WO2017198222A1

WO2017198222A1 - Automatic work system, self-moving device and control method therefor

Info

Publication number: WO2017198222A1
Application number: PCT/CN2017/085137
Authority: WO
Inventors: 杜江; 焦石平; 冉沅忠; 唐修睿; 兰彬财; 廖亮亮; 范碧峰; 周潇迪; 高萍
Original assignee: 苏州宝时得电动工具有限公司
Priority date: 2016-05-19
Filing date: 2017-05-19
Publication date: 2017-11-23
Also published as: CN107402573B; CN107402573A

Abstract

A self-moving device (1) comprising: a housing (2), said housing (2) comprising a longitudinal axis (X), the directions of the two ends of said longitudinal axis (X) defining a first extension direction (D1) and a second extension direction (D2), the directions being opposite one another; a movement module, comprising tracks (3); a control module, said control module controlling the movement module to drive forward motion of the self-moving device (1) and controlling the self-moving device to execute work (1), such that the direction of the velocity component of the self-moving device (1) along the longitudinal axis (X) is consistent with the first extension direction (D1) of the longitudinal axis (X); or, the control module controlling the movement module to drive backward motion of the self-moving device (1) and controlling the self-moving device to execute work (1), such that the direction of the velocity component of the self-moving device (1) along the longitudinal axis (X) is consistent with the second extension direction (D2) of the longitudinal axis (X); The control module controls the movement module driving the self-moving device (1) to switch between forward motion and backward motion; forward movement of the self-moving device (1) creates a forward path, and backward movement thereof creates a backward path; the control module controls the movement module to drive the self-moving device (1) to turn, making the forward path and backward path at least partially non-overlapping.

Description

Automatic working system, self-mobile device and control method thereof

Technical field

The invention relates to an automatic working system, a self-moving device and a control method thereof.

Background technique

Lawn mowers are tools that help people maintain their lawns. In recent years, more and more automatic lawn mowers have been put on the market. The automatic lawn mower is highly welcoming by automatically mowing and charging the user's lawn, freeing the user from the tedious and time-consuming task of housework maintenance. The automatic mower does not require user operation during the working process, which requires the automatic mower to have good performance, so that it can work normally even in the case of special scenes such as slopes and obstacles. In order to improve the performance of automatic mowers, especially to improve the ability of automatic mowers to climb and overcome obstacles, some manufacturers have thought of applying crawlers to automatic mowers. One problem with crawler mowers is that they tend to cause lawn wear when turning. In the prior art, when the automatic lawn mower needs to change the traveling direction, the direction is reversed, and the vehicle is driven in a manner similar to a car turning head. The automatic mower takes the in-situ steering when turning the direction or turns at a small radius. For crawler mowers, this type of driving will cause severe wear on the lawn. Since automatic lawn mowers typically require steering when encountering a boundary, if the steering radius of the automatic lawn mower is increased, the automatic lawn mower may exit the work area during the steering process, posing a safety issue. Another problem is that when the automatic mower travels to certain narrow areas, it is difficult to turn the direction, or it can be turned over in a narrow area, which will also cause wear on the lawn. Another problem is that when the lawn is humid, the crawler mower is likely to cause soil scraping when it is turned, causing damage to the lawn. The smaller the turning radius of the lawn mower, the more serious the damage to the lawn. However, if the turning radius of the mower is increased, the accessibility of the mower is poor, and in particular, the automatic mower may not cover the narrow area.

The automatic mower does not require manual operation during the work. Therefore, the automatic mower must adapt to changes in the environment to flexibly adjust the movement strategy, for example, automatic mowing of the opportunity boundary or obstacles to automatically turn. Usually, the small wheeled mower adopts the strategy of in-situ steering, and the automatic mower is rotated at an angle by the positive and negative rotation of the left and right wheels. One problem of the in-situ steering is the wear of the lawn, especially for the crawler. In the case of lawn mowers, in-situ steering will cause severe wear on the lawn. The track mower produces a slip amount when turning, and the so-called slip amount refers to the amount by which the crawler moves from contact with the work surface to when it leaves the work surface. The greater the amount of slippage of the track, the more severe the wear on the lawn. Solve the problem of wear grass when the automatic mower turns One technical means of ping is that the automatic mower keeps moving while turning. However, due to safety requirements, the automatic mower can not be completely outside the working area during the working process, and the automatic mower needs to be located at the boundary line when turning, and it is easy to cause automatic cutting while turning. The grass machine is out of bounds. This problem is particularly evident during the return of the automatic mower along the boundary line.

When the automatic mower advances or retreats on its walking path, it encounters some markers that need to be avoided, and will move backwards or forwards for a certain distance, then rotate a certain angle to continue forward or backward. However, when the automatic mower encounters some complicated working conditions, such as more markers near the automatic mower, the automatic mower needs multiple advancement, retreat and rotation, and the working efficiency is low, and the walking component of the automatic mower It is easy to damage the working ground; for example, when the automatic mower travels to a narrow space, the moving range of the automatic mower is limited by the narrow space, and it is difficult to achieve the angle rotation, which causes the automatic mower to stop waiting, and the work efficiency is obviously very high. low. Therefore, in the complicated working condition, the automatic mower avoids the marker by the above method, the walking efficiency is too low, and the adaptability of the working condition is poor.

In order to achieve high cutting efficiency, the automatic mower walks and works in a pre-predetermined path of the differential global positioning system (DGPS). For better cutting effect, the automatic mower generally starts from a starting point along a rectangular-like walking path, passes through a plurality of turning places in turn, cuts the grass, and walks to the end point to complete the cutting work. However, the automatic mower should turn around in place at each turn, which can damage the lawn.

Summary of the invention

In order to overcome the deficiencies of the prior art, one problem to be solved by the present invention is to provide a self-moving device that is moved by a crawler belt, so that the steering from the mobile device is flexible, and the steering motion from the mobile device is prevented from causing wear on the work surface.

The technical solution adopted by the present invention to solve the prior art problem is:

A self-moving device comprising: a housing comprising a longitudinal axis parallel to a moving direction of the mobile device, the opposite ends of the longitudinal axis defining opposite first extending directions and second extending directions; the moving module, including a crawler belt, the mobile module is driven by a drive motor to drive movement from the mobile device; a control module controls movement and operation of the self-mobile device; and the control module controls the mobile module to drive the mobile device to move forward and control the self-mobile device to perform work, such that The moving direction of the moving device along the longitudinal axis coincides with the first extending direction of the longitudinal axis, or controls the moving module to drive the reverse movement from the mobile device and control the operation from the mobile device, so that the moving speed of the mobile device is vertical Axis division The quantity direction is consistent with the second extending direction of the longitudinal axis; the control module controls the moving module to drive the switching between the forward movement and the reverse movement from the mobile device; the forward movement of the mobile device forms a forward path, and the reverse movement forms a reverse To the path; the control module controls the mobile module to drive the steering from the mobile device such that the forward path and the reverse path at least partially do not coincide.

Preferably, the ratio of the steering radius of the self-moving device and the dimension of the contact portion of the track to the working surface in the direction of the longitudinal axis is greater than or equal to 1.5.

Preferably, the control module controls the mobile module to start performing steering when driving the mobile device to switch between forward movement and reverse movement.

Preferably, the control module controls the mobile module to drive the preset distance from the mobile device after the mobile device is switched between the forward movement and the reverse movement, and then starts to perform the steering.

Preferably, the control module controls the mobile module to continue to move in the direction of the completion of the steering after the mobile device is driven to the preset angle value.

Preferably, the control module controls the mobile module to begin performing steering before driving the mobile device to switch between forward and reverse movement.

Preferably, the control module controls the mobile module to drive the self-moving device to switch between the forward movement and the reverse movement after driving the self-moving device to the preset angle value; or the control module controls the movement module to drive the self-mobile device to the preset After the angle value, the self-moving device continues to move the preset distance in the direction when the steering is completed, and then drives the mobile device to switch between the forward movement and the reverse movement.

Preferably, the forward movement and the reverse movement of the mobile device form a zigzag path, and the control module controls the self-mobile device to cover the work area with the zigzag path.

Preferably, the control module controls the movement module to drive the steering angle of the steering from the mobile device to not exceed 90 degrees.

Preferably, the control module controls the moving module to drive the steering radius from the mobile device to be greater than or equal to 0.4 m.

Preferably, the control module controls the movement module to drive the steering radius from the mobile device to be greater than or equal to 0.8 m.

Preferably, the control module controls the drive motor to switch between opposite rotational directions to control the movement of the mobile module to switch between forward and reverse movements from the mobile device.

Preferably, the control module controls movement and operation of the mobile device within the work area defined by the boundary, The control module determines that when the mobile device moves to the limit, the control mobile module drives the mobile device to switch between the forward movement and the reverse movement.

Preferably, the control module determines that the mobile module drives the steering from the mobile device when the mobile device moves to the limit; and if the control module determines that the mobile device has not completed the steering and moves to the limit again, the steering radius of the self-shifting device is reduced. .

Preferably, the control module determines that the mobile module drives the steering from the mobile device when the mobile device moves to the limit; before the mobile device moves to the limit again, if the control module determines that the steering is completed from the mobile device, then the control is completed from the mobile device. The direction of the movement continues to move.

Preferably, the control module determines whether the self-moving device completes the steering according to whether the angle of the steering from the mobile device reaches the preset angle value, or whether the distance moved during the steering reaches the preset distance value, or whether the steering time reaches the preset time value. .

Preferably, the time interval from the mobile device to the boundary twice is referred to as a first time interval, and the control module determines whether the first time interval is less than or equal to a preset value of the time interval, and determines the first time interval at least twice consecutively. When less than or equal to the preset value of the time interval, the control module adjusts the movement mode of the mobile device to reduce the frequency of moving from the mobile device to the limit.

Preferably, the control module determines that, during the second time interval, when the number of times the mobile device moves to the limit reaches a preset value, the control module adjusts the movement mode of the mobile device to reduce the frequency of movement from the mobile device to the limit.

Preferably, the control module adjusts the movement mode of the mobile device, including controlling the movement module to move from the mobile device along the limit, or moving in a direction in which the longitudinal axis and the boundary are less than or equal to the first angle value.

Preferably, the self-moving device includes a limit detection sensor disposed at two ends of the housing along the longitudinal axis, and the limit detection sensor detects that the distance between the boundary and the limit reaches a preset value, or is outside the limit, the control module Determine that the mobile device has moved to the limit.

Preferably, the movement from the mobile device forms a parallel path, and the control module controls the self-moving device to cover the work area with the parallel path.

The present invention also provides an automated working system comprising the self-mobile device of any of the preceding claims.

The present invention also provides a self-moving device comprising: a housing comprising a longitudinal direction parallel to a moving direction of the mobile device, and a transverse direction parallel to the working plane and perpendicular to the moving direction of the mobile device The mobile module includes a crawler belt, and the mobile module is driven by a driving motor to drive movement from the mobile device; the control module controls movement and operation of the self-mobile device; and the control module controls the mobile module to drive the mobile device to advance and control the self-mobile device. Execution work, the control module determines that when the mobile device moves to a preset position, the control mobile module drives the self-mobile device to retreat and controls the self-mobile device to perform work; the control module again determines that the mobile device moves to a preset position, and then controls The mobile module drives the mobile device to advance and controls the operation from the mobile device; the control module controls the mobile module to perform steering so that the trajectory of one of the forward motion and the backward motion of the mobile device is along the lateral direction of the housing with respect to the trajectory of the other one An offset has occurred.

Preferably, the control module controls the turning radius of the self-moving device and the ratio of the contact portion of the track to the working surface in the longitudinal direction of the housing is greater than or equal to 1.5.

Preferably, the control module controls the steering radius from the mobile device to be greater than or equal to 0.4 m.

Preferably, the control module controls the steering radius from the mobile device to be greater than or equal to 0.8 m.

Preferably, the control module controls the mobile module to start performing steering when driving the mobile device to switch between forward and reverse.

Preferably, the control module controls the mobile module to drive the mobile device to move linearly after driving the mobile device to switch to the preset angle value.

Preferably, the preset angle value is less than or equal to 90 degrees.

Preferably, the preset position is a boundary of a work area.

The present invention also provides a self-moving device comprising: a housing defining a first end and a second end along two ends of the moving direction of the mobile device; a moving module including a crawler, the moving module being driven by the motor The driving is to drive the movement from the mobile device; the control module controls the movement and work of the self-moving device; the control module controls the mobile module to drive the mobile device to move forward and control the self-moving device to perform the work, so that the first end of the housing is located in the housing In the front part of the moving direction, or controlling the moving module to drive the reverse movement from the mobile device and control the operation from the mobile device, so that the second end of the housing is located at the front of the housing in the moving direction; the control module controls the moving module to drive the self The mobile device switches between forward movement and reverse movement; the forward movement from the mobile device forms a forward path, and the reverse movement forms a reverse path; the control module controls the mobile module to perform steering so that the forward path from the mobile device Different from the reverse path.

Preferably, the control module controls the steering radius of the moving module and the ratio of the length of the contact portion of the track to the working surface is greater than or equal to the length direction of the crawler from the moving direction of the mobile device. 1.5.

The invention also provides a self-moving device comprising: a housing; a moving module mounted on the housing; the moving module comprises a wheel set, a track wound around the wheel set, and a drive motor for driving the wheel set; the moving module comprises two The group wheel set is mounted on both sides of the housing in the moving direction, and is respectively driven by the first driving motor and the second driving motor; the self-moving device further comprises a control module electrically connected with the moving module; the control module controls the first driving motor and The second driving motor rotates in the first rotation direction, so that the moving module drives the mobile device to move forward while controlling the self-moving device to perform the work; or controls the first driving motor and the second driving motor to rotate in the second rotating direction, so that the movement The module drives the reverse movement from the mobile device, and controls the operation from the mobile device; the first rotation direction is opposite to the second rotation direction; the control module controls the movement module to drive the switching between the forward movement and the reverse movement from the mobile device; The forward movement of the mobile device forms a forward path, and the reverse movement forms a reverse path; the control module controls the first Moving motor and second drive motor rotating at different speeds, so that the movement of the mobile device from the steering drive module, so that the forward path and the backward path at least partially overlap.

Preferably, the control module controls the steering radius from the mobile device and the ratio of the length of the contact portion of the track to the working surface is greater than or equal to 1.5, in a direction from the moving direction of the mobile device to the length of the track.

Preferably, the control module controls the relative rotational speed change of the first drive motor and the second drive motor when the control mobile module drives the switching between the forward movement and the reverse movement from the mobile device.

The present invention also provides a control method for a self-moving device, the self-moving device comprising a housing comprising a longitudinal axis parallel to a moving direction of the mobile device, the opposite ends of the longitudinal axis defining an opposite first extension a direction and a second extending direction; the self-mobile device further comprising a crawler, the crawler or the self-moving device being driven by the drive motor to drive the movement from the mobile device; the self-mobile device control method comprising the steps of: controlling the forward movement from the mobile device And performing work to make the component of the moving speed along the longitudinal axis Consistent with a first direction of extension of the longitudinal axis; controlling reverse movement from the mobile device and performing work such that the component direction of the moving velocity along the longitudinal axis coincides with the second direction of extension of the longitudinal axis; controlling the forward movement and movement of the mobile device Switching between reverse movements; controlling steering from the mobile device such that the paths of forward and reverse movements at least partially do not coincide.

Preferably, the control begins to steer from the mobile device when the mobile device switches between forward mobile switching and reverse mobile.

Preferably, the control moves the preset distance after the mobile device switches between the forward movement and the reverse movement, and then controls the steering from the mobile device.

Preferably, after the mobile device is turned to the preset angle value, the control continues to move from the mobile device in the direction when the steering is completed.

Preferably, the control begins to steer from the mobile device before the mobile device switches between forward and reverse movement.

Preferably, the control switches between the forward movement and the reverse movement after the mobile device is turned to the preset angle value; or controls the movement from the mobile device to the preset angle value, and continues to move the preset distance in the direction when the steering is completed, and then Controls switching between forward and reverse movements from the mobile device.

Preferably, the zigzag path is formed from the forward movement and the reverse movement of the mobile device, and the control device covers the work area with the zigzag path.

Preferably, the steering angle that controls the steering from the mobile device does not exceed 90 degrees.

Preferably, the steering radius for controlling the steering from the mobile device is greater than or equal to 0.4 m.

Preferably, the steering radius for controlling the steering from the mobile device is greater than or equal to 0.8 m.

Preferably, switching between forward and reverse movements from the mobile device is controlled by controlling the drive motor to switch between opposite rotational directions.

Preferably, the self-mobile device moves and works in a work area defined by the boundary, determines whether the mobile device moves to a limit, and controls the self-mobile device to move in a forward direction and a reverse direction if the mobile device moves to a limit. Switch between.

Preferably, if the mobile device moves to the limit, the control starts to turn from the mobile device; determines whether the self-moving device completes the steering, if the self-moving device does not complete the steering, and the mobile device moves to the boundary again. Limit, then reduce the steering radius from the mobile device again.

Preferably, if the mobile device moves to the limit, the control starts to turn from the mobile device; determines whether the self-moving device completes the steering, and if the steering is completed from the mobile device, then the control continues to move from the mobile device in the direction when the steering is completed.

Preferably, whether the self-moving device completes the steering is determined according to whether the angle of the steering from the mobile device reaches the preset angle value, or whether the distance moved during the steering reaches the preset distance value, or whether the time of the steering reaches the preset time value.

Preferably, the time interval from the mobile device to the boundary twice is referred to as a first time interval, and it is determined whether the first time interval is less than or equal to a preset value of the time interval, and the first time interval is determined to be less than or at least two consecutive times. When the time interval is equal to the preset value, the movement mode of the mobile device is adjusted to reduce the frequency of moving from the mobile device to the limit.

Preferably, it is determined that, in the second time interval, when the number of times the mobile device moves to the limit reaches a preset value, the mobile mode of the mobile device is adjusted to reduce the frequency of moving from the mobile device to the limit.

Preferably, the manner of movement of the mobile device is adjusted, including controlling movement from the mobile device along the limit, or moving in a direction in which the longitudinal axis and the boundary are less than or equal to the first angle value.

Preferably, the self-moving device includes a limit detection sensor disposed at two ends of the housing along the longitudinal axis, and the limit detection sensor detects that the distance between the boundary and the limit reaches a preset value, or is outside the limit. Determine that the mobile device has moved to the limit.

Preferably, the movement from the mobile device forms a parallel path that controls the self-mobile device to cover the work area with the parallel path.

Compared with the prior art, the invention has the beneficial effects that: the mobile device can selectively move forward and perform work, or move and perform work in reverse; the mobile device can move in the forward direction during movement and work. Switching between switching and reverse movement makes the movement and work of mobile devices more flexible. Since the moving device does not coincide with the path of the forward movement and the reverse movement by the steering, the ratio of the steering radius of the self-moving device and the dimension of the contact portion of the track to the working surface along the longitudinal axis of the housing is greater than or equal to 1.5, so that When the track size is fixed, the automatic lawn mower has a large turning radius, which reduces the wear of the track on the working surface when the automatic mower is turning.

The invention also provides a self-moving device for crawling belt movement, which automatically adjusts the steering radius, or the moving speed, or the working time schedule according to the environment, so that the movement from the mobile device causes the working surface Damage is reduced.

A self-moving device comprising: a housing; a moving module mounted on the housing, the moving module comprising a crawler, the crawler or moving module being driven by a driving motor to drive movement and steering from the mobile device; the control module, and the mobile module The self-mobile device further includes an external information collecting unit electrically connected to the control module, and the external information collecting unit collects external information, and the control module adjusts a steering radius when the mobile device turns, or a moving speed of the mobile device according to the external information. , or a working time plan from a mobile device.

Preferably, the external information collected by the external information collecting unit includes humidity information of the working surface, and when the control module determines that the humidity of the working surface increases, the steering radius of the moving device is increased; when the humidity of the working surface is decreased, the self-moving is reduced. The turning radius of the device.

Preferably, the control module controls the automatic lawn mower to have a turning radius greater than or equal to 0.4 m.

Preferably, the control module controls the automatic lawn mower to have a turning radius greater than or equal to 0.8 m.

Preferably, the information collected by the external information collecting unit includes humidity information of the working surface, and when the control module determines that the humidity of the working surface increases, the moving speed of the self-moving device is reduced; when the humidity of the working surface is decreased, the self-moving device is increased. The speed of movement.

Preferably, the external information collecting unit comprises a humidity sensor installed outside the casing to detect the humidity information of the working environment of the mobile device, and the control module determines the humidity of the working surface according to the humidity information detected by the humidity sensor.

Preferably, the external information collecting unit comprises a capacitive sensor installed under the housing to detect the humidity information of the working surface, and the control module determines the humidity of the working surface according to the humidity information detected by the capacitive sensor.

Preferably, the external information collecting unit comprises a wireless communication module, and receives weather information, and the control module determines the humidity of the working surface according to the weather information received by the wireless communication module.

Preferably, when the control module determines that the humidity of the working surface is greater than the first humidity threshold, the control stops moving and working from the mobile device.

Compared with the prior art, the beneficial effects of the present invention are: the self-moving device adjusts the turning radius, or the moving speed, or the working time schedule according to the external information, especially according to the humidity information, so that when the working surface has a large humidity, The damage caused by the movement of the mobile device to the work surface is reduced, in other situations In this case, the mobile device can maintain good working performance and cover the work area efficiently and comprehensively.

One problem that the present invention also needs to solve is to provide an automatic lawn mower that has little wear on the lawn and can ensure safety.

The technical solution adopted by the present invention to solve the above problems is:

A self-moving device that moves and works in a working area defined by a boundary line, comprising: a housing; a mobile module that drives movement from the mobile device; a control module that controls movement and operation from the mobile device; and a control module controls the mobile device along the edge The boundary line moves; the self-moving device further includes a corner detecting module for detecting whether the moving device moves to a corner of the boundary line; in the first mode, if the moving device moves to a corner of the boundary line, the control module controls the moving back from the mobile device Then, control the steering from the mobile device, and keep moving while turning; the control module controls the movement from the mobile device and continues to move along the boundary line.

Preferably, the control module controls that the self-mobile device is always within the working area defined by the boundary line or on the boundary line during the steering process.

