CN215122126U

CN215122126U - Path planning equipment of automatic mower

Info

Publication number: CN215122126U
Application number: CN202023177681.9U
Authority: CN
Inventors: 安德烈·伦德克维斯特; 丹尼尔·特朗
Original assignee: Globe Jiangsu Co Ltd
Current assignee: Globe Jiangsu Co Ltd
Priority date: 2020-12-25
Filing date: 2020-12-25
Publication date: 2021-12-14
Anticipated expiration: 2030-12-25

Abstract

The utility model discloses a path planning device of an automatic mower, which comprises a mower body, a control unit, an obstacle avoidance detection device, at least one front sensor and at least one rear sensor, wherein the control unit, the obstacle avoidance detection device, the at least one front sensor and the at least one rear sensor are arranged on the mower body; at least one guide line pre-laid in the working area of the robotic lawnmower; a boundary line pre-laid on an edge of the working area of the robotic lawnmower; the charging station is positioned on the boundary line, and a charging station outfield loop is arranged in the charging station; wherein, both ends of the guide wire are respectively connected with the charging station and the boundary line, and the guide wire and the boundary line form a closed loop. Utilize the utility model discloses, not only can bypass the barrier automatically when the lawn mower is out of the station, can avoid reducing the damage to lawn or vegetation moreover.

Description

Path planning equipment of automatic mower

Technical Field

The utility model relates to an automatic mower technical field, in particular to path planning equipment of automatic mower.

Background

An automatic lawn mower is a garden tool for trimming lawns, vegetation, and the like, and generally includes a self-propelled mechanism, a cutter mechanism, and a power source, which may be a gasoline engine, a battery pack, and the like. The battery-driven automatic mower is widely favored by users because of low noise and zero pollution. However, due to the constraints of factors such as the energy density of the battery and the production cost of the battery, the electric quantity of the battery pack carried by the automatic mower is very limited, so that the one-time operation area of the automatic mower is small. When the lawn area is wide, the automatic mower needs to return to the charging station for charging after working for a certain time, and leaves the charging station and returns to the working area for mowing after charging is finished.

When the automatic mower leaves from the charging station and returns to the mowing area to work, most of products leave the mowing area along a fixed track, so that rutting is easy to generate, and the growth of lawns or vegetation in the rutting area is influenced; but also easily cause the same path to cut grass slightly more, thereby influencing the whole grass cutting efficiency and the beautiful appearance of the lawn.

SUMMERY OF THE UTILITY MODEL

In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a path planning device for an automatic lawn mower, which is used to solve the technical problems of the prior art that the automatic lawn mower is easy to generate ruts when leaving from a charging station and returning to a mowing area for mowing a lot of grass on the same path.

In order to achieve the foregoing objects and other objects, the present invention also provides a path planning apparatus for an robotic lawnmower, comprising:

the automatic mower comprises a mower body, a control unit, an obstacle avoidance detection device, at least one front sensor and at least one rear sensor, wherein the control unit, the obstacle avoidance detection device, the at least one front sensor and the at least one rear sensor are arranged on the mower body;

at least one guide line pre-laid in the working area of the robotic lawnmower;

a boundary line pre-laid on an edge of the working area of the robotic lawnmower;

the charging station is positioned on the boundary line, and a charging station outfield loop is arranged in the charging station;

wherein, both ends of the guide wire are respectively connected with the charging station and the boundary line, and the guide wire and the boundary line form a closed loop.

In an alternative embodiment, the boundary line is fixed to the ground or buried under the ground along the edge of the working area.

In an alternative embodiment, the guide wire is fixed to the ground or buried below the ground.

In an alternative embodiment, the front sensor comprises a magnetic induction coil and the rear sensor comprises a magnetic induction coil.

In an alternative embodiment, the path planning apparatus of the robotic lawnmower comprises a plurality of the guide lines.

In an optional embodiment, the path planning apparatus of the robotic lawnmower further comprises a signal generating device, and the signal generating device is respectively connected to the guide line, the boundary line, and the charging station outfield loop.

In an optional embodiment, the obstacle avoidance detecting device includes an infrared sensor, a laser sensor, or a collision sensor.

In an alternative embodiment, the impact sensor includes a magnet and a hall sensor mounted to the body.

In an alternative embodiment, the impact sensor includes an armature and an inductive sensor mounted to the body.

In an optional embodiment, the front sensor is arranged on a center line of a head end of the body, and the rear sensor is arranged on one side of a center line of a tail end of the body.

The utility model discloses a path planning equipment of automatic mower can be used for planning the path that automatic mower left the charging station, makes the charging station leave the charging station along the route of difference at every turn to avoid producing the rut along automatic mower when leaving the station along fixed path, influence the growth of the lawn in rut region or system vegetation.

