop guide signal may also be issued by a device near the stop or other device capable of knowing the location of the stop. At this time, the automatic lawn mower can be controlled to know the position of the docking station through the guiding signal of the docking station, so that accurate return to the docking station can be realized under the guidance of the guiding signal of the docking station.
在一实施例中，当停靠站为充电站时，可以将充电站设置成圆柱型。充电极片上下圆环布置，而自动割草机的充电接口设置为U型或者V型，从而使得自动割草机只要沿充电柱的径向即可实现自动割草机与充电站的精准对接。此时，自动割草机在360度方向沿任一方向角度与充电站进行精准对接。In an embodiment, when the docking station is a charging station, the charging station can be arranged in a cylindrical shape. The charging pole piece is arranged on the upper and lower rings, and the charging interface of the automatic mower is set to U-shaped or V-shaped, so that the automatic mower can realize the precise docking of the automatic mower and the charging station as long as the radial direction of the charging column . At this time, the automatic mower is precisely docked with the charging station at any angle in the 360-degree direction.
在另一实施例中，当充电站为单向充电站时，在根据停靠站引导信号控制自动割草机回归至停靠站时，需要根据停靠站引导信号确定自动割草机的对接方向，从而根据该对接方向调整自动割草机的位置和角度，以实现与停靠站的精准对接。上述自动割草机回归停靠站的控制方法，在每次回归过程中，以边界线为引导线进行移动直至接收到停靠站引导信号。并且，在自动割草机移动过程中，会周期性地或者随机改变自动割草机与边界线之间的距离，从而使得同一次回归过程中自动割草机与边界线之间的距离是变化的，进而可以有效避免自动割草机回归时走重复路径，有效降低对回归路径上物质的磨损程度。In another embodiment, when the charging station is a unidirectional charging station, when the automatic lawn mower is controlled to return to the stopping station according to the stopping station guiding signal, the docking direction of the automatic lawn mower needs to be determined according to the stopping station guiding signal, thereby The position and angle of the automatic mower are adjusted according to the docking direction to achieve precise docking with the docking station. The above-mentioned automatic mower returns to the control method of the docking station, and in each regression process, the boundary line is used as the guide line to move until the stop station guiding signal is received. Moreover, during the movement of the automatic mower, the distance between the automatic mower and the boundary line is periodically or randomly changed, so that the distance between the automatic mower and the boundary line changes during the same regression process. In addition, it can effectively avoid the repeated path when the automatic mower returns, and effectively reduce the degree of wear on the material in the regression path.
在一实施例中，上述自动割草机回归停靠站的控制方法在前述任一实施例的基础上还包括步骤S310和S320，如图7所示。In an embodiment, the control method of the automatic lawn mower returning to the docking station further includes steps S310 and S320 on the basis of any of the foregoing embodiments, as shown in FIG. 7.
S310，对障碍物进行检测。S310, detecting an obstacle.
自动割草机内设置有障碍物检测模块，以对障碍物进行检测。障碍物检测模块可以为超声波传感器或者碰撞传感器等设备。An obstacle detection module is provided in the automatic mower to detect obstacles. The obstacle detection module may be a device such as an ultrasonic sensor or a collision sensor.
S320，在检测到障碍物时调整自动割草机与边界线之间的距离以避开障碍物。S320, adjusting the distance between the automatic lawn mower and the boundary line when the obstacle is detected to avoid the obstacle.
在检测到障碍物后，控制自动割草机调整与边界线之间的距离以实现避障功能。在进行避障的同时，将本次的距离调整作为回归过程中的一次距离 调整，从而取代原本调整方式中临近点的距离调整过程。在其他的实施例中，也可以在本次距离调整后，重新按照原来的调整方式对后续移动过程进行距离调整，从而可以智能的减少回归过程中的距离调整次数，提高回归效率。上述自动割草机尤其适用于停靠站为可以双向进行充电的充电站的情况。After detecting the obstacle, the automatic lawn mower is controlled to adjust the distance between the boundary line and the obstacle avoidance function. While performing obstacle avoidance, this distance adjustment is used as a distance in the regression process. Adjustment, thus replacing the distance adjustment process of the adjacent points in the original adjustment mode. In other embodiments, after the current distance adjustment, the distance adjustment of the subsequent movement process may be re-adjusted according to the original adjustment manner, thereby intelligently reducing the number of distance adjustments in the regression process and improving the regression efficiency. The above automatic lawn mower is particularly suitable for the case where the docking station is a charging station that can charge in both directions.
在一实施例中，在步骤S120和步骤S130之间还需要执行步骤S410～S430，如图8所示。In an embodiment, steps S410-S430 are further required to be performed between step S120 and step S130, as shown in FIG.
步骤S410，控制自动割草机沿边界信号强度最强的方向移动至边界线上。Step S410, controlling the automatic mower to move to the boundary line in the direction in which the boundary signal intensity is strongest.
具体的，控制自动割草机以第一引导线检测传感器Sr1和第二引导线检测传感器Sr2分别位于工作区域内和外的姿态移动，以使得自动割草机的移动方向与边界线平行。Specifically, the automatic lawn mower is controlled to move in a posture in which the first guide line detecting sensor Sr1 and the second guide line detecting sensor Sr2 are located inside and outside the working area, respectively, so that the moving direction of the automatic lawn mower is parallel to the boundary line.
步骤S420，根据检测到的边界信号相位确定自动割草机的移动方向并根据移动方向调整该自动割草机的机身位置。Step S420, determining a moving direction of the automatic mower according to the detected phase of the boundary signal and adjusting a position of the body of the automatic mower according to the moving direction.
该步骤尤其适合当停靠站为只能单向进行充电的充电站时，由于停靠站只能单向进行充电，所以当自动割草机在边界线内也即工作区域内时是无法确定自动割草机是要顺时针沿边界线进行回归还是逆时针沿边界线进行回归。故需要将其移动至边界线上，以根据第一引导线检测传感器Sr1和第二引导线检测传感器Sr2检测到的边界线磁力线方向(即相位)结果来判断。This step is particularly suitable when the docking station is a charging station that can only charge in one direction, since the docking station can only charge in one direction, it is impossible to determine the automatic cutting when the automatic lawn mower is in the boundary line, that is, in the working area. Whether the grass machine is going to regress along the boundary line clockwise or counterclockwise along the boundary line. Therefore, it is necessary to move it to the boundary line to judge based on the result of the boundary line magnetic field direction (i.e., phase) detected by the first guide line detecting sensor Sr1 and the second leading line detecting sensor Sr2.
根据检测到的边界信号相位即可确定自动割草机是要顺时针还是逆时针进行移动。在确定其移动方向后只需要对其机身位置进行调整使得其前进方向与移动方向一致即可。Based on the detected phase of the boundary signal, it can be determined whether the automatic mower is moving clockwise or counterclockwise. After determining its moving direction, it is only necessary to adjust its body position so that its forward direction coincides with the moving direction.
步骤S430，控制自动割草机移动至边界线内。In step S430, the automatic lawn mower is controlled to move into the boundary line.
自动割草机可以预设偏转角或者任意偏转角移动至边界线内。在本实施例中，自动割草机与边界线的距离不应该超出预设距离范围。The automatic mower can be moved into the boundary line with a preset deflection angle or an arbitrary deflection angle. In this embodiment, the distance between the automatic mower and the boundary line should not exceed the preset distance range.
通过对移动方向进行确定，可以实现自动割草机与停靠站进行跨线精准对接，如图9所示。By determining the moving direction, the automatic mower and the docking station can be accurately connected across the line, as shown in FIG.
在一实施例中，在执行步骤S120之后、执行步骤S130之前，还需要执行步骤S510～S550，如图10所示。In an embodiment, after performing step S120 and before performing step S130, steps S510 to S550 are also required to be performed, as shown in FIG.
步骤S510，判断自动割草机内是否存储有边界信号强度和自动割草机与边界线之间的距离的对应关系。In step S510, it is determined whether a correspondence between the boundary signal strength and the distance between the automatic mower and the boundary line is stored in the automatic mower.
在一实施例中，当自动割草机为首次回归时，其内部并不会存储有边界 信号强度和自动割草机与边界线之间的距离的对应关系。只有当自动割草机为非首次回归时才会存储有该对应关系。在另一实施例中，可以利用自动割草机离开停靠站进入到工作区域的过程来获得自动割草机与边界线的距离和边界信号强度之间的关系，从而将该关系存储在自动割草机内。在该实施例中，即便是自动割草机首次回归，其内仍存储有该对应关系。In an embodiment, when the automatic mower is first returned, there is no boundary stored therein. Signal strength and the correspondence between the distance between the automatic mower and the boundary line. This correspondence is only stored when the automatic mower is not first returned. In another embodiment, the automatic mower can be used to leave the docking station to enter the working area to obtain the relationship between the distance between the automatic mower and the boundary line and the boundary signal strength, thereby storing the relationship in the automatic cutting. Inside the grass machine. In this embodiment, even if the automatic lawn mower returns for the first time, the corresponding relationship is stored therein.