Preferably, the control module controls the steering from the time when the mobile device retreats, and the rotation direction of the steering while the mobile device retreats is consistent with the rotation direction of the self-moving device while maintaining the forward direction.

Preferably, the distance back from the mobile device is associated with the radius of rotation of the mobile device.

Preferably, the distance back from the mobile device varies in the same direction as the radius of rotation.

Preferably, the steering radius of the self-moving device is greater than or equal to 0.8 m.

Preferably, the control module controls movement from the mobile device along a boundary line in a fixed direction of rotation.

Preferably, the corner detecting module further includes an angle detecting unit that detects an angle of a corner of the boundary line.

Preferably, the distance back from the mobile device is associated with the angle of the boundary line corner.

Preferably, the radius of rotation of the mobile device is associated with the angle of the boundary line corner.

Preferably, the corner formed by the boundary line in the working area is referred to as a first corner, and the angle detecting unit detects the angle of the first corner.

Preferably, the angle detecting unit detects an angle value or an angular range of the boundary line corner.

Preferably, the angle detecting unit detects an angle value or an angular range of the boundary line corner by detecting the boundary signal.

Preferably, the corner detecting module comprises a first corner detecting sensor and a second corner detecting sensor, which are oppositely disposed on both sides of the moving direction of the mobile device.

Preferably, the lateral distance between the first corner detecting sensor and the second corner detecting sensor is not more than 100 mm in a direction parallel to a working plane of the mobile device and perpendicular to a moving direction of the mobile device.

Preferably, the first corner detecting sensor and the second corner detecting sensor are disposed at the front of the moving direction of the mobile device.

Preferably, the first corner detecting sensor and the second corner detecting sensor detect the boundary signal, and detect that the self corner is located in the working area defined by the boundary line or outside the working area.

Preferably, when the mobile device moves along the boundary line, the control module controls one of the first corner detecting sensor and the second corner detecting sensor to be located in a working area defined by the boundary line, wherein the other is located in the working area defined by the boundary line. outer.

Preferably, when the first corner detecting sensor or the second corner detecting sensor detects that it moves from the working area defined by the boundary line to the outside of the working area, or moves from outside the working area to the working area, the control module judges The mobile device moves to the corner of the boundary line.

Preferably, if the first corner detecting sensor detects that it moves from the working area defined by the boundary line to the working area, or moves from outside the working area to the working area, the control module controls the first corner detection from the mobile device. The side where the sensor is located is turned.

Preferably, when the first corner detecting sensor or the second corner detecting sensor detects that it moves from the working area defined by the boundary line to the working area defined by the boundary line, the control module determines that the corner angle of the boundary line is less than 180 degrees; When the first corner detecting sensor or the second corner detecting sensor detects that it moves from the working area defined by the boundary line to the working area defined by the boundary line, the control module determines that the corner angle of the boundary line is greater than 180 degrees.

Preferably, the angle detecting unit includes a first angle detecting sensor, and at least one of the first corner detecting sensor and the second corner detecting sensor is used as the first angle detecting sensor.

Preferably, when the corner detecting module detects the moving angle from the mobile device to the boundary line, the control module controls to continue the preset distance from the mobile device, and after the mobile device continues to advance the preset distance, the control module sets the first angle. The intensity of the boundary signal detected by the detecting sensor is compared with a preset range of the signal strength, and the angle of the corner of the boundary line is judged according to the comparison result.

Preferably, the control module compares the intensity of the boundary signal detected by the first angle detecting sensor with a preset range of the plurality of signal strengths, and the preset range of the signal strength and the value of the corner angle of the boundary line Or a one-to-one correspondence.

Preferably, if the intensity of the boundary signal detected by the first angle detecting sensor is within a preset range of the signal strength, determining that the corner angle of the boundary line is the first angle value, or determining that the corner angle of the boundary line is in the first angle range Inside.

Preferably, if the corner angle of the boundary line is less than 180 degrees, and the intensity of the boundary signal detected by the first angle detecting sensor is greater than a preset range of the signal strength, determining that the corner angle of the boundary line is greater than the first angle value or greater than the first An angle range; if the intensity of the boundary signal detected by the first angle detecting sensor is less than a preset range of the signal strength, determining that the corner angle of the boundary line is smaller than the first angle value or smaller than the first angle range.

Preferably, if the corner angle of the boundary line is the first angle value or within the first angle range, the control module controls to retreat the first distance from the mobile device; if the corner angle of the boundary line is greater than the first angle value or greater than the first angle The control module controls that the distance from the mobile device is less than the first distance; if the corner angle of the boundary line is smaller than the first angle value or smaller than the first angle range, the control module controls that the distance back from the mobile device is greater than the first distance.

Preferably, if the corner angle of the boundary line is the first angle value or within the first angle range, the control module controls the steering radius of the self-moving device to be the first radius; if the corner angle of the boundary line is greater than the first angle value or greater than The first angle range, the control module controls the steering radius of the self-moving device to be greater than the first radius; if the corner angle of the boundary line is smaller than the first angle value or smaller than the first angle range, the control module controls the steering radius of the self-moving device to be smaller than the first angle a radius.

Preferably, the first angle value is 90 degrees.

Preferably, the preset distance that the control module controls to continue moving from the mobile device is smaller than the length of the self-mobile device, with the moving direction of the mobile device being the length direction.

Preferably, the preset distance that the control module controls to continue moving from the mobile device is greater than or equal to 1/2 of the length of the mobile device, with the moving direction of the mobile device being the length direction.

Preferably, the control module controls the preset distance that the mobile device continues to move between 0.2m and 0.5m.

Preferably, after the steering device is turned, if one of the first corner detecting sensor and the second corner detecting sensor is located in a working area defined by the boundary line, and the other one is outside the working area, the control module controls the self-moving The device continues to move forward.

Preferably, after the mobile device is turned, if the first corner detecting sensor and the second corner detecting sensor The controllers are all located outside the working area defined by the boundary line, and the control module controls the steering from the mobile device again, and keeps walking while turning, and the rotation reverse direction of the re-steering from the mobile device is the same as the rotation direction of the previous steering.

Preferably, the control module controls to turn back and forth again from the mobile device.

Preferably, if the corner angle of the boundary line is less than 180 degrees, after the mobile device is turned, the first corner detecting sensor and the second corner detecting sensor are both located in the working area defined by the boundary line, and then the control module controls the self-mobile device again. Steering, while keeping the steering while walking, the direction of rotation of the re-steering is opposite to the direction of rotation of the previous steering.

Preferably, the angle detecting unit comprises a second angle detecting sensor. When the corner detecting module detects the moving angle from the mobile device to the boundary line, the control module can selectively control the moving forward from the mobile device, so that the second angle detecting sensor arrives. The position of the second distance ahead of the corner of the boundary line, the control module compares the intensity of the boundary signal detected by the second angle detecting sensor with a preset range of the signal strength, and determines the angle of the corner of the boundary line according to the comparison result.

Preferably, the second angle detecting sensor is disposed at the front of the moving direction of the mobile device.

Preferably, the angle detecting unit comprises a third angle detecting sensor. When the corner detecting module detects the moving angle from the mobile device to the boundary line, the control module can selectively control the third distance from the mobile device to continue, the control module according to the The three angles detect the positional relationship of the sensor with respect to the boundary line, and determine the angle of the corner of the boundary line.

Preferably, at least two third angle detecting sensors are included, which are arranged along the moving direction of the mobile device.

Preferably, when the mobile device moves along the boundary line, the control module controls the third angle detecting sensors to be located in the working area defined by the boundary line, or both outside the working area defined by the boundary line.

Preferably, the control module determines the positional relationship of the third angle detecting sensor with respect to the boundary line according to at least one of the third angle detecting sensors being located in the working area defined by the boundary line or outside the working area defined by the boundary line.

Preferably, the positional relationship of the third angle detecting sensor with respect to the boundary line is in one-to-one correspondence with the value or range of the boundary line angle angle.

Preferably, the angle detecting unit comprises two fourth angle detecting sensors arranged along the moving direction of the mobile device, and the corner detecting module detects the moving angle from the moving device to the boundary line, the control mode The block selectively controls the fourth distance from the mobile device to continue, and the control module compares the strengths of the boundary signals detected by the two fourth angle detecting sensors. If the strengths of the boundary signals detected by the two fourth angle detecting sensors are the same, It is judged that the corner angle of the boundary line is the second angle value.

Preferably, if the boundary line angle is less than 180 degrees, and the moving direction of the mobile device is, the intensity of the boundary signal detected by the fourth angle detecting sensor on the front side is greater than the boundary detected by the fourth angle detecting sensor on the rear side. The intensity of the signal determines that the corner angle of the boundary line is greater than the second angle value, and conversely, determines that the corner angle of the boundary line is smaller than the second angle value.

Preferably, the angle detecting unit comprises a fifth angle detecting sensor, detecting a preset mark of the boundary line corner, detecting a preset mark of the boundary line corner detected by the sensor according to the fifth angle, and the control module determining the angle value or range of the boundary line corner Wherein, the preset mark of the boundary line corner corresponds to the value or range of the boundary line corner angle.

The present invention also provides an automated working system comprising a boundary line, and the self-mobile device of any of the foregoing.

The present invention also provides a self-moving device that moves and works within a working area defined by a boundary line, including:

a housing; a mobile module that drives movement from the mobile device; a control module that controls movement and operation from the mobile device; the control module controls movement from the mobile device along the boundary line; the self-mobile device further includes a corner detection module that detects whether the mobile device moves The corner to the boundary line, if the moving device moves to the corner of the boundary line, the control module controls the steering from the mobile device, keeps moving while turning, and makes the self-moving device always in the working area defined by the boundary line during the steering process or On the boundary line; the control module controls the movement from the mobile device and continues to move along the boundary line.

Preferably, in the first mode, the control module controls the mobile device to turn back and forth in the steering.

Preferably, when the first corner detecting sensor or the second corner detecting sensor detects that it moves from the working area defined by the boundary line to the working area defined by the boundary line, the control module determines that the corner angle of the boundary line is less than 180 degrees; When the first corner detecting sensor or the second corner detecting sensor detects that it moves from the working area defined by the boundary line to the working area defined by the boundary line, the control module determines the edge The corner angle of the boundary is greater than 180 degrees.

Preferably, the control module compares the intensity of the boundary signal detected by the first angle detecting sensor with a preset range of the plurality of signal strengths, and the preset range of the signal strength corresponds to the value or range of the corner angle of the boundary line.

Preferably, the first angle value is 90 degrees.

Preferably, after the steering device is turned, if the first corner detecting sensor and the second corner detecting sensor are located outside the working area defined by the boundary line, the control module controls the steering from the mobile device again, and keeps walking while steering. The reverse direction of rotation of the mobile device is again the same as the direction of rotation of the previous steering.

Preferably, the angle detecting unit comprises two fourth angle detecting sensors arranged along the moving direction of the mobile device, and the corner detecting module selectively controls the self-moving when the corner detecting module moves to the corner of the boundary line. The device continues to advance the fourth distance, and the control module compares the strengths of the boundary signals detected by the two fourth angle detecting sensors. If the strengths of the boundary signals detected by the two fourth angle detecting sensors are the same, determining the corner angle of the boundary line is The second angle value.

The present invention also provides a self-moving device control method, the mobile device moves and works in a working area defined by a boundary line, and the control method of the self-mobile device includes the steps of: controlling movement from the mobile device along a boundary line; determining self-moving The device moves to the corner of the boundary line; controls the retreat from the mobile device; controls the steering from the mobile device, so that the self-moving device keeps moving while turning; the control continues to move along the boundary line after the steering device is turned;

Preferably, the control from the mobile device is always within the working area defined by the boundary line or on the boundary line during the steering process.

Preferably, the control is controlled while the mobile device is reversing, and the rotation direction of the steering while the mobile device is retreating is consistent with the rotation direction of the self-moving device while maintaining the forward movement.

Preferably, the control moves from the mobile device along a boundary line in a fixed direction of rotation.

Preferably, the method further comprises the step of detecting an angle of the boundary line corner.

Preferably, the corner formed by the boundary line in the working area is referred to as a first corner, and the angle of the first corner is detected.

Preferably, the angle value or angular range of the boundary line corner is detected.

Preferably, the angle value or the angular range of the boundary line corner is detected by detecting the boundary signal.

Preferably, the corner detection module determines the rotation angle from the mobile device to the boundary line, and the rotation angle detection module includes a first rotation angle detection sensor and a second rotation angle detection sensor, and the opposite ones are disposed on both sides of the moving direction of the mobile device. .

Preferably, when the mobile device moves along the boundary line, one of the first corner detecting sensor and the second corner detecting sensor is controlled to be located in a working area defined by the boundary line, and the other is located outside the working area defined by the boundary line.

Preferably, when the first corner detecting sensor or the second corner detecting sensor detects that it moves from the working area defined by the boundary line to the outside of the working area, or moves from outside the working area to the working area, the self-moving device is determined. Move to the corner of the boundary line.

Preferably, if the first corner detecting sensor detects that it moves from the working area defined by the boundary line to the working area, or moves from outside the working area to the working area, the self-moving device detects the sensor from the first corner. The side on which you are turning.

Preferably, when the first corner detecting sensor or the second corner detecting sensor detects that it moves from the working area defined by the boundary line to the working area defined by the boundary line, it determines that the corner angle of the boundary line is less than 180 degrees; When the corner detecting sensor or the second corner detecting sensor detects that it moves from the working area defined by the boundary line to the working area defined by the boundary line, it determines that the corner angle of the boundary line is greater than 180 degrees.

Preferably, the angle of the boundary line corner is detected using an angle detecting unit.

Preferably, when the corner detecting module detects the corner from the mobile device moving to the boundary line, the control continues to advance the preset distance from the mobile device, and after the mobile device continues to advance the preset distance, the first angle detecting sensor detects The intensity of the boundary signal is compared with a preset range of the signal strength, and the angle of the corner of the boundary line is judged based on the comparison result.

Preferably, the intensity of the boundary signal detected by the first angle detecting sensor is compared with a preset range of the plurality of signal strengths, and the preset range of the signal intensity is in one-to-one correspondence with the value or range of the corner angle of the boundary line.

Preferably, if the corner angle of the boundary line is the first angle value or within the first angle range, controlling the first distance from the mobile device to retreat; if the corner angle of the boundary line is greater than the first angle value or greater than the first angle range, Controlling the distance from the mobile device to retreat is less than the first distance; if the corner angle of the boundary line is small The distance from the mobile device is controlled to be greater than the first distance at the first angle value or less than the first angle range.

Preferably, if the corner angle of the boundary line is the first angle value or within the first angle range, controlling the steering radius of the self-moving device to be the first radius; if the corner angle of the boundary line is greater than the first angle value or greater than the first The angle range controls the steering radius of the self-moving device to be greater than the first radius; if the corner angle of the boundary line is smaller than the first angle value or smaller than the first angle range, the steering radius controlled from the mobile device is less than the first radius.

Preferably, the first angle value is 90 degrees.

Preferably, the preset distance for controlling the continuous movement from the mobile device is smaller than the length of the self-mobile device, with the moving direction of the mobile device being the length direction.

Preferably, the preset distance for controlling the continuous movement from the mobile device is greater than or equal to 1/2 of the length of the mobile device, with the moving direction of the mobile device being the length direction.

Preferably, the preset distance for controlling the continued movement from the mobile device is between 0.2 m and 0.5 m.

Preferably, after the steering device is turned, if one of the first corner detecting sensor and the second corner detecting sensor is located in a working area defined by the boundary line, and the other one is outside the working area, the control is continued from the mobile device. go ahead.

Preferably, after the steering device is turned, if the first corner detecting sensor and the second corner detecting sensor are located outside the working area defined by the boundary line, the control is turned again from the mobile device, and the steering is kept while walking, the self-moving device The rotation reverse direction of the re-steering is the same as the rotation direction of the previous steering.

Preferably, the control is turned back and forth again from the mobile device.

Preferably, if the corner angle of the boundary line is less than 180 degrees, after the steering device is turned, the first corner detecting sensor and the second corner detecting sensor are both located in the working area defined by the boundary line, and then the control is turned again from the mobile device. While turning, the walking is kept, and the direction of rotation of the steering again is opposite to the direction of rotation of the previous steering.

Preferably, the angle detecting unit comprises a second angle detecting sensor, and the corner detecting module selectively controls the moving forward from the mobile device when the moving device moves to the corner of the boundary line, so that the second angle detecting sensor reaches the boundary line. The position of the second distance ahead of the corner is compared with the preset range of the signal strength detected by the second angle detecting sensor, and the angle of the corner of the boundary line is determined according to the comparison result.

Preferably, the angle detecting unit includes a third angle detecting sensor, and the corner detecting module selectively controls the third distance to be advanced from the mobile device when the moving device moves to the corner of the boundary line, and detects the sensor according to the third angle. The angle of the corner of the boundary line is judged with respect to the positional relationship of the boundary line.

Preferably, when the mobile device moves along the boundary line, the control third angle detecting sensors are all located in the working area defined by the boundary line, or both are located outside the working area defined by the boundary line.

Preferably, the positional relationship of the third angle detecting sensor with respect to the boundary line is determined according to at least one of the third angle detecting sensors being located in the working area defined by the boundary line or outside the working area defined by the boundary line.

Preferably, the angle detecting unit comprises two fourth angle detecting sensors arranged along the moving direction of the mobile device, and the corner detecting module selectively controls the moving from the mobile device when detecting the moving angle from the mobile device to the boundary line. The fourth distance is forwarded, and the intensity of the boundary signal detected by the two fourth angle detecting sensors is compared. If the strengths of the boundary signals detected by the two fourth angle detecting sensors are the same, the angle of the corner of the boundary line is determined to be the second angle value. .

Preferably, the angle detecting unit includes a fifth angle detecting sensor, detecting a preset mark of the boundary line corner, and determining an angle value or a range of the boundary line corner according to the preset mark of the boundary line corner detected by the fifth angle detecting sensor, wherein The preset mark of the boundary line corner corresponds to the value or range of the boundary line angle angle.

The present invention also provides a self-mobile device control method, the self-mobile device moves and works in a work area defined by a boundary line, and the control method of the self-mobile device includes the steps of: controlling movement from the mobile device along a boundary line; The corner from the mobile device to the boundary line; control from the mobile device To keep moving forward from the mobile device while steering; control to continue walking along the boundary line after steering from the mobile device; during the steering process of the mobile device, the control self-moving device is always located in the working area defined on the boundary line or on the boundary line.

Preferably, the method further includes the steps of: controlling back from the mobile device;

Preferably, when the mobile device moves along the boundary line, one of the first corner detecting sensor and the second corner detecting sensor is controlled to be located in a working area defined by the boundary line, and the other is located in the boundary line. Outside the defined work area.

Preferably, if the corner angle of the boundary line is less than 180 degrees, and the intensity of the boundary signal detected by the first angle detecting sensor is greater than a preset range of the signal strength, determining that the corner angle of the boundary line is greater than the first angle value or greater than the first An angle range; if the intensity of the boundary signal detected by the first angle detecting sensor is less than a preset range of the signal strength, determining that the corner angle of the boundary line is smaller than the first angle value or less than the first An angle range.

Preferably, if the corner angle of the boundary line is the first angle value or within the first angle range, controlling the first distance from the mobile device to retreat; if the corner angle of the boundary line is greater than the first angle value or greater than the first angle range, Then, the distance from the mobile device is controlled to be less than the first distance; if the corner angle of the boundary line is smaller than the first angle value or smaller than the first angle range, the distance controlled by the mobile device is greater than the first distance.

Preferably, the first angle value is 90 degrees.

Preferably, the control is turned back and forth again from the mobile device.

Preferably, the angle detecting unit comprises a second angle detecting sensor, and the corner detecting module detects the self When the mobile device moves to the corner of the boundary line, optionally controlling the advancement from the mobile device, so that the second angle detecting sensor reaches the position of the second distance ahead of the boundary line corner, and the intensity of the boundary signal detected by the second angle detecting sensor Compared with the preset range of the signal strength, the angle of the boundary line angle is judged based on the comparison result.

Preferably, the angle detecting unit includes a fifth angle detecting sensor, detecting a preset mark of the boundary line corner, and determining an angle value or a range of the boundary line corner according to the preset mark of the boundary line corner detected by the fifth angle detecting sensor, wherein , the value of the preset mark of the boundary line corner and the angle of the boundary line angle or The range corresponds one by one.

Compared with the prior art, the beneficial effects of the present invention are: when the moving device moves along the boundary line to the corner of the boundary line, the control moves back from the mobile device, then turns, and turns while keeping forward, so that the self-mobile device is in the process of turning. The wear on the lawn is small, and at the same time, the steering process from the mobile device is completed in the working area defined by the boundary line or on the boundary line, which ensures the safety of the mobile device.

The present invention also provides a walking method, a self-moving device, and an autonomous walking system of a self-moving device that avoids a marker and improves walking efficiency and adaptability.

A walking method of a self-moving device, the self-moving device including a longitudinal axis extending toward a first direction and a second direction, respectively, the walking method comprising the steps of: walking along a first path, the self-moving device along the first The speed at which a path travels has a first component in the direction of the longitudinal axis, the first component being in the same direction as the first direction; the identifier is identified, from where the mobile device identifies the identifier Positioned as a first position, the self-moving device stops walking at the first position and is in a first state; walking from the first state along a second path, the second path and the first path are not Coincident, the speed of the mobile device as it travels along the second path has a second component in the direction of the longitudinal axis, the second component being in the same direction as the second direction.

Preferably, the self-moving device includes a first walking component and a second walking component disposed on two sides of the longitudinal axis, when the mobile device walks along the first path and the second path respectively, the first The speed difference between a walking assembly and the second running assembly is different.

Preferably, the angle of rotation of the self-moving device during the walking along the second path is less than 90 degrees from the longitudinal axis of the mobile device compared to the longitudinal axis of the mobile device when in the first state.

Preferably, after the mobile device is in the first state, and the delay time is maintained, if the identifier is not recognized from the mobile device, the mobile device continues to walk along the first path.

Preferably, after the mobile device walks along the second path for a preset distance or a preset time, the mobile device then walks along the third path.

Preferably, the speed difference between the first running component and the second running component is kept constant during the walking of the mobile device along the second path, and the second path is an arc-shaped path.

Preferably, the identifier is recognized from the mobile device, and the identifier is an obstacle, and the size of the obstacle is recognized from the mobile device. If the size of the obstacle is smaller than a size threshold, the mobile device continues Continue walking along the first path.