The utility model discloses a path planning equipment of automatic mower can be used for planning the path that automatic mower left the charging station, makes the charging station leave the charging station along the route of difference at every turn to can avoid automatic mower to mow repeatedly along the same route, improve the efficiency of mowing, promote the pleasing to the eye on lawn.

The utility model discloses a path planning equipment of automatic mower because the guide wire can arrange into simple shape relatively as required to can make the path planning that automatic mower leaves the station simpler.

The utility model discloses a path planning equipment of automatic mower can be when striding and ride or follow the guide wire automatic bypass the barrier to stride again or follow the guide wire and predetermine the target distance until the walking, realize the outbound of automatic mower.

Drawings

Fig. 1 is a schematic structural view of the path planning apparatus of the automatic lawn mower according to the present invention.

Fig. 2 is a schematic flow chart of the path planning method of the automatic mower of the present invention.

Fig. 3 is a sub-flowchart of step S20 in fig. 2.

Fig. 4 is a schematic view of the robotic lawnmower exiting the charging station and traveling a random distance outside the outfield loop of the charging station.

Fig. 5a and 5b are schematic views showing the rotation of the robotic lawnmower to align the rear sensor with the direction of travel according to the present invention.

FIGS. 6a-6e are schematic views of the robotic lawnmower riding the guide wire to travel the predetermined target distance.

Fig. 7 is a schematic view showing that after the utility model walks for the predetermined target distance, the automatic mower rotates 90 degrees in any direction.

Fig. 8 is a schematic view of the automatic mower starting the random mowing operation in the working area according to the present invention.

Fig. 9 is a schematic view of the distance between the rear sensor and the guide line as the random corridor distance when the tail end of the automatic mower of the present invention is rotated by a random angle.

FIG. 10 is a schematic view of the robotic lawnmower following the guide line in the random corridor spacing according to the present invention.

FIGS. 11a-11i are schematic views of the robotic lawnmower bypassing obstacles during riding or following a guide wire in accordance with the present invention.

Fig. 12 is a block diagram of a path planning system of the robotic lawnmower according to the present invention.

Fig. 13 is a block diagram of the control unit according to the present invention.

Fig. 14 is a block diagram of the automatic mower according to the present invention.

Detailed Description

The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure herein. The present invention can also be implemented or applied through other different specific embodiments, and various details in the present specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

Please refer to fig. 1-14. It should be noted that the drawings provided in the present embodiment are only for illustrating the basic idea of the invention in a schematic manner, and only the components related to the invention are shown in the drawings rather than being drawn according to the number, shape and size of the components in actual implementation, and the form, quantity and proportion of the components in actual implementation may be changed at will, and the layout of the components may be more complicated.

The embodiment of the utility model discloses an electrically driven automatic mower need often get back to the charging station and charge, can leave and return the regional during operation of mowing from the charging station after filling the electricity, in order to avoid automatic mower to produce the rut along the fixed track easy of leaving a station to and cause the same route more problem of mowing, the embodiment of the utility model discloses a path planning method, system and equipment that are used for automatic mower to leave the automatic mower of charging station. Wherein, fig. 1 shows a schematic structural view of a path planning device of an automatic mower of the present invention; FIG. 2 is a schematic flow chart diagram illustrating a method of path planning for an robotic lawnmower according to the present invention; FIG. 12 is a block diagram illustrating the path planning system of the robotic lawnmower of the present invention; fig. 14 is a block diagram of the automatic mower according to the present invention. It should be noted that the robotic lawnmower and the charging station are shown enlarged in fig. 1 and subsequent fig. 4-11 to make the drawings more clear. The utility model discloses in, the robotic lawnmower includes self-propelled robotic lawnmower, is an electric tool who adopts battery powered and need regularly charge. The robotic lawnmower is movable during use within a working area defined by the boundary line.

Referring to fig. 1 and 14, in the present invention, a path planning apparatus for an automatic mower out of which the automatic mower 1 is out of the station includes the automatic mower 1, a guide line 7, a boundary line 2, and a charging station 3.

Referring to fig. 1 and 14, the automatic mower 1 includes a main body, and a control unit 6 (described in detail in the relevant portions below), an obstacle avoidance detecting device 104 and at least two sensors 5, which are disposed on the main body; one of the sensors 5 is arranged at the head end of the fuselage as a front sensor 5a, and the other sensor is arranged at the tail end of the fuselage as a rear sensor 5b, and the sensors 5 are used for sensing a guiding signal of at least one of the boundary line 2, the guide line 7 and the charging station external field loop 4; the control unit 6 is used for controlling the automatic mower 1 to automatically leave the charging station 3 according to a guiding signal; the obstacle avoidance detecting device 104 is used for detecting an obstacle on a traveling path of the automatic mower 1 and then transmitting a signal to the control unit 6, the control unit 6 controls the automatic mower 1 to realize obstacle avoidance operation so as to avoid the obstacle, and the obstacle avoidance detecting device 104 may be, for example, an infrared sensor, a laser sensor, a collision sensor, or the like; the impact sensor may be a sensor consisting of a magnet and a hall sensor, or may be a sensor consisting of an armature or an inductive sensor. Taking an impact sensor composed of a magnet and a hall sensor as an example, the magnet or the hall sensor may be respectively mounted on two components of the robotic lawnmower 1, such as a top cover and a housing of a body of the robotic lawnmower 1; when the automatic mower 1 collides, one of the components (e.g., the top cover) can move forward for a certain distance relative to the other component (e.g., the housing) under the action of inertia along the traveling direction of the automatic mower 1, so that the magnet and the hall sensor are relatively displaced, and a signal of the hall sensor is changed, at this time, the hall sensor can send a signal to the control unit 6, and the control unit 6 controls the automatic mower 1 to realize obstacle avoidance operation so as to avoid an obstacle.

