WO2019158090A1

WO2019158090A1 - Automatic work system, and self-mobile device and control method thereof

Info

Publication number: WO2019158090A1
Application number: PCT/CN2019/074974
Authority: WO
Inventors: 董永明
Original assignee: 苏州宝时得电动工具有限公司
Priority date: 2018-02-13
Filing date: 2019-02-13
Publication date: 2019-08-22
Also published as: CN111601497B; CN111601497A

Abstract

An automatic work system, comprising a self-moving device (1) and a charging station (3). The self-moving device (1) automatically moves and works in a work area (100) and is capable of being docked to the charging station (3) for charging. The self-moving device (1) comprises: a housing (11); a driving module (23) driving the housing (11) to move with respect to the ground; a work module (25) performing a set work task; a detection module (31) detecting the work surface of the self-moving device (1); a controller (21) connected to the driving module (23), the work module (25), and the detection module (31); a surface identifying module (27) determining whether the work surface is consistent with the work area (100); an area identifying module (29) determining whether the self-moving device (1) is located in a preset area. If the surface identifying module (27) determines that the work surface is consistent with the work area (100) and the area identifying module (29) determines that the self-moving device (1) is located in the preset area, the controller (21) controls the self-moving device (1) to start. By means of double determination of the surface identifying module (27) and the area identifying module (29), the self-moving device (1) is prevented from working outside the work area (100) and the safety is improved.

Description

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

Cross reference related reference

The present application claims the priority of the Chinese Patent Application No. 20110115066, filed on Feb. 13, 2018, the entire disclosure of which is incorporated herein by reference. .

Technical field

The invention relates to an automatic working system, a self-moving device and a control method thereof, in particular to a self-mobile device which does not need to arrange a closed-loop boundary line.

Background technique

Self-moving equipment, such as automatic lawn mowers, automatic snow sweepers, automatic fertilizer spreaders, etc., have the ability to independently mow the lawn, remove snow, fertilize, etc., without the need for direct human control and operation, and low power and low noise. It is widely used because of its exquisite appearance and greatly reduced the advantages of manual operation. Since the mobile device has an automatic walking function, it can automatically return to charge, and perform safety detection and battery power detection. It has certain climbing ability, especially suitable for home garden, public green space and other places for lawn trimming maintenance, snow removal, and fertilizer. Apply and other work.

However, taking an automatic lawn mower as an example, before many automatic lawn mowers work, the user needs to set a boundary line at the boundary of the work area, and the mobile device works in the area enclosed by the boundary line. In order to reduce user operations, there is an automatic lawn mower that does not require a closed loop boundary to define a working area. Compared with the conventional automatic lawn mower, such an automatic lawn mower does not require a user to set a boundary line, thereby reducing user intervention. However, such mowers usually only recognize whether the area is a grassy area, and it is not possible to identify whether the area is a user-specified work area. If the automatic mower is placed in the lawn of the non-working area if the user misuses, such as in the public lawn, there may be an accident that the moving path of the automatic mower is not restricted by the working area, thereby causing loss or the like.

Summary of the invention

To overcome the deficiencies of the prior art, the problem to be solved by the present invention is to provide a self-mobile device that operates in a designated work area.

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

An automatic working system comprising a self-moving device and a charging station, the self-moving device autonomously moving and working in a working area, capable of docking and charging with the charging station,

The self-mobile device includes:

case;

a drive module mounted to the housing and driving the housing to move relative to the ground;

a working module installed in the housing to perform a set work task;

a detecting module mounted on the housing to detect a working surface of the self-moving device;

a controller is mounted on the housing and connected to the driving module, the working module, and the detecting module;

a surface recognition module, determining whether the working surface is consistent with the working area;

The area identification module determines whether the self-mobile device is located in a preset area;

[Correct according to Rule 91 30.05.2019]
If the surface recognition module determines that the working surface is consistent with the working area, and the area identifying module determines that the self-mobile device is located in the preset area, the controller controls the self-mobile device to start.

In one embodiment, the area identification module includes an information entry unit that receives an external entry; the area identification module includes a determination unit that determines whether the self-mobile device is located in the preset area based on the external entry.

In one of the embodiments, the information entry unit includes a signal receiving unit.

In one embodiment, the signal receiving unit includes a docking signal receiving unit for receiving a docking signal from the mobile device and the charging station.

