CN103891464B - Automatically mow system - Google Patents
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- CN103891464B CN103891464B CN201210585225.9A CN201210585225A CN103891464B CN 103891464 B CN103891464 B CN 103891464B CN 201210585225 A CN201210585225 A CN 201210585225A CN 103891464 B CN103891464 B CN 103891464B
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Abstract
The invention discloses a kind of mowing system automatically, including bus stop and automatic mower, described automatic mower has controller and memory, in described memory, storage has working procedure, described controller performs described working procedure after receiving the enabled instruction that user inputs, automatically grass cutting action is repeated and returns described bus stop and be charged, until described controller receives halt instruction controlling described automatic mower.The most relatively low without user's input working parameter and cost.
Description
Technical field
The present invention relates to a kind of mowing system automatically.
Background technology
Along with computer technology and the continuous progress of artificial intelligence technology, it is similar to the automatic row of intelligent robot
Walk equipment and have begun to the life coming into people slowly.The company such as Samsung, Electrolux all develop complete from
Dynamic dust catcher also has been put into market.The usual compact of this automatic dust catcher, is integrated with environmentally sensitive
Device, from drive system, dust collecting system, battery and charging system, it is possible to without manual control, voluntarily in indoor
Cruise, the auto-returned bus stop when energy is low, docks and charges, then proceeding to dust suction of cruising.Meanwhile,
The companies such as Haas Ke Wana develop similar intelligent grass-removing, its can automatically in the lawn of user mow,
Charging, it is not necessary to user interferes.It is no need for afterwards putting into energy again owing to this automatic mowing system is once arranged
Management, housework that is user is uninteresting from cleaning, lawn maintenance etc. and that waste time and energy frees working, because of
This is greatly welcome.
Existing automatic mower is generally used for the working region that area is bigger, such as 1000 square metres.Work
As time need user's input working parameter, such as the area of working region, working time etc., automatic mower reaches
I.e. stop mobile after becoming running parameter.As user is calculating or after evaluation work region area, input area face
Product value is to automatic mower, and automatic mower has calculated the working time needed for this area automatically, starts meter
Time device, stop mobile when timing reaches the calculated working time.In the work that work area is less
Make region, such as 50-200 square metre, if still needing to user's input working parameter to control the work of automatic mower
Time then makes user operation bother, and relatively costly.
It is therefore desirable to existing automatic mower and bus stop are improved, it is not necessary to user's input service is joined
Count and cost can be reduced.
Summary of the invention
The deficiency existed for prior art, the present invention provides a kind of without user's input working parameter and cost
Relatively low system of automatically mowing.
The technical scheme is that and be achieved in that: one is mowed system automatically, including bus stop and automatically
Hay mover, described automatic mower has controller, memory, supply unit and movable motor, described in deposit
After in reservoir, storage has fixing working procedure, described controller to receive the enabled instruction of user's input, hold
Row described working procedure, with control described automatic mower be automatically repeated grass cutting action and return described in stop
Pull in and be charged, until described controller receives halt instruction.
Preferably, described working procedure comprises the following steps: start described movable motor；Control described automatically
Hay mover enters predetermined working region；Control described automatic mower to enter according to projected route or random path
Row grass cutting action；Detect electricity or the discharge time of described supply unit, if the electricity of described supply unit is low
Reached for first scheduled time in the first predetermined value or discharge time, then control described automatic mower and return described
Bus stop is charged；Detect electricity or the charging interval of described supply unit, if the electricity of described supply unit
Amount reaches the second predetermined value or the charging interval reaches second scheduled time, then to control described automatic mower again
Carry out grass cutting action.
Preferably, described automatic mowing system also includes physical boundary device, is used for forming boundary line to define
Described working region, described automatic mower works in described working region.
Further, described physical boundary device includes some wireless launchers independent of each other, is used for sending
Wireless signal is as sideband signal, and described automatic mower is provided with the wireless receiver of detecting sideband signal.
Further, described wireless launcher is infrared transmitter, and described wireless receiver is infrared receiver
Device.
Further, described automatic mowing system also includes virtual boundary device, is used for limiting and described automatically cuts
The working region of grass machine.