当在本次回归时，判断出自动割草机内没有存储有该对应关系时，需要控制自动割草机去执行相应的操作以获得该对应关系，也即需要先执行步骤S520～S550，然后再执行步骤S130。如果判断出自动割草机内存储有该对应关系，则可以执行步骤S130。When it is determined that the corresponding relationship is not stored in the automatic mower at the time of the return, it is necessary to control the automatic mower to perform the corresponding operation to obtain the corresponding relationship, that is, the steps S520 to S550 are performed first, and then Step S130 is performed again. If it is determined that the correspondence relationship is stored in the automatic lawn mower, step S130 may be performed.
步骤S520，控制自动割草机沿边界信号强度最强的方向移动至边界线上。Step S520, controlling the automatic mower to move to the boundary line in the direction in which the boundary signal intensity is strongest.
因为自动割草机内并没有存储有边界信号强度和自动割草机与边界线之间的距离的对应关系，因此无法直接根据边界信号强度知晓与边界线的距离。故需要控制自动割草机先回归至边界线上。在本实施例中，自动割草机移动至边界线上均是指自动割草机跨在边界线上，且自动割草机的纵轴线与边界线重合的状态，以提高后续获得的对应关系的准确度以及对接的准确度。本实施例中，通过控制自动割草机以第一引导线检测传感器Sr1和第二引导线检测传感器Sr2分别位于工作区域内和外的姿态移动，以使得自动割草机在边界线上移动。在其他实施例中，第一引导线检测传感器Sr1和第二引导线检测传感器Sr2可以检测边界信号强度，如第一引导线检测传感器Sr1和第二引导线检测传感器Sr2检测到的边界信号相位相反、且强度相等时，此时自动割草机精准跨在边界线上，有利于实现自动割草机与停靠站之间的精准对接。当第一引导线检测传感器Sr1和第二引导线检测传感器Sr2检测到的边界信号强度存在一定差值时(存在自动割草机对接时出现偏置对接的这种情况)，也可以利用第一引导线检测传感器Sr1和第二引导线检测传感器Sr2检测到的强度来实现对自动割草机的左右调整，进而实现对自动割草机的跨线调整，以使得自动割草机能够精准跨在边界线上。Since the boundary signal strength and the distance between the automatic mower and the boundary line are not stored in the automatic mower, the distance from the boundary line cannot be directly known from the boundary signal strength. Therefore, it is necessary to control the automatic mower to return to the boundary line first. In this embodiment, the movement of the automatic lawn mower to the boundary line refers to a state in which the automatic lawn mower straddles the boundary line, and the vertical axis of the automatic lawn mower coincides with the boundary line to improve the correspondence obtained subsequently. Accuracy and accuracy of docking. In the present embodiment, the posture movement of the first guide line detecting sensor Sr1 and the second guide line detecting sensor Sr2 in the working area and the outside is respectively controlled by the automatic lawn mower to move the automatic lawn mower on the boundary line. In other embodiments, the first guide line detecting sensor Sr1 and the second guide line detecting sensor Sr2 may detect the boundary signal strength as the boundary signals detected by the first guide line detecting sensor Sr1 and the second leading line detecting sensor Sr2 are opposite in phase When the strength is equal, the automatic mower accurately crosses the boundary line at this time, which is beneficial to realize the precise docking between the automatic mower and the docking station. When there is a certain difference between the boundary signal strengths detected by the first guide line detecting sensor Sr1 and the second guide line detecting sensor Sr2 (there is a case where the offset docking occurs when the automatic mower is docked), the first The intensity detected by the guide line detecting sensor Sr1 and the second guiding line detecting sensor Sr2 realizes the left and right adjustment of the automatic lawn mower, thereby realizing the over-line adjustment of the automatic lawn mower, so that the automatic lawn mower can accurately cross On the boundary line.
步骤S530，控制自动割草机以预设偏转角移动至边界线内，并获取移动过程中不同位置的数据信息。Step S530, controlling the automatic mower to move into the boundary line with a preset deflection angle, and acquiring data information of different positions during the movement.
步骤S540，根据各位置对应的路程长度以及偏转角确定各位置与边界线的距离。 Step S540, determining the distance between each position and the boundary line according to the path length corresponding to each position and the deflection angle.
具体的，控制自动割草机向工作区域内转向并移动。自动割草机包括转角检测装置，检测自动割草机转动的角度，还包括里程计，检测自动割草机移动的路程，控制模块基于自动割草机转动的角度和移动的路程，判断自动割草机与边界线之间的距离变化。本实施例中，自动割草机转向前跨边界线移动，因此，自动割草机转动并移动后，与边界线的距离变化即自动割草机与边界线的距离。Specifically, the automatic lawn mower is controlled to turn and move into the work area. The automatic lawn mower includes a rotation angle detecting device for detecting the angle of rotation of the automatic lawn mower, and an odometer for detecting the movement of the automatic lawn mower, and the control module determines the automatic cutting based on the angle of the automatic lawn mower rotation and the moving distance. The distance between the grass machine and the boundary line changes. In this embodiment, the automatic mower moves across the boundary line before turning. Therefore, after the automatic mower rotates and moves, the distance from the boundary line changes, that is, the distance between the automatic mower and the boundary line.
预设偏转角可以根据需要设置。各位置的数据信息包括各位置检测到的边界信号强度以及自动割草机从边界线移动至对应位置的路程长度。在本实施例中，自动割草机内安装有电子罗盘或陀螺仪等设备来获取其偏转角。自动割草机内还安装有里程计等用于记录自动割草机移动路程的设备。因此根据两个位置处的里程计的计数差值即可确定出自动割草机在两个位置之间的路程长度。The preset deflection angle can be set as needed. The data information of each position includes the boundary signal strength detected at each position and the path length of the automatic mower moving from the boundary line to the corresponding position. In this embodiment, an electronic compass or a gyroscope is mounted in the automatic mower to obtain its deflection angle. The automatic lawn mower is also equipped with equipment such as an odometer for recording the movement of the automatic mower. Therefore, the length of the path between the two positions of the automatic mower can be determined based on the difference in the count of the odometer at the two positions.
步骤S550，根据各位置对应的边界信号强度和对应的距离确定边界信号强度和自动割草机与所述边界线之间的距离的对应关系。Step S550, determining a correspondence between the boundary signal strength and the distance between the automatic mower and the boundary line according to the boundary signal strength corresponding to each position and the corresponding distance.
对应关系可以根据得到的数据通过数学建模的方式或者通过线性拟合的方式确定。Correspondence can be determined by mathematical modeling or by linear fitting based on the obtained data.
在上述实施例中，当停靠站为只能单向充电的充电站时，在步骤S520和步骤S530之间，还需要执行根据检测到的边界信号相位确定自动割草机的移动方向并根据移动方向调整该自动割草机的机身位置的步骤。上述控制方法的控制示意图如图9所示。In the above embodiment, when the docking station is a charging station that can only charge in one direction, between step S520 and step S530, it is also necessary to perform determining the moving direction of the automatic lawn mower according to the detected boundary signal phase and according to the movement. The step of adjusting the position of the body of the automatic mower. The control diagram of the above control method is shown in FIG.
本实施例中，控制模块控制自动割草机转向的角度不大于15°。自动割草机转向的角度越小，对草坪的磨损越小。本实施例中，自动割草机与边界线的距离可以通过多次变距递增，因此，自动割草机每次变距时可以只变化较小的距离，通过多次变距叠加来实现与边界线的距离逐渐增大，自动割草机一次变距的距离小，因此可以在转动小角度的情况下实现快速变距。In this embodiment, the control module controls the angle of the automatic lawn mower to be no more than 15°. The smaller the angle of the automatic mower turning, the less wear on the lawn. In this embodiment, the distance between the automatic mower and the boundary line can be increased by multiple variable pitches. Therefore, the automatic mower can change only a small distance each time the variable distance is changed, and the multiple variable pitch superposition is used to realize The distance between the boundary lines is gradually increased, and the distance of the automatic mower at one variable distance is small, so that the rapid variable pitch can be realized with a small angle of rotation.
图11为一实施例中的自动割草机回归停靠站的控制***的结构框图。该控制***用于实现前述任意实施例中的自动割草机回归停靠站的控制方法。该控制***包括回归控制信号接收模块610、引导线侦测模块620、移动控制模块630和停靠站引导信号检测模块640。其中，移动控制模块630分别与回归控制信号接收模块610、引导线侦测模块620以及停靠站引导信号检测模块640连接。移动控制模块630可以通过自动割草机内的处理器来实现。 Figure 11 is a block diagram showing the structure of a control system for an automatic lawn mower returning to a docking station in an embodiment. The control system is used to implement the control method of the automatic lawn mower return stop in any of the foregoing embodiments. The control system includes a regression control signal receiving module 610, a guide line detection module 620, a motion control module 630, and a stop station pilot signal detection module 640. The mobile control module 630 is respectively connected to the regression control signal receiving module 610, the guide line detecting module 620, and the stopping station guiding signal detecting module 640. The motion control module 630 can be implemented by a processor within the automatic mower.
回归控制信号接收模块610用于接收回归控制信号。The regression control signal receiving module 610 is configured to receive a regression control signal.