Referring to fig. 1 and 14, the guide wire 7 is pre-laid in the working area of the robotic lawnmower 1, and two ends of the guide wire 7 are connected to the charging station 3 and the boundary wire 2, respectively, wherein one end of the guide wire 7 connected to the charging station 3 is also connected to the boundary wire 2, so that the guide wire 7 and a relatively short portion of the boundary wire 2 located between two end points of the guide wire 7 form a closed loop. The charging station 3 is located on the boundary line 2, and the charging station 3 is arranged as a charging plate, so that the automatic mower 1 is positioned on a uniform and continuous plane in the butt joint process, and the butt joint process is ensured to be more accurate. In order to facilitate the recognition and location of the charging station 3 by the robotic lawnmower 1, an external charging station field loop 4 is provided within the charging station 3, and the boundary line 2 is recessed into the inner working area at the location of the charging station 3 to form an internal charging station field loop 2a that is narrower than the external charging station field loop 4 and passes through the external charging station field loop 4, the internal charging station field loop 2a being used to guide the robotic lawnmower out of the charging station.

Referring to fig. 1, the boundary line 2 may be embedded along the edge of the working area to hide the boundary line 2, for example, although the boundary line 2 may also be disposed on the ground or on the ground. The boundary line 2 is recessed into the inner working area at the position of the charging station 3 to form a charging station inner field loop 2a which is narrower than the charging station outer field loop 4 and passes through the charging station outer field loop 4. The boundary line 2 may be, for example, a single-core type metal wire (e.g., a copper wire) or a stranded wire or the like. The guide line 7 may be buried in the work area along the boundary line 2 to hide the boundary line 2, for example, but the boundary line 2 may be provided on the ground surface or the ground surface in the work area. The boundary line 2 (including the charging station internal field loop 2a), the guiding line 7 and the charging station external field loop 4 are respectively coupled to a signal generating device provided in the charging station 3, the signal generating device is configured to generate a pulse current signal with a certain frequency and input the pulse current signal into the boundary line 2, the guiding line 7 or the charging station external field loop 4 to form a guiding signal in the boundary line 2, the guiding line 7 or the charging station external field loop 4, and the guiding signal generated by the boundary line 2, the guiding line 7 and the charging station external field loop 4 needs to have a special characteristic to distinguish the three from each other, for example, the pulse current signal can be input into the boundary line 2, the guiding line 7 and the charging station external field loop 4 at intervals to generate corresponding guiding signals in different time intervals respectively for the boundary line 2, the guiding line 7 and the charging station external field loop 4 And (4) conducting signals. The sensor 5 may for example employ a magnetic field sensor 5 or a current sensor 5 for measuring a guiding signal of at least one of the boundary line 2, the guiding line 7 and the charging station external field loop 4.

Referring to fig. 1 and 14, the automatic mower 1 of the present invention further includes a walking assembly 101, an operation assembly 102 and a power supply assembly 103 disposed on the mower body. The traveling assembly 101 includes driving wheels located at two sides of the main body, the driving wheels may be located in front of the main body, that is, at one side where the front sensor 5a is disposed (in other embodiments, the driving wheels may also be located behind the main body), the two driving wheels are driven by two driving motors, at least one supporting wheel is further disposed in front of the main body, the robotic lawnmower 1 is supported by the driving wheels and the supporting wheel to travel, and the supporting wheel may be a universal wheel, for example, so that the robotic lawnmower 1 can turn. The control unit 6 controls the walking direction and speed of the automatic mower 1 by controlling the rotating speeds of the two driving motors, and when the rotating speeds of the driving motors are different, the automatic mower 1 can realize turning; when the rotating speeds of the driving motors are the same, the automatic mower 1 can realize linear walking, and when the rotating speeds of the driving motors are opposite, the automatic mower 1 realizes in-situ zero steering. The working assembly 102 comprises a cutting motor and a cutting head driven by the cutting motor, the working assembly 102 is approximately positioned at the center of the automatic mower 1, the rotating shaft of the cutting motor is approximately vertical to the horizontal plane, and the working assembly 102 can be adjusted in height with the ground by an operator to realize the adjustment of the cutting height. The power supply assembly 103 includes a rechargeable battery and a charging system for supplying power to the rechargeable battery. The control unit 6 receives various signals sent to the robotic lawnmower 1 or signals collected by the sensor 5, generates corresponding control signals through the built-in processor 61, and controls the traveling unit or the working unit according to the generated control signals, so that the robotic lawnmower 1 leaves the charging station 3 along a planned route to perform mowing work, and the robotic lawnmower 1 can leave the charging station 3 according to a path planned by a path planning method of the robotic lawnmower and a path planned by a path planning system of the robotic lawnmower, which will be described later, or can leave the charging station 3 along a path planned by another suitable method, for example, leaves the charging station in a manner of following the boundary line 2 at a random distance.

