CN115328107B - Intelligent mowing system and intelligent mowing equipment - Google Patents
Intelligent mowing system and intelligent mowing equipment Download PDFInfo
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- CN115328107B CN115328107B CN202110439799.4A CN202110439799A CN115328107B CN 115328107 B CN115328107 B CN 115328107B CN 202110439799 A CN202110439799 A CN 202110439799A CN 115328107 B CN115328107 B CN 115328107B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The invention discloses an intelligent mowing system and intelligent mowing equipment, wherein the system comprises a working area limited by a first boundary line, a non-working area limited by a second boundary line and the intelligent mowing equipment, and further comprises: the control module is used for controlling the intelligent mowing equipment to walk in the working area and/or on the first boundary line and/or the second boundary line; the positioning module is used for positioning the position information of the intelligent mowing equipment; the data acquisition module is used for acquiring area data of a preset range from the current position of the intelligent mowing equipment, wherein the preset range is larger than or equal to zero; the control module is configured to: acquiring area data of the intelligent mowing equipment when the intelligent mowing equipment works in a boundary walking mode of walking along the first boundary line and/or the second boundary line; and controlling the intelligent mowing equipment to walk along the first boundary line according to the relation between the area data and the data threshold value. The intelligent mowing device can accurately walk on the boundary line of the working area.
Description
Technical Field
The invention relates to the field of electric tools, in particular to an intelligent mowing system and intelligent mowing equipment.
Background
With the development of mobile robot technology, more and more robots in recent years walk into daily life of people, and intelligent mowing equipment robots which can automatically mow, autonomously reverse charge and autonomously avoid obstacles in a user lawn are also gradually popularized, similar to the sweeping robots. The intelligent mowing equipment robot can relieve users from heavy and boring households such as cleaning and maintaining lawns, and is more and more favored by users.
Typically, there are some fixed obstacles in the working area of the intelligent mowing apparatus, such as trees, ponds, flower beds, etc., which may cause the obstacle or the mower itself to fail if the mowing apparatus frequently collides with the obstacle. To avoid this, a border line, which may be called an island line, is typically arranged around the obstacle, and when the mowing device recognizes the border line through its own sensor, the mowing device does not continue to advance any further, so that collision with the obstacle can be avoided. However, the island line is generally the same line as the boundary line constituting the work area of the mower, and thus the intelligent mowing apparatus cannot distinguish the boundary line of the island line and the work area by the boundary signal sensor. Therefore, when the mower needs to walk along the boundary line of the working area for a certain purpose, the mower may walk along the island line, and the mower cannot walk out of the island if walking along the island line until the electric quantity is exhausted because the island line has no obvious starting point, similar to a closed coil.
Disclosure of Invention
Aiming at solving the defects of the prior art, the invention aims to provide intelligent mowing equipment capable of accurately walking on the boundary line of a working area.
In order to achieve the above object, the present invention adopts the following technical scheme:
an intelligent mowing system comprising a working area defined by a first boundary line and a non-working area defined by a second boundary line, and an intelligent mowing apparatus, further comprising: the control module is used for controlling the intelligent mowing equipment to walk in the working area and/or on the first boundary line and/or the second boundary line; the positioning module is used for positioning the position information of the intelligent mowing equipment; the data acquisition module is used for acquiring area data of a preset range from the current position of the intelligent mowing equipment, and the preset range is larger than or equal to zero; the control module is configured to: acquiring the area data of the intelligent mowing equipment when the intelligent mowing equipment works in a boundary walking mode of walking along the first boundary line and/or the second boundary line; and controlling the intelligent mowing equipment to walk along the first boundary line according to the relation between the area data and the data threshold value.
Further, the method further comprises the following steps: a boundary line identification module for identifying the first boundary line and/or the second boundary line; the control module is configured to: and controlling the intelligent mowing equipment to move to the first boundary line and/or the second boundary line, so that the intelligent mowing equipment enters the boundary walking mode.