引导线侦测模块620用于对边界线发出的边界信号进行检测。边界线用于界定自动割草机的工作区域。引导线侦测模块620包括第一引导线检测传感器Sr1、第二引导线检测传感器Sr2和第三引导线检测传感器Sr3，如图2所示。具体介绍在前述实施例中已经提及，此处不赘述。The guide line detection module 620 is configured to detect a boundary signal sent by the boundary line. The boundary line is used to define the working area of the automatic mower. The guide line detecting module 620 includes a first guide line detecting sensor Sr1, a second leading line detecting sensor Sr2, and a third leading line detecting sensor Sr3, as shown in FIG. The specific description has been mentioned in the foregoing embodiments, and details are not described herein.
移动控制模块630用于在回归控制信号接收模块610接收到回归控制信号时，控制自动割草机以边界线为引导线进行移动直至接收到停靠站引导信号。在自动割草机移动过程中，移动控制模块630会根据检测到的边界信号强度确定自动割草机与边界线之间的距离并改变自动割草机与边界线之间的距离。The mobile control module 630 is configured to control the automatic mower to move the boundary line as a guide line until the stop station pilot signal is received when the regression control signal receiving module 610 receives the regression control signal. During the automatic mower movement, the movement control module 630 determines the distance between the automatic mower and the boundary line based on the detected boundary signal strength and changes the distance between the automatic mower and the boundary line.
停靠站引导信号检测模块640用于检测停靠站引导信号。移动控制模块630还用于根据所述停靠站引导信号控制所述自动割草机回归至所述停靠站。The bus stop signal detection module 640 is configured to detect the bus stop signal. The mobile control module 630 is further configured to control the automatic mower to return to the docking station according to the stop station guiding signal.
上述自动割草机回归停靠站的控制***，在每次回归过程中，以边界线为引导线进行移动直至接收到停靠站引导信号。并且，在自动割草机移动过程中，会改变自动割草机与边界线之间的距离，从而使得同一次回归过程中自动割草机与边界线之间的距离是变化的，进而可以有效避免自动割草机回归时走重复路径，有效降低对回归路径上物质的磨损程度。The above automatic mower returns to the control system of the docking station, and in each regression process, the boundary line is used as the guide line to move until the stop station guiding signal is received. Moreover, during the movement of the automatic mower, the distance between the automatic mower and the boundary line is changed, so that the distance between the automatic mower and the boundary line changes during the same regression process, and thus can be effective. Avoid the repeated path when the automatic mower returns, effectively reducing the degree of wear on the material in the regression path.
本发明实施例还提供一种自动割草机，其包括设备本体，还包括如前述实施例中的自动割草机回归停靠站的控制***，以执行前述任意实施例所述的自动割草机回归停靠站的控制方法。上述自动割草机在回归停靠站的过程中，同一次回归过程中自动割草机与边界线之间的距离是变化的，进而可以有效避免自动割草机回归时走重复路径，有效降低对回归路径上物质的磨损程度。The embodiment of the present invention further provides an automatic lawn mower, comprising an apparatus body, and further comprising a control system of the automatic lawn mower returning docking station as in the foregoing embodiment, to execute the automatic lawn mower described in any of the foregoing embodiments. Return to the control method of the stop. In the process of returning to the docking station, the distance between the automatic mower and the boundary line changes during the same regression process, which can effectively avoid the repeated path when the automatic mower returns, effectively reducing the pair. The degree of wear of the material on the return path.
本发明的第二实施例中，自动割草机的结构和回归控制方法与第一实施例中基本相同，差异在于：自动割草机可以不包括第三引导线检测传感器，使自动割草机的移动方向与边界线平行的方法可以为，控制自动割草机以顺时针方向和逆时针方向的其中之一转动预设角度，再以其中另一转动相同角度。In the second embodiment of the present invention, the structure and the regression control method of the automatic lawn mower are basically the same as those in the first embodiment, and the difference is that the automatic lawn mower may not include the third guide line detecting sensor, so that the automatic lawn mower The method of moving the direction parallel to the boundary line may be to control the automatic mower to rotate the preset angle in one of a clockwise direction and a counterclockwise direction, and then rotate the same angle with the other one.
第二实施例的自动割草机的结构示意图如图15所示，回归路径示意图如图16所示。自动割草机开始沿边界线回归时，与第一实施例中类似，控制模 块控制自动割草机移动至边界线上，以第一引导线检测传感器和第二引导线检测传感器分别位于工作区域的内和外的姿态移动，使得自动割草机的移动方向与边界线平行。控制模块控制自动割草机向工作区域内(图16中为逆时针方向)转动预设角度A,并以转向完成时的姿态向前移动，从而增大自动割草机与边界线之间的距离。自动割草机向前移动一预设距离后，控制模块控制自动割草机向反方向(图16中为顺时针方向)转动角度F，本实施例中，F＝A，自动割草机恢复与边界线平行的移动方向。自动割草机以与边界线平行的移动方向移动至少第一预设距离。控制模块再控制自动割草机向边界线的方向(图16中为顺时针方向)转动预设角度B，并以转向完成时的姿态向前移动，从而减小自动割草机与边界线之间的距离。自动割草机向前移动一预设距离后，控制模块控制自动割草机向反方向(图16中为逆时针方向)转动角度F’，本实施例中，F’＝B，自动割草机再次恢复与边界线平行的移动方向，自动割草机以与边界线平行的移动方向移动至少第一预设距离，然后重复上述过程。FIG. 15 is a schematic structural view of the automatic lawn mower of the second embodiment, and a schematic diagram of the regression path is shown in FIG. 16. When the automatic mower starts to return along the boundary line, similar to the first embodiment, the control mode The block control automatic lawn mower moves to the boundary line, and the first guide line detecting sensor and the second guide line detecting sensor are respectively moved inside and outside of the working area, so that the moving direction of the automatic mower is parallel to the boundary line. . The control module controls the automatic mower to rotate the preset angle A into the working area (counterclockwise in FIG. 16) and move forward in the posture when the steering is completed, thereby increasing the distance between the automatic mower and the boundary line. distance. After the automatic mower moves forward by a predetermined distance, the control module controls the automatic mower to rotate the angle F in the opposite direction (clockwise in FIG. 16). In this embodiment, F=A, the automatic mower is restored. The direction of movement parallel to the boundary line. The automatic mower moves at least a first predetermined distance in a moving direction parallel to the boundary line. The control module then controls the automatic mower to rotate the preset angle B in the direction of the boundary line (clockwise in FIG. 16), and moves forward in the posture when the steering is completed, thereby reducing the automatic mower and the boundary line. The distance between them. After the automatic mower moves forward by a predetermined distance, the control module controls the automatic mower to rotate the angle F' in the opposite direction (counterclockwise in FIG. 16). In this embodiment, F'=B, automatically mowing The machine resumes the moving direction parallel to the boundary line, and the automatic mower moves at least the first predetermined distance in a moving direction parallel to the boundary line, and then repeats the above process.
本实施例中，控制模块控制自动割草机交替的增大和减小与边界线之间的距离。In this embodiment, the control module controls the automatic mower to alternately increase and decrease the distance from the boundary line.
本实施例中，自动割草机转动并移动过程中，需要控制自动割草机相对边界线的位置，防止自动割草机距离边界线过远，或者移动至界外等情况的发生。控制自动割草机相对边界线的位置的方案包括如下几种：In this embodiment, during the rotation and movement of the automatic mower, it is necessary to control the position of the automatic mower relative to the boundary line, to prevent the automatic mower from being too far from the boundary line, or moving to the outside of the boundary. The scheme for controlling the position of the automatic mower relative to the boundary line includes the following:
方案A：第一引导线检测传感器或第二引导线检测传感器用于检测自身与边界线的距离，具体的，第一引导线检测传感器或第二引导线检测传感器通过检测边界信号的强度来检测自身与边界线的距离。自动割草机转动并移动过程中，控制模块基于引导线检测传感器的检测结果，判断引导线检测传感器与边界线的距离是否达到第二预设距离，若达到第二预设距离，则控制自动割草机向相反方向转动。具体的，控制模块判断引导线检测传感器检测到的边界信号的强度是否小于等于预设强度值，若小于等于预设强度值，说明自动割草机位于离边界线较远的位置，为了防止自动割草机距离边界线过远导致自动割草机接收不到边界信号等问题，应及时控制自动割草机向反方向转动以接近边界线。Scheme A: The first guide line detecting sensor or the second guide line detecting sensor is configured to detect the distance between itself and the boundary line. Specifically, the first guiding line detecting sensor or the second guiding line detecting sensor detects by detecting the intensity of the boundary signal. The distance between itself and the boundary line. During the rotation and movement of the automatic mower, the control module determines whether the distance between the guide line detecting sensor and the boundary line reaches the second preset distance based on the detection result of the guide line detecting sensor, and if the second preset distance is reached, the control automatically The mower rotates in the opposite direction. Specifically, the control module determines whether the strength of the boundary signal detected by the guide line detecting sensor is less than or equal to a preset intensity value, and if the preset intensity value is less than or equal to the preset intensity value, the automatic lawn mower is located far from the boundary line, in order to prevent automatic If the mower is too far from the boundary line, the automatic mower can not receive the boundary signal. The automatic mower should be controlled to rotate in the opposite direction to approach the boundary line.
