CN115328108A - Intelligent mowing equipment and operation control method thereof - Google Patents
Intelligent mowing equipment and operation control method thereof Download PDFInfo
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Abstract
The invention discloses intelligent mowing equipment and an operation control method thereof, wherein the intelligent mowing equipment comprises a control module, a control module and a control module, wherein the control module is used for controlling the intelligent mowing equipment to move in a working area limited by a boundary line; the map building module is used for generating a regional map of a working region limited by the boundary line when the intelligent mowing equipment walks along the boundary line; the control module includes: a map acquisition unit for acquiring a regional map; the data processing unit is used for identifying the sub-working areas and the area connecting channels in the area map and generating a topological structure of the area map; a control unit configured to: and controlling the intelligent mowing equipment to move and mow in different sub-working areas through the area connecting channel according to the topological structure of the area map. The intelligent mowing equipment can efficiently and accurately work in different working areas through narrow channels.
Description
Technical Field
The invention relates to the field of electric tools, in particular to intelligent mowing equipment and an operation control method thereof.
Background
With the development of mobile robot technology, more and more robots have come into daily life of people in recent years, and intelligent mowing equipment robots capable of automatically mowing, automatically recharging and automatically avoiding obstacles in user lawns are gradually popularized similarly to sweeping robots. The intelligent mowing equipment robot can liberate users from heavy and boring household life such as cleaning and lawn maintenance and is more and more favored by users.
Generally, the area in which the intelligent mowing device works can be composed of a plurality of sub-areas, and the sub-areas are connected by narrow connecting channels, and the mower needs to work in different sub-areas through the narrow connecting channels to complete mowing tasks. In order to complete a mowing task, in the prior art, the moving mowing of the mower in different sub-areas is guided by manually inputting or marking features of sub-areas or channels and the like in a working area by a user, the method increases the workload of the user, data input by the user is often not accurate enough, negative effects on the mower may be caused, and meanwhile, the difficulty of using the mower by the user is increased, and the user experience is reduced.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide the intelligent mowing equipment which can work in different working areas efficiently and accurately through a narrow passage.
In order to achieve the above object, the present invention adopts the following technical solutions:
an intelligent mowing device comprising: the control module is used for controlling the intelligent mowing equipment to move in a working area defined by a boundary line; the map building module is used for generating a regional map of a working area limited by the boundary line when the intelligent mowing equipment walks along the boundary line; the control module includes: a map acquisition unit configured to acquire the area map; the data processing unit is used for identifying a sub-working area and an area connecting channel in the area map and generating a topological structure of the area map; a control unit configured to: and controlling the intelligent mowing equipment to movably mow in different sub-working areas through the area connecting channel according to the topological structure of the area map.
Further, the data processing unit includes: the area dividing subunit is used for identifying a sub-working area and an area connecting channel in the map area; the access extraction subunit is used for extracting access nodes at the joint of the area connecting channel and the sub-working area; the relation extraction subunit records the connection relation of different entrances and exits connected to the same sub-working area; and the topology generating subunit is configured to generate a topology structure of the area map based on the sub-work area, the area connection channel, and the connection relationship between the entrance and the exit and the sub-work area.
Further, the method also comprises the following steps: the operation detection module is used for acquiring pose information of the intelligent mowing equipment in the operation process; the control unit is configured to: acquiring the pose information; acquiring position information of the intelligent mowing equipment; when the intelligent mowing device is determined to be in a certain distance range of the entrance according to the topological structure and the position information, whether the running direction of the intelligent mowing device faces the entrance or not is judged based on the pose information; controlling the intelligent mowing device to move in different sub-working areas through the area connecting channel along the boundary line when the intelligent mowing device runs towards the entrance.
Further, the control unit is configured to: detecting the signal intensity of the boundary line when the intelligent mowing equipment walks along the boundary line; when the signal intensity is larger than the intensity threshold value, controlling the intelligent mowing equipment to continuously walk along the boundary line to pass through the area connecting channel according to the current walking direction; and when the signal intensity is smaller than the intensity threshold value, controlling the intelligent mowing equipment to turn, and walk along the boundary line along the direction opposite to the current running direction to pass through the area connecting channel.