Further, the control module is configured to: controlling the intelligent mowing equipment to follow the first boundary line when the area data is in a data threshold range; when the area data exceeds the data threshold range, controlling the intelligent mowing equipment to run out of the second boundary line for a distance; and the boundary line identification module is used for identifying the first boundary line and/or the second boundary line after the intelligent mowing equipment is driven out of the second boundary line for a certain distance, so that the control module controls the mowing equipment to enter the boundary walking mode according to the identification result.
Further, the working area is a closed area formed by the intelligent mowing equipment walking along the first boundary line and mowing with the mowing radius.
Further, when the intelligent mowing apparatus works in the boundary walking mode, the data acquisition module is used for recording boundary position information of the intelligent mowing apparatus walking along the first boundary line and/or the second boundary line; the control module is configured to: calculating the repetition times of the boundary position information at different moments; when the repetition number is greater than or equal to a number threshold, determining that the intelligent mowing apparatus is walking along the second boundary line; controlling the intelligent mowing apparatus to move from the second borderline to the first borderline and walk along the first borderline.
Further, the control module is configured to: generating walking track data of any time period based on the boundary position information; calculating the data repeatability of the walking track data in two time periods which do not have the same time; determining that the intelligent mowing apparatus is walking along the second boundary line when the data repetition degree is greater than or equal to a repetition degree threshold; controlling the intelligent mowing apparatus to move from the second borderline to the first borderline and walk along the first borderline.
Further, the method further comprises the following steps: a storage module for storing a map grid including the work area and the first boundary line; wherein the map grid where the first boundary line is located is marked as a boundary line grid; when the intelligent mowing equipment works in the boundary walking mode, the data acquisition module is used for acquiring a first map grid of the current position of the intelligent mowing equipment; the control module is configured to: detecting whether the first map grid is a boundary line grid or not; if the first map grid is not the boundary line grid or the number of the first map grids confirmed as boundary line grids within a certain period of time is smaller than or equal to a first number threshold value, determining that the intelligent mowing equipment is walking along the second boundary line;
controlling the intelligent mowing apparatus to move from the second borderline to the first borderline and walk along the first borderline.
Further, when the intelligent mowing equipment works in the boundary walking mode, the data acquisition module is used for acquiring a second map grid which is in a preset range from the current position of the intelligent mowing equipment; the control module is configured to: detecting a boundary line grid in the second map grid; if the number of boundary line grids in the second map grid is smaller than or equal to a second number threshold, determining that the intelligent mowing equipment is walking along the second boundary line; controlling the intelligent mowing apparatus to move from the second borderline to the first borderline and walk along the first borderline.
An intelligent mowing apparatus comprising: the control module is used for controlling the intelligent mowing equipment to walk on a working area defined by a first boundary line and/or on the first boundary line and/or on a second boundary line, wherein the second boundary line defines a non-working area; the positioning module is used for positioning the position information of the intelligent mowing equipment; the data acquisition module is used for acquiring area data of a preset range from the current position of the intelligent mowing equipment, and the preset range is larger than or equal to zero; the control module is configured to: acquiring the area data of the intelligent mowing equipment when the intelligent mowing equipment works in a boundary walking mode of walking along the first boundary line and/or the second boundary line; and controlling the intelligent mowing equipment to walk along the first boundary line according to the relation between the area data and the data threshold value.
Further, the method further comprises the following steps: a boundary line identification module for identifying the first boundary line and/or the second boundary line; the control module is configured to: and controlling the intelligent mowing equipment to move to the first boundary line and/or the second boundary line, so that the intelligent mowing equipment enters the boundary walking mode.
The invention has the advantages that: in the process that the intelligent mower moves along the boundary line, the positioning information can be utilized to acquire the current position or the peripheral area data of the mower, the type of the current boundary line can be accurately judged according to the acquired area data, and further the mower is controlled to walk along the boundary line of the running area.
Drawings
FIG. 1 is a schematic diagram of a self-mobile device operating system, as one embodiment;
FIG. 2 is a block diagram of a self-mobile device as one embodiment;
FIG. 3 is a circuit block diagram of a self-mobile device as one embodiment;
FIG. 4 is a schematic diagram of path planning for one embodiment;
FIG. 5 is a schematic diagram illustrating a path status determination according to an embodiment;
fig. 6 is a flow chart of a motion control method of the self-mobile device as an embodiment.
