CN108142070A - automatic mowing system and its control method - Google Patents
automatic mowing system and its control method Download PDFInfo
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- CN108142070A CN108142070A CN201611111590.0A CN201611111590A CN108142070A CN 108142070 A CN108142070 A CN 108142070A CN 201611111590 A CN201611111590 A CN 201611111590A CN 108142070 A CN108142070 A CN 108142070A
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- boundary line
- grass trimmer
- mowing system
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Harvester Elements (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
A kind of automatic mowing system, bus stop including grass trimmer and with grass trimmer communication connection, boundary at least part of working region is virtual boundary, boundary line is provided on virtual boundary, boundary line includes the emission state for conveying radiofrequency signal and the integrity detection state for conveying detection signal；Bus stop is used to send out work order when the detection signal and while judging that boundary line is in good working condition that receive boundary line conveying.Bus stop will be detected boundary line, and send out work order to grass trimmer when detecting that boundary line is in good working condition in mowing system automatically in the present invention, and grass trimmer will only work after the work order is received in working region.It so avoids when bus stop has a power failure or boundary line occurs abnormal, grass trimmer crosses virtual boundary due to sensing is less than boundary line, walks in outside working region.The present invention also provides a kind of control methods of automatic mowing system.
Description
Technical field
The present invention relates to electric garden tool more particularly to a kind of automatic mowing systems and its control method.
Background technology
The working region of automatic mower is substantially by following two forms of the composition at present：
The first：Working region is made of completely the electrified wire closed, and inside and outside closed area the different magnetic field of polarized,
Automatic mower can receive magnetic field signal in real time, so as to avoid walking out outside working region.If electrified wire is because powering off or cutting
Disconnected when causing the magnetic field signal to disappear, automatic mower can not once receive the magnetic field signal that conducting wire is sent out, and will shut down, so as to protect
Card is within working region.
Second：Working region part is by physical boundary (wall, hedge), and another part is by non-closed boundary (transmitting radio frequency
The radiofrequency signal cable of signal) form working region in, automatic mower only close to radiofrequency signal cable (1-2m) when,
It can just sense the radiofrequency signal that conducting wire is sent out.If electrified wire causes the radiofrequency signal to disappear because powering off or cutting off, cut automatically
Careless machine can not learn information in real time, it is possible to because crossing workspace.
Invention content
Based on this, it is necessary to provide a kind of working region boundary line that can be detected and be made of part non-closed boundary automatically
Whether completely automatic mowing system.
It there is a need to and a kind of control method of automatic mowing system is provided.
A kind of automatic mowing system, communicates including the grass trimmer to work in scheduled working region and with the grass trimmer
The bus stop of connection, boundary at least part of the working region is virtual boundary, and boundary is provided on the virtual boundary
Line, the boundary line include the emission state for conveying radiofrequency signal and the integrity detection shape for conveying detection signal
State；The bus stop is used for when the detection signal for receiving the boundary line conveying and judges that the boundary line is in good working condition
When send out work order.
The bus stop is used to not receiving the detection signal of boundary line conveying simultaneously in one of the embodiments,
Judge to stop sending out the work order when boundary line is in abnormality.
The grass trimmer includes the first controller in one of the embodiments, and the bus stop includes second controller
The boundary line being connect with the second controller completely detects signal generator and signal receiver is completely detected in boundary line, institute
It states boundary line and completely detects signal generator for generating the detection signal, the boundary line is used in the integrity detection
The detection signal is conveyed during state, signal receiver is completely detected for receiving the detection signal, to sentence in the boundary line
Whether the boundary line break in good working condition；The second controller is used to completely detect signal receiver in the boundary line
The time sends out the work order at a predetermined interval when receiving the detection signal, and first controller is used to receive institute
The grass trimmer is controlled to work in the working region after stating work order.
The second controller also completely detects signal receiver in the boundary line and does not connect in one of the embodiments,
Stop sending out the work order when receiving the detection signal, the grass trimmer does not receive described in predetermined interval
The grass trimmer is controlled to be stopped after work order.
The grass trimmer includes the boundary radiofrequency signal hair being connect with first controller in one of the embodiments,
Raw device, the boundary radio-frequency signal generator is in the emission state, the time to send out to the boundary line at a predetermined interval
The radiofrequency signal, described in first controller is used to being detected in pre-determined distance when the boundary radio-frequency signal generator
During the radiofrequency signal of boundary line output, the grass trimmer steering or the pre-determined distance rear steering of advancing are controlled.