In one of the embodiments, the signal receiving unit includes a wireless signal receiving unit for receiving a wireless signal.

In one embodiment, the determining unit determines that the self-mobile device is located in the preset area according to the wireless signal strength being greater than a preset strength.

In one of the embodiments, the automated working system includes a wireless signal transmitting device for transmitting the wireless signal.

In one of the embodiments, the wireless signal transmitting device transmits a pilot signal for directing the self-mobile device to return to the charging station.

In one of the embodiments, the wireless signal transmitting device is at least partially mounted to the charging station.

In one of the embodiments, the wireless signal transmitting apparatus includes a user terminal that is operated by a user to generate the wireless signal.

In one of the embodiments, the signal receiving unit includes a position signal receiving unit that receives a position signal from the mobile device.

In one of the embodiments, the position signal comprises absolute coordinates or relative coordinates.

In one of the embodiments, the information entry unit includes a signal triggering unit.

In one of the embodiments, the signal triggering unit includes a user interface that is generated by a user operation to generate a user command.

In one of the embodiments, the predetermined area is at least partially located within the work area.

In one of the embodiments, after the controller controls the self-mobile device to start, the controller allows the drive module and the work module to work or stop working.

In one embodiment, the detection module includes at least one of a capacitive sensor, a visual sensor, a light sensor, and a radar sensor.

Another technical solution adopted by the present invention to solve the problems of the prior art is:

A self-mobile device that moves and works autonomously within a work area, the self-mobile device comprising:

case;

a working module installed in the housing to perform a set work task;

a startup mode, in which the controller prohibits the driving module and the working module from operating;

a working mode in which the controller allows the driving module and the working module to operate;

[Correct according to Rule 91 30.05.2019]
In the startup mode, if the surface recognition module determines that the working surface is consistent with the working area, and the area identifying module determines that the self-mobile device is located in a preset area, the controller controls the self The mobile device enters the working mode.

In one of the embodiments, the information entry unit includes a user interface that is generated by a user operation to generate a user instruction.

A self-mobile device control method, the control method controlling the self-mobile device to move and work in a work area, the control method comprising the following steps:

Detecting a working surface on which the self-moving device is located;

Determining whether the working surface is consistent with the working area;

Determining whether the self-mobile device is located in a preset area;

And if the working surface is consistent with the working area, and the self-moving device is located in the preset area, controlling the self-mobile device to start.

In one embodiment, the determining whether the self-mobile device is located in the preset area comprises the steps of: detecting an external entry, and determining, according to the external entry, whether the self-mobile device is located in a preset area.

In one of the embodiments, the predetermined area is at least partially located in the work area.

Compared with the prior art, the present invention has the beneficial effects that the current borderless line-free mobile device cannot determine whether the working area of the self-working area is a working area set by the user, and only detects the working surface below the mobile device, and determines whether it is There is a certain security risk in the work area set by the user. The automatic working system, the self-mobile device and the control method thereof provided in the embodiments of the present invention can limit the work of the mobile device in a specific work area and improve the safety of the lawn mower.

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 an embodiment of the present invention;

Figure 2 is a block diagram showing the structure of an automatic lawn mower according to an embodiment of the present invention;

3 is a schematic structural view of an automatic lawn mower according to an embodiment of the present invention;

4 is a flow chart of a method for controlling an automatic mower according to an embodiment of the present invention.

Detailed ways

The detailed description and technical content of the present invention are set forth below with reference to the accompanying drawings.

In this embodiment, the automatic lawn mower is taken as an example from the mobile device. BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a schematic illustration of an automated working system in accordance with one embodiment of the present invention. The automatic working system includes an automatic lawn mower 1 and a charging station 3, and the automatic lawn mower 1 can be docked and charged by the charging station 3. The automatic mower 1 moves and operates within the work area 100, which is set by the user. The surface on which the automatic mower 1 travels is its working surface. In the present embodiment, the working area 100 is set by the user before the automatic mower 1 is operated, and the boundary of the working area 100 is cleaned, so that the automatic mower 1 can distinguish the working surface inside and outside the boundary of the working area 100. 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 vacuum cleaner, an automatic snow sweeper, or an automatic watering machine.