Detailed Description
The invention is described in detail below with reference to the drawings and the specific embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
The technical scheme of the invention is applicable to intelligent mowers, automatic cleaning equipment, automatic irrigation equipment, automatic snowplow and other equipment suitable for unattended operation, and other types of self-moving equipment which can adopt the essence of the technical scheme disclosed below can fall within the protection scope of the invention. The present application is generally directed to intelligent mowers. It can be appreciated that, to different self-moving devices, different functional accessories can be adopted, and different functional accessories correspond to different action modes.
Referring to fig. 1, the mowing system shown includes a first boundary line 100, a second boundary line 200, a work area 300, a non-work area 400, a smart mowing device 500, and a charging station 600. The charging station 600 is used for docking a smart mower, in particular for supplementing energy when the power supply is insufficient, and the charging station 300 is usually arranged on the first boundary line 100 or in the working area 300. The first boundary line 100 is used to define a work area 300 of the mower, and typically the first boundary line 100 is joined end to enclose the work area 300. In this application, the working area may be an irregular closed pattern or a regular closed pattern. The second boundary line 200 is used to define a non-working area, the shape of which is related to the size, shape, etc. of the obstacle therein.
Alternatively, the first boundary line 100 and the second boundary line 200 may be physical or may emit an electrical signal, for example, the first boundary line may be a physical boundary such as a fence, a wall, or may be a virtual boundary signal such as an electromagnetic signal or an optical signal emitted by a wire, a signal emitting device, or the like. In the present application, the second boundary line 200 and the first boundary line 100 are the same wire or the same group of devices that emit virtual boundary signals. That is, the intelligent mower cannot distinguish the first boundary line and the second boundary line by its own signal sensor.
It should be noted that, although the first boundary line 100 and the second boundary line 200 are the same line as shown in fig. 1, the distance between the two boundary lines 100A of the portion of the first boundary line 100 extending into the working area 300 is very short or relatively poor, which may cause the signals of the two boundary lines 100A to disappear or decrease, and not to be detected by the sensor of the intelligent mower, thereby forming an island, i.e., the non-working area 400 surrounded by the second boundary line 200. It will be appreciated that the non-working area is located within the working area and the second boundary line 200 may be considered an island line, and that defined obstacles (e.g., ponds, flower beds, etc.) may be considered islands within the working area.
As shown in fig. 2 to 3, the intelligent mowing apparatus 500 includes at least a housing 501, a cutting blade 502 provided under a mower main body, a driving wheel 503, a driving motor (not shown) controlling the driving wheel 503 to travel, a control module 10, a power supply device 20, a positioning module 30, and a data acquisition module 40. It will be appreciated that mower 500 also includes a cutting motor (not shown) which drives cutting blade 502. The control module 10 controls the cutting blade 502 of the driving wheel 503 by controlling the driving motor and the cutting motor, respectively. The cutting blade is for cutting grass, the cutting blade having a grass cutting radius R. It will be appreciated that, as shown in fig. 1, the enclosed area surrounded by the dashed line 700 is the maximum extent of the work area 300 when the mower 500 walks along the first borderline 100, wherein the distance between the dashed line 700 and the first borderline 100 is the mowing radius R.
The power supply device 20 is used for supplying power to the driving motor and the cutting motor, and supplying power voltages to the control module 10, the positioning module 30, the data acquisition module 40 and other unit modules. Alternatively, the power supply device may be a dc power supply battery pack, or may be ac mains, which is not limited herein.
The positioning module 30 is used for positioning the position information of the intelligent mower 500 in real time. In the present application, the positioning module may use one or more of GPS positioning technology, SLAM positioning technology, visual positioning technology, ultrasonic positioning technology, and other positioning technologies to position the mower.
The data acquisition module 40 may acquire area data of a preset range from a current location of the intelligent mower 500, where the preset range is greater than or equal to zero. That is, the data acquisition module 40 may acquire the area data of the mower at the current position or the area data of a certain range from the current position. The area data is data that is related to the position of the mower, and is not related to the operation data (such as the traveling speed, time, or steering angle) of the mower itself, such as the position information of the mower, the traveling track information, the map grid where the mower is located, or the map grid information around the mower, in the entire mowing area. In this application, the data acquisition module 40 may record or mark the region data in real time or at a certain frequency.