It should be noted that, an alarm device (not shown) is further disposed on the body of the robotic lawnmower 1, and the alarm device is configured to send an alarm when the robotic lawnmower 1 fails and an accident occurs during operation, or send alarm information to a terminal device of a user in a wireless manner, and the user, upon receiving the alarm signal, can eliminate the failure or process the accident in time so that the robotic lawnmower 1 can operate normally, and the accident may be, for example, a situation that the robotic lawnmower 1 is stuck on a certain terrain, cannot cross an obstacle, cannot find a guide line, cannot find a boundary line, and is not enough in electric quantity to return to a charging station.

In the present invention, the guiding signal is used as the alternating magnetic field, and the sensor 5 is a magnetic induction coil as an example for illustration, it can be understood that the path planning method and system of the automatic lawn mower of the present invention can also adopt other suitable guiding signal forms, or sensors 5 of different types. The signal generating device may input an alternating pulse current signal into the boundary line 2, the guide line 7, or the charging station external field loop 4, for example, so that an alternating magnetic field is generated around the boundary line 2, the guide line 7, or the charging station external field loop 4; the sensor 5 may be, for example, a magnetic induction coil. The sensing principle is as follows: according to the magnetic induction effect, when an alternating pulse current is input into the boundary line 2, the guide line 7 or the field outside charging station loop 4, an alternating magnetic field can be generated around the boundary line 2, the guide line 7 or the field outside charging station loop 4, and when the magnetic induction coil is positioned in the vicinity of the boundary line 2, the guide line 7 or the field outside charging station loop 4, the magnetic induction coil generates induced electromotive force in the alternating magnetic field, so that induced current is generated in the magnetic induction coil, and the induced current is sent to the control unit 6 of the robotic lawnmower 1 after being subjected to filtering and amplification processing, and the control unit 6 can determine the position and orientation of the robotic lawnmower 1 relative to the boundary line 2, the guide line 7 or the field outside charging station loop 4 according to the magnitude and polarity of the induced current. On one side of the boundary line 2, the guideline 7 or the charging station external field loop 4, the magnetic field strength is larger as the boundary line 2, the guideline 7 or the charging station external field loop 4 is closer; that is, the closer the magnetic induction coil is to the boundary line 2, the guide line 7, or the charging station external field loop 4, the larger the induced current it outputs, and since the magnetic induction coil is mounted and fixed to the robotic lawnmower 1, the distance between the robotic lawnmower 1 and the boundary line 2, the guide line 7, or the charging station external field loop 4 can be obtained according to the magnitude of the induced current. Since the directions of the magnetic fields on both sides of the boundary line 2, the guide line 7, or the charging station external field loop 4 are opposite, the polarities of the induced currents when the magnetic induction coils are on both sides of the boundary line 2, the guide line 7, or the charging station external field loop 4 are opposite (one side is positive, and the other side is negative), and therefore, whether or not the magnetic induction coil of the robotic lawnmower 1 crosses the boundary line 2, the guide line 7, or the charging station external field loop 4 can be determined based on the change in the polarity of the induced current of the magnetic induction coil. When the center of a certain magnetic induction coil is located on the boundary line 2, the guideline 7 or the out-of-charging-station field loop 4, the induced current of the magnetic induction coil is 0, and therefore, such a specific positional relationship of the magnetic induction coil with the boundary line 2, the guideline 7 or the out-of-charging-station field loop 4 can be determined. It should be noted that the alternating current pulse signal can avoid being influenced by other magnetic field interferences, and the current pulse signal allows the sensor 5 of the robotic lawnmower 1 to receive a signal (alternating magnetic field signal) at different time points, at short time intervals and only in corresponding time intervals, so that the system can filter out other magnetic field noise signals that can interfere with the functions of the robotic lawnmower 1. The following will explain the technical solution of the present invention by taking the sensor 5 as a magnetic induction coil, and the guiding signal generated by the boundary line 2, the guiding line 7 or the charging station external field loop 4 as an alternating magnetic field as an example.