2 is a block diagram showing the structure of an automatic lawn mower 1 according to an embodiment of the present invention. The automatic lawn mower 1 includes a casing 11, a drive module 23, a work module 25, a controller 21, and the like. 1 and 3, the drive module 23, the work module 25, and the controller 21 are all mounted to the housing 11. The drive module 23 includes a wheel set and a drive motor, and the drive motor drives the wheel set to drive the automatic mower 1 to move and steer. The work module 25 includes a cutting assembly and a cutting motor that is driven by a cutting motor to perform a mowing operation. The controller 21 is electrically connected to the driving module 23 and the working module 25. The control driving module 23 drives the automatic mower 1 to move, and controls the working module 25 to perform the mowing work. In order to achieve signal detection, the automatic mower 1 further comprises different types of sensors mounted to the housing 11 for connection to the controller 21 for detecting wireless signals and/or grass and/or images and the like.

The automatic lawn mower 1 comprises a detection module 31, a surface recognition module 27 and an area identification module 29, the automatic lawn mower 1 comprising a detection module 31, in one embodiment, the detection module 31 comprises at least one capacitive sensor 13, mounted in the housing 11 is electrically connected to the surface recognition module 27. The surface recognition module 27 is configured to determine whether the current surface of the automatic lawn mower 1 is a working surface, that is, whether the current location is a grassland, and the automatic lawn mower 1 is prevented from exiting the working area 100.

The area identification module 29 is configured to determine whether the location is a preset area. Although in the case of continuous operation, the automatic mower 1 can be identified by the surface recognition module 27, ensuring that the automatic mower 1 remains in the work area 100, but when the automatic mower 1 is started from a shutdown or hibernation state If the automatic mower 1 is not in the working area 100, but the working surface of the automatic mower 1 is consistent with the working area 100, the surface recognition module 27 cannot recognize the situation, and the automatic mower 1 will still be started normally. start working. In order to avoid this, the following two conditions are satisfied: the surface recognition module 27 determines that the working surface of the automatic mower 1 coincides with the work area 100, and the area recognition module 29 determines that the automatic mower 1 is within the preset area, and controls The controller 21 controls the automatic lawn mower 1 to start. The possibility of the automatic mower 1 working outside the work area 100 is reduced by the double confirmation of the surface recognition module 27 and the area identification module 29. In particular, the zone identification module 29 can also prevent the user from placing the automatic mower 1 on the untreated grass at will, posing a hazard. Since the work area 100 has a boundary recognizable by the surface recognition module 27, the surface recognition module 27 can ensure that the automatic mower 1 operates within the work area 100 during continuous operation of the automatic mower, and therefore, the area recognition module 29 is only The automatic mower 1 works when it is started from a shutdown or hibernation state.

The preset area may be the work area 100, a part of the work area 100, or an area that intersects the work area 100. If the preset area is part of the work area 100, the possibility that the automatic mower 1 works outside the work area 100 can be further reduced, but when the automatic lawn mower 1 is not in the preset area in the work area 100, Startup increases the frequency of user intervention; if the preset area contains the work area 100, the frequency of user intervention can be reduced, but the possibility of the automatic mower 1 working outside the work area 100 is improved; and the identification mode of the area recognition module is The range of the preset area is determined. Therefore, the selection of the preset area needs to comprehensively consider the difficulty of recognition, the degree of user intervention, and the work safety of the automatic mower 1.

It will be appreciated that the automatic mower 1 also includes an energy module (not shown) disposed in the housing 11 that provides the energy required for operation of other modules of the automatic mower 1. In one embodiment, the energy module is a rechargeable battery pack; when operating from the mobile device, the rechargeable battery pack releases electrical energy to maintain the automatic lawn mower 1; when the automatic lawn mower 1 is not in operation, the rechargeable battery pack It can be connected to an external power source to supplement the power. In one embodiment, when the automatic mower 1 detects that the rechargeable battery pack is low in power, the charging station 3 can be automatically sought to supplement the power.