Preferably, the first running component and the second running component are respectively driven by a first driving motor and a second driving motor, the first driving motor and the ground when the mobile device walks along the first path The second drive motor outputs rotational power about the first rotational direction, and the first drive motor and the second drive motor output rotational power about the second rotational direction when the mobile device travels along the second path The first direction of rotation and the second direction of rotation are opposite.

A self-moving device comprising: a longitudinal axis extending in a first direction and a second direction respectively; a walking unit for walking on the ground; an identification unit for identifying the marker; and a driving unit driving the walking unit to walk a control unit connected to the identification unit and the driving unit; the control unit generates a first path, and drives the walking unit to travel along the first path by the driving unit, the self-moving device along the first The speed at which a path travels has a first component in the direction of the longitudinal axis, the first component being in the same direction as the first direction; during the walking of the mobile device along the first path, The identification unit identifies the identifier, and the control unit controls the driving unit to stop, so that the self-mobile device stops at the first position, since the mobile device identifies the location of the identifier as the first location. Walking, and in a first state; the control unit generates a second path, the second path does not coincide with the first path, from the mobile device from the first state Said second path of travel, from a mobile device traveling along said second path having a second velocity component in the direction of said longitudinal axis, said second component in a direction the same as the second direction.

Preferably, the walking unit includes a first walking component and a second running component disposed on two sides of the longitudinal axis, and the control unit passes through the mobile device when walking along the first path and the second path respectively The driving unit drive controls the speed difference of the first running component and the second component to be different.

Preferably, during the walking of the mobile device along the second path, the control unit controls the walking unit such that the longitudinal axis of the mobile device is compared to the longitudinal axis of the mobile device when in the first state, The angle of rotation is less than 90 degrees.

Preferably, the self-mobile device further includes a delay unit, and the delay unit is provided with a delay time. After the mobile device is in the first state, after the delay time, the control unit controls the identification unit to identify the identifier. And if the identification unit does not recognize the identifier, the control unit controls the driving unit to continue to drive the walking unit to walk along the first path.

Preferably, the self-moving device further includes a ranging or timing unit, the distance measuring unit measures the walking distance after the mobile device starts to walk along the second path, and the timing unit measures the walking time and passes the preset walking. After the distance or the preset walking time, the control unit controls the walking unit to walk along the generated third path by the driving unit.

Preferably, during the walking of the mobile device along the second path, the control unit controls, by the driving unit, that the speed difference between the first running component and the second running component is kept constant, and the second path is one. Arc path.

Preferably, the self-moving device further includes an obstacle size identifying unit for identifying a size of the obstacle, and when the identifier is an obstacle, the obstacle size identifying unit identifies the size of the obstacle, if The size of the obstacle is less than a size threshold, and the control unit controls the walking unit to continue to travel along the first path.

Preferably, the driving unit includes a first driving motor and a second driving motor respectively driving the first running component and the second running component, and the control is performed when the mobile device walks along the first path The unit controls the first drive motor and the second drive motor to output rotational power about a first rotational direction, the control unit controls the first drive motor and when the mobile device is traveling along the second path The second drive motor outputs rotational power about a second rotational direction, the first rotational direction being opposite to the second rotational direction.

Preferably, the boundary line and the self-moving device described above are carried out, and the mobile device runs in a working area surrounded by the boundary line, the boundary line is a marker, and the identification unit is at least used to identify the boundary line.

The walking method, the self-moving device, and the automatic walking system of the self-moving device improve the walking efficiency and the working condition adaptability by changing the traveling directions of the first path and the second path and the walking manner of the second path before identifying the identifier.

The invention aims at the problem that the traditional automatic lawn mower turns in the corner at the turning place, which will damage the lawn, and also provides a self-moving device path control method.

In addition, the traditional automatic lawn mower turns around in the corner, which will damage the lawn. It also provides a self-moving device path control device.

A self-mobile device path control method includes the steps of:

Obtaining data of the walking path of the self-mobile device;

Controlling the self-mobile device to travel along the walking path according to the data;

At a predetermined turn in the walking path, the self-moving device is deflected and the deflection angle is controlled to be an acute angle.

Preferably, the walking path includes a starting point and an ending point, and the walking path is a circular path from the starting point to the ending point.

Preferably, the walking path includes a starting point, a plurality of reversing points, a plurality of deflection points, and an ending point, wherein the reversing point corresponds to one of the deflection points, and the deflection point is a preset turning point, a reverse point and the deflection point are located on the travel path between the start point and the end point, the reverse point is opposite the deflection point, and the deflection point is adjacent to the reverse point, All of the reverse points are parallel to the line between the opposing deflection points.

Preferably, the step of controlling the walking of the self-moving device along the walking path according to the data comprises:

Starting from the starting point, walking to the adjacent reverse point;

Walking from the reversing point to the deflection point opposite the reversing point;

Determining whether the deflection point is the last of the deflection points, and if so, walking from the deflection point to the end point, and if not, deflecting to the next reverse point adjacent to the deflection point.

Preferably, the step of walking from the reversing point to the deflection point opposite to the reversing point comprises:

Walking from the reversing point in a straight line to the deflection point opposite the reversing point.

From the reverse point, the vehicle is moved in a reverse or forward-travel manner to the deflection point opposite to the reverse point, and the manner of walking on the adjacent two parallel paths is different.

A self-mobile device path control device comprising:

a data acquisition module, configured to acquire data of the walking path of the self-mobile device;

a path control module, configured to control the self-mobile device to travel along the walking path according to the data;

And a deflection control module, configured to control the deflection of the self-moving device at a predetermined turn in the walking path, and control the deflection angle to be an acute angle.

Preferably, the path control module includes:

Activating module, configured to start the self-mobile device from the starting point and walk to the adjacent reverse point;

a walking module, configured to cause the self-moving device to travel from the reversing point to the deflection point opposite to the reversing point;

a determining module, configured to determine whether the deflection point is the last one of the deflection points, and if so, the deflection control module causes the self-moving device to travel from the deflection point to the end point, and if not, the A deflection control module deflects the self-moving device to the next reverse point adjacent the deflection point.

Preferably, the walking module is further configured to cause the self-moving device to travel straight from the reversing point to the deflection point opposite to the reversing point.

Preferably, the walking module is further configured to cause the self-moving device to walk from the reverse point in a reverse or positive-travel manner to the deflection point opposite to the reverse point, and adjacent to The walking on two parallel paths is different.

The self-mobile device path control method and device obtains the data of the walking path of the mobile device, controls the walking from the mobile device along the preset walking path, and controls the deflection from the mobile device at the turning of the walking path, and the deflection angle For the acute angle, that is, at the turning point, the angle between the traveling direction before the deflection and the traveling direction after the deflection is an acute angle, the deflection angle is small, and the turning at an obtuse angle or even an angle of 180° is avoided, that is, the self-moving device is prevented from turning. Approximate turn in place, reducing the grounding when cornering The degree of damage to the vegetation on the surface or on the ground.

DRAWINGS

The objects, technical solutions, and advantageous effects of the present invention described above can be achieved by the following figures:

1 is a schematic view of an automatic working system according to a first embodiment of the present invention.

Fig. 2 is a structural view showing an automatic lawn mower according to a first embodiment of the present invention.

Fig. 3 is a schematic view showing the movement mode of the automatic lawn mower according to the first embodiment of the present invention.

Fig. 4 is a schematic view showing the movement mode of the automatic lawn mower according to the second embodiment of the present invention.

Fig. 5 is a schematic view showing the movement mode of the automatic lawn mower according to the third embodiment of the present invention.

Fig. 6 is a schematic view showing the movement mode of the automatic lawn mower according to the fourth embodiment of the present invention.

Fig. 7 is a graph showing the relationship between the steering radius and the slip amount of the automatic lawn mower according to the first embodiment of the present invention.

Figure 8 is a schematic view showing the path of the automatic lawn mower moving in the work area according to the first embodiment of the present invention.

Fig. 9 (a) is a schematic view showing the path of the automatic lawn mower of the first embodiment of the present invention as it moves in a narrow passage.

Fig. 9 (b) is a schematic view showing the path of the automatic lawn mower according to the fifth embodiment of the present invention as it moves in a narrow passage.

Fig. 9 (c) is a schematic view showing the path of the automatic lawn mower in the narrow passage when the sixth embodiment of the present invention is moved.

Figure 10 is a schematic view showing the path of the automatic lawn mower moving in the working area according to the seventh embodiment of the present invention.

Figure 11 is a schematic view showing the path of the automatic lawn mower moving in the working area according to the eighth embodiment of the present invention.

12-15 are schematic diagrams showing the steering process of the automatic lawn mower according to the tenth embodiment of the present invention in different situations;

Figure 16 is a schematic view showing the angle of the corner line of the automatic lawn mower according to the tenth embodiment of the present invention;

Figure 17 is a state diagram of the automatic lawn mower of the tenth embodiment of the present invention after being turned;

Figure 18 is another state diagram of the automatic lawn mower of the tenth embodiment of the present invention after being turned;

Figure 19 is another state diagram of the automatic lawn mower of the tenth embodiment of the present invention after being turned;

Figure 20 is a schematic view showing the angle of the corner line of the automatic lawn mower according to the twelfth embodiment of the present invention;

Figure 21 is a schematic view showing the angle of the corner line of the automatic lawn mower according to the thirteenth embodiment of the present invention;

Figure 22 is a schematic view showing the angle of the corner line of the automatic lawn mower according to the fourteenth embodiment of the present invention;

Figure 23 is a schematic view showing the steering process of the automatic lawn mower according to another embodiment of the present invention.

Figure 24 is a diagram showing an application environment of a walking method in another embodiment of the present invention;

25 is a schematic flow chart of a walking method according to another embodiment of the present invention;

26 is a schematic flow chart of a walking method according to another embodiment of the present invention;

Figure 27 is a flow chart showing a walking method in another embodiment of the present invention;

28 is a schematic flow chart of a walking method according to another embodiment of the present invention;

29 is a schematic diagram of a walking method in a specific scenario according to another embodiment of the present invention;

FIG. 30 is a structural block diagram of a self-mobile device according to another embodiment of the present invention.

FIG. 31 is a schematic flowchart diagram of a path control method of a self-mobile device according to another embodiment of the present invention; FIG.

32 is a schematic diagram of a walking path in a loop path according to another embodiment of the present invention;

Figure 33 is a schematic illustration of a rectangular path in accordance with another embodiment of the present invention;

Figure 34 is a schematic view of the walking from the mobile device along the rectangular path shown in Figure 33;

Figure 35 is a block diagram showing the structure of a self-moving device path control device according to another embodiment of the present invention.

detailed description

1 is a schematic view of an automatic working system 100 of a first embodiment of the present invention. The automated working system 100 includes a self-mobile device, a boundary line 200, and a docking station 300. In this embodiment, the self-moving device is an automatic lawn mower 1. In other embodiments, the self-mobile device may also be an unattended device such as an automatic cleaning device, an automatic watering device, an automatic snow sweeper, and the like. The boundary line 200 divides the work area into the work area and outside the work area, and the automatic mower 1 moves and works within the work area defined by the boundary line 200. Of course, the working area of the automated working system 100 may also not be defined by boundary lines, for example, a natural boundary between the lawn and the road. The boundary of the work area may also be a virtual boundary defined by software, such as dividing the work area into sub-area boundaries of a plurality of sub-areas. The work area also includes obstacles, such as ponds, flower beds, etc., and obstacles also limit the movement of the automatic mower. In this embodiment, the boundary is (including the boundaries of sub-areas) and obstacles are collectively referred to as boundaries.

Fig. 2 is a structural view showing an automatic lawn mower 1 according to a first embodiment of the present invention. In this embodiment, the automatic lawn mower includes a housing 2. The moving direction of the automatic mower is the longitudinal direction of the automatic mower (housing), that is, the length direction of the automatic mower, parallel to the working plane of the automatic mower and perpendicular to the moving direction of the automatic mower The direction is the transverse direction of the automatic mower (housing), ie the width direction of the automatic mower. In this embodiment, the first end 12 and the second end 14 of the housing 2 are defined along both longitudinal ends. In Fig. 2, the first end 12 of the housing is seen from the left side of the drawing, and the second end 14 of the housing is seen from the right side of the drawing, and the right side of the housing is seen from above the drawing. Seen from the bottom of the drawing is the left side of the housing. The automatic mower also includes a mobile module, a task execution module, an energy module, and a control module. The mobile module, the task execution module, the energy module, and the control module are all mounted to the housing 2. The mobile module drives the automatic mower to move. The moving module includes a wheel set, a track 3 wound around the wheel set, and a drive motor that drives the wheel set and the track 3 to move. In this embodiment, the automatic mower includes two sets of wheels and a crawler belt 3, which are disposed on both sides of the casing in the moving direction, and each set of the wheel sets and the crawler belt 3 are driven by independent driving motors. In this embodiment, the task execution module is a cutting module, including a cutting assembly, and the cutting assembly includes a blade driven by a cutting motor to perform a mowing operation. The energy module includes a battery pack that provides energy for the movement and operation of the automatic mower. The control module is electrically connected to the mobile module, the task execution module, and the energy module to control the movement and operation of the automatic mower. The control module includes a storage unit, a computing unit, and the like. In this embodiment, the movement of the automatic mower includes the steering motion of the automatic mower.

In this embodiment, the housing 2 of the automatic lawn mower includes a longitudinal axis x, the longitudinal axis x is parallel to the moving direction of the automatic mower, and the directions of the two ends of the longitudinal axis x define opposite first extending directions D1 and second. Extend direction D2. Specifically, the longitudinal axis x extends from the central portion of the housing 2 toward the first end 12 in a first extending direction D1, and the longitudinal axis x extends from the central portion of the housing 2 toward the second end 14 in a second extending direction D2. The first extending direction D1 is opposite to the second extending direction D2.

Fig. 3 is a schematic view showing the movement mode of the automatic lawn mower according to the first embodiment of the present invention. In this embodiment, the automatic mower can move forward and perform work, or move backwards and perform work. As shown in FIG. 3, the automatic mower moves forward to form a forward path a, and the reverse direction forms a reverse path b. The moving direction of the automatic mower is as indicated by the arrow in FIG. When the automatic mower moves, the moving speed comprises a component v ₁ along the longitudinal axis, the direction of the moving velocity along the longitudinal axis component v ₁ or coincides with the first extending direction of the longitudinal axis, or coincides with the second extending direction of the longitudinal axis. . When the automatic mower is moved in the forward direction, the direction of the component v ₁ of the moving speed along the longitudinal axis coincides with the first extending direction of the longitudinal axis, and when the automatic mower moves in the reverse direction, the component of the moving velocity along the longitudinal axis v ₁ The direction coincides with the second direction of extension of the longitudinal axis. That is, when the automatic mower is moving forward, the first end of the casing acts as the front end of the automatic mower, and the second end of the casing acts as the rear end of the automatic mower. When the automatic mower moves in the reverse direction, the second end of the housing acts as the front end of the automatic mower, and the first end of the housing acts as the rear end of the automatic mower. The automatic mower can move in the work area in two postures, and the movement mode is more flexible.

In this embodiment, during the movement and working of the automatic mower, switching between forward movement and reverse movement is performed. When the automatic mower is switched from forward to reverse, it can be considered that the automatic mower changes from forward motion to backward motion, and vice versa. Different from the backward movement of the conventional automatic lawn mower, in the present embodiment, the "reverse movement" and the "forward movement" of the automatic lawn mower have equivalent functions, and the automatic lawn mower is in the process of "reverse movement". The same is performed; preferably, the path length of the "reverse motion" is equivalent to the path length of the "forward motion". The retreating motion of the conventional automatic mower is usually to assist the steering movement of the automatic mower, the retreat distance is small, and the cutting work is stopped when retracting.

When the automatic mower switches between forward and reverse movement, the drive motor switches between opposite rotational directions. In this embodiment, the wheel sets and the crawlers on both sides of the housing are respectively driven by the first drive motor and the second drive motor. The first drive motor and the second drive motor are selectively rotatable in a first rotational direction or a second rotational direction, the first rotational direction being opposite the second rotational direction. When the control module controls the first drive motor and the second drive motor to rotate in the first rotation direction, the movement module drives the automatic mower to move forward. When the control module controls the first drive motor and the second drive motor to rotate in the second rotation direction, the movement module drives the automatic mower to move in the reverse direction. In this embodiment, when the automatic mower moves in the forward or reverse direction, the rotation directions of the first drive motor and the second drive motor are always the same. When the automatic mower is switched between the forward movement and the reverse movement, the first drive motor and the second drive motor simultaneously switch between the first rotation direction and the second rotation direction. When the control module controls the first drive motor and the second drive motor to rotate at different rotational speeds, the mobile module drives the automatic mower to turn. The control module controls the steering radius of the automatic mower by controlling the difference in rotational speed between the first drive motor and the second drive motor.

In this embodiment, the automatic mower is deflected such that the paths of forward movement and reverse movement are at least partially non-coincident. Specifically, in the present embodiment, the automatic lawn mower starts to turn when switching between forward movement and reverse movement. As shown in FIG. 3, when the automatic mower moves to the preset position along the forward path a, it switches from the forward movement to the reverse movement while starting to turn, so that the reverse path b deviates from the forward path a. In this embodiment, the automatic mower moving to the preset position means that the automatic mower moves to the limit. In other embodiments, the automatic mower can also switch from the forward movement to the reverse movement in other scenarios, for example. When the automatic mower moves to a certain height on the slope, and so on. In this embodiment, after the automatic lawn mower turns to the preset angle value, the automatic lawn mower continues to move in the direction when the steering is completed. Similarly, when the automatic mower moves to the limit along the reverse path b, the reverse movement is switched to the forward movement, and the steering is started at the same time as the above steps.

In this embodiment, the automatic mower is deflected such that the trajectory of the forward movement is offset along the lateral direction of the housing with respect to the trajectory of the backward movement, and similarly, the trajectory of the backward movement is along the trajectory of the forward movement along the housing. The lateral direction is offset such that the forward path does not coincide with the reverse path, enabling the automatic mower to cover the entire work area in a moving manner that switches between forward and reverse movement.

In other embodiments, the time at which the automatic mower begins to turn and the time the automatic mower switches between forward and reverse movement may also be inconsistent.

In the second embodiment of the present invention, the moving manner of the automatic lawn mower is basically the same as that of the first embodiment, the difference being that the automatic lawn mower moves the preset distance after switching between the forward movement and the reverse movement, and then starts. Turn. As shown in FIG. 4, when the automatic mower moves to the preset position along the forward path a, it switches from the forward movement to the reverse movement. At this time, the drive motor switches between the first rotation direction and the second rotation direction. . After the driving motor switches the rotation direction, the rotation speed difference between the first driving motor and the second driving motor is maintained to be zero, and the automatic lawn mower moves along the reverse path b. After the automatic mower moves a distance, it begins to turn, and the reverse path b begins to deviate from the forward path a. After the automatic mower turns to the preset angle value, it continues to move in the direction when the steering is completed. The automatic mower switches from reverse movement to forward movement in a similar manner to the above steps.

In the third embodiment of the present invention, the automatic lawn mower moves in substantially the same manner as the first embodiment, with the difference that the automatic lawn mower starts steering before switching between forward movement and reverse movement. Specifically, the automatic mower switches between the forward movement and the reverse movement after turning to the preset angle value. As shown in Figure 5, the automatic mower moves linearly along the forward path a, the automatic mower moves to the preset position, or starts to turn when the preset position reaches the preset distance value, and the automatic mower remains Move forward. After the automatic mower turns to the preset angle value, it switches from forward movement to reverse movement. When the automatic mower moves in the reverse direction, the difference between the rotation speeds of the first drive motor and the second drive motor is zero, and the automatic mower moves in a straight line to form a reverse path b. Since the automatic mower switches from the forward movement to the reverse movement, the reverse path b will deviate after the automatic mower is switched from the forward movement to the reverse movement. Forward path a. The automatic mower switches from reverse movement to forward movement in a similar manner to the above steps.

In the fourth embodiment of the present invention, the automatic mower is moved in substantially the same manner as the first embodiment, with the difference that the automatic mower starts steering before switching between forward movement and reverse movement. Specifically, after the automatic lawn mower turns to the preset angle value, the preset distance is continuously moved in the direction when the steering is completed, and then switched between the forward movement and the reverse movement. As shown in Fig. 6, the automatic mower first moves along the forward path a, the automatic mower moves to the preset position, or starts to turn when the preset position reaches the first preset distance value, and the automatic mower turns It still moves in the positive direction. After the automatic lawn mower turns to the preset angle value, the second preset distance is continued to move in the direction when the steering is completed, and then the forward movement is switched to the reverse movement. When the automatic mower moves along the reverse path b, it will start to deviate from the forward path a at the position where the automatic mower is moving forward to complete the steering so that the reverse path b and the forward path a do not at least partially overlap. The automatic mower switches from reverse movement to forward movement in a similar manner to the above steps.

In a first embodiment of the invention, the ratio of the steering radius of the automatic mower and the length of the contact portion of the track to the working surface is greater than or equal to 1.5. The length of the contact portion of the track with the work surface, that is, the dimension of the contact portion of the track with the work surface in the longitudinal axis direction is referred to as the ground length of the track. In this embodiment, the driving module of the automatic lawn mower includes a front wheel and a rear wheel, and the track is wound around the front wheel and the rear wheel. The grounding length of the track is the track extending from the center of rotation of the front wheel to the center of rotation of the rear wheel. length. The automatic lawn mower that is moved by the track can easily wear the track during the steering. The wear of the track on the lawn is mainly caused by the sliding movement of the track during the steering process, and the degree of wear of the track to the lawn can be measured by the amount of slippage of the track. The slip amount of the track refers to the amount by which the fixed point on the track moves from the working surface to the working surface, relative to the working surface. The greater the amount of slippage of the track, the more severe the wear on the lawn. The amount of slippage of the track is related to the steering radius of the automatic mower and the grounding length of the track. The smaller the steering radius of the automatic mower, or the longer the grounding length of the track, the greater the amount of slippage of the track.