The boundary line is the cable for emitting radiofrequency signal in one of the embodiments, at the boundary line
When the integrity detection state, the first end of the cable completely detects signal generator with the boundary line and connect, institute
It states the second end of cable and the boundary line completely detects signal receiver and connect to form signal detection circuit.
In one of the embodiments, when the boundary line is in the emission state, the first end of the cable and
Second end connect to form signal launching circuit with the boundary radio-frequency signal generator.
The automatic mowing system includes switching switch in one of the embodiments, and the switching switch is used to control
The first end and second end of the cable selectively completely detects signal generator and the boundary with the boundary line respectively
Line completely detects signal receiver and connects the signal detection circuit or connect simultaneously with the boundary radio-frequency signal generator
Form the signal launching circuit.
The boundary of the working region includes enclosing the physics set on the virtual boundary periphery in one of the embodiments,
Boundary, the grass trimmer includes the physical boundary signal generator being connect with first controller and physical boundary signal receives
Device, the physical boundary signal generator is for emitting physics sideband signal, and the physical boundary receiver is according to reflecting
The physical boundary signal judge whether physical boundary, first controller is used for when the grass trimmer is close to described
The grass trimmer is controlled to change direction of travel during physical boundary.
First controller is stored with preset distance value in one of the embodiments, and first controller is being counted
When the distance between the obtained grass trimmer and the physical boundary value are more than the preset distance value, the mowing is kept
The direction of travel of machine；Distance value of first controller between the grass trimmer and the physical boundary being calculated is small
When the preset distance value, the grass trimmer is judged close to the physical boundary and the grass trimmer is controlled to turn to.
The physical boundary signal is ultrasonic wave/infrared light/laser/collision alarm in one of the embodiments,.
The physical boundary is the wall of hedge, enclosure wall or house in one of the embodiments,.
Charging station of the bus stop to provide energy to the grass trimmer in one of the embodiments,.
A kind of control method of automatic mowing system, the automatic mowing system include grass trimmer and lead to the grass trimmer
Believe the bus stop of connection；The control method of wherein described automatic mowing system includes the following steps：
Switch the boundary line to integrity detection state, send out detection signal whether to detect boundary line in complete shape
State；
When the detection signal for receiving boundary line conveying and when judging that the boundary line is in good working condition, work is sent out
It instructs；
Switch the boundary line to emission state, detect whether to receive radiofrequency signal；When receiving the radiofrequency signal
When, the grass trimmer is controlled to change direction of travel.
The control method of the automatic mowing system is further comprising the steps of in one of the embodiments,：
When the detection signal for not receiving boundary line conveying and while judging that the boundary line is in abnormality, stops
The work order is sent out, the grass trimmer is stopped after not receiving the work order in predetermined interval.
It is further comprising the steps of when the grass trimmer works in the working region in one of the embodiments,：
It detects whether to receive physical boundary signal；
When receiving the physical boundary signal, the grass trimmer is controlled to change direction of travel, it is described to avoid walking out
Working region；Wherein described physical boundary signal can be ultrasonic signal, laser signal, boundary infrared signal, collision alarm
Middle one kind.
Bus stop will be detected the boundary line on virtual boundary, and detecting in mowing system automatically in the present invention
Work order is sent out to grass trimmer, grass trimmer will be only after the work order is received when boundary line is in good working condition
It works in working region, and is automatically stopped when not receiving the work order.It so avoids in bus stop power failure or boundary line
When occurring abnormal, grass trimmer crosses virtual boundary due to sensing is less than boundary line, walks in outside working region.
Description of the drawings
Fig. 1 is the structure diagram of the automatic mowing system of the present invention and its working region；
Module maps of the Fig. 2 for system of mowing automatically shown in Fig. 1；
Fig. 3 a are that border member forms the schematic diagram of signal launching circuit in mowing system automatically shown in Fig. 1；
Fig. 3 b are that border member forms the schematic diagram in signal detection circuit in mowing system automatically shown in Fig. 1；
Fig. 3 c are the schematic diagram that border member disconnects in mowing system automatically shown in Fig. 1；
Flow charts of the Fig. 4 for the control method for system of mowing automatically shown in Fig. 1.