Fig. 2 shows a path planning method for an automatic mower with an automatic mower 1 away from a charging station 3 according to the present invention, in which the automatic mower 1 is away from the charging station 3 by sensing a guiding signal of a boundary line 2 and a charging station external field loop 4 through two magnetic induction coils (respectively serving as a front sensor 5a and a rear sensor 5b) disposed at the front end and the rear end of the automatic mower 1, wherein the magnetic induction coil serving as the front sensor 5a may be disposed on a center line of the head end of the main body, for example, and the magnetic induction coil serving as the rear sensor 5 may be disposed on one side of a center line of the rear end of the main body, for example. The path planning method of the automatic mower comprises the following steps: step S10, controlling the automatic mower 1 to quit the charging station 3 until the charging station outfield loop 4 is out; step S20, controlling the automatic mower 1 to search for a guide line 7, wherein the guide line 7 is pre-laid in the working area of the automatic mower 1; step S30, controlling the robotic lawnmower 1 to straddle the guide line 7 or follow the guide line 7 at a random corridor interval until the robotic lawnmower travels a predetermined target distance; and step S40, after the automatic mower is controlled to walk for the preset target distance, the automatic mower 1 is controlled to start mowing in the working area. Fig. 4-10 are schematic diagrams respectively corresponding to the position and the orientation of the robotic lawnmower 1 in the working area in different steps of the path planning method for the robotic lawnmower. The path planning method of the automatic mower of the present invention will be described with reference to fig. 4 to 10.

First, step S10 is executed to control the robotic lawnmower 1 to exit the charging station 3 according to the guiding signal of the field loop 4 sensed by the rear sensor 5 b. After the charging of the automatic mower 1 is completed, the automatic mower needs to exit the charging station 3 and keep a certain distance from the charging station 3. Specifically, as shown in fig. 1, when the charging is completed, the robotic lawnmower 1 starts to exit the charging station 3, and when the rear sensor 5b senses that the polarity of the guiding signal of the charging station external field loop 4 is reversed (the polarity of the induced current of the rear sensor 5b is reversed), it indicates that the robotic lawnmower 1 exits the charging station external field loop 4.

Next, step S20 is executed to control the robotic lawnmower 1 to search for the guide wire 7 by searching for the guide wire 7 based on the guide signal of the guide wire 7 sensed by the rear sensor 5 b. As shown in FIG. 3, step S20 may further include steps S21-S23. In step S21, as shown in fig. 4, the robotic lawnmower 1 stops after continuing to walk straight for a random distance, which may be, for example, a random value between 10cm and 50cm, such as 10cm, 20cm, 30cm, 4cm, and 50cm, although other values outside the above range may be selected according to actual needs. In step S22, as shown in fig. 5a and 5b, the robotic lawnmower 1 is rotated to align the rear sensor 5b with the traveling direction, so that the traveling direction of the robotic lawnmower 1 can be directed away from the charging station 7, and the direction of the steering can be determined according to the polarity of the sensing signal of the rear sensor 5 b. In step S23, it is also necessary to detect the guide signal of the guide wire 7 by the rear sensor 5b (of course, the front sensor 5a or both of them may be used), determine whether the guide signal of the guide wire is detected, and stop the operation of the robotic lawnmower 1 if the guide signal of the guide wire 7 cannot be detected; and when the guiding signal of the guide wire 7 can be detected, the subsequent steps are continued.

Then, step S30 is executed to start measuring the walking distance of the robotic lawnmower 1, and the robotic lawnmower 1 is controlled to straddle or follow the guide line 7 according to the guiding signal of the guide line 7 sensed by the front sensor 5a and the rear sensor 5b until the robotic lawnmower travels a predetermined target distance. Step S30 may be further divided into two parallel sub-steps S31 and S32, and a mode may be selected to operate during actual operation.

In step S31, as shown in fig. 6a to 6e, the guide wire 7 is straddled to a predetermined target distance according to the guide signal of the guide wire 7 sensed by the front sensor 5a and the rear sensor 5 b. Specifically, first, as shown in fig. 6a, the robotic lawnmower 1 crosses the guide line 7 and the rear sensor 5 b; next, as shown in FIGS. 6b-6e, the robotic lawnmower 1 travels over the guide line 7 until the predetermined target distance is traveled.

In order to avoid rutting when the guide line 7 is ridden for multiple times, repeated rolling to form ruts is avoided to influence the growth of lawns or vegetation in the rutting area. In step S32, as shown in fig. 9 and 10, the robotic lawnmower 1 follows the guide wire 7 according to the guide signal of the guide wire 7 sensed by the front sensor 5a and the rear sensor 5 b. Specifically, as shown in fig. 9, the tail end of the robotic lawnmower 1 is first controlled to rotate by a random angle, which can be determined according to the distance between the rear sensor 5b and the guide line 7, and the distance between the rear sensor 5b and the guide line 7 is taken as the random corridor distance; next, as shown in fig. 9, the robotic lawnmower 1 samples the guide signal of the guide wire 7 using a rear sensor 5 b; finally, as shown in fig. 10, the robotic lawnmower 1 follows the guide wire 7 with the amplitude of the guiding signal of the guide wire 7 acquired.