Figure 3 is a schematic view showing the structure of an automatic lawn mower according to an embodiment of the present invention. As shown in FIG. 3, the detecting module 31 includes a capacitive sensor 13, and a capacitance is formed between the probe of the capacitive sensor 13 and a surface under the automatic lawn mower 1. The electrical signal output by the capacitive sensor 13 is related to the medium between the two poles of the capacitor. When the surface under the probe of the capacitive sensor 13 is non-grass, and the surface under the probe of the capacitive sensor 13 is grass, the medium between the two electrodes is different, and the electrical signal output from the capacitive sensor 13 is different. Thus, the surface recognition module 27 can determine whether the surface under the probe of the capacitive sensor 13 is a grass based on the difference in the electrical signal output from the capacitance sensor 13. That is, the detecting module 31 can judge whether the automatic mower 1 is located on the working surface by the signal of the capacitive sensor 13. When the automatic mower 1 is partially driven out of the grass so that the capacitive sensor 13 detects non-grass, the capacitive sensor 13 transmits a signal to the surface recognition module 27, and the controller 21 controls the automatic mower 1 to turn.

In one embodiment, the detection module 31 includes at least one visual sensor mounted to the housing 11 and the visual sensor is electrically coupled to the surface recognition module 27. The vision sensor is configured to continuously acquire an image on the work surface at a preset sampling time interval when the automatic walking device walks on the work surface. The detection module 31 determines whether the automatic mower 1 is located on the work surface by recognizing a specific parameter in the image. In other embodiments, other probe-like sensors such as a light sensor, a radar sensor, and an ultrasonic sensor may also be used.

In one embodiment, the area identification module 29 includes an information entry unit for receiving an external entry, the external entry specifically includes a signal input outside the automatic lawn mower 1, or the information entry unit is generated by a user operation. signal input. External entry is generated by user intervention, rather than the signal that the automatic mower 1 can acquire in a natural environment that is not subject to user intervention. User intervention is not limited to direct signal generation by the user, but also includes signals generated by the user itself in the work area or other areas, or signals generated by the user-set device interacting with the automatic mower 1.

In one embodiment, the information input unit includes a signal receiving unit, and the determining unit determines whether the signal received by the signal receiving unit satisfies a preset condition, and if yes, determines that the automatic lawn mower 1 is located in the preset area.

In one embodiment, the information entry unit includes a docking signal receiving unit that receives the docking signal of the automatic mower 1 and the charging station 3. The charging station 3 can be at least partially disposed within the work area 100 such that when the automatic mower 1 is docked with the charging station 3, the automatic mower 1 is located within the work area 100. In this embodiment, the signal receiving unit is specifically a positive and negative electrode. The charging station 3 includes positive and negative electrodes that can be docked with the positive and negative electrodes on the automatic mower 1 for charging. Under normal circumstances, the automatic mower 1 will automatically return to the charging station 3 in the case of insufficient power or rain or malfunction, and dock with the positive and negative electrodes on the charging station 3. When the automatic mower 1 is turned on, the automatic mower 1 and the positive and negative electrodes of the charging station 3 are in a docking state, and the automatic mower 1 can detect the docking signal. If the information input unit receives the docking signal with the charging station 3, the judging unit judges that the preset condition is satisfied, and the automatic mower 1 is located in the work area 100, the controller 21 controls the automatic mower 1 to start working.

In one embodiment, the information entry unit includes a wireless signal receiving unit that receives wireless signals in the environment. The wireless signal propagates from its transmitting end to a distant position, and the signal intensity gradually decreases in a direction along its propagation path away from the transmitting end, and conversely, the signal intensity gradually increases in a direction along its propagation path close to the transmitting end. If the working area 100 has an approximately regular shape, the wireless signal module can be placed in the center of the working area 100 such that the wireless signal strength value near the boundary of the working area 100 is approximately equal to a fixed value when the automatic lawn mower 1 approaches the wireless The signal module, ie, the automatic mower 1 is located within the working area 100 and away from the boundary, the wireless signal strength value increases. The area identification module 29 sets a preset threshold a corresponding to the wireless signal strength value at the boundary of the working area 100. Therefore, when the area identification module 29 recognizes that the wireless signal strength value is greater than the preset threshold a, the automatic lawn mower 1 is located in the preset area. The wireless signal can be an ultrasonic signal, a radio frequency signal, a Wi-Fi signal, etc., and will not be described here.

In one embodiment, the automated working system includes a wireless signal transmitting device. The wireless signal transmitting device is mounted on the charging station 3. In general, the charging station 3 is located on the boundary of the working area 100 facing the inside of the working area 100. Here, the wireless signal module takes the ultrasonic module as an example, and the angular range of the transmitted ultrasonic wave is limited by hardware. If the charging station 3 is located at an inner angle of the working area 100, the inner angle is about 90 degrees, and the ultrasonic module with the transmitting angle of 90 degrees can be selected. . The zone module sets a preset threshold b corresponding to the minimum value of the ultrasonic signal strength detected by the automatic mower 1 in the work area 100. Therefore, when the area identification module 29 recognizes that the ultrasonic signal intensity value is greater than the preset intensity b, the automatic lawn mower 1 is located within the preset area.