Specific embodiment
For the ease of understanding the present invention, the present invention is described more fully below with reference to relevant drawings.In attached drawing
Give presently preferred embodiments of the present invention.But the present invention can realize in many different forms, however it is not limited to this paper institutes
The embodiment of description.On the contrary, the purpose for providing these embodiments is to make the understanding to the disclosure more thorough
Comprehensively.
It should be noted that when element is referred to as " being fixed on " another element, it can be directly on another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or it may be simultaneously present centering elements.
Unless otherwise defined, all of technologies and scientific terms used here by the article is with belonging to technical field of the invention
The normally understood meaning of technical staff is identical.Term used in the description of the invention herein is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term as used herein " and/or " including one or more phases
The arbitrary and all combination of the Listed Items of pass.
Please refer to Fig. 1, in present pre-ferred embodiments, automatic mowing system 100 includes grass trimmer 10 and leads to grass trimmer
Believe the bus stop 30 of connection.Grass trimmer 10 is used to that grass cutting action to be walked and carried out among scheduled working region 200.Bus stop
30 are set in working region 200 or on its boundary.In this embodiment, bus stop 30 is for existing for grass trimmer 10
Supplement energy or the charging station taken shelter from rain and stopped for grass trimmer 10 are returned during energy deficiency.It is to be appreciated that in some other reality
It also can be other external equipments to communicate with grass trimmer 10 to apply bus stop 30 in example, be not limited thereto.
Specifically, module is communicatively coupled grass trimmer 10 by radio communication, such as bluetooth with bus stop 30.Meanwhile
In order to ensure that will not be interfered by other wireless signals, when grass trimmer 10 is communicated with bus stop 30, software also can be used and hold
The modes such as hand, verification are verified.It is to be appreciated that in some other embodiment, the communication of grass trimmer 10 and bus stop 30
Mode can as needed depending on, such as also can be wired communication mode etc., be not limited thereto.
The boundary of working region 200 includes physical boundary 210 and virtual boundary 230.Wherein, physical boundary 210 is hedge
211st, the existing physical obstacle such as the wall in enclosure wall 212 or house.Virtual boundary 230 is garden entrance etc. without physical boundary
Position.In this embodiment, working region 200 be made of three sides for physical boundary 210, one side virtual boundary 230 four
Side shape working region.Wherein, bus stop 30 is set to the junction of physical boundary 210 and virtual boundary 230.
Please together referring to Fig. 2 and Fig. 3 a-3c, boundary line 231 is provided on virtual boundary 230, boundary line 231 includes mutual
The emission state of switching and integrity detection state.When boundary line 231 is in emission state, it can be used for conveying radio frequency letter
Number；When boundary line 231 is in integrity detection state, its own forms the circuit of conveying detection signal.
Specifically, grass trimmer 10 includes the first controller 11, and bus stop 30 includes second controller 31, controlled with second
It completely detects signal generator 32 and boundary line and completely detects signal receiver 33 in the boundary line that device 31 connects.Boundary line 231 is
For emitting the cable of radiofrequency signal, boundary line completely detects signal generator 32 and boundary line and completely detects signal receiver 33
It may be contained on bus stop 30.
When boundary line 231 is in integrity detection state, signal is completely detected in first end and the boundary line of cable
Device 32 connects, and the second end of cable and boundary line are completely detected signal receiver 33 and connected, so as to which cable, boundary line be made completely to examine
It surveys signal generator 32 and boundary line completely detects signal receiver 33 and signal detection circuit is collectively formed, to detect boundary line
Whether 231 be in good working condition.
It completely detects signal generator 32 and sends out detection signal to cable, and work as side for the time at a predetermined interval in boundary line
Boundary line completely detect signal receiver 33 receive it is corresponding detection signal when, then show that cable is normal.Second controller 31 is used
In the time sends out work order at a predetermined interval when boundary line 231 is in good working condition.First controller 11 is receiving work
200 work in working region of grass trimmer 10 is controlled during instruction.Meanwhile if bus stop 30 have a power failure or RF cable be destroyed when,
Signal receiver 33 is completely detected in boundary line can not receive the detection letter for completely detecting that signal generator 32 sends out by boundary line
Number, then show cable exception.Second controller 31, which is additionally operable to stop when boundary line 231 is in abnormality to send out work, to be referred to
It enables.Control grass trimmer 10 is stopped after first controller 11 does not receive work order in predetermined interval.