Further, the control unit is configured to: and controlling the intelligent mowing device to turn to the middle position of the zone connecting channel to drive in the process that the intelligent mowing device passes through the zone connecting channel along the boundary line.
Further, the control unit is configured to: acquiring the signal intensity of the left side and the right side of the intelligent mowing equipment in the process of walking along the area connecting channel; and controlling the intelligent mowing equipment to run at the middle position of the area connecting channel according to the signal intensities of the left side and the right side so as to enable the ratio of the signal intensities of the left side and the right side to be in a preset ratio range.
A method of controlling a smart lawn mowing device, the method comprising: generating an area map of a working area defined by the boundary line when the intelligent mowing device walks along the boundary line; identifying sub-working areas and area connecting channels in the area map, and generating a topological structure of the area map; and controlling the intelligent mowing equipment to movably mow in different sub-working areas through the area connecting channel according to the topological structure of the area map.
Further, the identifying sub-work areas and area connection channels in the area map and generating a topology structure of the area map includes: identifying sub-work areas and area connecting channels in the map area; comparing the area connecting channel with the sub-working area to determine an inlet and an outlet of the area connecting channel; and generating a topological structure of the regional map based on the sub-working region, the regional connecting channel and the passageway.
Further, the method also comprises the following steps: acquiring pose information of the intelligent mowing equipment in the operation process; acquiring position information of the intelligent mowing equipment; when the intelligent mowing equipment is determined to be in a certain distance range of the entrance and the exit according to the topological structure and the position information, judging whether the running direction of the intelligent mowing equipment faces to the entrance or the exit based on the pose information; controlling the intelligent mowing device to move in different sub-working areas through the area connecting channel along the boundary line when the intelligent mowing device runs towards the entrance.
Further, the method also comprises the following steps: detecting the signal intensity of the boundary line when the intelligent mowing equipment walks along the boundary line; when the signal intensity is larger than the intensity threshold value, controlling the intelligent mowing equipment to continuously walk along the boundary line to pass through the area connecting channel according to the current walking direction; and when the signal intensity is smaller than the intensity threshold value, controlling the intelligent mowing equipment to turn, and walk along the boundary line along the direction opposite to the current running direction to pass through the area connecting channel.
The invention has the advantages that: all the sub-areas and the connecting channels in the working area are automatically identified by using map information, and the operation of the mower is navigated according to the identified characteristics, so that the mower can efficiently and accurately move and mow in each sub-area through the narrow channel.
Drawings
FIG. 1 is a schematic diagram of an embodiment of a smart lawn mowing device operating system;
FIG. 2 is a block diagram of an intelligent mowing apparatus as one embodiment;
FIG. 3 is a block circuit diagram of a smart lawn mowing device as one embodiment;
FIG. 4 is a grayscale image of an operating area of an intelligent mowing device as one embodiment;
FIG. 5 is a grayscale image of a sub-work area of an intelligent mowing device as one embodiment;
FIG. 6 is a grayscale image of a zone linking channel of a smart lawn mowing device, according to one embodiment;
FIG. 7 is a topological block diagram of a working area of a smart lawn mowing device, as one embodiment;
FIG. 8 is a schematic view of an embodiment of a smart lawn mowing apparatus;
fig. 9 is a flowchart illustrating a method of controlling a movement of a smart lawn mowing device according to an embodiment.
Detailed Description
The invention is described in detail below with reference to the figures and the embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
The technical solution of the present invention is applicable to not only intelligent mowing equipment, but also equipment suitable for unattended operation, such as automatic cleaning equipment, automatic watering equipment, automatic snow sweeper, and other types of self-moving equipment capable of adopting the essence of the technical solution disclosed below, and falls within the protection scope of the present invention. The present application is directed primarily to smart lawn mowing devices. It can be understood that different functional accessories can be adopted for different self-moving devices, and the different functional accessories correspond to different action modes.
Referring to fig. 1, a mowing system is shown comprising a work area 100, a boundary line 200, a sub-work area 300, an area linking channel 400, and a smart mowing apparatus 500. Where the boundary line 200 is used to define the working area 100 of the lawn mower, the boundary line 200 is typically joined end-to-end to form the enclosed working area 100. In the present application, the work area 100 may include a plurality of sub-work areas 300 and area connecting channels 400, and the area connecting channels 400 connect different sub-work areas 300 to together constitute the work area 100. It will be appreciated that the zone connecting walkway 400 is generally narrow and may be only wide enough to accommodate passage of a mower, for example, it may be 0.5 metres, 1 metre or 2 metres, etc. and its length is related to the distance between the two sub-work zones 300 to which it is connected. In the present application, the boundary line 200 may be a facility capable of emitting an electrical signal, for example, a wire, a signal emitting device, or the like capable of emitting an electromagnetic signal or an optical signal.