In one embodiment, the wireless signal transmitting apparatus includes a pilot signal generating device and a signal line, and the pilot signal generating device is mounted on the charging station 3, and one end of the signal line is connected to the pilot signal generating device as a transmitting antenna of the pilot signal generating device, The signal generated by the pilot signal generating device is converted into a form of radio waves and propagates to free space. The pilot signal detecting device is mounted on the automatic lawn mower 1 for detecting radio waves. The signal lines and the pilot signal generating means or/and the pilot signal detecting means connected thereto can be arranged at different positions of the work area 100 according to the needs of the user, so that the signal lines play a corresponding role in the mobile device. Here, in the return charging phase, the signal line can serve as the guide line 5 for guiding the return of the automatic lawn mower 1, so that the automatic lawn mower 1 returns to the charging station 3 along the signal line; in the startup phase after the automatic lawn mower 1 is turned on, The area identifying module 29 can determine whether the automatic mower 1 is located in the preset area by acquiring a guiding signal sent from the signal line. When the area identification module 29 determines that the pilot signal is greater than the preset threshold c, the automatic lawn mower 1 is located in the preset area.

In one embodiment, the wireless signal transmitting device includes a Wi-Fi signal transmitting device. If the Wi-Fi signal transmitting device is installed in a user's home, the area identifying module 29 can detect the Wi-Fi signal and determine the Wi-Fi signal strength and Determine the relationship between the signal strength and determine whether the automatic mower is in the preset area.

In one embodiment, the automated working system includes a terminal device. The wireless signal receiving unit is communicatively coupled to the terminal device. The terminal device generates a wireless signal by the user operation, and the wireless signal receiving unit receives the wireless signal, and the determining unit determines that the wireless signal is sufficient to meet the preset condition, and if yes, determines that the automatic lawn mower 1 is located in the preset area. The preset condition may be a preset user instruction, and the user is notified by the instruction manual or the like to confirm that the automatic lawn mower 1 is located in the preset area by the preset user instruction.

In one embodiment, the information entry unit includes an image detection module 31 for acquiring an image near the area where the automatic mower 1 is located. Detecting specific objects in the preset area, including plants, buildings, etc., may also include other devices set by the user. If the image signal satisfies the preset condition, it is determined that the automatic mower 1 is located in the preset area. In one embodiment, if the work area 100 is adjacent to the user's home 7, it can be determined whether the user's home 7 is within the preset area by detecting the user's home 7. When the automatic mower 1 is turned on, the automatic mower 1 rotates 360 degrees, acquires several images, and extracts a feature identifier from the acquired image. If the region recognition module 29 determines that the feature identifier is detected, the automatic lawn mower is determined. 1 is located in the working area 100; it can also be combined and judged by using the feature identifier in the combined image and the characteristics such as the position and size of the feature in the image. In other embodiments, the automatic lawn mower 1 includes a wireless communication module that can exchange information with a remote processor or the cloud. The automatic lawn mower 1 itself does not require a powerful image processing device, but only needs to upload the acquired image. Identifying by remote processor or cloud extraction feature identification, and then sending the recognition result to the automatic mower 1.

In one embodiment, the information entry unit includes a position signal receiving unit that receives the position signal of the automatic mower 1. The interpretation unit compares the position of the automatic lawn mower 1 with the work area 100, and can determine whether the automatic lawn mower 1 is located within the work area 100.

In one embodiment, the position signal is absolute coordinates, the automatic mower 1 is equipped with a positioning module, the positioning module may be a satellite positioning module, or a wireless local area network positioning module, including cellular communication network positioning, Wi-Fi positioning, ZigBee network positioning. , UWB positioning, CSS positioning, etc. In order to reduce costs, the positioning module can only achieve low precision positioning to ensure that the automatic mower 1 is in the vicinity of the work area 100.