It is to be appreciated that in some other embodiment, the detection letter of the generation of signal generator 32 is completely detected in boundary line
Number can be current signal, voltage signal or pulse signal etc..In addition, signal generator 32 is completely detected in boundary line sends out detection letter
Number interval time interval time of work order is sent out from second controller 31 can be different, be not limited thereto.
Further, grass trimmer 10 includes connecting the boundary radio frequency letter for detecting boundary line 231 with the first controller 11
Number generator 13.Boundary radio-frequency signal generator 13 is used to send out radiofrequency signal, the first controller to cable in pre-determined distance
11 cut for detecting to control during the radiofrequency signal of the output of boundary line 231 in pre-determined distance when boundary radio-frequency signal generator 13
Careless machine 10 turns to or advance pre-determined distance rear steering.Wherein, pre-determined distance can be to be pre-stored in the first controller 11
Distance value or the void exported into working region 200 or outside working region 200 centered on itself for boundary line 231
Intend the transmission range of sideband signal.
Specifically, when boundary line 231 is in emission state, the first end and second end of cable with boundary radiofrequency signal
Generator 13 connects, so that cable and boundary radio-frequency signal generator 13 form signal launching circuit.When boundary line 231 has been in
During whole state, boundary radio-frequency signal generator 13 is after the radiofrequency signal exported by boundary line 231 is received, the first controller 11
Judge that grass trimmer 10 reaches in 230 region of virtual boundary.At this point, the first controller 11, which can directly control grass trimmer 10, changes row
It walks direction or the first controller 11 moves on pre-determined distance and turned to again until really reaching boundary line 231 after nearby,
It avoids walking out working region.
Above two control mode can carry out the concrete condition of grass cutting action according to grass trimmer 10 and set, for example, working as
When in working region 200 from 231 pre-determined distance of boundary line without lawn, because that need not carry out grass cutting action, the first controller 11 can
It directly controls grass trimmer 10 and changes direction of travel；During opposite situation, the first controller 11 can move on pre-determined distance until true
It is positive to reach boundary line 231 or turned to again after 231 pre-determined distance of boundary line, to return to working region；Do not make herein
It limits.
Further, automatic mowing system 100 includes switching switch (not shown), and switching switch is used to control the of cable
One end and second end selectively completely detect signal generator 32 and boundary line with boundary line and completely detect signal reception respectively
Device 33 connects to form signal to form signal detection circuit or connect with boundary radio-frequency signal generator 13 simultaneously and be transmitted back to
Road.Wherein, switching switch can be analog switch, relay etc..
Further, grass trimmer 10 includes the physical boundary signal generator 15 being connect with the first controller 11 and physics side
Sector signal receiver 17.Physical boundary signal generator 160 and physical boundary signal receiver 170 are used to sense working region
200 physical boundary 210.When grass trimmer 10 is close to physical boundary 210, the first controller 11 control grass trimmer changes walking side
To return to working region.
Specifically, for physical boundary signal generator 15 for emitting physics sideband signal, physical boundary signal reaches physics
It is reflected behind boundary 210, physical boundary signal receiver 17 receives reflected physical boundary signal, the first control at this time
Whether device 11 judges grass trimmer 10 close to physical boundary 210.
First controller 11 is stored with preset distance value.First controller 11 is in the grass trimmer 10 being calculated and physics side
When the distance between boundary 210 value is more than the preset distance value, the direction of travel of grass trimmer 10 is kept；First controller 11 is calculating
When the distance between obtained grass trimmer 10 and physical boundary 210 value are less than or equal to the preset distance value, grass trimmer 10 is judged
Close to physical boundary 210 and grass trimmer 10 is controlled to turn to, to prevent grass trimmer 10 from hitting physical boundary 210, and cause grass trimmer
10 work in working region 200 always.
Specifically, physical boundary signal be ultrasonic signal, physical boundary signal generator 15 be ultrasonic transmitter, object
It is ultrasonic receiver to manage sideband signal receiver 17, and the first controller 11 is according to transmitting and the time difference of received ultrasonic signal
Calculate the distance between grass trimmer 10 and physical boundary 210.
Physical boundary signal is alternatively laser signal in one of the embodiments, and physical boundary signal generator 15 is
Laser emitter, physical boundary signal receiver 17 are laser pickoff, and the first controller 11 is believed according to transmitting with receiving laser
Number time difference calculate the distance between grass trimmer 10 and physical boundary 210.