方案B：自动割草机包括计时器，记录自动割草机转动预设角度后移动的时间，控制模块判断自动割草机转动预设角度后移动的时间是否达到预设 时间，若达到预设时间，则控制自动割草机向相反方向转动。自动割草机的转动通常为原地转动，自动割草机完成转向后，以转向完成时的姿态向前移动，移动路程与移动时间成正比，控制自动割草机向前移动的时间能够有效控制自动割草机的移动路程，从而控制自动割草机与边界线的距离。Option B: The automatic mower includes a timer to record the time after the automatic mower rotates the preset angle, and the control module determines whether the time after the automatic mower rotates the preset angle reaches the preset time. Time, if the preset time is reached, control the automatic mower to rotate in the opposite direction. The rotation of the automatic mower is usually rotated in situ. After the automatic mower completes the steering, it moves forward in the posture when the steering is completed. The moving distance is proportional to the moving time, and the time for controlling the automatic mower to move forward can be effective. Controls the movement of the automatic mower to control the distance between the automatic mower and the boundary line.
方案C：第一引导线检测传感器或第二引导线检测传感器用于检测自身位于边界线限定的工作区域内或外，自动割草机转动并移动过程中，若引导线检测传感器检测到自身位于工作区域外，则控制模块控制自动割草机向相反方向转动。该方法能够防止自动割草机在移动过程中出界，例如自动割草机向靠近边界线的方向转动并移动时，若移动距离过大，容易造成自动割草机移动至边界线外，造成安全问题，通过上述方法可控制自动割草机移动至有引导线检测传感器跨线时及时转向，从而使自动割草机恢复至跨线移动。Solution C: The first guide line detecting sensor or the second guide line detecting sensor is used to detect that it is located inside or outside the working area defined by the boundary line, and the leading line detecting sensor detects that it is located during or after the automatic lawn mower rotates and moves. Outside the work area, the control module controls the automatic mower to rotate in the opposite direction. The method can prevent the automatic mower from being out of bounds during the moving process. For example, when the automatic mower rotates and moves toward the boundary line, if the moving distance is too large, the automatic mower is likely to move outside the boundary line, resulting in safety. The problem is that, by the above method, the automatic mower can be controlled to move to the time when the guide line detecting sensor crosses the line, so that the automatic mower can be restored to the cross-line movement.
本实施例的回归控制方法可以仅使用两个引导线检测传感器来实现自动割草机的变距回归，成本低。The regression control method of the present embodiment can realize the variable pitch regression of the automatic lawn mower using only two guide line detecting sensors, and the cost is low.
下面结合流程示意图来介绍本实施例的回归控制方法。The regression control method of this embodiment will be described below in conjunction with the flowchart.
如图12所示，本实施例的回归控制方法包括步骤S102至步骤S114。As shown in FIG. 12, the regression control method of this embodiment includes steps S102 to S114.
步骤S102，控制自动割草机寻找到边界线。Step S102, controlling the automatic mower to find the boundary line.
本步骤中，当自动割草机需要返回时，会首先找到边界线。In this step, when the automatic mower needs to return, the boundary line is first found.
步骤S104，控制自动割草机向边界线内部偏移角度A，并沿角度A移动距离S或时间T。In step S104, the automatic lawn mower is controlled to shift the angle A to the inside of the boundary line, and move the distance S or time T along the angle A.
本发明的第二实施例中，当自动割草机按照步骤S102找到边界线后，跨边界线移动以使移动方向与边界线平行，然后向边界线内部偏移角度A后移动。为避免自动割草机沿角度A移动的距离过大，降低回归效率，可以对其移动的距离进行限制，如以距离S或时间T作为限定。In the second embodiment of the present invention, when the automatic lawn mower finds the boundary line in accordance with step S102, it moves across the boundary line so that the moving direction is parallel to the boundary line, and then moves to the inside of the boundary line after shifting the angle A. In order to avoid the distance that the automatic mower moves along the angle A is too large and the regression efficiency is lowered, the distance of the movement can be limited, for example, by the distance S or the time T.
在其他实施例中，自动割草机找到边界线后也可以不沿边界线移动而直接转向，只需得到自动割草机的纵轴线和边界线的夹角角度即可。In other embodiments, after the automatic lawn mower finds the boundary line, it can also directly turn without moving along the boundary line, and only needs to obtain the angle between the longitudinal axis of the automatic lawn mower and the boundary line.
步骤S106，以自动割草机向边界线内部偏移角度A的时针为第一时针方向，控制自动割草机沿与所述第一时针方向反向的第二时针方向偏移角度B，并移动至边界线。Step S106, controlling the automatic lawn mower to shift the angle B in the second hour direction opposite to the first hour hand direction by using the hour hand of the automatic lawn mower to shift the angle A inside the boundary line to the first hour hand direction, and Move to the boundary line.
本步骤中，自动割草机沿第二时针方向偏移角度B，可使自动割草机向边界线移动，使自动割草机在返回时，既不偏离边界线，又不重复碾压草坪。In this step, the automatic mower is offset by an angle B in the second hour hand direction, so that the automatic mower can be moved to the boundary line, so that the automatic mower does not deviate from the boundary line and does not repeatedly roll the lawn when returning. .
步骤S108，检测自动割草机是否接收到停靠站引导信号。 Step S108, detecting whether the automatic lawn mower receives the landing station guiding signal.
本实施例中，重复步骤S104至步骤S106的过程并不能使自动割草机准确的返回至停靠站。为此，停靠站可以发射引导信号，由自动割草机识别后确认已经接近停靠站。引导信号可以是超声波信号、蓝牙信号、WIFI信号等。In this embodiment, repeating the processes of steps S104 to S106 does not enable the automatic mower to accurately return to the docking station. To this end, the stop station can transmit a pilot signal that is recognized by the automatic mower and confirmed that it is close to the stop. The pilot signal may be an ultrasonic signal, a Bluetooth signal, a WIFI signal, or the like.
步骤S109，若自动割草机未接收到引导信号，则进入步骤S104。In step S109, if the automatic mower has not received the pilot signal, the process proceeds to step S104.
本步骤中，若自动割草机没有接收到引导信号，说明自动割草机距离停靠站较远，可以返回步骤S104重复以上过程，直到自动割草机接收到引导信号。In this step, if the automatic lawn mower does not receive the guiding signal, the automatic lawn mower is far away from the stopping station, and the process may be repeated in step S104 until the automatic lawn mower receives the guiding signal.
步骤S112，若自动割草机接收到引导信号，则自动割草机根据引导信号或边界线引导移动至停靠站。Step S112, if the automatic lawn mower receives the guiding signal, the automatic lawn mower guides the movement to the stopping station according to the guiding signal or the boundary line.
本步骤中，自动割草机接收到引导信号后，即可根据引导信号或边界线的引导移动至停靠站。本实施例优选的是，自动割草机根据引导信号的引导移动至停靠站时，直接沿着边界线移动。In this step, after the automatic mower receives the pilot signal, it can move to the docking station according to the guidance signal or the guidance of the boundary line. In this embodiment, it is preferable that the automatic lawn mower moves directly along the boundary line when moving to the docking station according to the guidance of the pilot signal.
以上所述回归方法中，自动割草机每次在回归时，不是沿边界线重复回归，而是采用偏移移动的方式回归，可有效防止重复回归时严重碾压草坪。In the regression method described above, each time the automatic lawn mower returns, it does not repeat the regression along the boundary line, but uses the offset movement to return, which can effectively prevent the lawn from being severely crushed during repeated regression.
具体的，本实施例中，步骤(106)之前还包括：以所述自动割草机向边界线内部偏移角度A的时针为第一时针方向，控制所述自动割草机沿与所述第一时针方向反向的第二时针方向偏移角度F，并沿偏移后的方向移动时间T或距离S。本步骤中，为便于偏移方向的区分，以步骤S104中自动割草机向边界线内部偏移角度A的时针为每一时针方向，其可以是逆时针偏移与顺时针偏移。自动割草机以第二时针方向偏移角度F后，自动割草机不会重复碾压草坪。本实施例中优选的一种实现方案是将偏移角度F与角度A大小相等，这样，自动割草机可与边界线保持平行移动，提高回归效率并不重复碾压草坪。本实施例中，移动的距离可以限定，如移动时间T或距离S即可。Specifically, in this embodiment, before step (106), the method further comprises: controlling the automatic lawn mower along the first hour hand direction by the hour hand offsetting the angle A from the automatic lawn mower to the boundary line The second hour hand direction in which the first hour hand direction is reversed is offset by the angle F, and the time T or the distance S is moved in the shifted direction. In this step, in order to facilitate the division of the offset direction, the hour hand of the automatic mower to shift the angle A to the inside of the boundary line in step S104 is the hour hand direction, which may be a counterclockwise offset and a clockwise offset. After the automatic mower is offset by the angle F in the second hour hand direction, the automatic mower does not repeatedly crush the lawn. A preferred implementation in this embodiment is to equalize the offset angle F and the angle A, so that the automatic lawn mower can move parallel to the boundary line to improve the regression efficiency without repeatedly rolling the lawn. In this embodiment, the moving distance may be limited, such as the moving time T or the distance S.