As shown in fig. 2 and 3, the intelligent lawn mowing apparatus 500 includes at least a housing 501, a cutting blade 502 disposed below a main body of the lawn mower, a driving wheel 503, a driving motor (not shown) for controlling the driving wheel 503 to travel, a control module 10, a power supply device 20, and a map building module 30. The control module 10 may include a map obtaining unit 101, a data processing unit 102, and a control unit 103. It is understood that mower 500 also includes a cutting motor (not shown) that drives cutting blade 502. The control module 10 controls the cutting blade 502 of the drive wheel 503 by controlling the drive 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 the working area of the lawnmower 500 while traveling along the boundary line 200 may be an area formed by extending the distance R outward at maximum on the basis of the working area 100 formed by the boundary line 200.
And a power supply device 20 for supplying power to the driving motor and the cutting motor, and supplying power voltages to the unit modules such as the control module 10, the map construction module 30, and the operation detection module 40. Optionally, the power supply device may be a dc power supply battery pack, or may be an ac mains supply, which is not limited herein.
The map building module 30 is configured to build an area map of the working area surrounded by the boundary line 200 during the walking of the lawn mower 500 along the boundary line 200.
And the control module 10 is used for controlling the intelligent mower 500 to move in the working area defined by the boundary line. As shown in fig. 1, the work area 100 includes a plurality of sub-work areas 300 and an area connecting channel 400, and the control module 10 can control the lawn mower 500 to work in different sub-work areas 300 through the area connecting channel 400 to complete all mowing tasks of the work area. Generally, the control module 10 can control the lawn mower 500 to move the lawn through the zone connection channel in different sub-zones according to the characteristics (such as the sub-zone number, the channel number or the boundary characteristics of the working zone) of different sub-working zones or zone connection channels input by the user. However, this method of identifying relevant characteristics of a working area and controlling the operation of the lawn mower by relying on user operation is not accurate and may have negative effects on the lawn mower, for example, if the entrance of the area connecting channel input by the user is deviated, the lawn mower may mistakenly enter a non-working area when entering a narrow channel through the entrance, and the lawn mower may be damaged if an obstacle exists in the non-working area.
According to the mobile mowing method and device, aiming at a working area with a plurality of sub-working areas and a narrow area connecting channel, the characteristics of an area map are automatically identified through a mower, and mobile mowing in the working area is completed.
In a specific implementation, the map obtaining unit 101 in the control module 10 may obtain the area map, and transmit the map data to the data processing unit 102; performing image processing on the regional map by the data processing unit 102 to identify sub-working regions and regional connection channels in the regional map and generate a topological structure of the regional map; further, the control unit 103 can control the lawn mower 500 to move to mow in different sub-working areas through the area connecting channel 400 according to the topology of the area map.