In one embodiment, the position signal is a relative coordinate, and the relative position of the automatic mower 1 to the action area is obtained by a positioning module installed by the automatic mower 1 itself or a positioning system established in the work area 100. In this embodiment, the automatic mower 1 is equipped with an inertial navigation (hereinafter referred to as inertial navigation) module, and the charging station 3 is used as a coordinate origin, and the speed, yaw angle and position of the automatic mower 1 in the navigation coordinate system can be obtained. information. The automatic mower 1 can obtain the relative position of the boundary of the working area 100 in a specific manner. In this embodiment, the working process of the automatic mower 1 includes a learning phase, and can move around the boundary before starting the work, starting from the charging station 3. The charging station 3 is terminated to store the relative coordinates of the boundary, thereby acquiring the relative coordinates of the entire working area 100. The learning phase of the automatic mower 1 can be automatically identified by the surface recognition module 27 or by user control. In other embodiments, the automatic mower 1 can obtain the position of the automatic mower 1 by ultrasonic positioning, UWB positioning, visual positioning, and the like, and details are not described herein.

In one embodiment, the information input unit includes a signal triggering unit that can be triggered by the user to generate a user command, and the determining unit can compare the user command with the preset condition to determine whether the automatic lawn mower 1 is in the preset area. In this embodiment, the preset condition is a preset user instruction, and specifically may be a preset action or a preset password. The preset user command for judging can be notified to the user through the product manual, or the user can be prompted by the automatic mower 1 user interface, or the user can be prompted by the remote device. The preset user command can be preset or updated by the manufacturer, or can be set by the user according to actual needs.

In an embodiment, after the automatic lawn mower 1 is powered on, the controller 21 waits to receive a user instruction, and if the area recognition module 29 receives the preset user instruction, starts to work, if the preset user instruction is not received within the specified time. The controller 21 controls the automatic mower 1 to be turned off.

In an embodiment, after the automatic lawn mower 1 is powered on, the user is reminded to judge and perform the corresponding action, so that the area recognition module 29 receives the preset user instruction, then the automatic lawn mower 1 starts to work, if there is no specified time Upon receiving the preset user command, the controller 21 controls the automatic mower 1 to shut down.

In one embodiment, the controller 21 further includes an anomaly detection module 31 coupled to the corresponding anomaly detection sensor to receive an anomaly detection signal. The abnormality detection here may be an abnormal working condition such as the automatic lawn mower 1 being lifted, dropped, etc., and when the abnormality detecting module 31 recognizes the abnormality detecting signal, the automatic lawn mower 1 is controlled to stop.

In one embodiment, the automatic lawn mower 1 includes a detection module 31, a guide line sensor, a docking detection sensor, a handling sensor, etc., and the sensor is electrically connected to the controller 21 to detect the environment around the automatic lawn mower 1 and transmit the detection signal. To the controller 21. The guide line sensor user detects a return guide signal from the guide line 5 connected to the charging station 3, and the docking detection sensor is used to detect a successful docking signal of the automatic lawn mower 1 and the charging station 3, and the transport sensor is used for detecting automatic cutting. The grass machine 1 is lifted by a user or a third person and the like. If the handling sensor is triggered during the operation of the automatic mower 1, and the abnormality detecting module 31 detects the corresponding signal, the automatic mower 1 is controlled to be turned off. Thereafter, after the automatic mower 1 is turned on by the internal controller 21 or the external trigger control, it is detected whether the automatic mower 1 is docked with the charging station 3. If the docking detecting sensor detects the docking signal, the area identifying module 29 judges the automatic mowing. The machine 1 is located in the working area 100. If the docking detection sensor does not detect the docking signal, the area identifying module 29 issues a user command to the user to remind the user to move the automatic mower 1 back to the charging station 3 and control the automatic mower 1 to shut down. .

In one embodiment, the automatic mower 1 includes a guide wire sensor, a docking detection sensor, a handling sensor, and the like. If the handling sensor is triggered during the operation of the automatic mower 1, and the abnormality detecting module 31 detects the corresponding signal, the automatic mower 1 is controlled to be turned off. After the automatic lawn mower 1 is turned on, if the docking detection sensor detects the docking signal, the area identifying module 29 determines that the automatic lawn mower 1 is located in the preset area, and if the area identifying module 29 determines that the docking signal is not detected, the area identifying module 29 further determining whether the regression guide signal is detected. If the regression guide signal is detected, the controller 21 controls the automatic lawn mower 1 to start operation, and if the regression guide signal is not detected, controls the automatic lawn mower 1 to shut down.

