WO2021023227A1

WO2021023227A1 - Automatic working system

Info

Publication number: WO2021023227A1
Application number: PCT/CN2020/107141
Authority: WO
Inventors: 何明明; 吴双龙
Original assignee: 苏州宝时得电动工具有限公司
Priority date: 2019-08-05
Filing date: 2020-08-05
Publication date: 2021-02-11
Also published as: CN114207542A

Abstract

The present invention relates to an automatic working system. The automatic working system comprises: a self-moving device and a navigation mechanism. In a map verification mode, when an abnormality detection module detects that an abnormality is present in the automatic working system, a control module controls the self-moving device to interrupt the map verification mode and enter an abnormality processing mode; and after the abnormality is solved, the map verification mode is entered again to continue to verify a map. The present invention has the beneficial effects of a lawnmower being unable to destroy a non-lawn region nor accidentally injure pedestrians and animals when a map verification mode is started, and ensuring the safety of a map.

Description

An automatic working system

This application claims the priority of the Chinese patent application whose application date is August 5, 2019 and the application number is 201910718935.6, the entire content of which is incorporated into this application by reference.

Technical field

The invention relates to an automatic working system, and also relates to an automatic working system involving user safety.

Background technique

With the development of science and technology, automatic working systems appear more and more frequently in people's daily life, helping people to deal with some repetitive and tedious tasks. The self-moving equipment in the automatic working system can run in a certain area to complete related tasks. Generally, the automatic working system can work without human operation control. Therefore, the operation of the self-mobile device may have some safety problems. For example, the self-mobile device may drive to an area where the user does not want it to appear.

To solve the above problems, take the automatic working system of the automatic lawn mower to clean the lawn as an example. The following methods can be used to deal with the problem: a boundary line is arranged around the lawn to be cleared, and the boundary line is connected with the charging station, so that the lawn mower When cleaning the lawn, the boundary signal transmitted in the boundary line can be recognized. The positional relationship between the lawn mower and the boundary line is judged by identifying the boundary signal, which prevents the lawn mower from crossing the boundary line in the process of working, damaging non-turf areas or accidentally injuring pedestrians. However, when using the above-mentioned method of arranging boundary lines to define the working area of the lawn mower, the user needs to arrange the boundary lines on the lawn boundary in advance, which is relatively cumbersome and will increase the user's workload. Therefore, it is also possible to establish a map of the work area, record the position coordinates by establishing the work area coordinate system, and limit the safe working range of the automatic lawn mower according to the position coordinates. By using the method of building a map of the work area, users do not need to lay out border lines on the lawn.

However, there are potential safety hazards when using the above method of establishing a work area map to control the operation of the lawn mower. If there is an error between the established work area map and the actual work area, for example: the established work area map is larger than the actual work area, when the lawn mower runs along the work area map, it may exceed the actual work area, destroying the non-turf area, Injured pedestrians or animals.

Summary of the invention

In order to solve the security problems of the mobile device when starting the map confirmation mode, running in the map confirmation mode, and confirming the completion of the map confirmation, the technical solution adopted by the present invention is:

An automatic working system, including: self-moving equipment and navigation mechanism;

The navigation mechanism is configured to be installed on the self-moving device and used to provide current location information of the self-moving device;

The self-moving device includes:

Walking module, used to drive the self-moving device to walk;

A storage unit storing a map of the work area in the storage unit;

A control module, electrically connected to the walking module, for controlling the walking of the walking module, and controlling the self-moving device to walk within a working area defined by a boundary according to the current position information;

The automatic working system has a map confirmation mode. In the map confirmation mode, the self-mobile device walks according to the map, and based on the walking path of the self-mobile device, confirms whether the map matches the boundary, and

The self-mobile device further includes: an abnormality detection module for detecting whether there is an abnormal situation in the automatic working system, the abnormality detection module detects whether there is an abnormal situation in the automatic working system, and sends the detection result to the The control module, before starting the map confirmation mode, when it is detected that the abnormal situation does not exist, the control module allows the map confirmation mode to be started, and the abnormal situation characterizes the existence of preventing the self-mobile device from completing the pairing The map to confirm the problem.

In an embodiment of the present application, the abnormality detection module performs a self-check on the self-mobile device, and determines whether the self-mobile device has an abnormal condition based on the self-check result, and the self-check includes: detecting the self-movement The energy level of the device, and detecting whether the self-mobile device has a hardware failure.

In an embodiment of the present application, the abnormality detection module includes: an environment detection sensor that detects the external environment in a local and/or remote manner to determine whether the abnormal situation exists, the external environment Including at least one of the following: weather, obstacles, satellite signals.

In an embodiment of the present application, after the map confirmation mode is activated, the control module plans the path from the mobile device to the starting point of the patrol, and controls the self-mobile device to walk to the starting point of the patrol. , And confirm the map from the starting point of the side patrol, which is located on the boundary.