In this embodiment, the grounding length of the crawler belt is 500 mm. After testing, the relationship between the steering radius R of the automatic mower and the slip amount S is as shown in FIG. It can be seen from Fig. 7 that when the steering radius is less than 0.2 m, the slip amount of the crawler belt increases rapidly; when the steering radius is greater than 3 m, the slip amount of the crawler belt slowly decreases. In this embodiment, the slip amount of the crawler belt is controlled to be less than or equal to 8 mm, the steering radius of the automatic lawn mower is greater than or equal to 0.75 m, and the ratio of the steering radius of the automatic lawn mower to the grounding length of the crawler is greater than or equal to 1.5. In other embodiments, the slip amount of the track is controlled to be less than or equal to 10 mm, the steering radius of the automatic mower is greater than or equal to 0.8 m, and the ratio of the steering radius of the automatic mower to the ground length of the track is greater than or equal to 1.6. Of course, In order to control the steering radius of the automatic mower to be greater than or equal to 1 m or 1.2 m, the ratio of the steering radius of the automatic mower to the grounding length of the track is greater than or equal to 2 or 2.4.

When the ratio of the steering radius of the automatic mower to the grounding length of the track is greater than or equal to 1.5, when the automatic mower is turned, the wear of the track to the lawn is small, which improves the performance of the automatic mower while preventing the pair of tracks. The wear of the lawn.

The scene of the automatic mowing opportunity boundary is the main scene applied by the automatic lawn mower to switch between forward movement and reverse movement, and to turn this movement mode. In this embodiment, the automatic mower is driven by the crawler belt, and the size of the automatic mower is larger than that of the ordinary automatic mower, and the moving mode of switching between the forward movement and the reverse movement causes the movement of the automatic mower More flexible, and the automatic mower can be turned at a larger radius without worrying about the exit limit, ensuring the safety of the automatic mower and solving the wear problem of the track on the lawn.

In another embodiment of the present invention, the automatic mower is moved in the same manner as the first embodiment. The difference is that the grounding length of the crawler is 250 mm, and the automatic mower is used when the slip amount of the crawler is controlled below 10 mm. The steering radius is greater than or equal to 0.4m. The performance of the automatic mower is related to the grounding length of the track. When the grounding length of the track is too short, the obstacle resistance and climbing ability of the automatic mower will be affected. Therefore, it is desirable to control the grounding length of the track to be greater than Or equal to 250mm.

Figure 8 is a schematic view showing the path of the automatic lawn mower moving in the work area according to the first embodiment of the present invention. The forward and reverse movement of the automatic mower forms a zigzag path, and the automatic mower covers the work area in a zigzag path. It is known from the above description that in the present embodiment, when the limit of the opportunity is automatically cut, the forward and reverse movements are switched, and at the same time, the steering is turned to the preset angle value and the direction continues to move in the direction when the steering is completed. The above movement mode forms a zigzag path in the entire work area. Specifically, an angle γ is formed between the forward path and the reverse path of the automatic mower. The value of the angle γ can be measured by the longitudinal axis of the automatic mower relative to the angle of rotation when the steering is completed, that is, the preset angle value of the automatic mower rotating in the above-described movement mode. In this embodiment, the preset angle value of the automatic lawn mower rotating in the above moving mode does not exceed 90 degrees. Ideally, the preset angle value of the automatic lawn mower rotating in the above moving mode is less than or equal to 45 degrees. When the angle of rotation of the automatic mower is too large, the automatic mowing opportunity will be moved in the area near the limit after the steering limit is turned, so that the automatic mower does not cover the entire working area well. When the automatic mower completes the steering angle of the above steering not more than 90 degrees, especially when the steering angle is less than or equal to 45 degrees, the automatic mower can quickly and comprehensively Cover the entire work area.

In a first embodiment of the invention, the automatic mower includes a limit detection sensor disposed at the first end and the second end of the housing for detecting a positional relationship of the automatic mower relative to the limit. The automatic mower also includes a control module that controls the automatic mower to move and work within the work area defined by the limits. When the limit detection sensor detects that it is outside the limit, or the distance between itself and the limit reaches a preset value, the control module determines that the automatic mower moves to the limit. When the control module determines that the automatic mower moves to the limit, it controls the automatic mower to switch between forward movement and reverse movement.

Fig. 9 (a) is a schematic view showing the path of the automatic lawn mower of the first embodiment of the present invention as it moves in a narrow passage. In this embodiment, when the control module determines that the automatic mower moves to the limit, the automatic mower is controlled to start to turn; if the control module determines that the automatic mower has not completed the steering and moves to the limit again, the automatic mower is reduced again. The steering radius of the steering.

As shown in Fig. 9(a), the automatic mower moves along the forward path a1 to the limit A. As is known from the above description, the control module will control the automatic mower to switch from forward movement to reverse movement while controlling automatic The mower turns and the automatic mower moves along the reverse path b1. When the automatic mower moves within a narrow passage, the automatic mower may encounter the limit once again without completing the last turn. In Fig. 9(a), the automatic mower moves along the reverse path b1, and if the steering is not completed, moves to the limit B again, the control module will control the automatic mower to switch from the reverse movement to the forward movement. At the same time, control the automatic lawn mower steering. If the steering radius R of the automatic mower is constant, in one mode (in the fifth embodiment of the present invention), when the automatic mower is switched to the forward movement, the forward path a2' will be opposite to the reverse path b1. Coincident, the automatic mower will move to the limit A again, switch from forward movement to reverse movement, and turn, the reverse path b2' still coincides with the previous reverse path b1, that is, the automatic mower It will reciprocate with a coincident path between the boundary A and the boundary B as shown in Fig. 9(b). In another mode (in the sixth embodiment of the invention), the automatic mower is turned to the side of the housing adjacent to the entrance of the narrow passage, and the automatic mower will return to the work area in front of the narrow passage Instead of passing through a narrow passage, as shown in Figure 9(c). In the first embodiment of the present invention, if the automatic mower does not complete the steering and moves to the limit again, the steering radius at which the automatic mower is turned again is reduced. As shown in Fig. 9(a), when the automatic mower moves to the limit B, the steering radius of the automatic mower is reduced again because the last steering is not completed, and the automatic mower is still close to the narrow passage of the casing. One side of the exit turns, and the automatic mower moves along the forward path a2. Since the automatic mower switches between forward and reverse movements, the steering radius is different before and after switching. The paths before and after the change do not coincide. As shown in Fig. 9(a), the automatic mower moves along the forward path a2. After the steering is completed, it will continue to move in the direction after the completion of the steering until it moves to the limit C, and the automatic mower is switched from the forward movement to the forward movement again. Move backwards and turn, this will allow the automatic mower to return to the steering radius R. The automatic mower moves in the above-described movement mode and moves from one end of the narrow passage to the other end.

In this embodiment, according to whether the angle of the automatic lawn mower steering reaches a preset angle value, the control module determines whether the automatic lawn mower completes the steering. In this embodiment, the preset angle value is 45 degrees. The automatic lawn mower includes an angle meter to record the angle of the automatic lawn mower. When the angle of the automatic lawn mower reaches 45 degrees, the control module determines that the automatic lawn mower completes the steering, if the automatic lawn mower turns The angle does not reach 45 degrees, and the control module determines that the automatic mower has not completed the steering. Of course, in other embodiments, it is also possible to determine whether the automatic mower completes the steering by other equivalent methods. In one of the embodiments, the control module determines whether the automatic mower completes the steering according to whether the distance moved by the automatic mower when the vehicle reaches the preset distance value. According to the steering radius of the automatic mower and the steering angle that the automatic mower needs to complete, the distance moved by the automatic mower to complete the steering can be calculated. The automatic mower includes an odometer to record the distance moved by the automatic mower when the steering is turned. When the distance moved by the automatic mower turns to a preset distance value, the control module determines that the automatic mower completes the steering. In another of the embodiments, the control module determines whether the automatic mower completes the steering according to whether the time of the automatic lawn mower turning reaches a preset time value. Depending on the speed of the automatic mower and the steering angle that the automatic mower needs to complete, the time required for the automatic mower to complete the steering can be calculated. The automatic mower includes a timer to record the time when the automatic mower is turned. When the automatic mower turns for a preset time value, the control module determines that the automatic mower completes the steering.

As shown in Fig. 9(a), when the automatic mower moves in a narrow passage, the boundary will be frequently encountered, resulting in low efficiency of the automatic mower. In this embodiment, when the control module detects that the automatic mower frequently encounters the limit, it determines that the automatic mower moves in the narrow channel, and the control module adjusts the movement mode of the automatic mower, so that the automatic mower can quickly pass through the narrow channel. . In this embodiment, the time interval for moving the automatic lawn mower to the boundary twice is called the first time interval, and the control module determines whether the first time interval is less than or equal to the preset value of the time interval, at least two consecutive times. When a time interval is less than or equal to a preset time interval, the control module determines that the automatic mower moves within the narrow channel. As shown in Fig. 9(a), the time interval between the automatic lawn mower moving from the limit A to the limit B is the first time interval, and the automatic lawn mower includes a timer, which is moved from the automatic lawn mower to the limit A. Time starts, automatic mower moves Stop the timing when you reach limit B and start the next time. The control module stores the time interval recorded by the timer in the memory and compares the time interval preset value to store the comparison result in the memory. The time interval at which the automatic mower moves from the limit B to the limit C is also the first time interval, and the timer records the time interval at which the automatic mower moves from the limit B to the limit C, and the control module compares the timer record. Time interval and time interval preset values, and store the comparison result. Based on the comparison result stored in the memory, the control module may determine whether the first time interval has been consecutive N times less than or equal to the time interval preset value, where N is greater than or equal to 2. If so, the control module determines that the automatic mower is moving within the narrow passage. In a preferred embodiment of the present invention, N is equal to 2, that is, when the control module determines that the first time interval is less than or equal to the preset value of the time interval, the automatic lawn mower is determined to move in the narrow channel.

When the automatic mower moves in the working area, due to obstacles, etc., there may be occasional occasions when the interval between two adjacent encounters is small, if only the first time interval is less than or equal to the time interval. Setting the value to judge the movement of the automatic mower in a narrow passage is likely to lead to misjudgment. When the first time interval is less than or equal to the preset time interval, the automatic lawn mower can be more accurately judged to move in the narrow channel.

It can be understood that, since the time interval between adjacent two encounters of the automatic lawn mower is relatively short when moving in the narrow channel, the time interval and time interval of the automatic lawn mower adjacent to the boundary can be used. A method of comparing values is used to determine that the automatic mower moves within the narrow passage. If the automatic mower moves in a wider area, the interval between the automatic mowers and the boundary is longer. The timer starts counting when the automatic mowing opportunity boundary, if the time has far exceeded the time interval. With the preset value, you can judge that the automatic mower works in the open area without further counting.

In this embodiment, the preset value of the time interval may be determined according to factors such as the moving speed of the automatic mower, the turning radius, and the width of the narrow channel through which the automatic mower can pass, for example, one of 5-30 seconds may be taken. A value.

Of course, as an equivalent judgment method, the control module can also judge the length of the moving path of the automatic mower adjacent to the boundary twice to determine whether the automatic mower moves in the narrow channel.

In another embodiment of the present invention, the method for determining that the automatic mower moves in the narrow channel is substantially the same as the method in the first embodiment, with the difference that the time interval preset value may include a plurality of. As shown in Fig. 9(a), when the automatic mower moves in a narrow passage, the path lengths of the adjacent two boundaries are different. Therefore, the time interval between adjacent two encounters is different. For example, moving from boundary A to boundary B, the path length is shorter due to unfinished steering, and the time interval between adjacent two encounters is shorter; and the path from boundary B to boundary C is due to The steering is completed and continues to move a distance in the direction in which the steering is completed, so the path length is longer and the interval between adjacent two times is longer. Different time interval presets can be set for different scenarios where the automatic mower completes the steering and the unfinished steering. Let the timer start timing when the automatic mowing opportunity limit is reached. If the automatic lawn mower fails to complete the steering when it encounters the limit again, the time interval recorded by the timer is compared with the first preset value of the time interval; if the automatic lawn mower The steering has been completed before the limit is reached again, and continues to move in the direction of completion of the steering until the limit is reached again, and the time interval recorded by the timer is compared with the second preset value of the time interval. The first preset value of the time interval is less than the second preset value. If the time interval recorded by the timer is less than or equal to the first preset value or the second preset value of the time interval, the control module determines that the automatic lawn mower moves in the narrow channel.

In the above embodiment, if the automatic steering mower does not start moving in the direction of completion of the steering if the automatic cutting mower is completed and the last turning is completed, the control module will still judge that the automatic mower has not completed the last steering. It can be understood that, in the above scenario, when the automatic mowing opportunity boundary is turned again, if the steering radius R is kept constant, the moving path when the automatic mower is turned again will still coincide with the moving path before the limit, so In the above scenario, it is reasonable to judge that the automatic lawn mower has not completed the last steering, thereby reducing the steering radius when the automatic lawn mower is turning again. Specifically, when the automatic mowing opportunity limit is reached, the steering angle of the automatic mower can be stopped, or the distance moved during the steering, or the time of the steering, and the control module determines whether the automatic mower completes the steering, based on the automatic mowing Judging from the data of the previous moment of the opportunity boundary.

In another embodiment of the present invention, the control module determines whether the automatic mower frequently encounters the limit. The control module determines whether the number of times the automatic mower moves to the limit within the second time interval reaches a preset value. Specifically, the second time interval is taken for 1 minute, and the number of times the automatic lawn mower moves to the limit is taken as a value of 5-20 times. In this embodiment, preferably, the number of times the automatic lawn mower moves to the limit is 11 times. The automatic mower is marked in the memory every time the boundary is encountered. If the control module determines that the automatic mower encounters the limit number of times within 1 minute, the automatic mower is judged to move in the narrow channel.

In the first embodiment of the present invention, if the control module determines that the automatic lawn mower is moving within the narrow passage, the movement mode of the automatic lawn mower is adjusted to reduce the frequency at which the automatic lawn mower moves to the limit. specific, The control module controls the automatic mower to move along the limit, and then controls the automatic mower to move in a direction in which the longitudinal axis and the boundary are at an angle less than or equal to the first angle value. As shown in Fig. 9(a), when the automatic mower moves to the limit S, the control module has judged that the automatic mower moves in the narrow passage, and the control module controls the automatic mower to move along the limit for a distance, and then Steering at a small angle in the work area and moving in the direction after the steering is completed, thereby exiting the narrow passage. In the above movement mode, when the automatic lawn mower is turned to complete, the acute angle between the longitudinal axis and the limit is θ, and θ takes a smaller angle value, for example, θ is less than or equal to 15 degrees. When θ takes a smaller angle value, the automatic mower can be quickly driven out of the narrow passage to prevent the automatic mower from encountering the limit again in the narrow passage, thereby reducing the frequency at which the automatic mower moves to the limit.

Of course, in other embodiments, when the control module determines that the automatic mower is moving in the narrow passage, the automatic lawn mower can also be controlled to directly turn from the limit S to the attitude that the acute angle between the longitudinal axis and the boundary is θ, and Take the attitude out of the narrow passage. Alternatively, when the control module determines that the automatic mower is moving within the narrow passage, the automatic lawn mower is controlled to rotate from the limit S to the longitudinal axis parallel to the limit and move along the limit until exiting the narrow passage.

In a seventh embodiment of the invention, the movement of the automatic mower forms a parallel path in the work area, and the automatic mower covers the work area in a parallel path. As shown in FIG. 10, the automatic mower moves forward to form a forward sub-path a', and the automatic mower turns in the first rotation direction at a position where the distance reaches a preset distance value, and the turning radius is R1, and the grass is automatically cut. The steering motion of the machine forms a forward sub-path a". The automatic mower moves to the limit when turning over the angle ψ 1. The automatic mower switches from forward movement to reverse movement and turns in the second direction of rotation with a steering radius of R2, R2 is smaller than R1. The first direction of rotation is opposite to the second direction of rotation. The automatic mower rotates through angle ψ1 to form a reverse sub-path b". The automatic mower continues to move in the direction of the completion of the turn after the angle ψ1, forming a reverse sub-path b'. When the automatic mower encounters the limit next time, the manner of switching between the reverse movement and the forward movement is similar to the above steps. In the above moving mode, the forward sub-path a' is parallel to the reverse sub-path b'. When the automatic mower moves in the open area, the parallel forward sub-path and the reverse sub-path cover most of the working area, and the automatic mower only turns in the area close to the limit, and the steering path moves forward and reverse. The effect of the overall shape and effect of the path formed by the movement is negligible. That is, in the present embodiment, the forward and reverse movement of the automatic mower forms a parallel path in the work area, and the automatic mower covers the work area in a parallel path. The automatic mower covers the work area in parallel paths, making the lawn more beautiful and automatic cutting The grass machine covers the work area more efficiently.

As shown in FIG. 11, in the eighth embodiment of the present invention, the automatic mower moves forward to form a forward sub-path a', and when the automatic mower moves to the limit, the forward movement moves to the reverse movement, and along the After the rotation direction is rotated, the automatic lawn mower rotates the angle ψ2 in the second rotation direction, and then rotates the angle ψ2 in the first rotation direction, and the automatic lawn mower continues to move in the direction when the steering is completed to form the reverse sub-path b'. The forward sub-path a' is parallel to the reverse sub-path b'. Similarly, when the automatic mower reverse movement meets the limit, the movement is similar to the above steps.

In the embodiment shown in Figures 10 and 11, the automatic mower makes the forward and reverse movements form a parallel path by turning in opposite directions of rotation. Since the automatic mower rotates through the same angle in the first rotation direction and the second rotation direction, the posture of the automatic mower before the start of the steering is the same as the posture after the end of the steering, and therefore, the automatic mower is moved before the start of the steering. The path formed by the direction movement is parallel to the path formed by the movement in the direction after the end of the steering.

In the embodiment shown in FIG. 10 and FIG. 11, the automatic lawn mower further includes a positioning device including a GPS module, or a DGPS module, or a Beidou navigation module, or a Galileo navigation module, and the positioning device may further include an inertial navigation module. . The positioning device is configured to determine the current position of the automatic mower, and if the current position of the automatic mower is not on the predetermined moving path, correct the posture of the automatic mower to return the automatic mower to the predetermined moving path. This ensures that the automatic mower covers the work area in parallel paths.

In the ninth embodiment of the present invention, the structure and the moving manner of the automatic lawn mower are basically the same as those in the first embodiment, with the difference that the automatic lawn mower includes an external information collecting unit for collecting external information. The external information collecting unit is electrically connected to the control module, and the control module adjusts the steering radius when the automatic mower is turned, or the moving speed of the automatic mower, or the automatic mower according to the external information collected by the external information collecting unit. Working time plan. In this embodiment, the external information collected by the external information collecting unit includes humidity information of the working surface. Specifically, the external information collecting unit is a capacitive sensor and is installed under the housing to detect the grass condition. The control module determines the humidity of the lawn based on the output of the capacitive sensor. In this embodiment, when the control module determines that the humidity of the lawn increases, the steering radius of the automatic lawn mower is increased, and when the humidity of the lawn is decreased, the steering radius of the automatic lawn mower is reduced. Specifically, the control module sets a plurality of lawn humidity thresholds and a steering radius value corresponding to the lawn humidity threshold, and the control module determines which humidity threshold is located in the current lawn humidity, or between the two humidity thresholds, and automatically controls The mower is steered to match the corresponding turning radius. For example, in this embodiment, when the lawn humidity is At 80%-90%, the automatic lawn mower has a steering radius of 3m. The greater the humidity of the lawn, the more easily the track is damaged when the automatic mower turns, and increasing the turning radius of the automatic mower can reduce the damage of the track to the lawn. When the humidity of the lawn is moderate, the turning radius of the automatic mower is correspondingly reduced to avoid the steering radius of the automatic mower being too large, so that part of the working area cannot be completely covered. It can be understood that when the turning radius of the automatic mower is large, the probability that the automatic mower moves to a narrow area will be reduced, even if the automatic mower moves to a narrow area, because the automatic lawn mower has a larger turning radius. It will soon leave the narrow area. In contrast, when the automatic lawn mower has a small turning radius, it can keep working in a narrow area to better cover the entire working area. Therefore, according to the humidity of the lawn, the steering radius of the automatic mower can be adjusted to reduce the damage caused by the steering of the automatic mower to the lawn when the humidity of the lawn is large, and to automatically cut the grass when the humidity of the lawn is moderate. The machine maintains high efficiency.

In this embodiment, when the control module determines that the humidity of the lawn increases, the moving speed of the automatic lawn mower is reduced, and when the humidity of the lawn is decreased, the moving speed of the automatic lawn mower is increased. When the humidity of the lawn is high, it is easy to cause the track to slip, causing the lawn to wear and cause the operation of the automatic mower to malfunction. Therefore, when the control module determines that the humidity of the lawn is large, the moving speed of the automatic lawn mower is reduced, so that the operation of the automatic lawn mower is more stable. When the control module determines that the humidity of the lawn is reduced, the moving speed of the automatic lawn mower is appropriately increased, so that the working efficiency of the automatic lawn mower is higher.

In this embodiment, when the control module determines that the humidity of the lawn is greater than the first humidity threshold, the automatic mower is controlled to stop moving and working. Specifically, when the control module determines that the humidity of the lawn is greater than or equal to 95%, the automatic lawn mower is controlled to stop moving and working. When the humidity of the lawn reaches a certain level, the automatic mower will continue to work and cause serious wear and tear on the lawn. For example, when the lawn becomes very wet due to rain, the automatic mower should not continue to work.

In another embodiment of the present invention, the structure of the automatic lawn mower is basically the same as that in the ninth embodiment. The difference is that the external information collecting unit includes a humidity sensor, and the humidity sensor is disposed outside the casing to detect the humidity information of the working environment. The control module determines the humidity of the working surface according to the humidity information detected by the humidity sensor. The humidity sensor can be a rain sensor or a sensor that can detect the moisture content in the air. The humidity sensor is disposed on the housing to accurately sense the location of the ambient humidity, such as at the top of the housing.