In wherein another embodiment, physical boundary signal is alternatively boundary infrared signal, physical boundary signal hair
Raw device 15 is the first infrared transmitter, and physical boundary signal receiver 17 is the first infrared remote receiver.Since boundary infrared ray is believed
Number decay in communication process larger, when apart from physical boundary 210 farther out when, the first infrared remote receiver cannot efficiently identify side
Boundary's infrared signal.In addition user can be as needed, the distance of setting the first infrared remote receiver identification boundary infrared signal.Such as
After boundary infrared signal emits and returns to scheduled distance, light intensity attenuation to scheduled light intensity value, when reflection reaches first
When the light intensity of boundary infrared signal at infrared remote receiver is greater than or equal to the scheduled light intensity value, the first infrared remote receiver is known
Other boundary infrared signal.The first controller 11 judges grass trimmer 10 close to physical boundary 210 and controls 10 turns of grass trimmer at this time
To.In addition, physical boundary signal can be also collision alarm etc., it is not construed as limiting herein.
Fig. 4 is please referred to, the invention further relates to a kind of control methods of automatic mowing system, provide automatic mowing system 100,
Automatic mowing system 100 includes grass trimmer 10 and the bus stop 30 communicated to connect with grass trimmer 10.Wherein automatic mowing system
Control method includes the following steps：
Step S10：Handoff boundary line 231 to integrity detection state, boundary line is completely detected signal generator 32 and is sent out
Signal is detected whether to detect boundary line 231 in good working condition；If so, perform step S20；If it is not, perform step S30.
Specifically, when boundary line 231 is in integrity detection state, boundary line 231 is (electric i.e. in this specific embodiment
Cable) first end and second end completely detect signal generator 32 with boundary line respectively and signal receiver is completely detected in boundary line
33 connect to form signal detection circuit.At this point, boundary line completely detect signal generator 32 at a predetermined interval the time to boundary
Line 231 sends out detection signal, and when boundary line completely detects signal receiver 33 and receives corresponding detection signal, then shows
Cable is complete.In this embodiment, boundary line 231 is the cable for emitting radiofrequency signal, and signal hair is completely detected in boundary line
Raw device 32 is used to send out radiofrequency signal to RF cable every 5s.Second controller 31 also sends out work order every 5s, mows
Machine 10 works after work order is received in working region 200.
Step S20：When the detection signal for receiving the conveying of boundary line 231 and when judging that boundary line 231 is in good working condition,
Second controller 31 sends out work order, and the first controller 11 receives work order and controls grass trimmer 10 in 200 work of working region
Make.
Specifically, when signal generator 32 is completely detected in boundary line, the time sends out detection to boundary line 231 at a predetermined interval
Signal and detect boundary line 231 it is complete when, the time sends work order to second controller 31 to grass trimmer 10 at a predetermined interval, the
One control piece 11 controls grass trimmer 10 to work in working region 200, and in above-mentioned predetermined interval after work order is received
It is followed by accepting primary work order.In this way, ensure receiving the second control in the complete grass trimmer 10 in boundary line 231
In 200 continuous work of working region after the work order that device 31 processed is sent out.
Step S30：When the detection signal for not receiving the conveying of boundary line 231 and judge that boundary line 231 is in abnormality
When, the stopping of second controller 31 sends out work order, and grass trimmer 10 stops after not receiving work order in predetermined interval
Only work.
Specifically, second controller 31 cannot send out work order in predetermined interval, and grass trimmer 10 will perform
It is stopped after the last one work order.
Further, it is further comprising the steps of in above-mentioned steps S20：
Step S201：Handoff boundary line 231 detects whether to receive radiofrequency signal, and penetrate receiving to emission state
S211 is entered step during frequency signal, and continues step S201 when not receiving radiofrequency signal.
Step S211：Grass trimmer 10 is controlled to change direction of travel, avoids walking out working region.
Further, in above-mentioned steps S20, grass trimmer 10 is further comprising the steps of during work in working region 200：
Step S203：It detects whether to receive physical boundary signal, and enter step when receiving physical boundary signal
S213, and continue step S203 when not receiving the physical boundary signal.In this embodiment, physical boundary
Signal can be a kind of in ultrasonic signal, laser signal, infrared signal, collision alarm.
Step S213：Grass trimmer 10 is controlled to change direction of travel, avoids walking out working region.Wherein in above-mentioned steps S20
In, step S201 and step S203 can be existed simultaneously.