The control module 10 is used for controlling the driving motor to drive the intelligent mower to walk according to different operation modes. Alternatively, the intelligent mower may have an operational mode of mowing moving within the work area 300, an operational mode of walking along a borderline, or other operational modes, the borderline in this application comprising the first borderline 100 and/or the second borderline 200. Generally, when the electric quantity is low and charging is needed during the mowing process of the mower 500 moving in the working area 300, the charging station is intelligently searched for automatic charging. In general, the charging station is disposed on the boundary of the working area, for example, on the first boundary line 100, so in order to find the charging station to perform charging, the existing control method is to control the mower to find the boundary line and then control the mower to walk along the boundary line until the charging station is found. Since the second boundary line surrounding the obstacle is the same line as the first boundary line defining the work area, the mower can hardly distinguish the two without other hardware, so that the second boundary line is regarded as the first boundary line to walk along when the boundary line is found from any position of the work area.
It should be noted that, the application scenario that the mower needs to walk along the first boundary line is aimed at, so as to ensure that the mower can accurately identify the first boundary line and the second boundary line without other hardware under the scenario, and avoid electric quantity exhaustion caused by the fact that the mower walks along the second boundary line and enters into bypass work which cannot be stopped.
In a specific implementation, the boundary line identification module 50 may identify the boundary line, including the first boundary line and/or the second boundary line, but the boundary line identification module 50 may identify only the boundary line, and may not identify the type of the boundary line, i.e., may not determine whether it is the first boundary line or the second boundary line. Alternatively, the boundary line recognition module 50 may be a sensor, such as an electromagnetic sensor, capable of recognizing a boundary line.
Specifically, when the mower needs to walk along the first boundary line, the boundary line is identified by the boundary line identification module 50, and the control module controls the driving motor to drive the driving wheel to move from the current position to the boundary line, and then walk along the boundary line, where the boundary line may be the first boundary line or the second boundary line. In the present application, after the mower finds the boundary line, the mode of walking along the boundary line is defined as a boundary walking mode of walking along the first boundary line and/or the second boundary line. That is, after the boundary line recognition module 50 recognizes the boundary line, the control module 10 controls the mower to enter the boundary walking mode.
When the mower is operating in the boundary walking mode, the control module 10 may acquire the area data of the mower at the current position or a certain range from the current position. Further, the control module 10 may control the mower to walk along the first boundary line according to the relationship between the area data and the preset data threshold. For example, when the zone data is within the data threshold range, it may be determined that the mower is traveling along a first boundary line, and the control module only needs to continue controlling the mower to travel along the boundary line; if the area data exceeds the numerical threshold range, it may be determined that the mower is walking along the second boundary line, and the control module 10 may control the mower to change the running direction, and continue searching the boundary line and repeating the comparison of the area data and the data threshold value, and identify the boundary line where the mower is currently located according to the comparison result until it is determined that the mower walks on the first boundary line. For example, the control module 10 may control the mower to travel out of the second boundary line by a distance, the boundary line recognition module 50 recognizes the boundary line again so that the control module 10 may enter the boundary walking mode again according to the recognition result, and then repeat the process of comparing the area data with the threshold value and recognizing both boundary lines according to the comparison result until it is determined that the mower walks on the first boundary line.
In the present application, the control mode of the control module 10 for controlling the mower to steer from the second boundary line and to find the boundary line again may be a random steering control, or may be a steering control performed according to a certain yaw angle or steering angle, which is not limited herein.
In the application, the intelligent mower can acquire the current position or the peripheral area data of the mower by utilizing the positioning information in the moving process along the boundary line, the type of the boundary line along the current time can be accurately judged according to the acquired area data, and the mower can be accurately controlled to walk along the first boundary line of the running area without other hardware facilities.