In another embodiment of the present invention, the structure of the automatic lawn mower is basically the same as that in the ninth embodiment, the difference is that the external information collecting unit includes a wireless communication module, and receives weather information, and the control module is based on The weather information received by the wireless communication module determines the humidity of the lawn. The wireless communication module can be a wifi module, or a cellular network module, or a Bluetooth module, or a zigbee module, and the like. In this embodiment, the automatic mower further includes a positioning device that provides location information of the automatic mower, the wireless communication module receives a weather forecast of the location of the automatic mower, and the control module determines the weather forecast based on the location of the automatic mower. The humidity of the lawn, the control module adjusts the steering radius when the automatic mower is turning according to the humidity of the lawn, or adjusts the moving speed of the automatic mower, or formulates the working time plan of the automatic mower. In other embodiments, the wireless communication module can also communicate with an external server to receive weather information or environmental humidity information sent by an external server. Of course, the wireless communication module can also communicate with the user terminal, receive the lawn humidity information sent by the user, or directly receive the instruction sent by the user to control the turning radius, or the moving speed, or the working time plan of the automatic lawn mower.

Of course, in other embodiments, the external information collecting unit may further include other devices. For example, the external information collecting unit may include a camera that captures an image of the working area, and the control module acquires environmental information of the working area by analyzing an image of the working area.

For the automatic working system of the tenth embodiment of the present invention, please refer to FIG. The automated working system 100 includes an automatic lawn mower 1, a boundary line 200, and a docking station 300. The boundary line 200 divides the work area into the work area A and the work area outside B, and the automatic mower 1 moves and operates in the work area defined by the boundary line 200. When the automatic mower 1 needs to replenish the electric power, the control module controls the automatic mower 1 to move along the boundary line 200, and the return docking station 300 is charged.

12-15 are schematic diagrams showing the steering of the automatic mower 1 according to the tenth embodiment of the present invention in different situations. In this embodiment, the automatic lawn mower 1 includes a corner detecting module electrically connected to the control module. When the corner detecting module detects that the automatic lawn mower 1 moves to the corner of the boundary line, the control module controls the automatic lawn mower 1 to turn. The steering strategy of the automatic lawn mower 1 is related to the angle of the corner of the boundary line 200. Therefore, in this embodiment, the angle detecting module further includes an angle detecting unit that detects the angle of the corner of the boundary line 200. Specifically, the angle detecting unit detects the boundary. The angle or angle range of the line 200 corner. In this embodiment, the angle of the corner of the boundary line 200 refers to the angle of the corner formed by the boundary line 200 in the working area A. The corner formed by the boundary line 200 in the working area is referred to as a first corner, and the angle detecting unit detects the first corner. Angle.

The corner detecting module includes a first corner detecting sensor 5 and a second corner detecting sensor 7. The first corner detecting sensor 5 and the second corner detecting sensor 7 are oppositely disposed on the moving side of the automatic lawn mower 1 The two sides of the direction, preferably, are arranged symmetrically about the longitudinal axis of the automatic mower 1. The lateral spacing of the first corner detecting sensor 5 and the second corner detecting sensor 7 is not more than 100 mm. Preferably, the lateral spacing of the first corner detecting sensor 5 and the second corner detecting sensor 7 is not more than 90 mm. The first corner detecting sensor 5 and the second corner detecting sensor 7 are disposed at the front of the moving direction of the automatic mower 1. The electrical signal transmitted by the boundary line 200 generates an electromagnetic field, and the first corner detecting sensor 5 and the second corner detecting sensor 7 detect the electromagnetic field and detect that it is located in the working area defined by the boundary line 200 or outside the working area B.

When the automatic mower 1 moves along the boundary line 200, the control module controls one of the first corner detecting sensor 5 and the second corner detecting sensor 7 to be located in the working area defined by the boundary line 200, wherein the other is located in the boundary line. 200 outside the defined work area B. In this embodiment, when the automatic lawn mower 1 is controlled to return to the docking station along the boundary line 200, it always moves in the counterclockwise direction. Therefore, the first corner detecting sensor 5 is controlled to be located in the working area A, and the second corner detecting sensor 7 is controlled. Located outside the work area B.

In the scenario shown in Figures 12-14, when the automatic mower 1 moves to the corner of the boundary line 200, the first corner detecting sensor 5 moves from the working area A to the outside of the working area B, that is, the first corner The detecting sensor 5 and the second corner detecting sensor 7 are both located outside the working area B, and the control module thereby determines the angle of the automatic lawn mower 1 moving to the boundary line 200, and controls the automatic lawn mower 1 to turn.

In the scenario shown in FIG. 15, when the automatic mower 1 moves to the corner of the boundary line 200, the second corner detecting sensor 7 moves from the outside of the working area B to the working area A, that is, the first corner detecting sensor 5 and the second corner detecting sensor 7 are both located in the working area A, and the control module thereby determines the corner of the automatic lawn mower 1 moving to the boundary line 200, and controls the automatic lawn mower 1 to turn.

As can be seen from the situation shown in FIG. 12-15, whether the automatic mower 1 moves in the counterclockwise direction or in the clockwise direction, when the corner angle of the boundary line 200 is less than 180 degrees, the first corner detecting sensor 5 and the One of the two corner detecting sensors 7 will move from the working area A to the outside of the working area B. When the corner angle of the boundary line 200 is greater than 180 degrees, the first corner detecting sensor 5 and the second corner detecting sensor 7 One of them will move from outside the work area B to the work area A. In this embodiment, when the first corner detecting sensor 5 detects that it moves from the working area defined by the boundary line 200 to the outside of the working area B, the control module determines that the corner angle of the boundary line 200 is less than 180 degrees. When the two-corner detecting sensor 7 detects that it moves from the outside of the working area B to the working area A, the control module judges that the corner angle of the boundary line 200 is greater than 180 degrees.

As shown in Figure 12-14, in the first mode, in the first mode, the corner detecting module detects the automatic When the lawn mower 1 moves to the corner of the boundary line 200, the control module controls the automatic lawn mower 1 to retreat, and then controls the automatic lawn mower 1 to turn, while keeping the steering forward, the steering trajectory of the automatic lawn mower 1 is as shown in Fig. 12- The dotted line in 14 is shown. The control module controls the automatic mower 1 to continue to move along the boundary line 200 after steering.

The larger the turning radius of the automatic mower 1, the smaller the wear on the lawn. During the steering of the automatic mower 1, the movement of the crawler belt 3 includes a rolling motion and a sliding motion, and the sliding motion causes wear on the lawn, and the displacement amount of the sliding movement of the crawler belt 3 from the contact working surface to the leaving the working surface is called slipping. The greater the amount of slip, the greater the slippage, the more severe the wear on the lawn. The slip amount of the crawler belt 3 is related to the steering radius of the automatic mower 1 and the length of the crawler belt 3. When the length of the crawler belt 3 is constant, the larger the turning radius of the automatic lawn mower 1, the more the slip amount of the crawler belt 3 is. Small, when the steering radius tends to infinity, the movement of the track 3 tends to a pure rolling motion, and the amount of slip of the track 3 is close to zero. In the present embodiment, the grounding length of the crawler belt 3 is 500 mm. After testing, the relationship between the steering radius R of the automatic mower 1 and the slip amount S is as shown in FIG. As can be seen from Fig. 7, when the steering radius is less than 0.2 m, the slip amount of the crawler belt 3 is rapidly increased; when the steering radius is larger than 3 m, the slip amount of the crawler belt 3 is slowly decreased. In the present embodiment, the slip amount of the crawler belt 3 is controlled to be 10 mm or less, and the steering radius of the automatic lawn mower 1 is 0.8 m or more. Of course, in other embodiments, the steering radius of the automatic mower 1 may be controlled to be greater than or equal to 1 m or 1.2 m or the like.

In this embodiment, the control module controls the automatic mower 1 to always be within the working area A or boundary line defined by the boundary line 200 during the steering process.

In order to make the automatic mower 1 not out of bounds during the steering process, the control module controls the automatic mower 1 to retreat a certain distance before and after the steering, and the retreating distance is related to the steering radius. Specifically, the retreating distance and the steering radius change in the same direction. . When the corner angle of the boundary line 200 is constant, in order to prevent the automatic mower 1 from going out of bounds during the steering process and continuing to move along the boundary line 200 after the steering is completed, the turning radius of the automatic mower 1 is larger, and the retreating distance is also The bigger. Based on the angle of the corner of the boundary line 200, and the turning radius, the distance of the back can be determined.

As shown in Figures 12-14, the distance that the automatic mower 1 retreats is associated with the angle of the corner of the boundary line 200. In Figs. 12-14, the turning radius of the automatic mower 1 is constant, the angle of the corner of the boundary line 200 in Fig. 13 is reduced with respect to the angle of the corner of the boundary line 200 in Fig. 12, and the distance of the automatic mower 1 is increased. Large; the angle of the corner of the boundary line 200 in FIG. 14 is increased with respect to the angle of the corner of the boundary line 200 in FIG. 12, and the distance by which the automatic mower 1 retreats is reduced.

Of course, it is also possible to control the distance that the automatic mower 1 retreats unchanged, and adjust the steering radius of the automatic mower 1 according to the angle of the corner of the boundary line 200. As the angle of the corner of the boundary line 200 increases, the turning radius increases; as the angle of the corner of the boundary line 200 decreases, the turning radius decreases.

As shown in FIG. 15, in the second mode, when the corner detecting module detects that the automatic lawn mower 1 moves to the corner of the boundary line 200, the control module controls the automatic lawn mower 1 to directly turn, steering While keeping moving forward, the steering trajectory of the automatic mower 1 is as shown by the dashed line in FIG. The control module controls the automatic mower 1 to continue to move along the boundary line 200 after steering. Of course, in the situation shown in FIG. 15, the automatic mower 1 can also work in the first mode, that is, the automatic mower 1 retreats a certain distance before and after the steering, so that the automatic mower 1 can smoothly follow the edge The boundary line 200 is moved as long as the automatic lawn mower 1 is not out of bounds during the steering process.

In this embodiment, when the angle of the corner of the boundary line 200 is less than 180 degrees and close to 180 degrees, the automatic mower 1 operates in the second mode, that is, the corner detecting module detects that the automatic mower 1 moves to the boundary line. When the corner of 200 is turned, the automatic lawn mower 1 is controlled to directly turn. When the angle of the boundary line 200 is less than 180 degrees, and the automatic mower 1 directly turns to cause the automatic mower 1 to be out of bounds, the automatic mower 1 works in the first mode, that is, the angle detecting module detects the automatic When the lawn mower 1 moves to the corner of the boundary line 200, the control module controls the automatic lawn mower 1 to re-steer.

In the second mode, the turning radius of the automatic mower 1 increases as the angle of rotation of the boundary line 200 increases.

As shown in FIG. 12-15, in the embodiment, if the first corner detecting sensor 5 detects that it moves from the working area defined by the boundary line 200 to the outside of the working area B, the control module controls the automatic lawn mower. 1 is turned to the side where the first corner detecting sensor 5 is located. If the second corner detecting sensor 7 detects that it moves from the outside of the working area B to the working area A, the control module controls the automatic mower 1 to the first The side where the two corner detecting sensor 7 is located is turned. It can be understood that when the automatic lawn mower 1 moves clockwise, if the first corner detecting sensor 5 detects that it moves from the outside of the working area B to the working area A, the control module controls the automatic lawn mower 1 Turning to the side where the first corner detecting sensor 5 is located, if the second corner detecting sensor 7 detects that it moves from the working area A to the outside of the working area B, the control module controls the automatic lawn mower 1 to the second The side where the corner detecting sensor 7 is located is turned.

In the steering process of the automatic lawn mower 1 of the present embodiment, the automatic lawn mower 1 keeps moving while being steered, so that the abrasion of the lawn is small, and the automatic lawn mower 1 adopts a movement strategy of reversing and re-steering, so that The automatic mower 1 can always be located in the working area A or the boundary line defined by the boundary line 200 during the turning process, and does not move to the outside of the working area B, thereby ensuring the safety of the automatic mower 1.

In this embodiment, the angle detecting unit includes an angle detecting sensor that detects the angle of the corner of the boundary line 200, and the control module controls the distance of the automatic lawn mower 1 to retreat according to the angle of the corner of the boundary line 200.

Before determining the angle of the corner of the boundary line 200, the control module has judged whether the corner angle of the boundary line 200 is less than 180 degrees. The following description of the specific detection process of the corner angle of the boundary line 200 is determined by the control module to determine that the corner angle of the boundary line 200 is smaller than 180 degrees is the premise.

In this embodiment, the angle detecting unit includes a first angle detecting sensor, and at least one of the first corner detecting sensor 5 and the second corner detecting sensor 7 is used as the first angle detecting sensor. Specifically, if the first corner detecting sensor 5 detects that it moves from the working area defined by the boundary line 200 to the outside of the working area B, the first corner detecting sensor 5 is used as the first angle detecting sensor, as shown in the figure. The working situation in 12-14 is shown. If the second corner detecting sensor 7 detects that it moves from the outside of the working area defined by the boundary line 200 to the working area A, the second corner detecting sensor 7 is used as the first angle detecting sensor, as shown in FIG. The work situation is shown.

In this embodiment, the control module determines the angle of the corner of the boundary line 200 by the intensity of the boundary signal detected by the first angle detecting sensor. Specifically, the first angle detecting sensor detects the electromagnetic field generated by the electrical signal transmitted in the boundary line 200. strength.

The process of detecting the boundary angle of the boundary line 200 by the automatic mower 1 will be described below by taking the working situation shown in FIG. 12-14 as an example. In the working scenario shown in FIG. 12, the boundary line 200 is a right angle; in the working situation shown in FIG. 13, the boundary line 200 is an acute angle; in the working situation shown in FIG. 14, the boundary line 200 is an obtuse angle. The specific process of the automatic mower 1 detecting the corner angle of the boundary line 200 is as shown in FIG. To facilitate the explanation of the principle of the automatic lawn mower 1 detecting the corner angle of the boundary line 200, the boundary line 200 in the working context of FIGS. 12-14 is simultaneously shown in FIG. 16, wherein the boundary line 200 in the working context of FIG. As indicated by the solid line in Fig. 16, the boundary line 200 in the operational scenarios of Figs. 13 and 14 is shown by the dotted line on the right side and the broken line on the left side, respectively, in Fig. 16.

When the first corner detecting sensor 5 moves from the working area A to the outside of the working area B, that is, the corner detecting module detects that the automatic lawn mower 1 moves to the corner of the boundary line 200, the control module controls the automatic lawn mower 1 Continue to advance the preset distance to the position shown in Figure 16. The control module reads the intensity of the boundary signal detected by the first angle detecting sensor at this time. The control module includes a storage unit to store signal strength The preset range, the preset range of the signal intensity corresponds to the intensity of the boundary signal detected by the first angle detecting sensor at the position shown in FIG. 16 when the corner angle of the boundary line 200 is the first angle value or the first angle range. The control module compares the intensity of the boundary signal detected by the first angle detecting sensor with a preset range of the signal strength. If the intensity of the boundary signal detected by the first angle detecting sensor satisfies a preset range of the signal strength, the control module determines The corner angle of the boundary line 200 is the first angle value, or the corner angle of the boundary line 200 is determined to be within the first angle range.

In this embodiment, the preset range of the signal strength corresponds to the intensity of the boundary signal detected by the first angle detecting sensor at the position shown in FIG. 16 when the corner angle of the boundary line 200 is the first angle value, and the first angle value It is 90 degrees. Therefore, in the working scenario shown in FIG. 12, after the automatic mower 1 moves to the position shown in FIG. 8, the intensity of the boundary signal detected by the first angle detecting sensor will satisfy the preset range of the signal strength, thereby The control module determines that the corner angle of the boundary line 200 satisfies the first angle value, that is, determines that the corner angle of the boundary line 200 is 90 degrees.

As shown in FIG. 16, when the automatic mower 1 is operated in the working situation of FIG. 13, when the automatic mower 1 is moved to the position shown in FIG. 16, the distance ratio between the boundary line 200 and the first angle detecting sensor is shown. The boundary line 200 of 12 is at a larger distance from the first angle detecting sensor. That is, in the working scenario shown in FIG. 13, the distance between the boundary line 200 and the first angle detecting sensor is the distance between the boundary line 200 and the first angle detecting sensor when the corner angle of the boundary line 200 is the first angle value. Big. Therefore, in the working scenario shown in FIG. 13, the intensity of the boundary signal detected by the first angle detecting sensor will be smaller than the boundary signal detected by the first angle detecting sensor when the corner angle of the boundary line 200 is the first angle value. The intensity is also less than the preset range of signal strength. The control module determines that the angle of the boundary signal detected by the first angle detecting sensor is less than a preset range of the signal strength, and determines that the corner angle of the boundary line 200 is smaller than the first angle value.

Similarly, as shown in FIG. 16, when the automatic mower 1 is operated in the working situation of FIG. 14, when the automatic mower 1 moves to the position shown in FIG. 16, the boundary line 200 and the first angle detecting sensor are The distance from the boundary line 200 of FIG. 12 to the first angle detecting sensor is small. That is, in the working scenario shown in FIG. 14, the distance between the boundary line 200 and the first angle detecting sensor is the distance between the boundary line 200 and the first angle detecting sensor when the corner angle of the boundary line 200 is the first angle value. small. Therefore, in the working scenario shown in FIG. 14, the intensity of the boundary signal detected by the first angle detecting sensor will be greater than the boundary detected by the first angle detecting sensor when the corner angle of the boundary line 200 is the first angle value. The strength of the signal is greater than the preset range of signal strength. The control module determines that the angle of the boundary signal detected by the first angle detection sensor is greater than a preset range of the signal strength, and determines that the corner angle of the boundary line 200 is greater than the first angle value.

By the above method, the control module can judge that the corner angle of the boundary line 200 is a right angle or an acute angle or an obtuse angle, thereby controlling the distance or the radius of the steering of the automatic lawn mower 1. In this embodiment, the steering radius of the automatic mower 1 is kept constant, and different retreat distances are set for the corner angles of the different boundary lines 200. When the corner angle of the boundary line 200 is a right angle, the distance that the automatic mower 1 retreats is the first distance, and the first distance is obtained according to the steering radius. When the corner angle of the boundary line 200 is an acute angle, the automatic lawn mower 1 retreats by a distance greater than the first distance. When the corner angle of the boundary line 200 is an obtuse angle, the distance that the automatic mower 1 retreats is smaller than the first distance.

In other embodiments, the distance that the automatic mower 1 retreats may be kept constant, and different steering radii may be set for the corner angles of the different boundary lines 200. When the corner angle of the boundary line 200 is a right angle, the turning radius of the automatic mower 1 is the first radius, and the first radius is obtained according to the distance that the automatic mower 1 retreats. When the corner angle of the boundary line 200 is an acute angle, the turning radius of the automatic mower 1 is smaller than the first radius. When the corner angle of the boundary line 200 is an obtuse angle, the turning radius of the automatic mower 1 is larger than the first radius.

In this embodiment, when the corner detecting module detects that the automatic lawn mower 1 moves to the corner of the boundary line 200, the control module controls the preset distance of the automatic lawn mower 1 to continue to advance to the body length of the automatic lawn mower 1. 1/2. At this time, the distance between the first angle detecting sensor and the boundary line 200 is about 1/2 of the length of the fuselage of the automatic lawn mower 1, and the first angle detecting sensor can accurately distinguish the intensity of the boundary line 200 signal of the different corners. In this embodiment, since the lateral spacing of the first corner detecting sensor 5 and the second corner detecting sensor 7 is small, when the automatic lawn mower 1 moves along the boundary line, the first corner detecting sensor 5 and the second corner detecting sensor 7 is close to the boundary line 200, so in the working situation of FIG. 12-14, the position of the first corner detecting sensor 5 moving from the working area A to the outside of the working area B is almost the same, and this position is due to the boundary line 200 angle angle. The change that occurs with respect to the change in the body length of the automatic mower 1 is negligible. Therefore, in the working situation of FIG. 12-14, after the corner detecting module detects that the automatic lawn mower 1 moves to the corner of the boundary line 200, the automatic lawn mower 1 continues to advance by 1/2 of the length of the fuselage. The distance between the position and the boundary of the boundary line 200 is almost the same, so that the first angle detecting sensor 5 can accurately distinguish the intensity of the boundary line 200 signals of different corners. In order to ensure that the automatic mower 1 does not go out of bounds, the preset that the automatic mower 1 moves to the corner of the boundary line 200 and then advances should be controlled. The distance is less than the length of the fuselage of the automatic mower 1. In order to ensure that the automatic lawn mower 1 is not out of bounds, and the first angle detecting sensor can accurately distinguish the intensity of the boundary line 200 signals of different corners, it is preferable to control the preset distance between 0.2 m and 0.5 m.

In this embodiment, the control module controls the automatic mower 1 to continue to move along the boundary line 200 after being turned. If the automatic mower 1 is turned, the positional relationship of the automatic mower 1 with respect to the boundary line 200 can satisfy that the first corner detecting sensor 5 is located in the working area A, and the second corner detecting sensor 7 is located outside the working area B. That is, when the condition that the automatic mower 1 moves along the boundary line 200 is satisfied, the control module controls the automatic mower 1 to proceed. Due to the change in the angle of the boundary line 200, the automatic mower 1 does not always move smoothly along the boundary line 200 after being turned. In one case, the automatic lawn mower 1 encounters the boundary line 200 in advance after being turned, and the first corner detecting sensor 5 and the second corner detecting sensor 7 are located at the boundary line after the automatic lawn mower 1 is turned. 200 outside the defined work area B. This situation usually occurs when the steering radius of the automatic mower 1 is too large, or the distance from the automatic mower 1 is too small. At this time, if the automatic mower 1 continues to advance, it may be out of bounds. In order to enable the automatic mower 1 to continue to move along the boundary line 200, the automatic mower 1 is controlled to turn again, while the steering remains while moving, and the direction of rotation of the re-steering is the same as the direction of rotation of the previous steering. Fig. 17 is a view showing a state after the automatic lawn mower 1 is turned. In the state shown in Fig. 17, the automatic lawn mower 1 is controlled to retreat by a predetermined distance and then turned until the automatic lawn mower 1 is turned smoothly. Move along the boundary line 200. Fig. 18 is another state diagram after the automatic lawn mower 1 is turned. In the state shown in Fig. 18, the automatic lawn mower 1 can be directly turned under the condition that the automatic lawn mower 1 is not out of bounds. Move along the boundary line 200. In this embodiment, the automatic lawn mower further includes a third corner detecting sensor 9 and a fourth corner detecting sensor 11, and the longitudinal axis of the automatic lawn mower 1 is symmetrically disposed at the rear of the moving direction of the automatic lawn mower 1 The spacing is much larger than the distance between the first corner detecting sensor 5 and the second corner detecting sensor 7. When the first corner detecting sensor 5 and the second corner detecting sensor 7 are both located outside the working area B, and the third corner detecting sensor 9 and the fourth corner detecting sensor 11 are both located in the working area A, the automatic cutting is controlled. The grass machine 1 retreats before turning. When the first corner detecting sensor 5 and the second corner detecting sensor 7 are both located outside the working area B, one of the third corner detecting sensor 9 and the fourth corner detecting sensor 11 is located in the working area A, wherein the other When the B is outside the work area, the automatic mower 1 can be controlled to directly turn. Of course, it is also possible to determine whether the automatic mower 1 needs to be retracted before turning by judging the angle between the longitudinal axis of the automatic mower 1 and the boundary line 200. The automatic mower 1 cannot smoothly follow the boundary line after steering Another case of 200 movement is that after the automatic mower 1 turns to the preset angle, the boundary line 200 is still not encountered, and the automatic lawn mower 1 is turned to a preset angle, for example, after turning 90 degrees, the first corner detection The measuring sensor 5 and the second corner detecting sensor 7 are both located in the working area A. This situation usually occurs when the steering radius is too small, or when the automatic lawn mower 1 retreats too far. At this time, the automatic lawn mower 1 is controlled to turn again, while the steering is kept moving, and the direction of rotation of the re-steering is opposite to the direction of rotation of the previous steering. As shown in FIG. 19, the re-steering of the automatic mower 1 causes the automatic mower 1 to be shifted toward the boundary line 200 so as to be movable along the boundary line 200.