Further, described virtual boundary device be arranged in described automatic mower global positioning module,
Photographing module or meadow identification module, described global positioning module and position location satellite radio communication, by predetermined
Position coordinates sequence composition virtual boundary, described photographing module shooting automatic mower and near zone thereof, and
Delimiting virtual boundary on the image of shooting, described meadow identification module judges according to color or the humidity on meadow
Whether it is meadow.
Further, described controller controls the described automatic mower border return institute along described working region
State bus stop.
Further, the described automatic mower of described controller control is directly toward the return of described bus stop.
Further, described bus stop is provided with at least one supersonic generator, on described automatic mower
Being provided with at least one ultrasonic receiver, during return, described controller is according to the reception condition of ultrasonic receiver
Adjust the direct of travel of described automatic mower so that described automatic mower returns towards described bus stop.
Further, described bus stop is provided with supersonic generator and infrared transmitter, described automatic mowing
Machine is provided with ultrasonic receiver and infrared remote receiver, and described supersonic generator and ultrasonic receiver are used for
Guiding automatic mower to return towards bus stop, described infrared transmitter and infrared remote receiver are used for realizing automatically
Hay mover carries out docking charging with bus stop.
Further, described automatic mower also includes for the operation interface for user operation, described operation
Be provided only with power key, start key and stop key on interface, described power key be used for being turned on and off described automatically
The power supply of hay mover, described start key sends described enabled instruction when being pressed, when described stop key is pressed
Send described halt instruction.
Automatic mower in the present invention has controller and memory, and in described memory, storage has work journey
Sequence, described controller starts described automatic mower after receiving the enabled instruction that user inputs, perform described
Working procedure, controls described automatic mower and grass cutting action is automatically repeated and returns described bus stop and carry out
Charging, until described controller receives halt instruction.So without user's input working parameter and cost relatively
Low.
Accompanying drawing explanation
The invention will be further described with embodiment below in conjunction with the accompanying drawings:
Fig. 1 is the schematic diagram of a kind of better embodiment of the automatic mowing system of the present invention.
Fig. 2 is the exploded perspective view of the automatic mower in Fig. 1.
Fig. 3 is the block diagram of the automatic mower in Fig. 1.
Fig. 4 is the schematic flow sheet of the working procedure in the automatic mowing system of the present invention.
Fig. 5 is the schematic diagram of another better embodiment of the automatic mowing system of the present invention.
Fig. 6 is the schematic diagram of another better embodiment of the automatic mowing system of the present invention.
Fig. 7 is another view of the automatic mowing system shown in Fig. 6.
Wherein,
100, automatic mower；200, bus stop；20, wheel；
30, movable motor；40, cutting motor；42, cutting blade；
50, supply unit；60, border induction installation；110, controller；
120, memory；130, start key；140, stop key；
310, wire；A1～A4, infrared transmitter；B1～B3, infrared remote receiver；
15, colliding sensor；12, shell body；14, inner housing；
16, groove；150, power key；
Detailed description of the invention
Refer to Fig. 1, one is mowed system automatically, including automatic mower 100, bus stop 200 and limit
Boundary's device.Boundary means is for limiting the scope of working region, and automatic mower 100 is in working region
Among walk and carry out grass cutting action, bus stop 200 is for returning when energy deficiency for automatic mower 100
Covering is filled energy or takes shelter from rain for automatic mower 100 or stop.
Please also refer to Fig. 2 and Fig. 3, automatic mower 100 includes the housing extended longitudinally, is arranged at
Some wheels 20 of housing bottom, in being arranged at housing and for driving at least one walking electricity of wheel 20
Machine 30, is arranged at housing bottom and for cutting the cutting blade 42 of work, in being arranged at housing and for driving
The cutting motor 40 of dynamic cutting blade 42, and be movable motor 30 and the power supply of cutting motor 40 power supply
Device 50.
Automatic mower 100 also includes controller 110, memory 120, operation interface and border sensing dress
Put 60.
In memory 120, storage has fixing working procedure, operation to be provided only with start key 130 on interface, stop
Only key 140 and power key 150, controller 110 and memory 120, supply unit 50, start key 130,
Stop key 140, movable motor 30, cutting motor 40 and border induction installation 60 are the most connected, power key 150
It is connected with supply unit 50.