In one embodiment of the present application, the area data is current location information of the mower on the boundary line. Specifically, taking a mower as an example to find a charging station or other objects on a first boundary line, the intelligent mower walks along the first boundary line in the following control process:
it can be appreciated that in the process of the intelligent mower working, when the electric quantity is low, the control module can automatically return to the charging station for charging, and the mower can be located at any position of the working area before returning to the charging station. Specifically, the control module 10 may control the boundary identification module 50 to identify the first boundary line 100 and/or the second boundary line 200 before controlling the mower to find a charging station or other object along the first boundary line. It can be appreciated that the boundary recognition module can recognize the boundary line in the current running direction according to the current pose of the mower. Further, the control module 10 controls the mower to walk toward the boundary line identified by the boundary identifying module and controls the mower to walk along the boundary line, i.e., the control module controls the mower to enter the boundary walking mode. In the boundary walking mode, the data acquisition module 40 may record current boundary position information of the mower and transmit the current boundary position information to the control unit 10, and the control unit 10 determines whether the mower is currently walking on the first boundary line by calculating the repetition times of any boundary position information at different times and comparing the relationship between the repetition times and the time threshold. For example, counting the initial position as a, and after a period of time, the position a is repeatedly detected once, i.e. the number of repetitions of the position a is 1, it can be determined that the mower may detour on the island line, i.e. the second boundary line. Alternatively, the number of times threshold is a positive integer greater than or equal to 1, e.g., the number of times threshold is 1, 2, 3, 4, etc. It will be appreciated that when the number of repetitions is greater than or equal to the number of times threshold, it may be determined that the mower is traveling along the second borderline, and when the number of repetitions is less than the number of times threshold, it may be determined that the mower is traveling along the first borderline.
If it is determined that the mower is traveling along the first boundary line, the control module 10 only needs to continuously control the mower to travel along the first boundary line; if it is determined that the mower is traveling along the second boundary line, the control module 10 may control the mower to travel a distance from the second boundary line, and then may control the boundary recognition module 50 to search the boundary line again, and repeat the above process until it is determined that the mower is traveling on the first boundary line.
It should be noted that, when the mower encounters a charging station or other objects disposed on the first boundary line in the boundary walking mode, the control module may control the mower to stop walking, so as to perform charging or other operations.
In the embodiment, by comparing the repetition times of the position of the mower on the boundary line, whether the mower is winding around the island line or not can be determined, and the purpose of accurately and efficiently identifying the island line can be achieved without using external equipment.
In one embodiment of the present application, the control process of the intelligent mower traveling along the first boundary line is similar to the control process in the above embodiment, except that the control module recognizes the island line, i.e., the second boundary line:
in the present embodiment, the process before the control module 10 identifies the island line may be referred to the description in the above embodiment, and the manner in which the control module 10 identifies the island line is described herein with emphasis.
When the island line is determined based on the number of repetitions of the above-described position, there may be erroneous recognition, and the mower may pass through the position point F twice even if the mower walks on the first boundary line as shown in fig. 4. In this embodiment, the control module 10 therefore employs a discrimination method that avoids false recognition. Specifically, after receiving the boundary position information of the mower transmitted by the data acquisition module 40, the control module 10 may generate the walking track data of the mower in any time period based on the boundary position information. Further, the control module 10 may calculate the data repetition of the walking track in any two time periods that do not have the same time. The two time periods with different moments may be two time periods connected first or two time periods with a certain interval therebetween. Alternatively, the two time periods may be equal or different.
Further, control module 10 may determine whether the mower is currently traveling on the first borderline based on the relationship of the data repetition level and the repetition level threshold. For example, if the travel track of the mower is composed of the position A, B, C, D, E, F in the first period and the travel track is composed of C, D, E, F, G, H in the second period, the repetition of the data of the two travel tracks C, D, E, F, i.e. the data of the two travel tracks, is 67%, and it may be determined that the mower may bypass on the island line, i.e. the second boundary line. Alternatively, the repetition threshold is a positive number greater than 0, e.g., the repetition threshold is 5%, 10%, 20%, 50%, etc. It will be appreciated that when the data repetition is greater than or equal to the repetition threshold, it may be determined that the mower is traveling along the second borderline, and when the data repetition is less than the repetition threshold, it may be determined that the mower is traveling along the first borderline.