In other embodiments, since the lateral distance between the first corner detecting sensor 5 and the second corner detecting sensor 7 is small, when the automatic lawn mower 1 moves to the position in FIG. 16, the first corner detecting sensor 5 is The distance between the second corner detecting sensor 7 and the boundary line 200 is not much different. Therefore, the first corner detecting sensor 5 and the second corner detecting sensor 7 can also be used as the first angle detecting sensor to integrate the first corner. The intensity of the boundary signal detected by the detecting sensor 5 and the second corner detecting sensor 7 is used to determine the angle of the corner of the boundary line 200. Of course, in the working scenario shown in FIG. 12-14, the second corner detecting sensor 7 can be used as the first angle detecting sensor. In the working situation shown in FIG. 15, the first corner detecting sensor 5 is used as the first corner detecting sensor 5 The first angle detects the sensor.

In this embodiment, the storage unit stores a preset range of the plurality of signal strengths, and respectively corresponds to the first angle value and the plurality of angle values different from the first angle value. Specifically, the storage unit further stores a preset range of signal strength corresponding to the angles of the corners of the boundary line 200 of 30 degrees, 60 degrees, 120 degrees, and 150 degrees. When the automatic mower 1 moves to the position shown in FIG. 16, the control module compares the intensity of the boundary signal detected by the first angle detecting sensor with a preset range of each signal intensity, if the first angle detecting sensor detects If the intensity of the boundary signal satisfies the preset range of the signal strength corresponding to the angle value, the angle of the corner of the boundary line 200 is determined to satisfy the angle value, and if the intensity of the boundary signal detected by the first angle detecting sensor is less than a certain angle value Corresponding range of the signal strength, determining that the angle of the corner of the boundary line 200 is less than the angle value, if the intensity of the boundary signal detected by the first angle detecting sensor is greater than a preset range of the signal strength corresponding to the angle value, It is judged that the angle of the corner of the boundary line 200 is greater than the angle value.

Of course, in other embodiments, the preset range of signal strength may also correspond to the range of the angle of rotation. When the automatic mower 1 moves to the position shown in FIG. 16, the control module compares the intensity of the boundary signal detected by the first angle detecting sensor with a preset range of each signal strength, respectively. When the intensity of the boundary signal detected by the angle detecting sensor satisfies the preset range of the signal intensity corresponding to a certain angle range, it is determined that the angle of the corner of the boundary line 200 satisfies the angle range.

Of course, in other embodiments, the preset range of the signal strength may be limited to a preset value, and the strength of the boundary signal detected by the first angle detecting sensor is compared with a preset value of the signal strength.

It has been tested that the boundary line 200 corner angle detecting method of the first embodiment of the present invention can accurately distinguish the range of the corner angle of the boundary line 200 of the interval of 10 degrees or more. The first corner detecting sensor 5 or the second corner detecting sensor 7 is simultaneously used as an angle detecting sensor, so that the cost of the automatic lawn mower 1 is well controlled.

In the eleventh embodiment of the present invention, the automatic lawn mower 1 detects the corner angle of the boundary line 200 substantially the same as that in the first embodiment. The difference is that the angle detecting unit includes the second angle detecting sensor, and the corner detecting module detects When the automatic lawn mower 1 moves to the corner of the boundary line 200, the control module can selectively control the automatic lawn mower 1 to continue to advance, so that the second angle detecting sensor reaches the position of the second distance ahead of the corner of the boundary line 200, the angle detecting unit The intensity of the boundary signal detected by the second angle detecting sensor is compared with a preset range of the signal strength, and the angle value or range of the corner of the boundary line 200 is determined according to the comparison result.

In the eleventh embodiment, the principle of detecting the corner angle of the boundary line 200 is substantially the same as that in the tenth embodiment. Referring to FIG. 16, the difference is that the first corner detecting sensor 5 and the second corner detecting are used. The second angle detecting sensor of the measuring sensor 7 detects the intensity of the boundary signal. In this embodiment, the second angle detecting sensor is disposed at the front of the automatic lawn mower 1. Specifically, in the longitudinal direction of the automatic lawn mower 1, the second angle detecting sensor is adjacent to the first/second corner detecting sensor. Settings. When the corner detecting module detects that the automatic lawn mower 1 moves to the corner of the boundary line 200, the control module controls the automatic lawn mower 1 to continue for a distance so that the second angle detecting sensor reaches the second distance ahead of the boundary line 200. s position. In this embodiment, the second distance is 1/2 of the length of the fuselage of the automatic lawn mower 1 so that the second angle detecting sensor can accurately distinguish the intensity of the boundary line 200 signals of different corners. The front of the corner of the boundary line 200 refers to the front of the moving direction of the automatic mower 1. In other embodiments, the first corner detecting sensor 5 and the second corner detecting sensor 7 may be oppositely disposed at the rear of the second angle detecting sensor, and when the corner detecting module detects that the automatic lawn mower 1 moves to At the corner of the boundary line 200, the second angle detecting sensor is located at a second distance ahead of the corner of the boundary line 200, then The mower 1 does not need to continue to advance, and the control module reads the intensity of the boundary signal detected by the second angle detecting sensor at this time, and compares it with the preset range of the signal intensity. In other embodiments, the second angle detecting sensor may also be disposed at other positions of the automatic lawn mower 1 only need to ensure that the second angle detecting sensor reaches a position of the second distance ahead of the corner of the boundary line 200, so that the second angle detecting sensor The intensity of the boundary line 200 signal of different corners can be accurately distinguished.

In the twelfth embodiment of the present invention, the automatic lawn mower 1 detects the corner angle of the boundary line 200 substantially the same as in the first embodiment, the difference being that the angle detecting unit includes the third angle detecting sensor 13, and the corner detecting module detects When the automatic lawn mower 1 is detected to move to the corner of the boundary line 200, the control module can selectively control the automatic lawn mower 1 to continue the third distance. After the automatic lawn mower advances the third distance, the control module detects according to the third angle. The positional relationship of the sensor 13 with respect to the boundary line 200 determines the angle value or range of the corner of the boundary line 200.

In the twelfth embodiment, the angle detecting unit includes at least two third angle detecting sensors 13 disposed along the moving direction of the automatic mower 1. When the automatic mower 1 moves along the boundary line 200, the control module controls the third angle detecting sensors 13 to be located in the working area A defined by the boundary line 200, or both outside the working area defined by the boundary line 200. This embodiment is only described for the working scenario in which the corner angle of the boundary line 200 is less than 180. In the embodiment, when the automatic mower 1 moves along the boundary line 200, the third angle detecting sensor 13 is located in the working area defined by the boundary line 200. Inside A. In this embodiment, the control module determines that the third angle detecting sensor 13 is relative to the third angle detecting sensor 13 according to at least one of the third angle detecting sensors 13 located in the working area defined by the boundary line 200 or outside the working area defined by the boundary line B. The positional relationship of the boundary line 200. The positional relationship of the third angle detecting sensor 13 with respect to the boundary line 200 is in one-to-one correspondence with the value or range of the corner angle of the boundary line 200.

Taking the working situation shown in FIG. 12-14 as an example, the principle of the automatic lawn mower 1 detecting the corner angle of the boundary line 200 will be described with reference to FIG. For convenience of explanation, the boundary line 200 in the working context of FIGS. 12-14 is simultaneously shown in FIG. 20, wherein the boundary line 200 in the working context of FIG. 12 is shown by the solid line in FIG. 20, and FIG. 13 and FIG. The boundary line 200 in the working context is shown by the dotted line on the right side and the dotted line on the left side, respectively.

As shown in Fig. 20, two third angle detecting sensors 13 are disposed on the left side of the moving direction of the automatic mower 1, and are disposed opposite to the front and rear portions of the automatic mower 1. When the automatic mower 1 moves in the counterclockwise direction, the third angle detecting sensor 13 is located in the working area A. In this embodiment, when automatic When the lawn mower 1 moves to the corner of the boundary line 200, the control module controls the automatic mower 1 to continue moving the third distance to the position shown in FIG. In the working situation shown in Fig. 12, when the automatic mower 1 reaches the position shown in Fig. 20, the third angle detecting sensor 13 located at the front has moved from the working area A to the outside of the working area B, at the rear. The third angle detecting sensor 13 is still located in the working area A. In the working situation shown in Fig. 13, when the automatic mower 1 reaches the position shown in Fig. 20, the third angle detecting sensor 13 is located outside the working area B. In the working scenario shown in Fig. 14, when the automatic mower 1 reaches the position shown in Fig. 20, the third angle detecting sensor 13 is located in the working area A. When the value of the third distance is set such that the corner angle of the boundary line 200 is the third angle range, when the automatic lawn mower 1 moves to the position shown in FIG. 20, the front third angle detecting sensor 13 is located outside the working area. B, the rear third angle detecting sensor 13 is located in the working area A. When the automatic mower 1 moves to the position shown in FIG. 20, the control module determines that the front third angle detecting sensor 13 is located outside the working area B, and the rear third angle detecting sensor 13 is located in the working area A, then Determining that the corner angle of the boundary line 200 is within the third angle range; the control module determines that the third angle detecting sensor 13 is located outside the working area B, and determines that the corner angle of the boundary line 200 is smaller than the third angle range; the control module determines the third angle When the detecting sensors 13 are all located in the working area A, it is judged that the corner angle of the boundary line 200 is greater than the third angle range. Specifically, in the embodiment, the third angle range is an interval that floats up and down at a center of 90 degrees. In the present embodiment, along the length direction of the automatic mower 1, two third angle detecting sensors 13 are disposed near the middle of the fuselage of the automatic mower 1, along the width direction of the automatic mower 1, two The three-angle detecting sensor 13 is disposed at a position close to the side of the automatic lawn mower 1.

Of course, in other embodiments, there may be a plurality of third angle detecting sensors 13 disposed along the moving direction of the automatic mower 1, and when the automatic mower 1 moves to the position shown in FIG. 20, the control module determines each of the first The three-angle sensor 13 is located in the work area A or outside the work area B to determine the angle of the corner of the boundary line 200. The more the number of the third angle detecting sensors 13 is, the more accurate the determination of the corner angle of the boundary line 200 is. The plurality of third angle detecting sensors 13 may be distributed uniformly or unevenly along the moving direction of the automatic mower 1 so that the most effective corner angle range can be obtained with the minimum number of third angle detecting sensors 13 to determine the automatic mowing The optimal value of the back distance of the machine 1.

It can be understood that, according to the change of the first/second corner detecting sensor setting position, for example, the first/second corner detecting sensor is not disposed at the front of the automatic lawn mower 1, the corner detecting module detects After the automatic mower 1 moves to the corner of the boundary line 200, the automatic mower 1 may not continue to advance, and the control The module determines the angle value or range of the corner of the boundary line 200 based on the positional relationship of the third angle detecting sensor 13 with respect to the boundary line 200 at this time.

The boundary line 200 corner angle detecting method of the twelfth embodiment has an accurate judgment of the corner angle range of the boundary line 200, and the user experience is good.

In the thirteenth embodiment of the present invention, the automatic lawn mower 1 detects the corner angle of the boundary line 200 substantially the same as in the first embodiment, with the difference that the angle detecting unit includes two fourth angle detecting sensors 15 along the automatic cutting The moving direction of the grass machine 1 is set. When the corner detecting module detects that the automatic lawn mower 1 moves to the corner of the boundary line 200, the control module can selectively control the automatic lawn mower 1 to continue the fourth distance, and the control module compares two The fourth angle detects the intensity of the boundary signal detected by the sensor 15, to determine the angle of the corner of the boundary line 200.

Taking the working situation shown in FIG. 12-14 as an example, the principle of the automatic lawn mower 1 detecting the corner angle of the boundary line 200 will be described with reference to FIG. 21. For convenience of explanation, the boundary lines in the working scenarios of FIGS. 12-14 are simultaneously shown in FIG. 21, wherein the boundary lines in the working context of FIG. 12 are shown by solid lines in FIG. 21, and the operations of FIGS. 13 and 14 are shown. The boundary lines in the context are shown by the dotted line on the right side and the dotted line on the left side, respectively. When the corner detecting module detects that the automatic lawn mower 1 moves to the corner of the boundary line 200, the control module can selectively control the automatic lawn mower 1 to continue the fourth distance to reach the position shown in FIG. When the value of the fourth distance is set such that the corner angle of the boundary line 200 is the second angle value, the distance between the two fourth angle detecting sensors 15 and the boundary line 200 when the automatic lawn mower 1 reaches the position shown in FIG. The same, therefore, the intensity of the boundary signals detected by the two fourth angle detecting sensors 15 is the same. When detecting the corner angle of the boundary line 200, when the automatic lawn mower 1 moves to the position shown in FIG. 21, the control module compares the strengths of the boundary signals detected by the two fourth angle detecting sensors 15, if two fourth If the intensity of the boundary signal detected by the angle detecting sensor 15 is the same, it is determined that the angle of the corner of the boundary line 200 satisfies the second angle value; if the intensity of the boundary signal detected by the fourth angle detecting sensor 15 of the front side is greater than the fourth of the rear side The angle of the boundary signal detected by the angle detecting sensor 15 determines that the corner angle of the boundary line 200 is greater than the second angle value, and conversely, determines that the corner angle of the boundary line 200 is smaller than the second angle value.

In this embodiment, the second angle value is 90 degrees. In the present embodiment, along the length direction of the automatic mower 1, two fourth angle detecting sensors 15 are respectively disposed at the front and the rear of the automatic mower 1, along the width direction of the automatic mower 1, two The fourth angle detecting sensor 15 is disposed at a position close to the side of the automatic lawn mower 1.

It can be understood that, according to the change of the first/second corner detecting sensor setting position, for example, the first/second corner detecting sensor is equidistantly disposed between the two fourth angle detecting sensors 15, the corner detecting module After detecting that the automatic mower 1 moves to the corner of the boundary line 200, the automatic mower 1 may not continue to advance, and the control module compares the strengths of the boundary signals detected by the two fourth angle detecting sensors 15 at this time. The angle of the corner of the boundary line 200 is judged.

In the fourteenth embodiment of the present invention, the automatic lawn mower 1 detects the corner angle of the boundary line 200 substantially the same as in the first embodiment, except that the angle detecting unit includes a fifth angle detecting sensor for detecting the corner of the boundary line 200. a preset mark, the preset value of the corner of the boundary line 200 detected by the sensor according to the fifth angle detection, the control module determining an angle value or a range of the corner of the boundary line 200, wherein the preset mark of the boundary line 200 corner and the boundary line 200 corner The values or ranges of angles correspond one-to-one.

As shown in FIG. 22, marks are provided at the corners of the boundary line 200, and the marks set at the corners of the boundary line 200 are different depending on the angle of the corner of the boundary line 200. Specifically, in the embodiment, the fifth angle detecting sensor is a Hall element, and the magnetic steel is added to the wiring nail at the corner of the boundary line 200, and a magnetic steel is disposed at an obtuse corner of the boundary line 200, and two corners are disposed at a right angle corner. For the magnetic steel, three magnetic steels are arranged at the corners of the acute angle, and the automatic mower 1 travels the same distance to detect the signals of different magnetic steels to distinguish the corner angle of the boundary line 200.

The method for detecting the corner angle of the boundary line 200 of the above embodiment is directed to the situation that the corner angle 200 of the boundary line 200 is less than 180 degrees. When the corner angle of the boundary line 200 is greater than 180 degrees, the angle of the corner of the boundary line 200 can be detected by a corresponding method. The principle of detection has been clearly clarified in the above description and will not be described again here.

After the angle of the boundary line 200 is detected by the method of the above embodiment, if the automatic mower 1 is turned back and forth and the steering radius is kept constant, the distance that the automatic mower 1 retreats will be an angle value with the boundary line 200. Or the range is closely related. Specifically, the distance of the retreat will be determined according to the angle of the different boundary line 200. The more precise the angle of the boundary line 200 is, the better the distance of the automatic mower 1 is backed off, and the automatic mower 1 is controlled. The better the steering effect.

In another embodiment of the present invention, the steering strategy when the automatic mower 1 moves along the boundary line 200 is substantially the same as that of the first embodiment, with the difference that the automatic mower 1 is turned while retreating. Specifically, the direction of rotation of the automatic lawn mower 1 while retreating is the same as the direction of rotation of the automatic lawn mower 1 while maintaining the forward direction. As shown in FIG. 23, the corner detecting module detects that the automatic mower 1 moves to the side. At the corner of the boundary line 200, the control module controls the automatic mower 1 to retreat, and simultaneously turns backwards, and then controls the automatic mower 1 to advance, and forwards while turning, so that the automatic mower 1 continues to move along the boundary line 200 after being turned. The automatic mower 1 is turned while retracting, and functions to assist the automatic mower 1 to turn. The automatic mower 1 is always located on the boundary line 200 during the reversing and turning of the automatic mower 1.

A walking method according to an embodiment of the present invention can be applied to a self-mobile device such as a robot, a lawn mower, a vacuum cleaner, a sweeper, and the like. The self-moving devices include longitudinal axes extending toward the first direction and the second direction, respectively, and corresponding working modules are disposed on both sides of the longitudinal axis, and the first walking component and the second walking are respectively disposed on both sides of the longitudinal axis. Component. The method can be applied in the application scenario as described in FIG. Referring to FIG. 24, the self-moving device is an automatic lawn mower 110. The automatic lawn mower 110 operates in a working area 120. The working area 120 is surrounded by a boundary 130, and the automatic mower 110 can recognize Going to the boundary 130, thereby controlling the travel paths of the first travel component 112 and the second travel component 113 disposed on both sides of the longitudinal axis 111, so that the automatic mower 110 does not completely exceed the work area 130 surrounded by the boundary 120, and works. The area 130 will also include obstacles 140 that the automatic mower 110 continues to follow the original path during walking. The identifier is the boundary 130 and the obstacle 140. In order to enhance the mowing effect, the automatic mower 110 basically covers the entire working area 130. When it recognizes the boundary 130 or the obstacle 140, it needs to avoid the boundary 130 or Obstacle 140. During the entire walking process of the automatic mower 110, for convenience of description, the walking process of the automatic mower 110 before and after the identification of the marker can be defined as a sub-walking process, and during the sub-walking process, the automatic mower 110 recognizes The walking path before the marker is defined as the first path, and after the automatic lawn mower 110 recognizes the marker, the walking path for avoiding the marker is defined as the second path. Also, the direction of travel of the automatic mower 110 along the first path and the second path is different, and the first path and the second path do not coincide. That is, if the automatic mower 110 is advanced along the first path, the automatic mower 110 retreats along the second path; if the automatic mower 110 retreats along the first path, the reverse is true. And in order to make the paths covered by the first path and the second path different, the speed difference between the first running component 122 and the second running component 123 can be controlled. The automatic mower 110 performs the mowing work on the work area 130 substantially or completely after a suitable number of sub-walking processes.

Wherein, during the whole walking process of the automatic mower 110, a plurality of sub-walking processes may be included, and the first path in the Nth (N≥2) sub-walking process may be the first in the N-1th sub-walking process. a second path, and the second path in the Nth sub-walking process may be the first path in the (N+1)th sub-walking process (if present); of course, the first path in the Nth sub-walking process may also be The second path in the N-1 walking process is different, that is, in the N-1th walking process, the automatic mower 110 walks a certain distance along the second path, and then changes the walking path, which is defined for convenience only. The walking path is the third path, and when the automatic mower 110 walks along the third path, the identifier is identified, and the third path is the first path in the Nth sub-walking process, of course, at the N-1th The fourth path, the fifth path, and the like may also be included in the walking process; those skilled in the art may understand that the first path in the (N+1)th walking process and the second path in the Nth child walking process also have A similar relationship.

The walking method improves walking efficiency and working condition adaptability by changing the traveling direction of the first path and the second path and the walking manner of the second path before identifying the marker.

As shown in FIG. 25, in one embodiment, a walking method of a self-moving device is provided, the walking method comprising the following steps:

Step 202: Walking along the first path, the speed when the mobile device walks along the first path has a first component in the direction of the longitudinal axis, and the first component is in the same direction as the first direction.

Specifically, the self-moving device includes a longitudinal axis, and the two ends of the longitudinal axis respectively extend in a first direction and a second direction opposite to each other, and the mobile device is laid out on the basis of the longitudinal axis, and the first walking component and the first The two walking components are disposed on both sides of the longitudinal axis. When the mobile device is walking, it can advance or retreat along the longitudinal axis or at an angle to the longitudinal axis. Regardless, the speed of the self-moving device has a component in the direction of the longitudinal axis during the advancement or retraction of the mobile device. Here, the speed at a certain moment when the mobile device walks along the first path has a first component in the direction of the longitudinal axis, the first component being in the same direction as the first direction, so that the direction according to the first direction can be Determines whether the mobile device is moving forward or backward when walking.