Border induction installation 60 is for sensing the border of working region.When automatic mower 100 is normally mowed,
When border induction installation 60 senses border, controller 110 controls automatic mower 100 and changes walking side
To, to return to working region.In present embodiment, wheel 20 includes front-wheel, left driving wheel and right driving wheel,
Movable motor 30 includes left driving motor and right driving motor, and the most left driving motor is used for driving left driving
Wheel, right driving motor is used for driving right driving wheel.Controller 110 controls left driving motor and right driving motor
Rotate with different rotating speeds, thus control automatic mower 100 and change direction of travel, to return to working region.
When power key 150 is pressed, described supply unit 50 is turned on and off.Start key 130 is pressed
Time send enabled instruction, stop key 140 sends halt instruction when being pressed.Controller 110 receives startup
After instruction, perform the working procedure in memory 120, automatically mow controlling automatic mower 100
Work and return bus stop 200 are charged, the most repeatedly, until controller 110 receives halt instruction.
In other embodiments, start key 130 and stop key 140 also can unite two into one.
Refer to Fig. 4, working procedure comprises the following steps:
Step S1: start movable motor 30.
Step S2: control automatic mower 100 and enter working region.
Step S3: control automatic mower 100 and carry out grass cutting action according to projected route or random path.
Step S4: at least one first parameter of detecting automatic mower 100, if the first parameter reaches first
Predetermined value then controls automatic mower 100 and returns bus stop 200 and be charged.In present embodiment, first
Parameter is the working time, and controller 110 starts timing when automatic mower 100 starts, when timing reaches
Control automatic mower 100 during predetermined value and return bus stop 200.In other embodiments, the first parameter is also
Can be the electricity of supply unit 50, when the electricity detecting supply unit 50 is less than predetermined value, automatically cut
Grass machine 100 returns bus stop 200 and is charged.In present embodiment, the electricity of supply unit 50 is by prison
The voltage surveying supply unit 50 realizes.
Step S5: judge that automatic mower 100 is during mowing or charging, if receive and stop
Only instruction, if receiving halt instruction, enters step S7, otherwise enters step S6.
Step S6: at least one second parameter of detecting supply unit 50, if to reach second pre-for the second parameter
Definite value then returns step S1, the most repeatedly.In present embodiment, the second parameter is the electricity of supply unit 50
Amount, then returns step S1 when the electricity detecting supply unit 50 reaches predetermined value.Other embodiments
In, the second parameter is alternatively the charging interval, opens when automatic mower 100 docks charging with bus stop 200
Beginning timing, if reaching the scheduled time, returns step S1.
Step S7: close supply unit 50.
In sum, the controller 110 of automatic mower 100 performs above-mentioned working procedure and makes automatically to mow
Machine 100 is when the working region work that work area is less, such as 50-200 square metre, as long as receiving
Enabled instruction is repeated grass cutting action the most automatically and return bus stop 200 charges, and refers to until receiving stopping
Order, it is not necessary to user's input working parameter, cost is relatively low.
Boundary means can be physical boundary device or virtual boundary device.Physical boundary device and automatic mower
100 are independently arranged, and are used for forming boundary line to define working region；Virtual boundary device may be disposed at automatically
On hay mover 100 or outside working region, the environment near detecting automatic mower 100, according to the number of detecting
It is judged that whether automatic mower 100 is positioned at working region.
Referring again to Fig. 1, physical boundary device can be the wire 310 being electrically connected with bus stop 200.
Wire and bus stop 200 form closed-loop path, are used for producing field signal, the border of automatic mower 100
Induction installation 60 is the magnetic-inductive device of detecting sideband signal, and controller 110 detects according to magnetic-inductive device
Magnetic direction judge whether automatic mower 100 is positioned at working region.
Physical boundary device can be some wireless launchers independent of each other, and wireless launcher is used for sending wireless
Signal is as sideband signal, and the border induction installation 60 of automatic mower 100 is the wireless of detecting wireless signal
Receiver, whether controller 110 receives wireless signal according to wireless receiver judges automatic mower 100
Whether it is positioned at working region.Portable wireless launcher is as boundary means so that user's fast changeable
Or change working region.
Refer to Fig. 5, the present invention automatically mow system another better embodiment in, wireless launcher
For infrared transmitter A1, A2, A3, A4.It is red that described infrared transmitter A1, A2, A3, A4 launch
External signal is formed as boundary line and closes or the polygonal region of base closed, to define described automatic mower
The working region of 100.Wherein in a kind of embodiment, the equal position of infrared transmitter A1, A2, A3, A4
In polygonal edge, the infrared signal shape that the most described infrared transmitter A1, A2, A3, A4 launch
The polygonal region become is to close.