如图13所示，回归方法还可以包括步骤S101。As shown in FIG. 13, the regression method may further include step S101.
步骤S101，检测自动割草机是否需要移动至停靠站，并在自动割草机需要移动至停靠站时，进入步骤S102。In step S101, it is detected whether the automatic lawn mower needs to move to the docking station, and when the automatic lawn mower needs to move to the docking station, the process proceeds to step S102.
本步骤中，首先需要检测自动割草机是否需要返回到停靠站。由于停靠站可以是充电站的位置等，因此，在自动割草机电量不足，或者天气下雨等原因，或者割草任务完成等情况下，均需要返回至停靠站。为此，在进入步骤S102之前，需要通过步骤S101检测自动割草机是否需要返回至停靠站。In this step, it is first necessary to detect whether the automatic mower needs to return to the docking station. Since the docking station can be the location of the charging station, etc., it is necessary to return to the docking station if the automatic lawn mower is insufficient in power, or when the weather is raining, or when the mowing task is completed. To this end, before proceeding to step S102, it is necessary to detect whether the automatic lawn mower needs to return to the docking station by step S101.
如图14所示，回归方法还可以包括步骤S103。 As shown in FIG. 14, the regression method may further include step S103.
步骤S103，控制自动割草机使边界线位于自动割草机的中间位置。In step S103, the automatic lawn mower is controlled such that the boundary line is located at an intermediate position of the automatic lawn mower.
本步骤中，当自动割草机寻找到边界线后，需要先移动姿态，使边界线位于自动割草机的中间位置，然后再由步骤S104偏移角度A后移动，如果不对自动割草机的位置进行调整，步骤S104中自动割草机的偏移难以控制。In this step, after the automatic lawn mower finds the boundary line, it is necessary to first move the posture so that the boundary line is located in the middle position of the automatic lawn mower, and then move by the angle A after the step S104, if not the automatic lawn mower The position is adjusted, and the offset of the automatic mower in step S104 is difficult to control.
步骤S140中，可以通过检测自动割草机接收到的边界信号强度是否为预设值M1判断自动割草机是否移动距离S；或者In step S140, it may be determined whether the automatic mower moves the distance S by detecting whether the boundary signal strength received by the automatic mower is a preset value M1; or
通过检测自动割草机沿角度A移动的时间是否达到预设的时间值T1判断自动割草机是否移动距离S。It is determined whether the automatic mower moves the distance S by detecting whether the time when the automatic mower moves along the angle A reaches a preset time value T1.
自动割草机在边界线时，自动割草机接收的边界线信号M最强，当步骤S104中自动割草机从边界线开始偏移角度A并移动后，由于逐渐偏离边界线，自动割草机接收到的边界线信号逐渐减弱，当自动割草机接收到的边界线信号为M1时，M1＝M－m，其中，m为允许自动割草机偏离边界线后接收的边界线信号衰减的最大值，此时，可以说明自动割草机已经移动了距离S。也可以直接限定自动割草机移动的时间T1判定自动割草机已经移动了距离S。When the automatic lawn mower is in the boundary line, the boundary line signal M received by the automatic lawn mower is the strongest. When the automatic lawn mower shifts from the boundary line to the angle A and moves in step S104, the automatic cutting is performed due to the gradual deviation from the boundary line. The boundary line signal received by the grass machine gradually weakens. When the boundary line signal received by the automatic mower is M1, M1=M-m, where m is the boundary line signal that is allowed to be received after the automatic mower is deviated from the boundary line. The maximum value of the attenuation, at this point, it can be stated that the automatic mower has moved the distance S. It is also possible to directly limit the time T1 of the automatic mower movement to determine that the automatic mower has moved the distance S.
回归方法还可以包括步骤S107，且步骤S107位于步骤S106之后。The regression method may further include step S107, and step S107 is located after step S106.
步骤S107，控制自动割草机使边界线位于自动割草机的中间位置。In step S107, the automatic lawn mower is controlled so that the boundary line is located at an intermediate position of the automatic lawn mower.
当由步骤S106使自动割草机回到边界线后，由于需要再次循环步骤S104，如果不将自动割草机的位置调整为与步骤S103同样的姿态，同样会导致自动割草机的偏移无法控制。When the automatic lawn mower is returned to the boundary line by step S106, since the step S104 needs to be repeated again, if the position of the automatic lawn mower is not adjusted to the same posture as that of step S103, the offset of the automatic lawn mower is also caused. Unable to control.
本实施例中，角度A与B均小于90度。如果角度等于或大于90度，自动割草机偏移后可能会超出边界线外。In this embodiment, the angles A and B are both less than 90 degrees. If the angle is equal to or greater than 90 degrees, the automatic mower may be out of the boundary line after being offset.
如图15和图16所示，当自动割草机不用按照常规的方法重复沿着边界线返回停靠站时，可以按照以上方法进行移动。边界线可以是矩形等规则或不规则形状。由于每次移动时不会反复重复碾压相同区域的草坪，因而，不会对草坪造成伤害。且如图16中所示，自动割草机在按照以上方法移动时，当接收到引导信号时，如超声波、蓝牙信号或WIFI信号等，可以直接沿着边界线移动至停靠站。As shown in Fig. 15 and Fig. 16, when the automatic lawn mower is not repeatedly returned to the docking station along the boundary line in accordance with a conventional method, it can be moved in accordance with the above method. The boundary line may be a regular or irregular shape such as a rectangle. Since the lawn in the same area is not repeatedly repeatedly crushed each time it is moved, it does not cause damage to the lawn. And as shown in FIG. 16, when the automatic lawn mower moves in accordance with the above method, when receiving the pilot signal, such as an ultrasonic wave, a Bluetooth signal, or a WIFI signal, it can be directly moved to the docking station along the boundary line.
本实施例还提供了一种回归***，包括自动割草机及规定自动割草机移动范围的边界线，边界线上设置有自动割草机返回的停靠站，自动割草机包括： The embodiment further provides a regression system, including an automatic lawn mower and a boundary line defining a moving range of the automatic lawn mower, and the landing line is provided with a docking station returned by the automatic lawn mower, and the automatic lawn mower comprises:
分别对称设置于自动割草机壳体纵轴线两侧的引导线检测传感器，用于识别边界线发射的边界线信号以寻找定位边界线；Guide line detecting sensors respectively symmetrically disposed on two sides of the longitudinal axis of the automatic mower housing for identifying boundary line signals emitted by the boundary line to find a positioning boundary line;
第一控制模块，用于控制自动割草机向边界线内部偏移角度A，并沿角度A移动距离S或时间T；a first control module, configured to control the automatic lawn mower to shift the angle A to the inside of the boundary line, and move the distance S or time T along the angle A;
第二控制模块，用于以自动割草机向边界线内部偏移角度A的时针为第一时针方向，控制自动割草机沿与所述第一时针方向反向的第二时针方向偏移角度A，并沿偏移后的方向移动时间T或距离S；a second control module, configured to control the automatic lawn mower to shift in a second hour direction opposite to the first hour hand direction by using an hour hand of the automatic lawn mower to shift the angle A inside the boundary line into a first hour hand direction Angle A, and moving time T or distance S in the direction after the offset;
第三控制模块，用于控制自动割草机沿第二时针方向偏移角度B，并移动至边界线；a third control module, configured to control the automatic lawn mower to shift the angle B in the second hour direction and move to the boundary line;
信号检测模块，用于检测自动割草机是否接收到停靠站发射的引导信号；a signal detection module, configured to detect whether the automatic lawn mower receives the pilot signal transmitted by the docking station;
回归模块，用于在自动割草机接收到引导信号时，控制自动割草机根据引导信号引导移动至停靠站。The regression module is configured to control the automatic lawn mower to guide the movement to the docking station according to the guiding signal when the automatic lawn mower receives the guiding signal.
以上所述回归***中，自动割草机每次在回归时，不是沿边界线重复回归，而是采用偏移移动的方式回归，可有效防止重复回归时严重碾压草坪。In the regression system described above, each time the automatic mower returns, it does not repeat the regression along the boundary line, but uses the offset movement to return, which can effectively prevent the lawn from being severely crushed during repeated regression.
其中，如图15所示，两个引导线检测传感器位于自动割草机壳体前部的对称两侧。两个引导线检测传感器可调整自动割草机的姿态，使边界线位于自动割草机的中间。Wherein, as shown in FIG. 15, the two guide line detecting sensors are located on both sides of the symmetry of the front portion of the automatic mower housing. Two guide line detection sensors adjust the attitude of the automatic mower so that the boundary line is in the middle of the automatic mower.
其中，自动割草机还包括：Among them, the automatic lawn mower also includes:
回归检测模块，用于检测自动割草机是否需要移动至停靠站；a regression detection module for detecting whether the automatic mower needs to be moved to the docking station;
启动模块，用于在自动割草机需要移动至停靠站时，启动引导线检测传感器寻找定位边界线。The start module is used to start the guide line detecting sensor to find the positioning boundary line when the automatic lawn mower needs to move to the docking station.