Further, if it is determined that the mower is traveling along the first boundary line, the control module 10 only needs to continuously control the mower to travel along the first boundary line; if it is determined that the mower is traveling along the second boundary line, the control module 10 may control the mower to travel a distance from the second boundary line, and then may control the boundary recognition module 50 to search the boundary line again, and repeat the above process until it is determined that the mower is traveling on the first boundary line.
In the embodiment, whether the mower is winding around the island line or not is determined by comparing the repeatability of the walking track of the mower on the boundary line, so that the island line distinguishing accuracy is further improved.
In yet another embodiment of the present application, the control process of the intelligent mower traveling along the first boundary line is similar to the control process in the above embodiment, but still different in the manner in which the control module recognizes the island line, i.e., the second boundary line:
if the storage module in operation of the mower stores a map of the working area, the control module 10 can determine whether the mower is traveling along the first boundary line in the boundary traveling mode in a more efficient manner based on the map. Specifically, map information is stored in a memory module in the intelligent mower 500, and the map information may include a map grid of a work area and a first borderline, wherein the map grid of landmark borderlines is marked as a borderline grid. That is, when the mower is operating in the boundary traveling mode, whether or not traveling along the first boundary line is currently confirmed by recognizing the boundary line grid.
In a specific implementation, the data acquisition module 40 may acquire information of the first map grid of the intelligent mower at the current position, and transmit the information to the control module 10; the control module 10 determines whether the first map grid is a borderline grid by detecting whether the first map grid has borderline marking information, and if it is detected that the first map grid is not a borderline or the number of the first map grids confirmed as borderline grids within a certain period of time is less than or equal to a first number threshold, it is determined that the intelligent mower is walking along a second borderline; otherwise, determining that the intelligent mower walks along the first boundary line.
In an alternative implementation, the data acquisition module may also acquire a second map grid that is within a preset range from the current location of the intelligent mower, e.g., the data acquisition module may acquire a map grid that is within 1 meter of the current location of the mower. Further, the control module may detect a number of boundary lines in all of the second map grids, determine that the intelligent mower is traveling along the second boundary line if the number of boundary lines in the second map grids is less than or equal to the second number threshold, and otherwise determine that the mower is traveling along the first boundary line. In particular, the control module 10 may also set the weight coefficient of the borderline grid according to the distance between the borderline grid and the current position of the mower, for example, the weight of the borderline grid closest to the current position of the mower is 2, and the weight of the borderline grid farther from the current position of the mower is 0.5. Therefore, when the number of boundary line grids in the second map grid is calculated, the weight coefficient can be added to increase the reliability of island line discrimination.
Further, if it is determined that the mower is traveling along the first boundary line, the control module 10 only needs to continuously control the mower to travel along the first boundary line; if it is determined that the mower is traveling along the second boundary line, the control module 10 may control the mower to travel a distance from the second boundary line, and then may control the boundary recognition module 50 to search the boundary line again, and repeat the above process until it is determined that the mower is traveling on the first boundary line.
A flow diagram for a smart mower motion control method comprising the steps of:
s101, start, trigger the borderline walking mode. It will be appreciated that after triggering the borderline walk mode, the mower walks through the identified borderline, while turning to the borderline, where the borderline includes going to the first borderline and/or the second borderline.
S102, walking towards the boundary line.
S103, detecting whether the boundary line is on. If the detection result is yes, go to step S104, walk along the boundary line, record the boundary line position information, otherwise return to step S102 and continue to walk toward the boundary line.
S104, walking along the boundary line and recording boundary line position information.
S105, judging whether the user walks a certain distance or not. If yes, go to step S106 to walk along the boundary line, otherwise return to step S104 to continue controlling the mower to walk along the boundary line, and record the boundary line position information.
By determining whether the mower walks a certain distance after recording the boundary line position information, the mower can be ensured to walk normally, and whether the island line, namely the second boundary line, is determined as a result of the mower stopping walking due to faults or other reasons is avoided.
S106, continuing to walk along the boundary line.
S107, judging whether the mower encounters a charging station, if yes, turning to step S108, and determining that the mower walks on a first boundary line. Otherwise, the process proceeds to step S109, and whether the mower is running on the second boundary line is determined based on the boundary position information.