In addition, as shown in fig. 11a-i, in order to avoid obstacles 8 (such as trees, people, animals, etc.) on the path of the robotic lawnmower 1 straddling or following the guide line 7, and in order to avoid obstacles 8 obstructing the egress of the robotic lawnmower 1, step S30 further includes controlling the robotic lawnmower 1 to perform at least one obstacle detouring operation to automatically detour the obstacles 8 when encountering an obstacle 8 during the control of the robotic lawnmower 1 straddling the guide line 7 or following the guide line 7 at a random corridor pitch. The obstacle-detouring operation comprises the steps that when the automatic mower 1 meets an obstacle 8 in the traveling process, the automatic mower 1 is controlled to back for a preset back distance; then controlling the automatic mower 1 to rotate a preset angle towards the direction away from the guide line; and finally, controlling the automatic mower 1 to walk around the obstacle 8 in an arc manner so as to try to pass around the obstacle 8. It should be noted that the preset reversing distance and the preset angle may be the same or different in a plurality of obstacle detouring operations when the same obstacle 8 is detoured.

Referring to fig. 11a-i, the case of bypassing an obstacle when the robotic lawnmower 1 is walking astride the guide line 7 is illustrated as an example, and the case of bypassing an obstacle when the robotic lawnmower 1 is walking along the guide line 7 is similar. Referring to fig. 11a-i, the obstacle avoidance sensor 104 is a collision sensor and bypasses the obstacle 8 through two obstacle avoidance operations. When the robotic lawnmower 1 is riding or following the guide wire 7, it encounters an obstacle 8, as shown in fig. 11 a; controlling the automatic mower 1 to back for a preset back distance, as shown in fig. 11b, wherein the preset back distance can be adjusted according to actual needs, and the preset back distance can be 10-30cm, such as 10cm, 20cm or 30cm, for example; controlling the robotic lawnmower 1 to rotate a predetermined angle away from the guide line 7, which may be, for example, between 30-60 °, such as 30 °, 40 °, 50 °, or 60 °; as shown in FIG. 11 c; controlling the robotic lawnmower 1 to follow an arc around the obstacle 8 in an attempt to clear the obstacle 8, as shown in fig. 11 d; when the automatic mower 1 tries to circumvent the obstacle 8, it again hits the obstacle 8, as shown in fig. 11 e; the operation of back-rotation-arc walking is repeated as in fig. 11 f-h; as shown in fig. 11i, the robotic lawnmower 1 bypasses the obstacle 8, looks for the amplitude of the guiding signal when the guide wire 1 was previously straddled and followed using the front sensor 5a and/or the rear sensor 5b, and re-straddles or follows the guide wire 7 again with the amplitude of the guiding signal of the guide wire 7 acquired until it reaches a predetermined target distance.

Finally, step S40 is executed, as shown in fig. 7 and 8, when it is detected that the total travel distance of the robotic lawnmower 1 is the same as the predetermined target distance, which indicates that the robotic lawnmower 1 reaches the target location, and at this time, the robotic lawnmower 1 is controlled to stop straddling or to follow the guide line 7; the robotic lawnmower 1 is first rotated 90 in either direction (although other suitable angles are possible) and then starts to cut grass within the working area defined by the boundary line 2. As an example, the robotic lawnmower 1 can perform grass cutting in a random manner in the working area, for example, the robotic lawnmower 1 can rotate randomly by 360 ° during random grass cutting, when the robotic lawnmower 1 rotates randomly by a random direction to cut grass forward, the robotic lawnmower 1 travels in a straight line direction until reaching the boundary line 2 (whether crossing the boundary line 2 can be determined by the polarity of an induced current generated by the front sensor 5a in response to a guide signal of the boundary line 2), and when meeting the boundary line 2, the robotic lawnmower 1 rotates inward by a random angle to cut grass.

It should be noted that, the steps of the above methods are divided for clarity, and the implementation may be combined into one step or split some steps, and the steps are divided into multiple steps, and as long as the steps contain the same logical relationship, the steps are within the scope of the present patent; it is within the scope of the patent to add insignificant modifications to the algorithms or processes or to introduce insignificant design changes to the core design without changing the algorithms or processes.

As shown in fig. 12, an embodiment of the present invention further introduces a path planning system of an automatic mower for implementing the path planning method of the automatic mower. The path planning system of the automatic lawn mower comprises a charging station exit module 10, a guideline seeking module 20, a straddle and follow module 30 and a mowing operation module 40. The charging station quitting module 10 is used for controlling the automatic mower 1 to quit the charging station 4 until the charging station outfield loop 4 is out; the guide line searching module 20 is used for controlling the robotic lawnmower 1 to search for a guide line 7, wherein the guide line 7 is pre-laid in a working area of the robotic lawnmower 1; the riding and following module 30 is used for controlling the automatic mower 1 to ride the guide line 7 or follow the guide line 7 at a random corridor interval until the automatic mower walks for a preset target distance; the mowing operation module 40 is configured to control the automatic mower 1 to start mowing operation in the working area after walking the predetermined target distance.