Step 204: Identify the identifier, the mobile device recognizes that the location of the identifier is the first location, and the mobile device stops walking at the first location, and is in the first state.

Specifically, the self-moving device walks along the first path, and after identifying the identifier, the identifier hinders the walking from the mobile device along the first path, and the identifier may be a boundary or an obstacle or the like. The boundary may be an electronic fence or a light fence or a fiber fence, and the obstacle may be a soil slope, a stump, a stone, Without the work area or the like, the self-mobile device can set the corresponding identification device according to the difference of the identifiers that need to be judged. After the mobile device recognizes the identifier, it is in the first position, and maintains its angle and the like, and defines the state as the first state, and the first location is the end of the first path.

Step 206: walking along the second path from the first state, the second path and the first path are not coincident, and the speed when the mobile device walks along the second path has a second component in the direction of the longitudinal axis. The second component is the same direction as the second direction.

Specifically, during the walking process of the mobile device, corresponding tasks need to be performed in different areas, and the path along the second path is different from the first path. Similarly, the speed has a second component in the direction of the longitudinal axis. And the direction of the second component is different from the direction of the first component in step 202. That is, when the mobile device advances along the first path, the self-moving device moves backward along the second path; otherwise, vice versa. Further, the self-moving device includes a first walking component and a second running component disposed on two sides of the longitudinal axis, and the first walking component and the self-moving device respectively travel along the first path and the second path respectively The speed difference of the second running component is different. During the walking of the mobile device, there is a certain angle between the walking path and the longitudinal axis, and the angle may be determined according to the speed of the first running component, the speed of the second running component, and the speed difference between the two. Preferably, the first component and the second component are respectively driven by the first driving motor and the second driving motor, and the first driving motor and the second driving motor rotate around the first rotation when the moving device travels along the first path The direction outputs rotational power. When the mobile device travels along the second path, the first drive motor and the second drive motor output rotational power about the second rotation direction, and the first rotation direction and the second rotation direction are opposite, thereby implementing When the mobile device walks on the first path and the second path, it travels according to different walking modes of forward or backward.

Further, during the walking of the self-moving device along the second path, the angle of rotation is less than 90 degrees from the longitudinal axis of the mobile device compared to the longitudinal axis of the mobile device in the first state to improve self-movement The walking efficiency of the device is not excessive because the angle of rotation is too large, so that the self-moving device only rotates in the vicinity of the first position, so that the range of walking from the mobile device is small, and it is impossible to efficiently walk all or substantially all working areas. The walking efficiency is greatly reduced.

Further, during the walking of the mobile device along the second path, the speed difference between the first running component and the second running component is kept constant, such that the second path is an arc-shaped path. The arc path The radius is determined based on the speed of the first running component and the second running component and the distance between the two. It is assumed that the self-moving device retreats along the second path, and the speed of the first running component is greater than the speed of the second running component, the arc-shaped path is curved toward the first traveling component, and the first walking component is the inner walking component, and the first The second traveling component is an outer walking component, and the speed of the first running component is v1, the speed of the second running component is v2, and the center distance between the first running component and the second running component is h, then the arc-shaped path The radius r=h·v2/(v2-v1), in the present embodiment, the value of the radius r is large, so that the degree of bending of the arc-shaped path is relatively gentle, thereby improving the walking efficiency. The radius r can be determined according to factors such as the size of the work area, such that v1 and v2 are at appropriate values.

In another embodiment, referring to FIG. 26, after step 202, step 2031 may be further included: after the mobile device is in the first state, and after the delay time is maintained, if the identifier is not recognized by the mobile device, the self-moving The device continues to walk along the first path.

Specifically, in the working environment of the mobile device, the self-mobile device may generate some misidentification. For example, when the mobile device is walking indoors, the pet may interfere with the judgment of the self-mobile device due to the presence of an object such as a pet. When walking, the pet just moves to the vicinity of the mobile device, affecting the judgment of the mobile device; if the mobile device is walking outdoors, the wild animals and the like may also affect the judgment of the mobile device. Therefore, after the identifier is recognized by the mobile device, the first state is maintained for a period of time, so that the interferer is remote from the mobile device, and the previously identified identifier is recognized again. If the identifier is still recognized, the identifier is not The interference item, which can perform the next step; if the identifier is not recognized from the mobile device, indicating that the previously identified identifier is an interference item, and does not affect the walking from the mobile device, it can continue along the original path. walk. Here, the delay time can be set according to the actual situation.

In another embodiment, referring to FIG. 27, after step 202, step 2033 may be further included: the identifier is recognized from the mobile device, and the identifier is an obstacle, and the size of the obstacle is recognized from the mobile device, if the obstacle is The size is less than the size threshold and the mobile device continues to travel along the first path.

Specifically, after the obstacle is recognized by the mobile device, the self-moving device identifies the size of the obstacle according to the corresponding working module. If the size of the obstacle is small, the obstacle does not affect the walking path of the mobile device. Since the mobile device can pass directly from the obstacle, in order to improve the walking efficiency, the self-moving device can continue to follow the original path after recognizing such an obstacle. Self-moving The size threshold is preset. When the size of the obstacle is smaller than the size threshold, the self-moving device can directly pass the obstacle; and when the size of the obstacle is smaller than the size threshold, the self-moving device needs to bypass the obstacle. Object, which cannot continue to walk along the original path, but to change the walking path. The size threshold may be set according to factors such as the distance from the ground of the mobile device, the size of the gap between the first traveling component and the second running component, and the ability to overcome obstacles.

Further, the step 2033 may also be set after step 2031. When the mobile device identifies the obstacle, the interference item is excluded, and the size of the obstacle is determined, and a corresponding walking action is performed.

In another embodiment, referring to FIG. 28, after step 206, step 208 is further included: after the mobile device walks a preset distance or a preset time along the second path, the mobile device then walks along the third path.

Specifically, the third path may be a random walking path or other forms of paths. The third path may be determined according to factors such as the shape and size of the work area, thereby improving the walking efficiency of the mobile device.

Please refer to FIG. 29, which is a schematic diagram of a walking method in a specific scenario, in which the mobile device 310 travels along the first path 321 into the narrow alley 330, and the narrow alley 330 has an opening 331 on only one side. The remaining three sides are walls, the opening 331 is both an inlet and an outlet, and the width of the narrow alley 330 is slightly larger than the width of the mobile device 310, and the mobile device 310 is not suitable for turning in the station alley 330. At this time, the mobile device 310 moves forward along the first path 321 to the end of the narrow alley 330, recognizes the identifier from the mobile device 310, and determines that it cannot continue to follow the original first path. At this time, the mobile device 310 The walking directions of the first walking component 311 and the second running component 312 are changed such that the mobile device 310 moves backward, and the speed and speed difference between the two are controlled, so that the second path 322 traveling from the mobile device 310 is an arc-shaped route. . Here, the second path 322 forming the bending direction as shown in FIG. 29 is formed, the speed of the second running component 312 is required to be smaller than the speed of the first running component 311, and the appropriate speed and speed difference are set so that the second path is made. The radius of the 322 is relatively large, and the degree of bending is small, so that the self-moving device 310 can smoothly walk out of the narrow alley 330.

The embodiment of the present invention further provides a self-moving device. Please refer to FIG. 30. FIG. 30 is a structural block diagram of the self-moving device 400. The self-moving device 400 includes a longitudinal axis, and the two ends of the longitudinal axis are respectively opposite to each other. The first direction and the second direction extend from the mobile device 400 based on the longitudinal axis The self-moving device 400 includes a control unit 410, a walking unit 420, an identification unit 430, and a driving unit 440. The walking unit 420 is configured to travel on the ground, and includes a first walking component 421 and a second running component 423 disposed on two sides of the longitudinal axis; the identifying unit 430 is configured to identify the identifier; and the driving unit 440 drives the walking unit 420 to walk; The control unit 410 is connected to the identification unit 430 and the drive unit 440. The control unit 410 generates a first path and drives the walking unit 420 to travel along the first path by the driving unit 440. The speed when the mobile device 400 travels along the first path has a first component in the direction of the longitudinal axis. One component is the same direction as the first direction. During the walking of the mobile device 400 along the first path, if the identification unit 430 recognizes the identifier, the control unit 410 controls the driving unit 440 to stop when the mobile device recognizes that the location of the identifier is the first location. The mobile device 400 stops walking in the first position and is in the first state. Subsequently, the control unit 410 generates a second path, which is not coincident with the first path, where the driving unit 440 can drive the difference in the speed difference between the first running component 441 and the second component 442 to achieve the first A path and a second path do not coincide. Since the mobile device 400 is traveling along the second path from the first state, the speed when traveling from the mobile device 400 along the second path has a second component in the direction of the longitudinal axis, the second component being in the same direction as the second direction. That is, the walking direction from the mobile device 400 along the first path and the second path is different. When the mobile device 400 advances along the first path, it is backward along the second path; In the present embodiment, after the identifier is recognized by the mobile device 400, the identifier hinders the walking from the mobile device 400 along the first path, and the identifier may be a boundary or an obstacle or the like. The boundary may be an electronic fence or a light fence or a fiber fence. The obstacle may be a soil slope, a stump, a stone, a work-free area, etc., and the identification unit 430 may set a corresponding identification device according to the difference of the identifier to be determined. It can be understood by those skilled in the art that when the identification unit 430 needs to identify a boundary, the identification unit 430 includes a corresponding identification module according to the manner of setting the boundary; when the identification unit 430 needs to identify the obstacle, the identification unit 430 may include Micro-switches or ultrasonic sensors or Hall switches or infrared sensors or image recognition modules, etc., through the corresponding working principle to complete the task of identifying obstacles; when certain areas are set as non-working areas for specific reasons, in the non- The working area is provided with corresponding electronic tags, electronic beacons, etc., and the identification unit 430 includes corresponding identification modules to achieve the purpose of identifying these areas; of course, the identification unit 430 can set corresponding modules according to the nature of the identifiers.

In this embodiment, the traveling unit 420 may be a roller, and the first traveling component 421 and the second running component 422 may be a roller group. In the roller group, the driving wheels on both sides may be disposed, and the other rollers may be driven wheels. . The walking unit 420 may be a crawler belt, and the first running component 421 and the second running component 422 are crawler belts disposed on both sides to improve the off-road performance of the mobile device.

In the present embodiment, during the walking along the second path from the mobile device 400, the control unit 410 controls the walking unit 420 such that the longitudinal axis of the mobile device 400 and the longitudinal axis of the mobile device 400 are in the first state. The angle of rotation is less than 90 degrees, which can improve the walking efficiency of the mobile device 400.

In the present embodiment, during the walking along the second path from the mobile device 400, the control unit 410 controls the speed difference between the first running component 421 and the second running component 422 to be kept constant by the driving unit 440, such that the second path is An arc-shaped path. Further, the control unit 410 controls the speeds of the first running component 421 and the second running component 422 to appropriate values, so that the radius of the arc-shaped path is relatively flat, and the walking efficiency is improved.

In the present embodiment, the drive unit 440 includes a first drive motor 441 and a second drive motor 442 that drive the first travel assembly 421 and the second travel assembly 422, respectively. The control unit 410 changes the traveling directions of the first running component 421 and the second running component 422 by controlling the difference in the rotational directions of the first driving motor 441 and the second driving motor 442. Here, when the mobile device 400 is traveling along the first path, the control unit 410 controls the first drive motor 441 and the second drive motor 442 to output rotational power about the first rotational direction; walking from the mobile device 400 along the second path At this time, the control unit 400 controls the first drive motor 441 and the second drive motor 442 to output rotational power about the second rotational direction, and the first rotational direction and the second rotational direction are opposite.

Of course, in other embodiments, the first running component 421 and the second running component 422 can also be driven by the same driving motor, and a corresponding differential device is disposed between the driving motor and the first running component 421 and the second running component 422. The speed difference between the first running component 421 and the second running component 422 is accomplished by a differential device.

In this embodiment, the self-mobile device 400 further includes a delay unit 450, and the delay unit 450 is provided with a delay time. After the mobile device 400 is in the first state, the delay unit 450 starts timing, and the delay time elapses. After that, the corresponding information is sent to the control unit 410, and then the control unit 410 controls the knowledge. The unit 430 identifies the identifier. If the identification unit 430 does not recognize the identifier, the control unit 410 controls the driving unit 440 to continue to drive the walking unit 420 to continue to travel along the first path. In this way, the misidentification of the identification unit 430 can be greatly reduced, and the work efficiency is improved.

In the present embodiment, the self-moving device 400 further includes an obstacle size identifying unit 460 for identifying the size of the obstacle and storing a size threshold. When the identifier recognized by the identifying unit 430 is In the case of an obstacle, the obstacle size identifying unit 460 identifies the size of the obstacle. If the size of the obstacle is smaller than the size threshold, the obstacle size identifying unit 460 transmits corresponding information to the control unit 410, and the control unit 410 controls the walking unit 420 to continue. Walk along the original first path. It will be understood by those skilled in the art that the obstacle size identifying unit 460 may include an ultrasonic module or an image recognition module or the like to identify the size of the obstacle by a corresponding working principle.

In the present embodiment, the self-moving device 400 further includes a ranging or timing unit 470 that stores a preset walking distance or a preset walking world, after the mobile device 400 starts to walk along the second path. The control unit 410 controls the ranging or timing unit 470 to start measuring the walking distance or the walking time. After the preset walking distance or the preset walking time, the control unit 410 controls the walking unit 420 to be generated by the control unit 410 through the driving unit 440. The third path walks. The third path may be a random walking path or other forms of paths. The third path may be determined according to factors such as the shape, size, and the like of the work area, thereby improving the walking efficiency of the mobile device 400.

The embodiment of the present invention further provides an automatic walking system including the self-moving device 400 as described above and a working area surrounded by a boundary line, the self-moving device 400 walking in the working area, and not Walk beyond the work area. In this system, the boundary line is a marker that the identification unit of the mobile device 400 can at least identify the boundary line. In this embodiment, depending on the nature of the boundary line, the working mode of the identification unit is also adjusted accordingly. For example, the boundary line is a cable that can circulate a current that changes in size or/and direction to form an electromagnetic wave around the cable. The identification unit can be an electromagnetic wave identification device for identifying electromagnetic waves generated by the cable to determine the boundary line. The boundary line may also be formed by infrared rays emitted by the infrared ray generating device, and the identification unit may be an infrared ray identification device, and when the infrared ray is recognized from the mobile device 400, the position of the boundary line may be determined. It will be understood by those skilled in the art that the boundary line can also be in other forms, and the identification unit determines its internal working principle and structure according to the form of the boundary line.

The autonomous walking system may also include a charging station that can automatically return to the charging station for charging when the battery level of the mobile device 400 is insufficient or after the work is completed.

Please refer to FIG. 31, which is a schematic flowchart diagram of a path control method for a self-mobile device according to an embodiment of the present invention. As shown in FIG. 31, a self-mobile device path control method includes:

Step S110, acquiring data of a walking path from the mobile device.

Specifically, the self-mobile device in this embodiment may be a lawn mower or a snow blower, and may be other tools. The outer ring of the mobile device is provided with a border electronic fence for enclosing the working area of the mobile device. The data from the walking path of the mobile device is coordinate data pre-planned in the boundary electronic fence, and is coordinate data having a sequential relationship, and according to the coordinate data, the walking path from the mobile device can be obtained.

Step S130, according to the data, controlling walking from the mobile device along the walking path.

Specifically, according to the coordinate data described above, the walking from the mobile device along its walking path is controlled. In this embodiment, the DGPS system is used to achieve precise positioning of the self-moving device, so that the self-moving device walks accurately along the walking path. While walking, perform work tasks from the mobile device.

Step S150, controlling the deflection from the mobile device at a predetermined turning point in the walking path, and controlling the deflection angle to be an acute angle.

Specifically, in order to perform the work task better, the self-moving device needs to make multiple turns in its walking path, so a plurality of turns are preset in the walking path. At the turn, the deflection from the mobile device is controlled, and the deflection angle is controlled to be an acute angle, that is, the angle between the traveling direction before the deflection and the traveling direction after the deflection is an acute angle. Further, the user can set the deflection angles as needed, such as 30°, 45°, 60°, etc., to suit different travel path requirements.

The self-mobile device path control method controls the walking from the mobile device along the preset walking path after acquiring the data of the walking path of the mobile device. At the turning of the walking path, the deflection is controlled from the mobile device, and the deflection angle is an acute angle, that is, at the turning point, the angle between the traveling direction before the deflection and the traveling direction after the deflection is an acute angle, and the deflection angle is small, thereby avoiding the self-moving device. Turning at an obtuse angle or even a 180° angle avoids the near-in-situ turn of the mobile device at the turn, thereby reducing the damage to the ground or the vegetation on the ground during cornering.

Referring to FIG. 32, a schematic diagram of the walking path of the present embodiment is a circular path. In this embodiment, The walking path includes a starting point A1 and an ending point B1, and the walking path is a circular path from the starting point A1 to the ending point B1.

The shape of the annular path may be a regular circular shape or an irregular annular shape. In this way, the task performed from the mobile device can be made more targeted, and the path for executing the task is smoother and has no frustration. The number of rings of the ring path can be set according to user requirements, and the user can set the number of rings as much as possible, so as to ensure that the area that needs to perform tasks from the mobile device is not missed.

In this embodiment, the shape of the annular path is an irregular ring shape according to work requirements. During the walking of the mobile device along the circular path, the deflection angle from the mobile device is small, that is, during the walking along the circular path, the walking direction of the mobile device is continuously fine-tuned to achieve an acute angle of deflection. Moreover, an acute angle with a small deflection angle can be achieved, and the turning angle is prevented from being excessively large to damage the vegetation on the ground or the ground at the turn.

Please refer to FIG. 33, which is a schematic diagram of a rectangular path of an embodiment. The walking path includes a starting point A2, a plurality of reversing points C2, a plurality of deflection points D2 and an ending point B2, a reversing point C2 corresponding to a deflection point D2, a deflection point D2 being a preset turning point, and a reversing point C2 and a deflection point D2 being located On the travel path between the start point A2 and the end point B2, the reverse point C2 is opposite to the deflection point D2, and adjacent to the reverse point C2 is the deflection point D2, and all the reverse points C2 are parallel to the line between the opposite deflection points D2.

Specifically, in this embodiment, in order to ensure that the range from the mobile device to perform the work task is the largest, the starting point A2, the reverse point C2, the deflection point D2, and the end point B2 are all boundary points. The starting point A2 and the ending point B2 are respectively located in two opposite directions. On the boundary between the starting point A2 and the ending point B2, the reversing point C2 and the deflection point D2 are arranged in pairs, the reversing point C2 and the deflection point D2 are opposite, and the reversing point C2 Adjacent to the deflection point D2, similarly to the deflection point D2 is the reverse point C2.

In this embodiment, according to the walking data, the step of controlling the walking from the mobile device along the walking path comprises:

Starting from the starting point A2, walking to the adjacent reversing point C2;

From the reversing point C2 to the deflection point D2 opposite to the reversing point C2;

It is judged whether or not the deflection point D2 is the last deflection point D2. If so, the deflection point D2 travels to the end point B2, and if not, it is deflected to the next reverse point C2 adjacent to the deflection point D2.

Specifically, starting from the starting point A2, the mobile device first walks to the adjacent reversing point C2, and then travels to the end point B2 through all the deflection points D2 and the other reversing points C2 in sequence.

The traveling path from the reversing point C2 to the deflection point D2 opposite to the reversing point C2 may be a straight path or a curved path. You can take the appropriate path mode as needed. This task is more targeted and more efficient.

From the mobile device to the deflection point D2, it is judged based on the coordinates of the deflection point D2 whether it is the last deflection point D2. If so, then the work task from the mobile device is completed, the walking path is nearing the end, and then, the mobile device is deflected to travel to the end point B2. If not, the work task from the mobile device has not been completed, and it is necessary to continue to walk between the subsequent reversing point C2 and the deflection point D2 while performing the work task, at which time the self-moving device is deflected to the next one adjacent to the deflection point D2. Reversing point C2 until walking to the last deflection point D2.

Walking along such a walking path only needs to be deflected to the reverse point C2 at the deflection point D2, and the deflection angle is an acute angle. In this way, the deflection angle at the deflection point D2 can be ensured to be small, and the number of deflections in the rectangular path is greatly reduced, further reducing the damage of the vegetation from the mobile device to the ground or the ground.

Further, in the present embodiment, the step of traveling from the reverse point C2 to the deflection point D2 opposite to the reverse point C2 includes walking straight from the reverse point C2 to the deflection point D2 opposite to the reverse point C2. As shown in Fig. 33, the walking path is a rectangular path, that is, between the starting point A2 and the ending point B2, assuming that there is no obstacle on the straight path between the opposite reversing point C2 and the deflection point D2, all the opposite reversing points C2 and The traveling paths between the deflection points D2 are straight and parallel to each other, and the traveling directions on the adjacent parallel paths are opposite. The user can set the spacing between adjacent parallel paths as required. Walking from a mobile device along such a rectangular path and working, the task is more efficient.

It should be noted that if there is an obstacle on the straight path between the opposite reverse point C2 and the deflection point D2, then the self-moving device starts from the reverse point C2 in a straight line direction toward the deflection point D2, bypassing the reverse point. The obstacle between C2 and the deflection point D2 continues to travel back to the straight path until it reaches the deflection point D2. That is, if there is an obstacle on the straight path between the opposing reverse point C2 and the deflection point D2, the traveling paths between all the opposing reverse point C2 and the deflection point D2 are approximately straight and parallel to each other.

Please refer to FIG. 34, which is a schematic diagram of walking from the mobile device 10 along the rectangular path shown in FIG. As shown in FIG. 34, the step of walking from the reverse point C2 to the deflection point D2 opposite to the reverse point C2 includes: From the reverse point C2, the vehicle is moved in a reverse or positive-travel manner to a deflection point D2 opposite to the reverse point C2, and the manner of walking on the adjacent two parallel paths is different.

Specifically, in the process of walking from the reverse point C2 to the deflection point D2 opposite to the reverse point C2, the self-moving device 10 may be either a forward vehicle or a reverse vehicle. Since the mobile device 10 is walking forward, the work task can be completed, and while the reverse walk is performed, the work task can still be completed.