S108, determining that the mower walks on the first boundary line.
S109, judging whether the mower runs on the second boundary line or not based on the boundary position information. If yes, go to step S110 to determine that the mower is traveling on the second boundary line, otherwise go to step S108.
Specifically, whether the mower is driven on the second boundary line can be determined by detecting the repetition number of the boundary position information or detecting the repetition degree of the track data after generating the track data based on the position of the boundary position information. The specific judging process can be referred to the description in the above embodiment, and will not be repeated here.
S110, determining that the mower runs on the second boundary line.
S111, end.
It should be noted that, the above control flow is just a method for distinguishing the type of the boundary line currently walking by the mower in the boundary walking mode, and the steering control after recognizing that the mower walks on the second boundary line may be referred to the description in the above embodiment, which is not repeated here.
A flow diagram for a smart mower motion control method comprising the steps of:
s201, start, trigger the borderline walking mode. It will be appreciated that after triggering the borderline walk mode, the mower walks through the identified borderline, while turning to the borderline, where the borderline includes going to the first borderline and/or the second borderline.
S202, walking towards the boundary line.
S203, detecting whether the boundary line is present. If the detection result is yes, the process proceeds to step S204, and the vehicle walks along the boundary line, otherwise, the process returns to step S202 to continue to walk along the boundary line.
S204, walking along the boundary line.
S205, acquiring a map grid of a current position of the mower or a preset range from the current position.
S206, judging whether the number of the boundary line grids is larger than or equal to a number threshold, if so, turning to step S207, and determining that the mower runs on a second boundary line. Otherwise, the process proceeds to step S208, where it is determined that the mower is traveling on the first boundary line.
It can be appreciated that the method for distinguishing the island line, i.e. the second boundary line, by the mower according to the information of the map grid may be referred to the description in the above embodiment, and will not be repeated here.
S207, determining that the mower is driven on the second boundary line.
S208, determining that the mower is driven on the first boundary line.
S209, ending.
It can be appreciated that the above control flow is just a method for distinguishing the type of the boundary line currently walking by the mower in the boundary walking mode, and the steering control after recognizing that the mower walks on the second boundary line can be referred to the description in the above embodiment, which is not repeated here.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (9)
1. An intelligent mowing system comprising a working area defined by a first boundary line and a non-working area defined by a second boundary line, and an intelligent mowing apparatus, further comprising:
the control module is used for controlling the intelligent mowing equipment to walk in the working area or on the first boundary line or the second boundary line;
the positioning module is used for positioning the position information of the intelligent mowing equipment;
the data acquisition module is used for acquiring area data of a preset range from the current position of the intelligent mowing equipment, and the preset range is larger than or equal to zero;
the control module is configured to:
acquiring the area data of the intelligent mowing equipment when the intelligent mowing equipment works in a boundary walking mode of walking along the first boundary line or the second boundary line;
controlling the intelligent mowing equipment to walk along the first boundary line according to the relation between the area data and the data threshold value;
when the intelligent mowing equipment works in the boundary walking mode, the data acquisition module is used for recording boundary position information of the intelligent mowing equipment walking along the first boundary line or the second boundary line;
the control module is configured to:
calculating the repetition times of the boundary position information at different moments;
when the repetition number is greater than or equal to a number threshold, determining that the intelligent mowing apparatus is walking along the second boundary line;
controlling the intelligent mowing apparatus to move from the second borderline to the first borderline and walk along the first borderline.
2. The intelligent mowing system according to claim 1, wherein,
further comprises:
a boundary line identification module for identifying the first boundary line or the second boundary line;
the control module is configured to:
and controlling the intelligent mowing equipment to move to the first boundary line or the second boundary line, so that the intelligent mowing equipment enters the boundary walking mode.
3. The intelligent mowing system according to claim 2, wherein,
the control module is configured to:
controlling the intelligent mowing equipment to follow the first boundary line when the area data is in a data threshold range;
when the area data exceeds the data threshold range, controlling the intelligent mowing equipment to run out of the second boundary line for a distance;
and the boundary line identification module is used for identifying the first boundary line or the second boundary line after the intelligent mowing equipment is driven out of the second boundary line for a certain distance, so that the control module controls the mowing equipment to enter the boundary walking mode according to the identification result.