In the present embodiment, infrared transmitter A1, A2, A3 lays respectively at polygonal three edges
Border extended line on.Bus stop 200 also is located on the border extended line of an edge, infrared transmitter
A4 is arranged at the bus stop 200 side towards border.The most described infrared transmitter A1, A2, A3, A4
The polygonal region that the infrared signal launched is formed not exclusively is closed, and forms a breach at bus stop 200,
The enforcement of mowing system automatic on the present invention does not constitute impact.
In present embodiment, infrared transmitter A1, A2, A3 are provided with independent battery, wind power generation plant
Or device of solar generating, it is thus possible to independently it is powered.Infrared transmitter A4 is powered by bus stop 200.
Wireless receiver is infrared remote receiver B1, the B2 of the side being arranged at automatic mower 100.Hot
When outer receiver B1 or infrared remote receiver B2 receives infrared signal, controller 110 i.e. judges mowing automatically
Machine 100 reaches the border of working region.
Virtual boundary device can be arranged in automatic mower 100 global positioning module (not shown),
Meadow identification module (not shown) or the photographing module (not shown) being arranged at outside working region.
Global positioning module and satellite wireless communication, for knowing the position coordinates that automatic mower 100 is current,
Predetermined position coordinates sequence is formed virtual boundary information and forms the map of working region by controller 110,
If the position coordinates of global positioning module detecting is not in the map that virtual boundary information surrounds, then controller
110 judge that automatic mower 100 is positioned at outside working region.
Meadow identification module is for judging, according to color or the humidity on ground, the position that automatic mower 100 is current
Whether is meadow, whether controller 110 is positioned on meadow according to automatic mower 100 judges automatic mower
Whether 100 be positioned at working region.
Specifically, meadow identification module can be the color sensor (not shown) towards ground or be arranged at certainly
Some electrode (not shown) of the housing bottom of motor mower 100.The color on color sensor detecting ground,
If green then controller 110 judges that automatic mower 100 is positioned at working region.Some electrodes are from housing
Bottom is protruding, and its terrain clearance is less than the cutting-height of cutting blade, when automatic mower 100 is positioned at
Time on meadow, some electricity pole spacings have the grass cutting or not cutting, and its permittivity ε is by much larger than air
Permittivity ε, and some interelectrode electric capacity C meet: C=ε S/4 π kd；Wherein S be some electrodes just
To area, k is constant, and d is the distance of some electrodes, and after some electrode settings, right opposite amasss S
Be constant with distance d of electrode, i.e. the change of electric capacity C is only relevant with permittivity ε.If by detecting
Dry interelectrode electric capacity, it is known that learn whether automatic mower 100 is positioned on meadow.
Photographing module shooting automatic mower 100 and the image of working region to be set, and at the figure of shooting
As the upper virtual boundary delimited and close.If showing that automatic mower 100 is positioned at fictitious line on the image of shooting
Out-of-bounds, then controller 110 judges that automatic mower 100 is positioned at outside working region.
Automatic mower 100 also includes the obstacle detection module for detecting barrier, when obstacle detection module
When barrier being detected, controller 110 controls automatic mower 100 and changes direction of travel with avoiding obstacles.
Referring again to Fig. 2, in present embodiment, obstacle detection module is colliding sensor 15, such as Hall
Inductor, housing includes shell body 12 and inner housing 14, and shell body 12 covers inner housing 14, collision sense
Device 15 is answered to be arranged between inner housing 14 and shell body 12, when automatic mower 100 touches with barrier
When hitting, colliding sensor 15 can detect the relative movement occurred between inner housing and shell body.Other are real
Executing in mode, obstacle detection module is alternatively supersonic generator and ultrasonic receiver, supersonic generator
The ultrasonic signal sent is received by ultrasonic receiver after barrier reflects, according to ultrasonic signal
Launch and receive time difference can calculate the distance between automatic mower 100 and barrier.