The walking manners on the adjacent two parallel paths are different, that is, in the process of walking along the rectangular path from the mobile device 10, if the walking mode on a straight path is reverse walking, then the straight path is The walking mode on the adjacent path is a positive car walking. That is to say, the direction of the head of the mobile device 10 is uniform on the adjacent two parallel paths. An example is as follows.

(1) The case where the reverse type traveling mode is adopted from the reverse point C2 to the deflection point D2 opposed to the reverse point C2 is as follows. As shown in FIG. 34, for example, from the starting point A2 to the adjacent reverse point C2 from the mobile device 10, the head 10a is traveling toward the reverse point C2. Therefore, at the reversing point C2 adjacent to the starting point A2, in order to adjust the direction from the mobile device 10 at a small angle, the self-moving device 10 should be the tail portion 10b toward the deflection point D2 opposite to the reversing point C2, at this time, The control moves from the mobile device 10 in a straight reverse manner to the deflection point D2 opposite to the reverse point C2, and simultaneously completes the work task.

(2) In the path adjacent to the path in (1), the case where the traveling mode is used from the reverse point C2 to the deflection point D2 opposed to the reverse point C2 is as follows. When the mobile device 10 reaches the deflection point D2 in (1), the self-moving device 10 is deflected to the next reverse point C2 adjacent to the deflection point D2 on the principle that the deflection angle is an acute angle. At the reversing point C2, the initial direction of the self-moving device 10 is also adjusted at a minimum angle. As a result, the head 10a is directed toward the deflection point D2 opposite to the reversing point C2, that is, the steering direction is aligned with the opposite deflection point D2. Therefore, from the reverse point C2 to the deflection point D2 opposed to the reverse point C2, the forward movement of the mobile device 10 to the deflection point D2 opposite to the reverse point C2 is controlled, and the work task is simultaneously completed.

The manner of walking between the subsequent reversing point C2 and the deflection point D2 is analogous.

Thus, at the turning point D2, the deflection angle from the mobile device 10 is an acute angle, and at the reversing point C2, the self-moving device 10 also adjusts its direction with a minimum angle, so that the forward direction or the reverse direction is aligned with the opposite deflection point D2. At the turning point D2 and the reversing point C2, large angle deflection or rotation is avoided, thereby avoiding damage to the vegetation on the ground or the ground.

It should be noted that, in other embodiments, the walking mode of the mobile device 10 from the starting point A2 to the adjacent reversing point C2 from the reversing point C2 to the deflection point D2 is not limited to the reverse walking, and the mobile device 10 is After the reversing point C2 adjusts its direction with a minimum angle, it is also possible that the head 10a faces the deflection point D2, that is, it is possible to walk to the opposite deflection point D2 in a positive-traveling manner, depending on the starting point A2 and the phase. The relative position of the adjacent reversing point C2 is different.

Please refer to FIG. 35, which is a structural block diagram of a self-mobile device path control apparatus according to an embodiment. A self-mobile device path control device comprising:

a data acquisition module 101, configured to acquire data of a walking path of the mobile device;

The path control module 102 is configured to control, according to the data, the walking from the mobile device along the walking path;

The deflection control module 103 is configured to control the deflection from the mobile device at a predetermined turn in the walking path, and control the deflection angle to be an acute angle.

After the data acquisition module 101 acquires the data of the walking path of the mobile device, the path control module 102 controls the walking from the mobile device along the preset walking path, and the deflection control at the turning of the walking path. The module 103 controls the deflection from the mobile device, and the deflection angle is an acute angle, that is, at the turning point, the angle between the traveling direction before the deflection and the traveling direction after the deflection is an acute angle, and the deflection angle is small, avoiding an obtuse angle or even an angle of 180°. Turning, which avoids the near-in-situ turn of the mobile device at the turn, reduces the damage to the ground or vegetation on the ground during cornering.

In one of the embodiments, the walking path includes a starting point and an ending point, and the walking path is a circular path from the starting point to the ending point.

In one embodiment, the walking path includes a starting point, a plurality of reversing points, a plurality of deflection points, and an end point, and a reversing point corresponds to a deflection point, the deflection point is a preset turning point, and the reversing point and the deflection point are located at the starting point On the walking path between the end points, the reversing point is opposite to the deflection point, and adjacent to the reversing point is a deflection point, and all the reversing points are parallel to the line between the opposite deflection points.

In one of the embodiments, the path control module includes:

a startup module, configured to move from the starting point of the mobile device to an adjacent reverse point;

a walking module for moving the self-moving device from the reversing point to a deflection point opposite to the reversing point;

a judging module for judging whether the deflection point is the last deflection point, and if so, the deflection control mode The block causes the self-moving device to travel from the deflection point to the end point, and if not, the deflection control module deflects the self-moving device to the next reverse point adjacent to the deflection point.

In one of the embodiments, the walking module is further configured to walk from the moving device in a straight line from the reversing point to a deflection point opposite the reversing point.

In one embodiment, the walking module is further configured to walk the self-moving device from the reversing point in a reverse or forward-travel manner to the deflection point opposite the reversing point, and in the adjacent two parallel The way of walking on the path is different.

The present invention is not limited to the specific embodiments, and the structures and methods based on the inventive concept are all within the scope of the present invention.

Claims

A self-mobile device that includes:

a housing, the housing including a longitudinal axis, parallel to the moving direction of the mobile device, the opposite ends of the longitudinal axis defining opposite first extending directions and second extending directions;

a mobile module, including a crawler, the mobile module is driven by a drive motor to drive movement from the mobile device; and the control module controls movement and operation of the self-mobile device;

The control module controls the mobile module to drive the mobile device to move forward and control the self-moving device to perform work, such that the component direction of the moving speed of the mobile device along the longitudinal axis coincides with the first extending direction of the longitudinal axis, or controls the mobile module to drive the self-moving The device moves in the opposite direction and controls the operation from the mobile device such that the component direction of the moving speed of the mobile device along the longitudinal axis coincides with the second extending direction of the longitudinal axis;

The control module controls the mobile module to drive the switching between the forward movement and the reverse movement from the mobile device; the forward movement from the mobile device forms a forward path, and the reverse movement forms a reverse path;

The control module controls the mobile module to drive the steering from the mobile device such that the forward path and the reverse path at least partially do not coincide.
The self-moving device according to claim 1, wherein a ratio of a steering radius of the self-moving device and a dimension of the contact portion of the track to the working surface in the longitudinal axis direction is greater than or equal to 1.5.
The self-mobile device according to claim 1, wherein the control module controls the mobile module to start performing steering when driving the mobile device to switch between forward movement and reverse movement.
The self-mobile device according to claim 1, wherein the control module controls the mobile module to move the preset distance from the mobile device after the mobile device switches between the forward movement and the reverse movement, and then starts executing. Turn.
The self-mobile device according to claim 3 or 4, wherein the control module controls the mobile module to continue to move in the direction of the completion of the steering after the mobile device is driven to the preset angle value.
The self-mobile device of claim 1 wherein the control module controls the mobile module to begin performing steering before driving the mobile device to switch between forward and reverse movement.
The self-mobile device according to claim 6, wherein the control module controls the mobile module to drive the mobile device to move forward and backward after driving the mobile device to a preset angle value. The control module controls the mobile module to drive the mobile device to move the preset distance in the direction of the completion of the steering after driving the mobile device to the preset angle value, and then drive the mobile device to move in the forward direction and the reverse direction. Switch between.
The self-mobile device of claim 1 wherein the forward movement and the reverse movement of the mobile device form a zigzag path, and the control module controls the self-mobile device to cover the work area with the zigzag path.
The self-mobile device according to claim 1, wherein the control module controls the movement module to drive the steering angle of the steering from the mobile device to not exceed 90 degrees.
The self-mobile device according to claim 1, wherein the control module controls the movement module to drive the steering radius from the mobile device to be greater than or equal to 0.4 m.
The self-mobile device according to claim 1, wherein the control module controls the movement module to drive the steering radius from the mobile device to be greater than or equal to 0.8 m.
The self-mobile device of claim 1 wherein the control module controls the drive motor to switch between opposite rotational directions to control the movement of the mobile module to switch between forward and reverse movements from the mobile device.
The self-mobile device according to claim 1, wherein the control module controls the movement and operation of the self-moving device within the work area defined by the limit, and the control module determines that the mobile module drives the self-moving when the mobile device moves to the limit. The device switches between forward and reverse movement.
The self-mobile device according to claim 13, wherein the control module determines that the mobile module drives the steering from the mobile device when the mobile device moves to the limit; and if the control module determines that the mobile device has not completed the steering, moves to the limit again. , to reduce the steering radius from the mobile device again.
The self-mobile device according to claim 13, wherein the control module determines that the mobile module drives the steering from the mobile device when the mobile device moves to the limit; and if the control module determines the self-moving before the mobile device moves to the limit again When the device completes the steering, the control continues to move from the mobile device in the direction in which the steering is completed.
The self-mobile device according to claim 14 or 15, wherein whether the angle of the steering from the mobile device reaches a preset angle value, or whether the distance moved during the steering reaches a preset distance value, or whether the time of the steering reaches The preset time value, the control module determines whether the steering has been completed from the mobile device.
The self-mobile device according to claim 13, wherein the self-mobile device is adjacent to the mobile device twice The time interval for moving to the limit is called the first time interval, and the control module determines whether the first time interval is less than or equal to the preset value of the time interval, and at least two times when the first time interval is determined to be less than or equal to the preset value of the time interval, the control is performed. The module adjusts the way the mobile device moves to reduce the frequency at which the mobile device moves to the limit.
The self-mobile device according to claim 13, wherein the control module determines that, in the second time interval, when the number of times the mobile device moves to the limit reaches a preset value, the control module adjusts the movement mode of the mobile device to Reduce the frequency at which the mobile device moves to the limit.
The self-mobile device according to claim 17 or 18, wherein the control module adjusts the movement mode of the mobile device, including controlling the movement module to move from the mobile device to the limit, or the angle between the longitudinal axis and the boundary is less than or A direction equal to the direction of the first angle value.
The self-moving device according to claim 13, wherein the self-moving device comprises a limit detecting sensor disposed at both ends of the casing along the longitudinal axis, and the limit detecting sensor detects the distance between itself and the boundary to reach a pre-set. When the value is set, or when it is outside the limit, the control module determines that the mobile device has moved to the limit.
The self-mobile device of claim 1 wherein the movement from the mobile device forms a parallel path and the control module controls the self-mobile device to cover the work area with the parallel path.
An automated working system, comprising the self-mobile device of any of claims 1-21.
A self-mobile device that includes:

a housing comprising a longitudinal direction parallel to a moving direction of the mobile device, and a transverse direction parallel to the working plane and perpendicular to a moving direction of the mobile device;

a mobile module, including a crawler, the mobile module is driven by a drive motor to drive movement from the mobile device; and the control module controls movement and operation of the self-mobile device;

The control module controls the mobile module to drive the mobile device to advance and control the operation from the mobile device, and the control module determines that the mobile module drives the mobile device to retreat and controls the self-mobile device to perform work when the mobile device moves to a preset position; the control module Re-determining that when the mobile device moves to a preset position, the mobile module is controlled to drive the mobile device to advance and control the self-mobile device to perform work;

The control module controls the movement module to perform steering such that the trajectory of one of the forward and reverse movements of the mobile device is offset relative to the trajectory of the other of the trajectories in the lateral direction of the housing.
The self-moving device of claim 1 wherein the control module controls the steering radius from the mobile device and the ratio of the contact portion of the track to the working surface in the longitudinal direction of the housing is greater than or equal to 1.5.
The self-mobile device of claim 1 wherein the control module controls the steering radius of the self-mobile device to be greater than or equal to 0.4 m.
The self-mobile device of claim 1 wherein the control module controls the steering radius of the self-mobile device to be greater than or equal to 0.8 m.
The self-mobile device of claim 1 wherein the control module controls the mobile module to begin performing steering when the mobile device is switched between forward and reverse.
The self-mobile device according to claim 27, wherein the control module controls the mobile module to drive the linear movement of the self-moving device after the self-moving device is turned to the preset angle value.
The self-mobile device according to claim 28, wherein the preset angle value is less than or equal to 90 degrees.
The self-mobile device according to claim 1, wherein the preset position is a boundary of a work area.
A self-mobile device that includes:

a housing defining a first end and a second end along two ends of the moving device;

a mobile module, including a crawler, the mobile module is driven by a drive motor to drive movement from the mobile device; and the control module controls movement and operation of the self-mobile device;

The control module controls the mobile module to drive the mobile device to move forward and control the work from the mobile device, so that the first end of the housing is located at the front of the housing in the moving direction, or the mobile module is controlled to move and control from the mobile device. Performing work from the mobile device such that the second end of the housing is located at the front of the housing in the direction of movement;

The control module controls the mobile module to drive the switching between the forward movement and the reverse movement from the mobile device;

The forward movement from the mobile device forms a forward path, and the reverse movement forms a reverse path;

The control module controls the mobile module to perform steering such that the forward path and the reverse path from the mobile device are different.
The self-moving device according to claim 31, wherein the control module controls the steering radius of the moving module and the ratio of the length of the contact portion of the crawler belt to the working surface is greater than the length direction of the crawler belt from the moving direction of the mobile device Or equal to 1.5.
The self-mobile device according to claim 31, wherein the control module controls the steering radius of the self-mobile device to be greater than or equal to 0.4 m.
The self-mobile device of claim 1 wherein the control module controls the steering radius of the self-mobile device to be greater than or equal to 0.8 m.
The self-mobile device of claim 1 wherein the control module controls the mobile module to begin performing steering when the mobile device is switched between forward and reverse movements.
A self-mobile device that includes:

case;

a moving module, mounted on the casing; the moving module comprises a wheel set, a track wound around the wheel set, and a driving motor for driving the wheel set; the moving module comprises two sets of wheel sets, which are mounted on both sides of the casing in the moving direction, Driven by a first drive motor and a second drive motor, respectively;

The self-mobile device further includes a control module electrically connected to the mobile module;

The control module controls the first driving motor and the second driving motor to rotate in the first rotation direction, so that the moving module drives the mobile device to move forward while controlling the self-moving device to perform the work; or controls the first driving motor and the second driving motor along the Rotating in the second rotation direction, so that the mobile module drives the reverse movement from the mobile device while controlling the operation from the mobile device;

The first direction of rotation is opposite to the second direction of rotation;

The control module controls the mobile module to drive the switching between the forward movement and the reverse movement from the mobile device;

The forward movement from the mobile device forms a forward path, and the reverse movement forms a reverse path;

The control module controls the first drive motor and the second drive motor to rotate at different rotational speeds such that the mobile module drives the steering from the mobile device such that the forward path and the reverse path are at least partially non-coincident.
The self-moving device according to claim 36, wherein the control module controls the steering radius of the self-moving device and the ratio of the length of the contact portion of the crawler belt to the working surface, with the moving direction of the mobile device being the length direction of the crawler belt. Greater than or equal to 1.5.
The self-mobile device according to claim 36, wherein the control module controls the steering radius from the mobile device to be greater than or equal to 0.4 m.
A self-mobile device according to claim 36, wherein the control module controls the steering radius of the self-mobile device to be greater than or equal to 0.8 m.
A self-mobile device according to claim 36, wherein the control module is controlling the mobile mode The block drives the relative rotational speed change of the first drive motor and the second drive motor when the mobile device switches between forward and reverse movement.
A self-moving device control method, the self-moving device comprising a housing, the housing comprising a longitudinal axis, parallel to a moving direction of the self-moving device, the opposite ends of the longitudinal axis defining opposite first extending directions and second Extending direction; the self-mobile device further includes a crawler belt, and the crawler or self-moving device is driven by a drive motor to drive movement from the mobile device;

The control method of the self-mobile device includes the steps of:

Controlling the forward movement of the mobile device and performing work such that the component direction of the moving speed along the longitudinal axis coincides with the first direction of extension of the longitudinal axis;

Controlling the reverse movement from the mobile device and performing work such that the component direction of the moving speed along the longitudinal axis coincides with the second extending direction of the longitudinal axis;

Control switching between forward and reverse movements from the mobile device;

Controls the steering from the mobile device such that the paths of forward and reverse movements at least partially do not coincide.
The method of controlling a self-moving device according to claim 41, wherein the ratio of the steering radius of the self-moving device and the size of the contact portion of the track to the working surface in the longitudinal axis direction is greater than or equal to 1.5.
The control method of a self-moving device according to claim 41, wherein the controlling the starting of the steering from the mobile device when the mobile device switches between the forward movement switching and the reverse movement.
The control method of the self-moving device according to claim 41, wherein the controlling the mobile device moves the preset distance after switching between the forward movement and the reverse movement, and then controls the steering from the mobile device.
The control method of the self-moving device according to claim 43 or 44, wherein after the moving device is turned to the preset angle value, the control moves from the mobile device in the direction when the steering is completed.
The self-mobile device according to claim 41, wherein the controlling the starting of the steering from the mobile device is performed before the mobile device switches between the forward movement and the reverse movement.
The self-mobile device control method according to claim 46, wherein the control is switched between the forward movement and the reverse movement after the mobile device is turned to the preset angle value; or the control is changed from the mobile device to the preset angle value. After that, the preset distance is continuously moved in the direction when the steering is completed, and then the control is switched between the forward movement and the reverse movement from the mobile device.
The self-moving device control method according to claim 41, wherein the zigzag path is formed from the forward movement and the reverse movement of the mobile device, and the self-moving device is controlled to cover the work area with the zigzag path.
The control method of a self-moving device according to claim 41, wherein the steering angle for controlling the steering from the mobile device is controlled to not exceed 90 degrees.
The control method of a self-moving device according to claim 41, wherein the steering radius for controlling the steering from the mobile device is controlled to be greater than or equal to 0.4 m.
The control method of a self-moving device according to claim 41, wherein the steering radius for controlling the steering from the mobile device is controlled to be greater than or equal to 0.8 m.
The control method of a self-moving device according to claim 41, wherein switching between the forward movement and the reverse movement from the mobile device is controlled by controlling the drive motor to switch between opposite rotational directions.
The self-mobile device control method according to claim 41, wherein the self-mobile device moves and works in a work area defined by the boundary, and determines whether the self-mobile device moves to a limit, if the mobile device moves to the limit The limit controls the switching between forward and reverse movements from the mobile device.
The self-mobile device control method according to claim 53, wherein if the mobile device moves to a limit, the control starts to turn from the mobile device; determines whether the self-moving device completes the steering, and if the self-moving device does not complete the steering, and Since the mobile device moves to the limit again, the steering radius from which the mobile device is turned again is reduced.
The self-mobile device control method according to claim 53, wherein if the mobile device moves to a limit, the control starts to turn from the mobile device; determines whether the self-moving device completes the steering, and if the self-moving device completes the steering, then controls The mobile device continues to move in the direction in which the steering is completed.
The control method of a self-moving device according to claim 54 or 55, wherein whether the angle of the steering from the mobile device reaches a preset angle value, or whether the distance moved during the steering reaches a preset distance value, or a steering Whether the time reaches the preset time value determines whether the mobile device has completed the steering.
The control method of the mobile device according to claim 53, wherein the time interval from the mobile device to the boundary twice is referred to as a first time interval, and it is determined whether the first time interval is less than or equal to the time interval. The preset value is adjusted to at least two consecutive times when the first time interval is less than or equal to the preset value of the time interval, and the movement mode of the mobile device is adjusted to reduce the movement from the mobile device to the limit. frequency.
The control method of the mobile device according to claim 53, wherein the determining, when the number of times the mobile device moves to the limit reaches a preset value in the second time interval, adjusting the movement mode of the mobile device to reduce The frequency at which the mobile device moves to the limit.
The self-mobile device control method according to claim 57 or 58, wherein the adjusting the movement mode of the mobile device comprises: controlling the movement from the mobile device along the limit, or the angle between the longitudinal axis and the boundary is less than or equal to the first The direction of an angle value moves.
The method of controlling a self-moving device according to claim 53, wherein the self-moving device comprises a limit detecting sensor disposed at both ends of the housing along a longitudinal axis, and the limit detecting sensor detects itself and When the distance of the limit reaches the preset value, or when it is outside the limit, it is judged that the mobile device moves to the limit.
The method of controlling a self-moving device according to claim 41, wherein the movement from the mobile device forms a parallel path, and controlling the self-mobile device to cover the working area with the parallel path.
A self-mobile device that includes:

case;

a moving module mounted on the housing, the moving module comprising a crawler, the crawler or moving module being driven by a driving motor to drive movement and steering from the mobile device;

a control module electrically connected to the mobile module;

The self-mobile device further includes an external information collecting unit electrically connected to the control module, and the external information collecting unit collects external information, and the control module adjusts a steering radius when the mobile device turns, or a moving speed from the mobile device according to the external information, or Work time schedule from mobile devices.
The self-mobile device according to claim 62, wherein the external information collected by the external information collecting unit comprises humidity information of the working surface, and the control module increases the turning radius of the self-moving device when the humidity of the working surface is increased; When it is judged that the humidity of the working surface is reduced, the steering radius of the self-moving device is reduced.
The self-mobile device according to claim 62, wherein the control module controls the automatic lawn mower to have a turning radius greater than or equal to 0.4 m.
The self-mobile device according to claim 62, wherein the control module controls the automatic lawn mower to have a turning radius greater than or equal to 0.8 m.
The self-mobile device according to claim 62, wherein the information collected by the external information collecting unit comprises humidity information of the working surface, and the control module determines that the moving speed of the working surface is increased, and reduces the moving speed of the self-moving device; When the humidity of the working surface is reduced, the moving speed of the mobile device is increased.
The self-mobile device according to claim 62, wherein the external information collecting unit comprises a humidity sensor installed outside the casing to detect humidity information from the working environment of the mobile device, and the control module detects the humidity information according to the humidity sensor. , to determine the humidity of the working surface.
The self-mobile device according to claim 62, wherein the external information collecting unit comprises a capacitive sensor installed under the housing to detect humidity information of the working surface, and the control module determines the working surface according to the humidity information detected by the capacitive sensor. Humidity.
The self-mobile device according to claim 62, wherein the external information collecting unit comprises a wireless communication module for receiving weather information, and the control module determines the humidity of the working surface according to the weather information received by the wireless communication module.
The self-mobile device according to claim 62, wherein when the control module determines that the humidity of the working surface is greater than the first humidity threshold, the control stops moving and working from the mobile device.