4. The intelligent mowing system according to claim 1, wherein,
the working area is a closed area formed by the intelligent mowing equipment walking along the first boundary line and mowing with the mowing radius.
5. The intelligent mowing system according to claim 1, wherein,
the control module is configured to:
generating walking track data of any time period based on the boundary position information;
calculating the data repeatability of the walking track data in two time periods which do not have the same time;
determining that the intelligent mowing apparatus is walking along the second boundary line when the data repetition degree is greater than or equal to a repetition degree threshold;
controlling the intelligent mowing apparatus to move from the second borderline to the first borderline and walk along the first borderline.
6. The intelligent mowing system according to claim 1, wherein,
further comprises:
a storage module for storing a map grid including the work area and the first boundary line; wherein the map grid where the first boundary line is located is marked as a boundary line grid;
when the intelligent mowing equipment works in the boundary walking mode, the data acquisition module is used for acquiring a first map grid of the current position of the intelligent mowing equipment;
the control module is configured to:
detecting whether the first map grid is a boundary line grid or not;
if the first map grid is not the boundary line grid or the number of the first map grids confirmed as boundary line grids within a certain period of time is smaller than or equal to a first number threshold value, determining that the intelligent mowing equipment is walking along the second boundary line;
controlling the intelligent mowing apparatus to move from the second borderline to the first borderline and walk along the first borderline.
7. The intelligent mowing system according to claim 6, wherein,
when the intelligent mowing equipment works in the boundary walking mode, the data acquisition module is used for acquiring a second map grid which is in a preset range from the current position of the intelligent mowing equipment;
the control module is configured to:
detecting a boundary line grid in the second map grid;
if the number of boundary line grids in the second map grid is smaller than or equal to a second number threshold, determining that the intelligent mowing equipment is walking along the second boundary line;
controlling the intelligent mowing apparatus to move from the second borderline to the first borderline and walk along the first borderline.
8. An intelligent mowing apparatus comprising:
the control module is used for controlling the intelligent mowing equipment to walk on a working area limited by a first boundary line or on the first boundary line or on a second boundary line, wherein the second boundary line defines a non-working area;
the positioning module is used for positioning the position information of the intelligent mowing equipment;
the data acquisition module is used for acquiring area data of a preset range from the current position of the intelligent mowing equipment, and the preset range is larger than or equal to zero;
the control module is configured to:
acquiring the area data of the intelligent mowing equipment when the intelligent mowing equipment works in a boundary walking mode of walking along the first boundary line or the second boundary line;
controlling the intelligent mowing equipment to walk along the first boundary line according to the relation between the area data and the data threshold value;
when the intelligent mowing equipment works in the boundary walking mode, the data acquisition module is used for recording boundary position information of the intelligent mowing equipment walking along the first boundary line or the second boundary line;
the control module is configured to:
calculating the repetition times of the boundary position information at different moments;
when the repetition number is greater than or equal to a number threshold, determining that the intelligent mowing apparatus is walking along the second boundary line;
controlling the intelligent mowing apparatus to move from the second borderline to the first borderline and walk along the first borderline.
9. The intelligent mowing apparatus according to claim 8, wherein,
further comprises:
a boundary line identification module for identifying the first boundary line or the second boundary line;
the control module is configured to:
and controlling the intelligent mowing equipment to move to the first boundary line or the second boundary line, so that the intelligent mowing equipment enters the boundary walking mode.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110439799.4A CN115328107B (en) | 2021-04-23 | 2021-04-23 | Intelligent mowing system and intelligent mowing equipment |
| PCT/CN2022/082681 WO2022222678A1 (en) | 2021-04-23 | 2022-03-24 | Intelligent mowing system and intelligent mowing device |
| EP22790787.0A EP4293459A1 (en) | 2021-04-23 | 2022-03-24 | Intelligent mowing system and intelligent mowing device |
| US18/468,234 US20240004395A1 (en) | 2021-04-23 | 2023-09-15 | Intelligent mowing system and intelligent mowing device |
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