Automatic mower 100 also includes the rainwater detection module for detecting rainwater, when rainwater detection module is examined
When measuring rainwater, controller 110 controls automatic mower and returns bus stop.Rainwater detection module is that conducting is detectd
Slowdown monitoring circuit, has positive and negative two pole pieces, and positive and negative two pole pieces are arranged at the top of automatic mower 100 shell 12
In the groove 16 in portion.When groove 16 has ponding or other conducting liquids, positive and negative two pole pieces conducting,
Rainwater detection module can detect rainwater.
When automatic mower 100 need to return bus stop 200 be charged, take shelter from rain or stop time, controller control
Automatic mower processed returns bus stop along the border of working region.
When boundary means is wire, controller 110 controls automatic mower trsanscondutor and by clockwise or inverse
Clockwise returns bus stop.
Referring again to Fig. 5, when boundary means is some wireless launcher A1, A2, A3, A4, special
Being not infrared transmitter, some wireless launcher A1, A2, A3, A4 are arranged at some limits of working region
At angle and transmitting direction is unanimously that the side of automatic mower 100 is provided with wireless receiving clockwise or counterclockwise
Device B1, B2, the front end of automatic mower 100 is provided with wireless receiver B3, and controller 110 controls automatically
Hay mover 100 makes the wireless receiver B3 of front end receive wireless signal all the time, so that automatically cut
Grass machine 100 returns bus stop 200.Arrive at border such as automatic mower 100 and wireless receiver B1 receives
During wireless signal, controller 110 controls automatic mower 100 and is rotated up the wireless receiver B3 of front end
Receive wireless signal；Maintain the direct of travel of automatic mower 100；When automatic mower 100 arrives limit
At angle and when wireless receiver B1 again receives wireless signal, controller 110 controls automatic mower 100
The wireless receiver B3 being rotated up front end receives wireless signal again, so that automatic mower 100
Bus stop 200 is returned clockwise or counterclockwise along border.In other embodiments, automatic mower 100
Side can only set a wireless receiver, if the transmitting direction of wireless launcher is unanimously clockwise, wireless
Receiver is arranged at the left side of automatic mower 100；If the transmitting direction of wireless launcher is unanimously counterclockwise
Time, wireless receiver is arranged at the right side of automatic mower 100.
Refer to Fig. 6 and Fig. 7, in other embodiments, at bus stop 200, be provided with at least one ultrasonic
Wave producer, is provided with at least one ultrasonic receiver on automatic mower 100, controller 110 during return
Reception condition according to ultrasonic receiver adjusts the direct of travel of automatic mower 100 so that automatically mow
Machine 100 is directly toward bus stop 200 and returns.
Specifically, at bus stop 200, it is provided with the first supersonic generator A, the second supersonic generator B
And an infrared transmitter C, two supersonic generators A, B lay respectively at the both sides of infrared transmitter C,
First supersonic generator A is used for sending the first ultrasonic signal, the second supersonic generator B for sending
Second ultrasonic signal different from the first ultrasonic signal frequency or intensity, infrared transmitter C is used for sending
The infrared signal of straight line.
The angle of departure of two supersonic generators A, B partly overlaps, thus by bus stop 200 near zone
It is divided into some subregions: mono signal overlay area, overlapping region ab and white space.Mono signal overlay area
Including only covering the first signal coverage areas a of the first ultrasonic signal and only covering the second ultrasonic signal
Secondary signal overlay area b.Overlapping region ab is coated with the first ultrasonic signal and the second ultrasonic signal.
Automatic mower 100 is provided with the first ultrasonic receiver R1, the second ultrasonic receiver R2 and
One infrared remote receiver R3.
Infrared remote receiver R3 is positioned at the front center of automatic mower 100, ultrasonic receiver R1 and R2
It is respectively arranged at the both sides of infrared remote receiver R3 on automatic mower 100.
When automatic mower 100 need to return or receive ultrasonic signal first, controller 110 controls automatically
Hay mover 100 first rotates a circle and carries out initial position judgement, to determine current affiliated subregion.If automatically cutting
After grass machine 100 rotates a circle, the first ultrasonic receiver R1 or the second ultrasonic receiver R2 only receives
First ultrasonic signal, then controller 110 judges that current region is the first signal coverage areas a；If automatically
After hay mover 100 rotates a circle, the first ultrasonic receiver R1 or the second ultrasonic receiver R2 only receives
To the second ultrasonic signal, then controller 110 judges that current region is secondary signal overlay area b；If from
After motor mower 100 rotates a circle, the first ultrasonic receiver R1 and the second ultrasonic receiver R2 receives
To the first ultrasonic signal and the second ultrasonic signal, then controller 110 judges that current region is the first overlap
Region ab；If after automatic mower 100 rotates a circle, the first ultrasonic receiver R1 and the second ultrasonic wave
Receiver R2 is not received by any signal, and controller 110 controls automatic mower 100 and continues according in advance
Fixed line or random path walking.