Referring to fig. 12, the guide line searching module 20 includes a walking sub-module 21, a steering sub-module 22, and a detection and determination sub-module 23; the walking submodule 21 is used for controlling the automatic mower 1 to continue walking for a random distance; the steering submodule 22 is used for controlling the automatic mower 1 to rotate so as to align the rear sensor 5b with the travelling direction; the detection determination submodule 23 is configured to determine whether or not the guide signal of the guide line 7 is detected after the rear sensor 5b is aligned with the traveling direction, and when the guide signal of the guide line 7 is detected, the robotic lawnmower 1 straddles the guide line 7 or follows the guide line 7 at a random pitch until the predetermined target distance is traveled.

Referring to fig. 12, the straddling and following module 30 further includes a straddling submodule 31, a following submodule 32 and a barrier-winding submodule 33; the straddle walking submodule 31 is configured to control the robotic lawnmower 1 to intersect the guide line 7 with the rear sensor 5b, and control the robotic lawnmower 1 to straddle the guide line 7 until the robotic lawnmower travels the predetermined target distance; the following submodule is used for controlling the tail end of the automatic mower 1 to rotate by a random angle, the distance between the rear sensor 5b and the guide line 7 is used as the random corridor distance, and the automatic mower 1 follows the guide line 7 to walk at the random corridor distance; the obstacle-detouring sub-module 33 is configured to control the robotic lawnmower 1 to perform at least one obstacle-detouring operation to automatically detour the obstacle 8 when the robotic lawnmower 1 encounters an obstacle during the process of controlling the robotic lawnmower 1 to straddle the guide line 7 or follow the guide line 7 at a random corridor pitch.

It should be noted that the utility model discloses a path planning system of robotic lawnmower is the system corresponding with the path planning method of above-mentioned robotic lawnmower, and functional module or functional submodule among the path planning system of robotic lawnmower correspond the corresponding step in the path planning method of robotic lawnmower respectively. The utility model discloses a path planning system of automatic mower can cooperate the implementation each other with the path planning method of automatic mower. The utility model discloses a relevant technical details that mentions in the path planning method of automatic mower still is effective in the path planning system of automatic mower, for reducing the repetition, no longer gives unnecessary details here. Accordingly, the relevant technical details mentioned in the path planning system of the robotic lawnmower of the present invention can also be applied in the path planning method of the robotic lawnmower described above.

It should be noted that, all or part of the functional modules or functional sub-modules described above may be integrated into one physical entity or may be physically separated in actual implementation. And these units can be implemented entirely in software, invoked by a processing element; or may be implemented entirely in hardware; and part of the units can be realized in the form of calling software by the processing element, and part of the units can be realized in the form of hardware. In addition, all or part of the units can be integrated together or can be independently realized. The processing element described herein may be an integrated circuit having signal processing capabilities. In implementation, the steps of the above method or the above modules may be implemented by hardware integrated logic circuits in the elements of the processor 61 or instructions in the form of software.

It should be noted that, as shown in fig. 13, the path planning method of the robotic lawnmower according to the present invention can also be implemented by a control unit 6 disposed on the body of the robotic lawnmower 1, where the control unit 6 includes a memory 63 and a processor 61 connected to each other, and the memory 63 stores program instructions, and the program instructions are executed by the processor 61 to implement the path planning method of the robotic lawnmower. It should be noted that, when communication with the outside is required, the control unit 6 further includes a communicator 62, and the communicator 62 is connected to the processor 61.

The processor 61 may be a general-purpose processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; or may be a Digital Signal processor 61 (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component; the Memory 63 may include a Random Access Memory (RAM), and may further include a Non-volatile Memory (Non-volatile Memory), such as at least one disk Memory.

It should be noted that the memory 63 in the control unit 6 can be implemented in the form of a software functional unit and can be stored in a computer readable storage medium when sold or used as a stand-alone product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, an electronic device, or a network device) to perform all or part of the steps of the method according to the embodiments of the present invention.

The present invention may also provide a storage medium storing a program that, when executed by the processor 61, implements the path planning method for an automatic lawnmower described above; the storage medium includes all forms of non-volatile memory, media and memory devices, including, for example: semiconductor memory devices such as EPROM, EEPROM, and flash memory devices; magnetic disks, such as internal hard disks or removable disks; magneto-optical disks; and CD-ROM and DVD-ROM disks.