In one embodiment, the automatic mower 1 includes a start mode and an operation mode in which the controller 21 disables the operation of the drive module 23 and the work module 25, in which the controller 21 allows the drive module 23 and the work Module 25 works. When the automatic mower 1 is turned on or restarted by the sleep state, the automatic mower 1 enters a startup mode. In the startup mode, the surface recognition module 27 and the area recognition module 29 respectively determine whether the surface recognition module 27 determines the detection module. The detected working surface coincides with the working area, and the area identifying module 29 determines that the automatic mower 1 is located in the preset area, and the controller 21 controls the automatic mower 1 to enter the working mode. If the surface recognition module 27 determines that the working surface detected by the detecting module 31 is consistent with the working area 100, or the area identifying module 29 determines that the automatic lawn mower 1 is located in the preset area, and any one is not satisfied, the controller 21 controls the automatic lawn mower. 1 Keep in the startup mode, or control the automatic mower 1 to shut down.

4 is a flow chart of a control method of the automatic lawn mower 1 according to an embodiment of the present invention. As shown in FIG. 4, in one embodiment, the control method of the automatic lawn mower 1 includes the following steps: Step S1: Automatic lawn mower 1 start, step S2: the detecting module 31 detects the working surface where the automatic mower 1 is located, step S3: the surface identifying module 27 determines whether the working surface of the automatic mower 1 is consistent with the working surface of the working area 100, if the surface is recognized If the module 27 determines that the working surface is inconsistent with the working area 100, the process proceeds to step S4: the automatic mower 1 is controlled to shut down or enter the standby mode; if the surface recognition module 27 determines that the working surface is consistent with the working area 100, the process proceeds to step S5: the area recognition module 29, by judging whether the automatic lawn mower is located in the preset area, if the automatic lawn mower 1 is located in the preset area, proceeding to step S6: controlling the automatic lawn mower 1 to start, if the automatic lawn mower 1 is not located in the preset area Then, the process proceeds to step S4: the controller 21 controls the automatic mower 1 to shut down or enter the standby mode. In other embodiments, the automatic mower steps S3 and 5 can be performed simultaneously, or the sequence can be exchanged, as long as the working surface of the automatic mower 1 is consistent with the working area 100, and the automatic mower 1 is located in the preset area. Inside, you can control the automatic mower to start.

In an embodiment, step S5 further comprises the steps of: step S5A is to detect external entry, and step S5B is to determine whether the automatic mower 1 is located in the preset area based on external entry.

In the above embodiment, the information entry unit may include one or more types that receive one or more external entries. The determining unit respectively determines whether the external entry meets the preset condition, and the determination result can be combined with the logical relationship, that is, when the information is satisfied, the area identifying module 29 confirms that the automatic mower 1 is located in the working area 100, and the combination mode is suitable for the work. The environment outside the area 100 adjacent to the neighbor's lawn or other work area 100 is relatively complicated and unrecognizable, further reducing the possibility of the automatic mower 1 working outside the work area 100, thereby improving safety. The judgment result may also be combined in a logical relationship, that is, as long as one of them is satisfied, the area recognition module 29 confirms that the automatic lawn mower 1 is located in the work area 100.

The above-mentioned embodiments are merely illustrative of several embodiments of the present invention, and the description thereof is more specific and detailed, but is not to be construed as limiting the scope of the invention. It should be noted that a number of variations and modifications may be made by those skilled in the art without departing from the spirit and scope of the invention.

Claims

[Correct according to Rule 91 30.05.2019]

An automatic working system comprising a self-moving device and a charging station, the self-moving device autonomously moving and working in a working area, capable of docking charging with the charging station, wherein

The self-mobile device includes:

case;

a drive module mounted to the housing and driving the housing to move relative to the ground;

a working module installed in the housing to perform a set work task;

a detecting module mounted on the housing to detect a working surface of the self-moving device;

a controller is mounted on the housing and connected to the driving module, the working module, and the detecting module;

a surface recognition module, determining whether the working surface is consistent with the working area;

The area identification module determines whether the self-mobile device is located in a preset area;