If the initial position of automatic mower 100 is the first signal coverage areas a, controller 110 controls certainly
Motor mower 100 rotates, until the only first ultrasonic receiver R1 receives the first ultrasonic signal, as
Shown in Fig. 6 dotted portion, with the direction of travel that is oriented of now automatic mower 100, control automatically to mow
Machine 100 enters overlapping region ab.In like manner, the initial position of automatic mower 100 is the secondary signal area of coverage
During the b of territory, controller 110 controls automatic mower 100 and rotates, until the only second ultrasonic receiver R2
Receive the second ultrasonic signal, and be oriented direction of travel with now automatic mower 100.
When automatic mower 100 is entered into the first overlapping region ab by the first signal coverage areas a, the first surpass
Acoustic receiver R1 receives the first ultrasonic signal and the second ultrasonic signal, and controller 110 controls certainly
Motor mower 100 rotates, until the first ultrasonic receiver R1, the second ultrasonic receiver R2 all receive
To the first ultrasonic signal and the second ultrasonic signal so that automatic mower 100 is towards bus stop 200.
Controller 110 persistently controls automatic mower 100 afterwards so that the first ultrasonic receiver R1, the second surpass
Acoustic receiver R2 all keeps receiving the first ultrasonic signal and the second ultrasonic signal.
Automatic mower 100 is positioned at an extreme condition of overlapping region ab: automatic mower 100
At signal boundary on the left of the second supersonic generator B.Now controller 110 controls automatic mower
100 so that the first ultrasonic receiver R1 keeps receiving the first ultrasonic signal, the second ultrasonic receiver
R2 keeps receiving the second ultrasonic signal.Automatic mower 100 will be left along the second supersonic generator B
The signal boundary of side advances.
In like manner, when automatic mower 100 is entered into the first overlapping region ab by secondary signal overlay area b,
Second ultrasonic receiver R2 receives the first ultrasonic signal and the second ultrasonic signal, controller 110
Control automatic mower 100 to rotate, until the first ultrasonic receiver R1, the second ultrasonic receiver R2
All receive the first ultrasonic signal and the second ultrasonic signal.An extreme condition now is: controller
110 control automatic mower 100 advances along the signal boundary on the right side of the first supersonic generator A.
If the initial position of automatic mower 100 is the first overlapping region ab, controller 110 still controls automatically
Hay mover 100 rotates, until the first ultrasonic receiver R1, the second ultrasonic receiver R2 all receive
First ultrasonic signal and the second ultrasonic signal.
Refer to Fig. 7, when automatic mower 100 will leave the first overlapping region ab and enters white space
Time, if the first ultrasonic receiver R1 is not received by any signal, controller 110 controls automatically to mow
Machine 100 rotates counterclockwise, until infrared remote receiver R3 receives infrared signal so that automatic mower 100
Just to bus stop 200.Hereafter controller 110 maintains the direction of travel of automatic mower 100, thus realizes
Automatic mower 100 and bus stop 200 Dock With Precision Position.
In like manner, when automatic mower 100 will leave the first overlapping region ab and enter white space m,
If the second ultrasonic receiver R2 is not received by any signal, controller 110 then controls automatic mower
100 turn clockwise, until infrared remote receiver R3 receives infrared signal so that automatic mower 100
Just to bus stop 200.
The automatic mower 100 initial position in generator coverage judges, enters region decision and control
Mode processed is as shown in table 1:
Table 1
In the present embodiment, the automatic mower 100 of automatic mowing system has controller 110 and memory 120,
Controller 110 performs the working procedure in memory 120 after receiving enabled instruction, to control automatically to mow
Machine 100 is repeated grass cutting action and return bus stop 200 is charged, until controller 110 receives
Halt instruction, so without user's input working parameter and reduce cost.
It may occur to persons skilled in the art that, in the present invention, the concrete structure of automatic mowing system can have
A lot of versions, but the technical characteristics of the used technical solution is same or similar with the present invention, all
Should be covered by scope.