其中，第一控制模块通过检测引导线检测传感器接收到的边界信号强度是否为预设值M1判断自动割草机是否移动距离S；或者The first control module determines whether the automatic mower moves the distance S by detecting whether the boundary signal strength received by the guide line detecting sensor is a preset value M1; or
通过检测引导线检测传感器沿角度A移动的时间是否达到预设的时间值T1判断自动割草机是否移动距离S。Whether or not the automatic mower is moved by the distance S is determined by detecting whether the time when the guide line detecting sensor moves along the angle A reaches a preset time value T1.
其中，自动割草机接收到引导信号、或者接收的引导信号到达预设强度后，判断自动割草机到达了停靠站附近，随后即可根据引导信号或边界线的引导移动至停靠站。本实施例中，引导信号可以是超声波信号、蓝牙信号、WIFI信号等。停靠站可以是充电站的位置等。当自动割草机接收到引导信号后，可以沿引导信号增强的方向移动，当其接收的引导信号达到某一强度值时，判断其已经到达停靠站；或者自动割草机可以在接收到引导信号后沿着 边界线移动至停靠站。角度A与B均小于90度，如果角度等于或大于90度，自动割草机偏移后可能会超出边界线外。Wherein, after the automatic lawn mower receives the guiding signal, or the received guiding signal reaches the preset strength, it is determined that the automatic lawn mower reaches the vicinity of the stopping station, and then can be moved to the stopping station according to the guiding signal or the guiding of the boundary line. In this embodiment, the pilot signal may be an ultrasonic signal, a Bluetooth signal, a WIFI signal, or the like. The stop station can be the location of the charging station, and the like. When the automatic lawn mower receives the guiding signal, it can move in the direction in which the guiding signal is enhanced, and when the guiding signal received by the automatic lawn mower reaches a certain intensity value, it is judged that it has reached the docking station; or the automatic lawn mower can receive the guiding After the signal The boundary line moves to the stop. Angles A and B are both less than 90 degrees. If the angle is equal to or greater than 90 degrees, the automatic mower may be out of the boundary line after being offset.
如图15和图16所示，当自动割草机不用按照常规的方法重复沿着边界线返回停靠站时，可以按照以上方法进行移动。边界线可以是矩形等规则或不规则形状。由于每次移动时不会反复重复碾压相同区域的草坪，因而，不会对草坪造成伤害。且如图16中所示，自动割草机在按照以上方法移动时，当接收到引导信号时，如超声波等，可以直接沿着边界线移动至停靠站。As shown in Fig. 15 and Fig. 16, when the automatic lawn mower is not repeatedly returned to the docking station along the boundary line in accordance with a conventional method, it can be moved in accordance with the above method. The boundary line may be a regular or irregular shape such as a rectangle. Since the lawn in the same area is not repeatedly repeatedly crushed each time it is moved, it does not cause damage to the lawn. And as shown in Fig. 16, the automatic lawn mower can move directly to the docking station along the boundary line when receiving the pilot signal, such as ultrasonic waves, when moving in accordance with the above method.
本发明的实施例中的方法同样适用于自动割草机沿工作区域中的引导线回归停靠站的应用场景。The method in the embodiment of the invention is also applicable to the application scenario of the automatic lawn mower returning to the docking station along the guiding line in the working area.
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。The technical features of the above-described embodiments may be arbitrarily combined. For the sake of brevity of description, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction between the combinations of these technical features, All should be considered as the scope of this manual.
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。 The above-described embodiments are merely illustrative of several embodiments of the present invention, and the description thereof is more specific and detailed, but is not to be construed as limiting the scope of the invention. It should be noted that a number of variations and modifications may be made by those skilled in the art without departing from the spirit and scope of the invention. Therefore, the scope of the invention should be determined by the appended claims.

Claims (46)

  1. 一种自动工作***，包括自移动园艺设备、停靠站以及引导线，所述引导线用于将所述自移动园艺设备向停靠站引导；An automatic working system comprising a self-moving gardening device, a docking station and a guide line for guiding the self-moving gardening device to a docking station;
    所述自移动园艺设备包括：The self-mobile gardening equipment includes:
    壳体；case;
    移动模块，安装于壳体，带动自移动园艺设备在工作区域内移动；a mobile module mounted on the housing to drive the mobile gardening equipment to move within the work area;
    引导线侦测模块，包括至少一个引导线检测传感器，用于检测自移动园艺设备与引导线之间的位置关系；a guide line detecting module comprising at least one guide line detecting sensor for detecting a positional relationship between the self-moving gardening device and the guide line;
    控制模块，控制所述移动模块带动自移动园艺设备移动；a control module, controlling the mobile module to drive movement from the mobile gardening device;
    一工作模式下，所述控制模块控制自移动园艺设备沿所述引导线向停靠站移动；其特征在于，In a working mode, the control module controls the movement of the self-moving gardening device along the guiding line to the docking station;
    所述自移动园艺设备沿所述引导线向停靠站移动的过程中，所述控制模块控制所述自移动园艺设备改变自身与引导线之间的距离，然后控制所述自移动园艺设备平行于所述引导线移动至少第一预设距离，并控制所述自移动园艺设备重复上述步骤。The control module controls the self-moving gardening device to change the distance between itself and the guide line during the movement of the self-moving gardening device along the guide line to the docking station, and then controls the self-moving gardening device to be parallel to The guide line moves at least a first predetermined distance and controls the self-moving gardening device to repeat the above steps.
  2. 根据权利要求1所述的自动工作***，其特征在于,所述自移动园艺设备沿引导线向停靠站移动的过程中，所述自移动园艺设备平行于所述引导线移动经过的距离，与自移动园艺设备沿引导线移动的起点和终点之间引导线的长度的比值大于等于3:1。The automatic working system according to claim 1, wherein the self-moving gardening device moves along a guide line to the docking station, the distance that the self-moving gardening device moves parallel to the guide line, and The ratio of the length of the guide line between the start point and the end point of the mobile gardening device moving along the guide line is greater than or equal to 3:1.
  3. 根据权利要求1所述的自动工作***，其特征在于,所述第一预设距离大于等于3m。The automatic working system according to claim 1, wherein the first predetermined distance is greater than or equal to 3 m.
  4. 根据权利要求1所述的自动工作***，其特征在于,所述壳体包括平行于移动方向的长度方向，所述第一预设距离大于等于壳体长度的6倍。The automatic working system according to claim 1, wherein said housing includes a length direction parallel to a moving direction, and said first predetermined distance is greater than or equal to 6 times a length of the housing.
  5. 根据权利要求1所述的自动工作***，其特征在于，所述引导线侦测模块包括第一引导线检测传感器和第二引导线检测传感器，用于检测自身位于引导线两侧中的其中一侧。The automatic working system according to claim 1, wherein the guide line detecting module comprises a first guiding line detecting sensor and a second guiding line detecting sensor for detecting one of the two sides of the guiding line. side.
  6. 根据权利要求5所述的自动工作***，其特征在于,所述引导线生成引导线信号，所述第一或第二引导线检测传感器检测引导线信号的相位，所述控制模块基于所述第一或第二引导线检测传感器检测到的引导线信号的相位判断其位于引导线两侧中的其中一侧。The automatic working system according to claim 5, wherein said guide line generates a guide line signal, said first or second guide line detecting sensor detects a phase of said guide line signal, said control module being based on said The phase of the guide line signal detected by the one or second guide line detecting sensor determines that it is located on one of the two sides of the guide line.
  7. 根据权利要求5所述的自动工作***，其特征在于，所述控制模块控制所 述自移动园艺设备以所述第一引导线检测传感器和所述第二引导线检测传感器分别位于引导线两侧的姿态移动，以使得所述自移动园艺设备的移动方向与引导线平行。The automatic working system according to claim 5, wherein said control module controls The moving gardening apparatus is described in such a manner that the first guide line detecting sensor and the second guide line detecting sensor are respectively moved in postures on both sides of the guide line such that the moving direction of the self-moving gardening apparatus is parallel to the guide line.
  8. 根据权利要求1所述的自动工作***，其特征在于，所述壳体包括纵轴线；所述引导线侦测模块包括第二引导线检测传感器和第三引导线检测传感器，用于检测自身与引导线之间的距离；所述第二引导线检测传感器和第三引导线检测传感器设置于壳体的纵轴线的同一侧，且与纵轴线的距离一致。The automatic working system according to claim 1, wherein said housing comprises a longitudinal axis; said guide line detecting module comprises a second guiding line detecting sensor and a third guiding line detecting sensor for detecting itself and a distance between the guide lines; the second guide line detecting sensor and the third guide line detecting sensor are disposed on the same side of the longitudinal axis of the housing and at a distance from the longitudinal axis.
  9. 根据权利要求8所述的自动工作***，其特征在于，所述控制模块控制所述第二引导线检测传感器和第三引导线检测传感器与引导线之间的距离，来控制自移动园艺设备与引导线之间的距离。The automatic working system according to claim 8, wherein said control module controls a distance between said second guide line detecting sensor and said third guide line detecting sensor and said guide line to control self-moving gardening equipment and The distance between the guide lines.