Bus stop 30 will examine the boundary line 231 on virtual boundary 230 in system 100 of mowing automatically in the present invention
It surveys, and work order is sent out to grass trimmer 10 when detecting that boundary line 231 is in good working condition, grass trimmer 10 is only receiving
After to the work order will 200 work in working region, and be automatically stopped when not receiving the work order.So keep away
Exempt to have a power failure in bus stop 30 or when boundary line occurs abnormal, grass trimmer 10 crosses virtual boundary when sensing less than boundary line 231
230, it walks in outside working region 200.
Embodiment described above only expresses the several embodiments of the present invention, and description is more specific and detailed, but simultaneously
Cannot the limitation to the scope of the claims of the present invention therefore be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect range.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (16)
1. a kind of automatic mowing system, it is characterised in that：Including the grass trimmer that works in scheduled working region and with it is described
The bus stop of grass trimmer communication connection, the boundary of the working region is at least partially virtual boundary, on the virtual boundary
Boundary line is provided with, the boundary line includes the emission state for conveying radiofrequency signal and detects the complete of signal for conveying
Property detection state；The bus stop is used for when the detection signal for receiving the boundary line conveying and judges that the boundary line is in
Work order is sent out during good working condition.
2. automatic mowing system as described in claim 1, it is characterised in that：The bus stop is used to that the side ought not to be received
The detection signal of boundary line conveying simultaneously judges to stop sending out the work order when boundary line is in abnormality.
3. automatic mowing system as described in claim 1, it is characterised in that：The grass trimmer includes the first controller, described
Completely detect signal generator and boundary line in the boundary line that bus stop includes second controller and connect with the second controller
Complete detection signal receiver, signal generator is completely detected for generating the detection signal, the boundary in the boundary line
Line for conveying the detection signal in the integrity detection state, completely detect signal receiver and be used for by the boundary line
The detection signal is received, to judge the boundary line whether in good working condition；The second controller is used on the side
Boundary line completely detect signal receiver receive it is described detection signal when at a predetermined interval the time send out the work order, it is described
First controller is used to the grass trimmer be controlled to work in the working region after the work order is received.
4. automatic mowing system as claimed in claim 3, it is characterised in that：The second controller is also complete in the boundary line
Whole detection signal receiver stops sending out the work order when not receiving the detection signal, and the grass trimmer is between predetermined
The grass trimmer is controlled to be stopped after the work order is not received in the time.
5. automatic mowing system as claimed in claim 3, it is characterised in that：The grass trimmer includes and first controller
The boundary radio-frequency signal generator of connection, the boundary radio-frequency signal generator are used in the emission state at a predetermined interval
Time sends out the radiofrequency signal to the boundary line, and first controller is used to exist when the boundary radio-frequency signal generator
When detecting the radiofrequency signal of the boundary line output in pre-determined distance, the grass trimmer is controlled to turn to or advance described pre-
If apart from rear steering.
6. automatic mowing system as claimed in claim 3, it is characterised in that：The boundary line is for emitting radiofrequency signal
Cable, when the boundary line is in the integrity detection state, the first end of the cable is completely examined with the boundary line
Signal generator connection is surveyed, the second end of the cable completely detects signal receiver with the boundary line and connect to form signal
Measure loop.
7. automatic mowing system as claimed in claim 6, it is characterised in that：When the boundary line is in the emission state
When, the first end and second end of the cable connect to form signal launching circuit with the boundary radio-frequency signal generator.
8. automatic mowing system as claimed in claim 7, it is characterised in that：The automatic mowing system includes switching switch,
The switching switch is used to that the first end and second end of the cable to be controlled selectively completely to detect with the boundary line respectively
Signal generator and the boundary line completely detect signal receiver connect the signal detection circuit or simultaneously with the side
Boundary's radio-frequency signal generator connects to form the signal launching circuit.
9. automatic mowing system as claimed in claim 3, it is characterised in that：The boundary of the working region includes enclosing set on institute
The physical boundary of virtual boundary periphery is stated, the physical boundary signal that the grass trimmer includes connecting with first controller occurs
Device and physical boundary signal receiver, the physical boundary signal generator are used to emit physics sideband signal, the physics side
Boundary's receiver judges whether physical boundary according to the reflected physical boundary signal, and first controller is used for
The grass trimmer is controlled to change direction of travel when the grass trimmer is close to the physical boundary.