Claims (12)
1. an automatic mowing system, including bus stop and automatic mower, described automatic mower have controller, memory,
Supply unit and movable motor, it is characterised in that: in described memory, storage has fixing working procedure, described controller to connect
After receiving the enabled instruction of user's input, perform described working procedure, be automatically repeated and cut controlling described automatic mower
Grass works and returns described bus stop and is charged, until described controller receives the halt instruction of user's input.
Automatic mowing system the most according to claim 1, it is characterised in that: described working procedure comprises the following steps:
Start described movable motor；
Control described automatic mower and enter predetermined working region；
Control described automatic mower and carry out grass cutting action according to projected route or random path；
Detect electricity or the discharge time of described supply unit, if the electricity of described supply unit is less than the first predetermined value or discharge time
Reached for first scheduled time, then control the described automatic mower described bus stop of return and be charged；
Detect electricity or the charging interval of described supply unit, if the electricity of described supply unit reaches the second predetermined value or charging interval
Reached for second scheduled time, then control described automatic mower and again carry out grass cutting action.
Automatic mowing system the most according to claim 2, it is characterised in that: described automatic mowing system also includes physics limit
Boundary's device, is used for being formed boundary line to define described working region, and described automatic mower works in described working region.
Automatic mowing system the most according to claim 3, it is characterised in that: described physical boundary device include some each other
Independent wireless launcher, is used for sending wireless signal as sideband signal, and described automatic mower is provided with detecting border letter
Number wireless receiver.
Automatic mowing system the most according to claim 4, it is characterised in that: described wireless launcher is infrared transmitter,
Described wireless receiver is infrared remote receiver.
Automatic mowing system the most according to claim 2, it is characterised in that: described automatic mowing system also includes fictitious line
Boundary's device, for limiting the working region of described automatic mower.
Automatic mowing system the most according to claim 6, it is characterised in that: described virtual boundary device is described for being arranged at
Global positioning module, photographing module or meadow identification module in automatic mower, described global positioning module and position location satellite
Radio communication, is formed virtual boundary by predetermined position coordinates sequence, described photographing module shooting automatic mower and near
Region, and on the image of shooting, delimit virtual boundary, described meadow identification module according to color or the humidity judgement on meadow is
No for meadow.
Automatic mowing system the most according to claim 2, it is characterised in that: described controller controls described automatic mower
Border along described working region returns described bus stop.
Automatic mowing system the most according to claim 2, it is characterised in that: described controller controls described automatic mower
It is directly toward described bus stop to return.
Automatic mowing system the most according to claim 9, it is characterised in that: it is ultrasonic that described bus stop is provided with at least one
Wave producer, described automatic mower is provided with at least one ultrasonic receiver, and during return, described controller is according to ultrasonic wave
The reception condition of receiver adjusts the direct of travel of described automatic mower so that described automatic mower is towards described bus stop
Return.
11. automatic mowing systems according to claim 10, it is characterised in that: described bus stop is provided with supersonic generator
And infrared transmitter, described automatic mower is provided with ultrasonic receiver and infrared remote receiver, described supersonic generator and
Ultrasonic receiver is used for guiding automatic mower to return towards bus stop, and described infrared transmitter and infrared remote receiver are used for drawing
Lead automatic mower to carry out docking charging with bus stop.