In one embodiment, the processing of the area map by the data processing unit 102 is as follows:
specifically, the data processing unit 102 may include a region division subunit 1021, a doorway extracting subunit 1022, a relationship extracting subunit 1023, and a topology generating subunit 1024. The data processing unit 102 may perform image graying processing on the area map to obtain a grayscale image as shown in fig. 4. Optionally, for the grayscale image of the working region, the region division subunit 1021 may first extract features of the sub-working region to obtain the grayscale image of the sub-working region shown in fig. 5, where the sub-region features may include features such as an area, an outline, or a center position of the region. Specifically, the method for extracting the features of the sub-work area may be to perform a closing operation first and then perform an opening operation to extract and record the boundary of the sub-work area. The so-called shut-down operation may be expansion followed by erosion to extract a larger sub-working area of the working area. Further, in addition, the area division subunit 1021 may also assign a unique area identifier, such as a sub-area ID, to the sub-work area. Likewise, the region division subunit 1021 may extract the features of the region connection channel after extracting the features of the sub-work region, and likewise, the features of the region connection channel may include the length, width, contour, and the like of the channel. Specifically, the area division subunit 1021 may obtain the grayscale image of the area connection channel by comparing the grayscale image of the original grayscale image with the grayscale image of the sub-working area, that is, extracting the difference between the original grayscale image and the grayscale image of the sub-working area after fig. 4 and fig. 5, as shown in fig. 6, it can be understood that the boundary line of the area connection channel may also be extracted and recorded, and a unique channel identifier, such as a channel ID, is assigned to the area connection channel. Further, the relationship extracting sub-unit 1023 may record the connection relationship between different entrances and exits connected to the same sub-work area, for example, test the entrance and exit of each area connection channel and each sub-work area, determine the sub-work area corresponding to the entrance and exit, and record the connection relationship between the entrance and exit of the same sub-work area. Further, the topology generating subunit 1024 may generate a topology structure of the working area based on the sub-working area, the characteristics of the area connection channel, and the connection relationship between the entrance and the exit and the sub-working area. Specifically, as shown in fig. 7, two end points of a dashed line 1 are located in two different sub-working areas, and two end points of a dashed line 2 are located in the same sub-working area, so that the dashed line 1 is a topological line of an area connection channel, and the dashed line 2 is a topological line of the sub-working area.
It is understood that the above-mentioned manner of dividing the data processing unit into four sub-units is not unique, and when the relevant features in the working area are identified by different data processing methods, the data processing unit can be divided into different sub-units.
In the embodiment of the invention, the characteristics of the sub-working area and the narrow area connecting channel in the working area are automatically extracted and identified by using the area map, so that the moving mowing control accuracy of the mower in different sub-areas is ensured.
In the present application, the data processing unit 102 may also identify sub-working areas and area connecting channels in the working area by using other image processing methods, so that the control unit 103 can control the mower to move and mow in different sub-working areas through the area connecting channels according to the identification result.
In one embodiment, the intelligent mowing apparatus 500 can further include a run detection module 40, and the run detection module 40 can acquire pose information of the mower during walking of the mower 500, wherein the pose information can include information such as moving direction, position and posture of the mower. In the moving process of the mower, the control unit 10 may monitor the position information of the mower in real time based on the positioning module, and determine whether the mower runs to an area within a certain distance range from the entrance or the exit by combining the topology structure and the position information of the mower, that is, monitor whether the mower runs to the vicinity of the entrance or the exit of the narrow passageway in real time. Further, when it is monitored that the mower travels to the vicinity of the doorway, the control unit 103 may determine whether the operation direction of the intelligent mowing apparatus is toward the doorway according to the pose information. That is, when the lawn mower travels to the vicinity of the doorway, it is necessary to determine whether the lawn mower is about to enter a narrow area connecting passage to mow in another sub-working area connected to the passage. It will be appreciated that when it is determined that the direction of travel of the mower is towards the doorway, it may be assumed that the mower is about to enter the zone connecting channel corresponding to the doorway, and the control unit may control the mower to move along the boundary line through the zone connecting channel.
In an alternative implementation, as shown in fig. 8, assuming that two topological nodes of the doorway are a and B, and the center of the two nodes is point C, if the mower runs in a certain range (distance with radius r) from the center point C (not shown), an included angle α between the running direction of the mower and the line AB is calculated, and if α satisfies a certain threshold range, it is determined that the running direction of the mower is toward the doorway.
When controlling the mower to pass through the zone link path along the boundary line, as shown in fig. 8, the mower needs to be controlled to move onto the boundary line 200, for example, to move to the boundary line in the direction indicated by the arrow 1, and then the mower needs to be controlled to travel along the boundary line. In this process, the direction of the mower running along the boundary line may be a direction away from the passageway entrance, as indicated by arrow 2, or a direction toward the passageway entrance, as indicated by arrow 3. Therefore, in order to avoid the mower moving away from the doorway, the control unit may detect the signal intensity of the boundary line and control the moving direction of the mower along the boundary line according to the relationship between the signal intensity and the intensity threshold. Specifically, when the detected signal intensity is greater than the intensity threshold, it can be determined that the mower is entering the zone connection channel along the boundary line, and at this time, the control unit only needs to control the mower to continue walking along the boundary line in the current walking direction to pass through the zone connection channel; if the detected signal intensity is smaller than the intensity threshold value, the lawn mower is determined to be far away from the area connecting channel along the boundary line, and at the moment, the control unit controls the intelligent mowing device to turn the direction to walk through the area connecting channel along the boundary line along the direction opposite to the current running direction.