  10. 根据权利要求8所述的自动工作***，其特征在于，所述控制模块控制所述第二引导线检测传感器和第三引导线检测传感器与引导线之间的距离一致，以使得自移动园艺设备的移动方向与引导线平行。The automatic working system according to claim 8, wherein the control module controls the distance between the second guide line detecting sensor and the third guide line detecting sensor and the guide line to be uniform, so that the self-moving gardening device The direction of movement is parallel to the guide line.
  11. 根据权利要求8所述的自动工作***，其特征在于,所述引导线生成引导线信号，所述第二或第三引导线检测传感器检测引导线信号的强度，所述控制模块基于所述第二或第三引导线检测传感器检测到的引导线信号的强度判断其与引导线的距离。The automatic working system according to claim 8, wherein said guide line generates a guide line signal, said second or third guide line detecting sensor detects an intensity of a guide line signal, said control module being based on said The intensity of the guide line signal detected by the second or third guide line detecting sensor determines its distance from the guide line.
  12. 根据权利要求1所述的自动工作***，其特征在于，所述控制模块控制自移动园艺设备与引导线之间的距离周期性的变化或者随机的变化。The automated working system of claim 1 wherein said control module controls a periodic or random change in the distance between the mobile gardening device and the guide line.
  13. 根据权利要求1所述的自动工作***，其特征在于，所述控制模块控制所述自移动园艺设备交替的增大和减小与引导线之间的距离。The automated working system of claim 1 wherein said control module controls said self-moving gardening equipment to alternately increase and decrease the distance from the guide line.
  14. 根据权利要求1所述的自动工作***，其特征在于，所述控制模块控制自移动园艺设备每移动预设时间间隔，或每移动预设路程，改变与引导线之间的距离。The automatic working system according to claim 1, wherein the control module controls the distance between the moving line and the guide line every time the mobile gardening device moves for a preset time interval, or each preset path.
  15. 根据权利要求1所述的自动工作***，其特征在于，所述引导线侦测模块还用于检测引导线的拐点，当所述引导线侦测模块检测到引导线的拐点时，所述控制模块控制自移动园艺设备改变与引导线之间的距离。The automatic working system according to claim 1, wherein the guide line detecting module is further configured to detect an inflection point of the guiding line, and when the guiding line detecting module detects an inflection point of the guiding line, the controlling The module controls the distance between the mobile gardening equipment and the guide line.
  16. 根据权利要求1所述的自动工作***，其特征在于，所述控制模块控制所述自移动园艺设备转动预设角度并以转向完成时的姿态向前移动，以改变所述自移动园艺设备与引导线之间的距离。The automatic working system according to claim 1, wherein the control module controls the self-moving gardening device to rotate a preset angle and move forward in a posture when the steering is completed to change the self-moving gardening device and The distance between the guide lines.
  17. 根据权利要求16所述的自动工作***，其特征在于，所述控制模块控制 所述自移动园艺设备转向的角度不大于15°。The automatic working system according to claim 16, wherein said control module controls The angle of the steering from the mobile gardening device is no more than 15°.
  18. 根据权利要求16所述的自动工作***，其特征在于，所述引导线侦测模块的至少一个引导线检测传感器，用于检测自身与引导线的距离；所述自移动园艺设备转动并移动过程中，所述控制模块基于所述引导线检测传感器的检测结果，判断所述引导线检测传感器与引导线的距离是否达到第二预设距离，若达到第二预设距离，则控制自移动园艺设备向相反方向转动。The automatic working system according to claim 16, wherein at least one guide line detecting sensor of the guide line detecting module is configured to detect a distance between itself and the guiding line; and the self-moving gardening device rotates and moves The control module determines whether the distance between the guide line detecting sensor and the guide line reaches a second preset distance based on the detection result of the guide line detecting sensor, and controls the self-moving gardening if the second preset distance is reached. The device turns in the opposite direction.
  19. 根据权利要求16所述的自动工作***，其特征在于，所述自移动园艺设备包括计时器，记录自移动园艺设备转动预设角度后移动的时间，所述控制模块判断自移动园艺设备转动预设角度后移动的时间是否达到预设时间，若达到预设时间，则控制自移动园艺设备向相反方向转动。The automatic working system according to claim 16, wherein the self-moving gardening device comprises a timer for recording a time after the mobile gardening device is rotated by a preset angle, and the control module determines that the self-moving gardening device is rotated. Whether the time of moving after the angle is set reaches the preset time, and if the preset time is reached, the control is rotated from the mobile gardening device in the opposite direction.
  20. 根据权利要求16所述的自动工作***，其特征在于，所述引导线侦测模块的至少一个引导线检测传感器，用于检测自身位于引导线的两侧中的其中一侧；所述自移动园艺设备转动并移动过程中，若引导线检测传感器检测到自身由引导线的一侧移动至另一侧，则控制模块控制自移动园艺设备向相反方向转动。The automatic working system according to claim 16, wherein at least one guide line detecting sensor of said guide line detecting module is configured to detect one side of one of two sides of the guiding line; said self-moving During the rotation and movement of the gardening equipment, if the guide line detecting sensor detects that it is moving from one side of the guide line to the other side, the control module controls the rotation from the moving gardening equipment in the opposite direction.
  21. 根据权利要求1所述的自动工作***，其特征在于，所述控制模块控制所述自移动园艺设备以平行于引导线的方向为初始移动方向，以顺时针方向和逆时针方向的其中之一转动预设角度，再以其中另一转动相同角度，使得转向完成时自移动园艺设备的移动方向与引导线平行。The automatic working system according to claim 1, wherein said control module controls said self-moving gardening device to be in an initial moving direction in a direction parallel to the guiding line, one of a clockwise direction and a counterclockwise direction. The preset angle is rotated, and the other one is rotated by the same angle so that the moving direction of the self-moving gardening device is parallel to the guide line when the steering is completed.
  22. 根据权利要求1所述的自动工作***，其特征在于，所述自移动园艺设备包括转角检测装置，检测自移动园艺设备转动的角度，还包括里程计，检测自移动园艺设备移动的路程，所述控制模块基于自移动园艺设备转动的角度和移动的路程，判断自移动园艺设备与引导线之间的距离变化。The automatic working system according to claim 1, wherein the self-moving gardening device comprises a corner detecting device that detects an angle of rotation of the mobile gardening device, and further includes an odometer for detecting a distance traveled from the mobile gardening device. The control module determines the change in distance between the mobile gardening equipment and the guide line based on the angle of rotation of the mobile gardening equipment and the distance traveled.
  23. 根据权利要求1所述的自动工作***，其特征在于，所述壳体包括平行于工作平面且垂直于移动方向的宽度方向，在所述自移动园艺设备向停靠站移动的过程中，所述控制模块控制所述自移动园艺设备与引导线的距离不大于壳体宽度的6倍。The automated working system of claim 1 wherein said housing includes a width direction parallel to the work plane and perpendicular to the direction of movement, said plurality of moving gardening devices moving toward the docking station The control module controls the distance between the self-moving gardening device and the guide line to be no more than six times the width of the housing.
  24. 根据权利要求1所述的自动工作***，其特征在于，所述自动工作***包括引导信号发生器，生成引导信号，所述自移动园艺设备包括引导信号检测器，检测引导信号，所述自移动园艺设备在距离所述停靠站第三预设距离内检测到所述引导信号，所述自移动园艺设备检测到所述引导信号后，以与 所述引导线固定的距离向停靠站移动。The automatic working system according to claim 1, wherein said automatic working system comprises a pilot signal generator for generating a pilot signal, said self-mobile gardening device comprising a pilot signal detector, detecting a pilot signal, said self-moving The gardening device detects the guiding signal within a third predetermined distance from the docking station, after the self-moving gardening device detects the guiding signal, The fixed distance of the guide line moves toward the docking station.
  25. 根据权利要求24所述的自动工作***，其特征在于，所述引导信号发生器安装于所述停靠站。The automatic working system according to claim 24, wherein said pilot signal generator is mounted to said docking station.
  26. 根据权利要求1所述的自动工作***，其特征在于，所述引导线包括边界线，限定所述自移动园艺设备的工作区域。The automated working system of claim 1 wherein said guide line includes a boundary line defining a working area of said self-moving gardening equipment.
  27. 一种自移动园艺设备的回归控制方法，其特征在于，包括步骤：A regression control method for a self-moving gardening device, comprising the steps of:
    控制所述自移动园艺设备沿引导线向停靠站移动，其中包括步骤：Controlling the movement of the self-moving gardening equipment along the guide line to the docking station, including the steps of:
    控制所述自移动园艺设备改变与引导线之间的距离；Controlling the distance between the self-moving gardening equipment change and the guide line;
    然后控制所述自移动园艺设备平行于引导线移动至少第一预设距离；And then controlling the self-moving gardening device to move at least a first predetermined distance parallel to the guide line;
    控制所述自移动园艺设备重复上述步骤。Controlling the self-moving gardening equipment repeats the above steps.
  28. 根据权利要求27所述的回归控制方法，其特征在于,所述自移动园艺设备沿引导线向停靠站移动的过程中，所述自移动园艺设备平行于所述引导线移动经过的距离，与自移动园艺设备沿引导线移动的起点和终点之间引导线的长度的比值大于等于3:1。The regression control method according to claim 27, wherein in the moving of the self-moving gardening device to the docking station along the guiding line, the distance that the self-moving gardening device moves parallel to the guiding line, The ratio of the length of the guide line between the start point and the end point of the mobile gardening device moving along the guide line is greater than or equal to 3:1.