12. automatic mowing systems according to claim 1, it is characterised in that: described automatic mower also include for for
The operation interface of family operation, described operation interface is provided only with power key, start key and stop key, and described power key is used for out
Opening or close the power supply of described automatic mower, described start key sends described enabled instruction, described stop key quilt when being pressed
Described halt instruction is sent when pressing.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210585225.9A CN103891464B (en) | 2012-12-28 | 2012-12-28 | Automatically mow system |
| US14/758,424 US9820433B2 (en) | 2012-12-28 | 2013-12-27 | Auto mowing system |
| EP13869696.8A EP2939508B1 (en) | 2012-12-28 | 2013-12-27 | Automatic mowing system |
| PCT/CN2013/090746 WO2014101840A1 (en) | 2012-12-28 | 2013-12-27 | Auto mowing system |
| US15/799,114 US10555456B2 (en) | 2012-12-28 | 2017-10-31 | Auto mowing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210585225.9A CN103891464B (en) | 2012-12-28 | 2012-12-28 | Automatically mow system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103891464A CN103891464A (en) | 2014-07-02 |
| CN103891464B true CN103891464B (en) | 2016-08-17 |
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| CN201210585225.9A Active CN103891464B (en) | 2012-12-28 | 2012-12-28 | Automatically mow system |
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| CN107479546B (en) * | 2016-06-07 | 2021-05-14 | 苏州宝时得电动工具有限公司 | Self-moving gardening equipment |
| CN107548712B (en) * | 2016-06-30 | 2021-05-14 | 苏州宝时得电动工具有限公司 | Charging control method and device for mower |
| CN107632596B (en) * | 2016-07-18 | 2021-01-05 | 苏州宝时得电动工具有限公司 | Method and system for controlling regression path of self-moving equipment |
| CN107960191A (en) * | 2016-10-19 | 2018-04-27 | 惠州市蓝微电子有限公司 | A kind of intelligent grass-removing system |
| CN106647753A (en) * | 2016-12-19 | 2017-05-10 | 钦州市晶通科技有限公司 | Electronic device based on ultrasonic automatic positioning |
| JP6681326B2 (en) * | 2016-12-27 | 2020-04-15 | 本田技研工業株式会社 | Work system and work method |
| CN108427267A (en) * | 2017-02-15 | 2018-08-21 | 苏州宝时得电动工具有限公司 | One kind is from mobile device progress control method, device and from mobile device |
| SE540605C2 (en) * | 2017-03-02 | 2018-10-02 | Husqvarna Ab | Improved reduction of wheel tracks for robotic lawnmower |
| CN109892096A (en) * | 2017-12-08 | 2019-06-18 | 苏州宝时得电动工具有限公司 | Intelligent grass-removing |
| CN108089584A (en) * | 2017-12-25 | 2018-05-29 | 广州科语机器人有限公司 | The recharging method of grass-removing robot and grass-removing robot charging system |
| CN110063142B (en) * | 2018-01-24 | 2022-02-11 | 苏州宝时得电动工具有限公司 | Method and device for returning mower |
| CN110764495A (en) * | 2018-07-09 | 2020-02-07 | 苏州宝时得电动工具有限公司 | Mower and control method thereof |
| CA3111467A1 (en) * | 2018-09-28 | 2020-04-02 | Techtronic Cordless Gp | A docking station for use with an autonomous tool, an autonomous lawn mower and a method of guiding an autonomous tool towards a docking station |
| CN109584258B (en) * | 2018-12-06 | 2021-10-15 | 南京苏美达智能技术有限公司 | Grassland boundary identification method and intelligent mowing device applying same |
| CN112148813A (en) * | 2019-06-27 | 2020-12-29 | 深圳拓邦股份有限公司 | Random mower partitioning method and random mower |
| CN112673799A (en) * | 2019-10-18 | 2021-04-20 | 南京德朔实业有限公司 | Self-walking mowing system and outdoor walking equipment |
| CN111109237A (en) * | 2019-12-20 | 2020-05-08 | 上海点甜农业专业合作社 | Weeding robot system based on camera recognition and weeding method thereof |
| CN113115621B (en) * | 2019-12-30 | 2023-05-12 | 南京泉峰科技有限公司 | Intelligent mowing system and autonomous image building method thereof |
| CN111010975A (en) * | 2019-12-31 | 2020-04-17 | 宁波奇亚园林工具有限公司 | Intelligent mower positioning method and system |
| EP4136517A4 (en) * | 2020-04-16 | 2023-08-16 | Globe (Jiangsu) Co., Ltd. | Navigating a robotic mower along a guide wire |
| CN111903313A (en) * | 2020-07-10 | 2020-11-10 | 梅里科技(广州)有限公司 | Intelligent mower and control method thereof |
| CN114721385A (en) * | 2022-04-07 | 2022-07-08 | 未岚大陆(北京)科技有限公司 | Virtual boundary establishing method and device, intelligent terminal and computer storage medium |
| CN114747361B (en) * | 2022-04-26 | 2023-04-07 | 深圳华芯信息技术股份有限公司 | Method, apparatus and computer storage medium for controlling mowing robot |
| CN114846983B (en) * | 2022-05-25 | 2024-03-15 | 深圳华芯信息技术股份有限公司 | Mower assembly and automatic power changing method |
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