It will be appreciated that the mower may not function properly when passing along the boundary line through the zone connecting passageways due to an unknown obstruction or other reason in the non-working zone outside the boundary line. In an exemplary embodiment, the control unit may control the lawn mower to move to a center position of the aisle, i.e., a center position of the two boundary lines forming the zone link aisle, during the control of the lawn mower to move along the boundary lines through the zone link aisle.
It should be noted that, the widths of the area connection channels are different, and the intensities of signals in the channels are also different, and when the channel widths are narrower, the intensities of the signals in the channels can be regarded as the same within a certain error range; when the width of the channel is larger than a certain value, the signal intensity of the middle of the channel is weaker, and the signal intensities of the two sides are stronger, so that a signal space with the weak middle and the strong two sides is formed. When the mower runs in the passageway, the control unit can respectively acquire the signal intensities of the left side and the right side of the mower, and then the mower is controlled to run in the middle position of the passageway according to the signal intensities of the left side and the right side, so that the ratio of the signal intensities of the left side and the right side of the mower body is in a preset ratio range, wherein the preset ratio range can be any number from 0.5 to 1.5, such as 0.6, 0.8, 1, 1.2, 1.3 and the like. For example, when the lawn mower runs in the first direction in the channel, the control unit detects that the signal intensity on the left side of the machine body is weak, the signal intensity on the right side of the machine body is strong, and the ratio of the signal intensity on the left side of the machine body to the signal intensity on the right side of the machine body is 0.2, it can be determined that the lawn mower is far away from the boundary line on the left side, at the moment, the control unit controls the lawn mower to turn left and move a certain distance towards the boundary line on the left side until the ratio of the signal intensities on the left side and the right side is within the preset ratio range, and then controls the lawn mower to turn back to the first direction to continue running. The first direction, i.e. the direction in which the mower is driven away from the zone connecting channel, may be considered to coincide with the direction from the channel inlet to the channel outlet.
Further, when the control unit detects that the signal intensity is lower than the intensity threshold value during the process that the mower runs in the passageway, the control unit can determine that the mower has run out of the passageway and enters the sub-working area connected with the mower. It should be noted that the specific travel control method is not limited herein, and the mowing machine travels in the sub-working area after entering the sub-working area.
A flow diagram for a motion control method for an intelligent lawn mower will be described with reference to fig. 9, the method comprising the steps of:
s101, acquiring a regional map of the working region defined by the boundary line.
S102, identifying the sub-working areas and the area connecting channels in the area map, and generating a corresponding topological structure.
S103, obtaining pose information of the mower in the operation process.
And S104, acquiring the position information of the mower.
And S105, judging whether the mower is positioned in a certain distance range at the entrance or the exit according to the topological structure and the position information, if so, turning to the step S106, and if not, returning to the step S104.
S106, judging whether the running direction of the mower faces the entrance or not based on the pose information, if so, turning to the step S107, otherwise, returning to the step S103 to continuously acquire the pose information of the mower.
And S107, controlling the mower to pass through the zone connecting channel along the boundary line.
It should be noted that, in the process that the mower passes through the zone connection channel along the boundary line, the mower may be controlled to run at the middle position of the channel according to the detected signal intensity of the boundary line, which may be specifically referred to the description in the foregoing embodiment, and is not described herein again.
It is to be noted that the foregoing description is only exemplary of the invention and that the principles of the technology may be employed. Those skilled in the art will appreciate that the present invention is not limited to the particular embodiments described herein, and that various obvious changes, rearrangements and substitutions will now be apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A smart lawn mowing apparatus comprising:
the control module is used for controlling the intelligent mowing equipment to move in a working area defined by a boundary line;
the map building module is used for generating an area map of a working area limited by the boundary line when the intelligent mowing equipment walks along the boundary line;
the control module includes:
a map acquisition unit configured to acquire the area map;
the data processing unit is used for identifying the sub-working areas and the area connecting channels in the area map and generating a topological structure of the area map;
a control unit configured to:
and controlling the intelligent mowing equipment to movably mow in different sub-working areas through the area connecting channel according to the topological structure of the area map.