  29. 根据权利要求27所述的回归控制方法，其特征在于,所述第一预设距离大于等于3m。The regression control method according to claim 27, wherein the first preset distance is greater than or equal to 3 m.
  30. 根据权利要求27所述的回归控制方法，其特征在于,所述自移动设备包括壳体，所述壳体包括平行于移动方向的长度方向，所述第一预设距离大于等于壳体长度的6倍。The regression control method according to claim 27, wherein the self-moving device comprises a housing, the housing includes a longitudinal direction parallel to a moving direction, and the first predetermined distance is greater than or equal to a length of the housing. 6 times.
  31. 根据权利要求27所述的回归控制方法，其特征在于，所述引导线生成引导线信号，所述自移动园艺设备包括至少一个引导线检测传感器，检测引导线信号。The regression control method according to claim 27, wherein the guide line generates a guide line signal, and the self-moving gardening apparatus includes at least one guide line detecting sensor that detects a guide line signal.
  32. 根据权利要求31所述的回归控制方法，其特征在于，还包括步骤：The regression control method according to claim 31, further comprising the steps of:
    控制所述自移动园艺设备在引导线上移动；Controlling the movement of the self-moving gardening equipment on a guide line;
    控制所述自移动园艺设备转向并移动；Controlling the self-moving gardening equipment to turn and move;
    检测所述自移动园艺设备转动的角度和移动的路程，根据所述自移动园艺设备转动的角度和移动的路程判断自移动园艺设备到引导线的距离；Detecting an angle of the rotation of the self-moving gardening device and a distance of the movement, and determining a distance from the mobile gardening device to the guide line according to the angle of rotation of the self-moving gardening device and the moving distance;
    判断所述引导线检测传感器检测到的引导线信号的强度；Determining an intensity of a guide line signal detected by the guide line detecting sensor;
    建立所述引导线检测传感器检测到的引导线信号的强度与自移动园艺设备到引导线的距离之间的对应关系。A correspondence relationship between the intensity of the guide line signal detected by the guide line detecting sensor and the distance from the moving gardening device to the guide line is established.
  33. 根据权利要求31所述的回归控制方法，其特征在于，所述自移动园艺设 备包括壳体，壳体包括纵轴线，所述自移动园艺设备还包括第二引导线检测传感器和第三引导线检测传感器，用于检测自身与引导线之间的距离，所述第二引导线检测传感器和第三引导线检测传感器位于壳体的纵轴线的同一侧，且与纵轴线的距离一致；所述回归控制方法包括步骤：通过控制所述第二引导线检测传感器和第三引导线检测传感器检测到的引导线信号的强度，来控制所述自移动园艺设备与引导线之间的距离。The regression control method according to claim 31, wherein said self-mobile gardening device A housing including a longitudinal axis, the self-moving gardening apparatus further includes a second guide line detecting sensor and a third guide line detecting sensor for detecting a distance between itself and the guiding line, the second guiding The line detecting sensor and the third guiding line detecting sensor are located on the same side of the longitudinal axis of the housing and are at a distance from the longitudinal axis; the regression control method includes the steps of: detecting the sensor and the third guiding by controlling the second guiding line The line detects the intensity of the guide line signal detected by the sensor to control the distance between the self-moving gardening device and the guide line.
  34. 根据权利要求33所述的回归控制方法，其特征在于，包括步骤：控制所述第二引导线检测传感器和第三引导线检测传感器检测到的引导线信号的强度一致，使得自移动园艺设备的移动方向与引导线平行。The regression control method according to claim 33, comprising the steps of: controlling the intensity of the guide line signals detected by said second guide line detecting sensor and said third guide line detecting sensor to be identical, such that the self-moving gardening equipment The direction of movement is parallel to the guide line.
  35. 根据权利要求27所述的回归控制方法，其特征在于，在所述自移动园艺设备向停靠站移动的过程中，控制自移动园艺设备与引导线之间的距离周期性的变化或者随机的变化。The regression control method according to claim 27, wherein during the movement of the self-moving gardening device to the docking station, a periodic change or a random change in the distance between the self-moving gardening device and the guide line is controlled. .
  36. 根据权利要求27所述的回归控制方法，其特征在于，在所述自移动园艺设备向停靠站移动的过程中，控制所述自移动园艺设备交替的增大和减小自移动园艺设备与引导线之间的距离。The regression control method according to claim 27, wherein during the moving of the self-moving gardening device to the docking station, the self-moving gardening device is controlled to alternately increase and decrease the self-moving gardening device and the guide line. the distance between.
  37. 根据权利要求27所述的回归控制方法，其特征在于，在所述自移动园艺设备向停靠站移动的过程中，控制自移动园艺设备每移动预设时间间隔，或每移动预设路程，改变与引导线之间的距离。The regression control method according to claim 27, wherein in the process of moving the self-moving gardening device to the docking station, controlling the preset time interval for each movement of the self-moving gardening device, or changing the preset distance for each movement, The distance from the guide line.
  38. 根据权利要求27所述的回归控制方法，其特征在于，包括步骤：检测引导线的拐点，当检测到引导线的拐点时，控制自移动园艺设备改变与引导线之间的距离。The regression control method according to claim 27, comprising the steps of: detecting an inflection point of the guide line, and controlling a distance between the self-moving gardening device and the guide line when the inflection point of the guide line is detected.
  39. 根据权利要求27所述的回归控制方法，其特征在于，控制所述自移动园艺设备转动预设角度并以转向完成时的姿态向前移动，以改变所述自移动园艺设备与引导线之间的距离。The regression control method according to claim 27, wherein the self-moving gardening device is controlled to rotate a preset angle and move forward in a posture when the steering is completed to change between the self-moving gardening device and the guide line the distance.
  40. 根据权利要求39所述的回归控制方法，其特征在于，控制所述自移动园艺设备转向的角度不大于15°。The regression control method according to claim 39, wherein the angle at which the self-moving gardening device is turned is not more than 15°.
  41. 根据权利要求39所述的回归控制方法，其特征在于，所述自移动园艺设备转动并移动过程中，判断自移动园艺设备与引导线的距离是否达到第二预设距离，若达到第二预设距离，则控制自移动园艺设备向相反方向转动。The regression control method according to claim 39, wherein during the rotation and movement of the self-moving gardening device, it is determined whether the distance from the mobile gardening device and the guide line reaches a second preset distance, if the second pre-measure is reached Set the distance to control the rotation from the mobile gardening equipment in the opposite direction.
  42. 根据权利要求39所述的回归控制方法，其特征在于，判断自移动园艺设备转动预设角度后移动的时间是否达到预设时间，若达到预设时间，则控制 自移动园艺设备向相反方向转动。The regression control method according to claim 39, wherein determining whether the time of moving from the mobile gardening device after the preset angle is rotated reaches a preset time, and if the preset time is reached, then controlling The mobile gardening equipment rotates in the opposite direction.
  43. 根据权利要求39所述的回归控制方法，其特征在于，自移动园艺设备转动并移动过程中，判断自移动园艺设备是否跨越引导线，若是，则控制自移动园艺设备向相反方向转动。The regression control method according to claim 39, wherein during the rotation and movement of the mobile gardening device, it is determined whether the self-moving gardening device crosses the guide line, and if so, the control is rotated from the mobile gardening device in the opposite direction.
  44. 根据权利要求27所述的回归控制方法，其特征在于，以自移动园艺设备与引导线平行的方向为初始移动方向，控制自移动园艺设备以顺时针方向和逆时针方向的其中之一转动预设角度后，再以其中另一转动相同角度，使得转向完成时自移动园艺设备的移动方向与引导线平行。The regression control method according to claim 27, wherein the self-moving gardening device is controlled to rotate in one of a clockwise direction and a counterclockwise direction with the direction parallel to the guide line from the moving gardening device being the initial moving direction. After the angle is set, the other one is rotated by the same angle so that the moving direction of the self-moving gardening device is parallel to the guide line when the steering is completed.
  45. 根据权利要求27所述的回归控制方法，其特征在于，包括步骤：检测引导信号，检测到引导信号后，控制所述自移动园艺设备以与引导线固定的距离向停靠站移动。The regression control method according to claim 27, comprising the steps of: detecting a pilot signal, and controlling the self-moving gardening device to move to the docking station at a fixed distance from the guide line after detecting the pilot signal.
  46. 根据权利要求27所述的回归控制方法，其特征在于，所述自移动园艺设备包括壳体，壳体包括平行于工作平面且垂直于移动方向的宽度方向，在所述自移动园艺设备向停靠站移动的过程中，控制所述自移动园艺设备与引导线的距离不大于壳体宽度的6倍。 The regression control method according to claim 27, wherein said self-moving gardening apparatus comprises a casing comprising a width direction parallel to a work plane and perpendicular to a moving direction, at which said self-moving gardening equipment is docked During the movement of the station, the distance between the self-moving gardening equipment and the guide line is controlled to be no more than 6 times the width of the housing.
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