To sum up, the utility model discloses a path planning equipment of automatic mower can be used for planning the path that automatic mower left the charging station, makes the charging station leave the charging station along the path of difference at every turn to avoid producing the rut along automatic mower along fixed path when leaving the station, influence the growth of the lawn or the system vegetation in rut region. The utility model discloses a path planning equipment of automatic mower can be used for planning the path that automatic mower left the charging station, makes the charging station leave the charging station along the route of difference at every turn to can avoid automatic mower to mow repeatedly along the same route, improve the efficiency of mowing, promote the pleasing to the eye on lawn. The utility model discloses a path planning equipment of automatic mower through setting up the guide wire, because the guide wire can be arranged into simple shape relatively as required to can make the path planning that automatic mower leaves the station simpler. The utility model discloses a path planning equipment of automatic mower can be when striding and ride or follow the guide wire automatic bypass the barrier to stride again or follow the guide wire and predetermine the target distance until the walking, realize the outbound of automatic mower.

In the description herein, numerous specific details are provided, such as examples of components and/or methods, to provide a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that an embodiment of the invention can be practiced without one or more of the specific details, or with other apparatus, systems, assemblies, methods, components, materials, parts, and/or the like. In other instances, well-known structures, materials, or operations are not specifically shown or described in detail to avoid obscuring aspects of embodiments of the invention.

It will also be appreciated that one or more of the elements shown in the figures can also be implemented in a more separated or integrated manner, or even removed for inoperability in some circumstances or provided for usefulness in accordance with a particular application.

Additionally, any reference arrows in the drawings/figures should be considered only as exemplary, and not limiting, unless otherwise expressly specified. Further, as used herein, the term "or" is generally intended to mean "and/or" unless otherwise indicated. Combinations of components or steps will also be considered as being noted where terminology is foreseen as rendering the ability to separate or combine is unclear.

The above description of illustrated embodiments of the invention, including what is described in the abstract of the specification, is not intended to be exhaustive or to limit the invention to the precise forms disclosed herein. While specific embodiments of, and examples for, the invention are described herein for illustrative purposes only, various equivalent modifications are possible within the spirit and scope of the present invention, as those skilled in the relevant art will recognize and appreciate. As noted, these modifications may be made to the present invention in light of the foregoing description of illustrated embodiments of the invention and are to be included within the spirit and scope of the present invention.

The system and method have been described herein in general terms as providing details to facilitate the understanding of the invention. Furthermore, various specific details have been given to provide a general understanding of the embodiments of the invention. One skilled in the relevant art will recognize, however, that an embodiment of the invention can be practiced without one or more of the specific details, or with other apparatus, systems, assemblies, methods, components, materials, parts, and/or the like. In other instances, well-known structures, materials, and/or operations are not specifically shown or described in detail to avoid obscuring aspects of embodiments of the invention.

Thus, although the present invention has been described herein with reference to particular embodiments thereof, freedom of modification, various changes and substitutions are intended in the foregoing disclosure, and it should be understood that in some instances some features of the present invention will be employed without a corresponding use of other features without departing from the scope and spirit of the present invention as set forth. Accordingly, many modifications may be made to adapt a particular situation or material to the essential scope and spirit of the present invention. It is intended that the invention not be limited to the particular terms used in following claims and/or to the particular embodiment disclosed as the best mode contemplated for carrying out this invention, but that the invention will include any and all embodiments and equivalents falling within the scope of the appended claims. Accordingly, the scope of the invention is to be determined solely by the appended claims.

Claims

1. A path planning apparatus for an robotic lawnmower, comprising:

at least one guide line pre-laid in the working area of the robotic lawnmower;

2. The path planning apparatus for an robotic lawnmower according to claim 1, wherein the boundary line is fixed to the ground or buried below the ground along an edge of the working area.

3. The path planning apparatus for an robotic lawnmower according to claim 1, wherein the guide wire is fixed to the ground or buried below the ground.

4. The robotic lawnmower path planning apparatus according to claim 1, wherein the front sensor comprises a magnetic coil, and the rear sensor comprises a magnetic coil.

5. The robotic lawnmower path planning apparatus according to claim 1, comprising a plurality of the guide lines.

6. The robotic lawnmower path planning apparatus according to claim 1, further comprising a signal generating device connected to the guide line, the boundary line, and the charging station outfield loop, respectively.

7. The path planning apparatus for robotic lawnmowers according to claim 6, wherein the obstacle avoidance detection device comprises an infrared sensor, a laser sensor, or a collision sensor.

8. The robotic lawnmower path planning apparatus according to claim 7, wherein the impact sensor comprises a magnet and a hall sensor mounted on the body.

9. The robotic lawnmower path planning apparatus according to claim 7, wherein the impact sensor comprises an armature and an inductive sensor mounted on the body.

10. The path planning apparatus for robotic lawnmowers according to any of claims 1-9, wherein the front sensor is disposed on a centerline of a head end of the body, and the rear sensor is disposed on one side of a centerline of a tail end of the body.