2. The intelligent mowing device according to claim 1,
the data processing unit includes:
the area dividing subunit is used for identifying a sub-working area and an area connecting channel in the map area;
the access extraction subunit is used for extracting access nodes at the joint of the area connecting channel and the sub-working area;
the relation extraction subunit records the connection relation of different entrances and exits connected to the same sub-working area;
and the topology generating subunit is configured to generate a topology structure of the area map based on the sub-work area, the area connection channel, and the connection relationship between the entrance and the exit and the sub-work area.
3. The intelligent mowing device according to claim 1,
further comprising:
the operation detection module is used for acquiring pose information of the intelligent mowing equipment in an operation process;
the control unit is configured to:
acquiring the pose information;
acquiring position information of the intelligent mowing equipment;
when the intelligent mowing equipment is determined to be in a certain distance range of the entrance and the exit according to the topological structure and the position information, judging whether the running direction of the intelligent mowing equipment faces to the entrance or the exit based on the pose information;
controlling the intelligent mowing device to move in different sub-working areas through the area connecting channel along the boundary line when the intelligent mowing device runs towards the entrance.
4. The intelligent mowing device according to claim 3,
the control unit is configured to:
detecting the signal intensity of the boundary line when the intelligent mowing equipment walks along the boundary line;
when the signal intensity is larger than the intensity threshold value, controlling the intelligent mowing equipment to continuously walk along the boundary line to pass through the area connecting channel according to the current walking direction;
and when the signal intensity is smaller than the intensity threshold value, controlling the intelligent mowing equipment to turn, and walk along the boundary line along the direction opposite to the current running direction to pass through the area connecting channel.
5. The intelligent mowing device according to claim 4,
the control unit is configured to:
and controlling the intelligent mowing equipment to turn to the middle position of the zone connecting channel to drive in the process that the intelligent mowing equipment passes through the zone connecting channel along the boundary line.
6. The intelligent mowing device according to claim 5,
the control unit is configured to:
acquiring the signal intensity of the left side and the right side of the intelligent mowing equipment in the process of walking along the area connecting channel;
and controlling the intelligent mowing equipment to run at the middle position of the area connecting channel according to the signal intensities of the left side and the right side so as to enable the ratio of the signal intensities of the left side and the right side to be in a preset ratio range.
7. A method of controlling a smart lawn mowing device, the method comprising:
generating an area map of a working area defined by the boundary line when the intelligent mowing device walks along the boundary line;
identifying sub-working areas and area connecting channels in the area map, and generating a topological structure of the area map;
and controlling the intelligent mowing equipment to move and mow in different sub-working areas through the area connecting channel according to the topological structure of the area map.
8. The method of claim 7, wherein identifying sub-work areas and area connection channels in the area map and generating the topology of the area map comprises:
identifying sub-work areas and area connecting channels in the map area;
comparing the area connecting channel with the sub-working area to determine the inlet and outlet of the area connecting channel;
and generating a topological structure of the regional map based on the sub-working region, the regional connecting channel and the entrance.
9. The method of claim 7,
further comprising:
acquiring pose information of the intelligent mowing equipment in the operation process;
acquiring position information of the intelligent mowing equipment;
when the intelligent mowing equipment is determined to be in a certain distance range of the entrance and the exit according to the topological structure and the position information, judging whether the running direction of the intelligent mowing equipment faces to the entrance or the exit based on the pose information;
controlling the intelligent mowing device to move in different sub-working areas through the area connecting channel along the boundary line when the intelligent mowing device runs towards the entrance.
10. The method of claim 9,
further comprising:
detecting the signal intensity of the boundary line when the intelligent mowing equipment walks along the boundary line;
when the signal intensity is larger than the intensity threshold value, controlling the intelligent mowing equipment to continuously walk along the boundary line to pass through the area connecting channel according to the current walking direction;
and when the signal intensity is smaller than the intensity threshold value, controlling the intelligent mowing equipment to turn, and walking along the boundary line along the direction opposite to the current running direction to pass through the area connecting channel.
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| CN202110439805.6A CN115328108A (en) | 2021-04-23 | 2021-04-23 | Intelligent mowing equipment and operation control method thereof |
| 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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