10. automatic mowing system as claimed in claim 9, it is characterised in that：First controller is stored with preset distance
Value, distance value of first controller between the grass trimmer and the physical boundary being calculated are more than described predetermined
During distance value, the direction of travel of the grass trimmer is kept；First controller the grass trimmer being calculated with it is described
When the distance between physical boundary value is less than or equal to the preset distance value, judge the grass trimmer close to the physical boundary
And the grass trimmer is controlled to turn to.
11. automatic mowing system as claimed in claim 9, it is characterised in that：The physical boundary signal is ultrasonic wave/infrared
Light/laser/collision alarm.
12. automatic mowing system as claimed in claim 9, it is characterised in that：The physical boundary is hedge, enclosure wall or room
The wall in room.
13. automatic mowing system as described in claim 1, it is characterised in that：The bus stop is provides to the grass trimmer
The charging station of energy.
14. a kind of control method of automatic mowing system, it is characterised in that：The automatic mowing system include grass trimmer and with institute
State the bus stop of grass trimmer communication connection；The control method of wherein described automatic mowing system includes the following steps：
Switch the boundary line to integrity detection state, send out detection signal whether to detect boundary line in good working condition；
When the detection signal for receiving boundary line conveying and when judging that the boundary line is in good working condition, send out work and refer to
It enables；
Switch the boundary line to emission state, detect whether to receive radiofrequency signal；When receiving the radiofrequency signal, control
It makes the grass trimmer and changes direction of travel.
15. the control method of automatic mowing system as claimed in claim 14, it is characterised in that：The automatic mowing system
Control method is further comprising the steps of：
When the detection signal for not receiving boundary line conveying and when judging that the boundary line be in abnormality stopping send out
The work order, the grass trimmer are stopped after not receiving the work order in predetermined interval.
16. the control method of automatic mowing system as claimed in claim 15, it is characterised in that：When the grass trimmer is described
It is further comprising the steps of when working in working region：
It detects whether to receive physical boundary signal；
When receiving the physical boundary signal, the grass trimmer is controlled to change direction of travel, to avoid the work is walked out
Region；Wherein described physical boundary signal can be one in ultrasonic signal, laser signal, boundary infrared signal, collision alarm
Kind.
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| EP3829832A4 (en) * | 2018-08-03 | 2022-09-07 | LG Electronics Inc. | Moving robot, moving robot system, and method for moving to charging station of moving robot |
| US11178811B2 (en) | 2018-08-03 | 2021-11-23 | Lg Electronics Inc. | Lawn mower robot, system of lawn mower robot and control method of lawn mower robot system |
| US11910742B2 (en) | 2018-08-03 | 2024-02-27 | Lg Electronics Inc. | Moving robot, system of moving robot and method for moving to charging station of moving robot |
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| CN112119742B (en) * | 2019-06-25 | 2023-10-10 | 宝时得科技（中国）有限公司 | Intelligent mower and automatic control method thereof |
| CN112119742A (en) * | 2019-06-25 | 2020-12-25 | 宝时得科技（中国）有限公司 | Intelligent mower and automatic control method of intelligent mower |
| CN112286175A (en) * | 2019-07-09 | 2021-01-29 | 苏州宝时得电动工具有限公司 | Automatic working system, intelligent snow sweeping robot and control method thereof |
| CN110326423A (en) * | 2019-08-08 | 2019-10-15 | 浙江亚特电器有限公司 | The grass trimmer and its rotating direction control method and device of a kind of view-based access control model |
| WO2021047068A1 (en) * | 2019-09-12 | 2021-03-18 | 苏州宝时得电动工具有限公司 | Automatic working system and control method therefor |
| CN112578775A (en) * | 2019-09-12 | 2021-03-30 | 苏州宝时得电动工具有限公司 | Automatic working system and control method thereof |
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| CN113748827A (en) * | 2020-06-01 | 2021-12-07 | 上海山科机器人有限公司 | Signal station for autonomous working equipment, autonomous working equipment and system |
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| CN114616973A (en) * | 2020-12-11 | 2022-06-14 | 苏州宝时得电动工具有限公司 | Mower and control method of mower |
| CN114616973B (en) * | 2020-12-11 | 2023-10-10 | 苏州宝时得电动工具有限公司 | Mower and control method of mower |
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