If the surface recognition module determines that the working surface is consistent with the working area, and the area identifying module determines that the self-mobile device is located in the preset area, the controller controls the self-mobile device to start.
The automatic working system according to claim 1, wherein the area identification module comprises an information entry unit that receives an external entry; the area identification module includes a determination unit that determines whether the self-mobile device is based on the external entry Located in the preset area.
The automatic working system according to claim 2, wherein said information input unit comprises a signal receiving unit.
The automatic working system according to claim 3, wherein said signal receiving unit comprises a docking signal receiving unit for receiving a docking signal from said mobile device and said charging station.
The automatic working system according to claim 3, wherein said signal receiving unit comprises a wireless signal receiving unit for receiving a wireless signal.
The automatic working system according to claim 5, wherein the determining unit determines that the self-mobile device is located in the preset area according to the wireless signal strength being greater than a preset intensity.
The automatic working system according to claim 5, wherein said automatic working system comprises wireless signal transmitting means for transmitting said wireless signal.
The automatic working system according to claim 7, wherein said wireless signal transmitting means transmits a pilot signal for directing said self-mobile device to return to said charging station.
The automated working system of claim 7 wherein said wireless signal transmitting device is at least partially mounted to said charging station.
The automatic working system according to claim 7, wherein said wireless signal transmitting means comprises a user terminal, said wireless signal being generated by a user operation.
The automatic working system according to claim 3, wherein said signal receiving unit comprises a position signal receiving unit that receives a position signal from the mobile device.
The automated working system of claim 11 wherein said position signal comprises absolute coordinates or relative coordinates.
The automatic working system according to claim 2, wherein said information input unit comprises a signal triggering unit.
The automated working system of claim 3 wherein said signal triggering unit comprises a user interface for generating user commands by user operations.
The automated working system of claim 1 wherein said predetermined area is at least partially located within said work area.
The automatic working system according to claim 1, wherein said controller allows said drive module and said work module to operate or stop working after said controller controls said self-mobile device to be activated.
The automatic working system according to claim 1, wherein the detecting module comprises at least one of a capacitive sensor, a visual sensor, a light sensor, and a radar sensor.
[Correct according to Rule 91 30.05.2019]

A self-moving device that moves and works autonomously within a work area, characterized in that

The self-mobile device includes:

case;

a drive module mounted to the housing and driving the housing to move relative to the ground;

a working module installed in the housing to perform a set work task;

a detecting module mounted on the housing to detect a working surface of the self-moving device;

a controller is mounted on the housing and connected to the driving module, the working module, and the detecting module;

a surface recognition module, determining whether the working surface is consistent with the working area;

The area identification module determines whether the self-mobile device is located in a preset area;

a startup mode, in which the controller prohibits the driving module and the working module from operating;

a working mode in which the controller allows the driving module and the working module to operate;

In the startup mode, if the surface recognition module determines that the working surface is consistent with the working area, and the area identifying module determines that the self-mobile device is located in a preset area, the controller controls the self The mobile device enters the working mode.
The self-mobile device according to claim 18, wherein the area identification module includes an information entry unit that receives an external entry; the area identification module includes a determination unit that determines whether the self-mobile device is based on the external entry Located in the preset area.
A self-mobile device according to claim 19, wherein said information entry unit comprises a signal receiving unit.
A self-mobile device according to claim 20, wherein said signal receiving unit comprises a docking signal receiving unit for receiving a docking signal from said mobile device and said charging station.
A self-mobile device according to claim 20, wherein said signal receiving unit comprises a wireless signal receiving unit for receiving a wireless signal.
The self-mobile device according to claim 20, wherein the determining unit determines that the self-mobile device is located in the preset area according to the wireless signal strength being greater than a preset strength.
A self-mobile device according to claim 19, wherein said information entry unit includes a user interface for generating user commands by user operations.
A self-mobile device control method, the control method controlling the self-mobile device to move and work in a work area, wherein

The control method includes the following steps:

Detecting a working surface on which the self-moving device is located;

Determining whether the working surface is consistent with the working area;

Determining whether the self-mobile device is located in a preset area;

And if the working surface is consistent with the working area, and the self-moving device is located in the preset area, controlling the self-mobile device to start.
The control method according to claim 25, wherein the determining whether the self-mobile device is located in a preset area comprises the steps of: detecting an external entry, determining whether the self-mobile device is located at a preset based on the external entry region.
The control method according to claim 25, wherein said preset area is at least partially located in said work area.