In an embodiment of the present application, the self-mobile device further includes: an interaction module, which is electrically connected to the control module, and is used for interaction between the self-mobile device and the user, and is planned in the control module After the path from the mobile device to the starting point of the patrol, the interaction module sends the user information confirming whether the planned path is accurate, and after receiving the confirmation information, the control module controls the self-mobile device to walk To the starting point of the patrol.

In an embodiment of the present application, in the map confirmation mode, when the self-mobile device is walking along the boundary in the map, when the self-mobile device receives a notification message to correct the map, the control The module controls the self-mobile device to interrupt the map confirmation mode to enter the retouching mode, and in the retouching mode, the boundary stored in the storage unit is corrected according to the position information of the navigation mechanism to obtain the corrected boundary.

In an embodiment of the present application, after the self-mobile device has corrected the boundaries in the map, the control module controls the self-mobile device to perform map confirmation according to the corrected boundaries stored in the storage unit .

The embodiment of the present invention also provides an automatic working system, the system includes: a self-mobile device, a navigation mechanism,

A navigation mechanism, configured to be installed on the self-mobile device, and used to provide current location information of the self-mobile device;

The self-moving device includes:

Walking module, used to drive the self-moving device to walk;

A storage unit storing a map of the work area in the storage unit;

The self-mobile device further includes: an abnormality detection module for detecting whether there is an abnormal situation in the automatic working system, the abnormality detection module detects whether there is an abnormal situation in the automatic working system, and sends the detection result to the The control module, in the map confirmation mode, when an abnormal situation is detected in the automatic working system, the control module controls the self-mobile device to interrupt the map confirmation mode to enter the abnormal processing mode, and after the abnormal situation is resolved Then re-enter the map confirmation mode to continue to confirm the map, and the abnormal situation signifies that there is a problem that prevents the self-mobile device from completing the confirmation of the map.

In an embodiment of the present application, the abnormality detection module performs a self-check on the self-mobile device, and determines whether the self-mobile device has an abnormal condition based on the self-check result, and the self-check includes: detecting the self-movement The energy level of the device, detecting whether the self-mobile device has a hardware failure, and when the abnormal situation is detected in the automatic working system, the control module controls the self-mobile device to interrupt the map confirmation mode and enter abnormal processing mode.

In an embodiment of the present application, the abnormality detection module includes: an environment detection sensor that detects the external environment in a local and/or remote manner to determine whether the abnormal situation exists, the external environment It includes at least one of the following: weather, obstacles, and satellite signals. When the abnormal situation is detected in the automatic working system, the control module controls the self-mobile device to interrupt the map confirmation mode and enter the abnormal processing mode.

In an embodiment of the present application, the automatic working system includes: an interaction module, which is electrically connected to the control module, and is used for interaction between the mobile device and the user. When the abnormality is detected In case, the control module controls the self-mobile device to interrupt the map confirmation mode to enter the exception handling mode. In the exception handling mode, the control module controls the self-mobile device to solve the problem based on the output of the interaction module. abnormal situation.

In an embodiment of the present application, in the abnormal handling mode, the control module controls the self-mobile device to resolve the abnormal situation based on the detection result.

In an embodiment of the present application, the manner of interrupting the map confirmation mode includes: shutdown and/or alarm.

In an embodiment of the present application, after solving the abnormal situation, the control module modifies the map stored in the storage unit according to the walking path generated when the abnormal situation is solved, and controls the self-moving The device continues to perform map confirmation according to the modified map stored in the storage unit.

In an embodiment of the present application, after solving the abnormal situation, the control module controls the self-mobile device to continue map confirmation according to the map.

The present invention also provides an automatic working system, the system includes: a self-moving device, a navigation mechanism,

The self-moving device includes:

Walking module, used to drive the self-moving device to walk;

In the automatic working system map confirmation mode, in the map confirmation mode, the self-mobile device walks according to the map, and based on the walking path of the self-mobile device, it is confirmed whether the map matches the boundary,

The self-mobile device further includes a detection module for monitoring the distance between the user and the self-mobile device, and sends the monitoring result to the control module, and the control module determines whether the user is in the self-mobile device. Near the device, in the map confirmation mode, during the process of the automatic working system confirming the map, the control module determines whether the user is located near the self-mobile device,

When it is determined that the user is located near the self-mobile device, the control module controls the self-mobile device to confirm the map based on the walking path.

In an embodiment of the present application, the detection module includes a button, and the control module determines that the user is located near the self-moving device according to the user's pressing and/or touch operation received by the button.

In an embodiment of the present application, the detection module includes: a communication module, the communication module is used for communication between the self-mobile device and the client, according to the communication module to determine the user is located in the self-mobile Near the equipment.

In an embodiment of the present application, the control module determines that the user is located near the self-mobile device according to the characteristics of the signal received by the communication module.

In an embodiment of the present application, the signal characteristic includes: communication signal strength.

In an embodiment of the present application, the control module determines that the user is located near the self-mobile device based on the signal received by the communication module.

In an embodiment of the present application, the communication module includes: a near field communication module.

In an embodiment of the present application, the detection module includes: a human body detection module, and the control module determines that the user is located near the self-moving device based on the detection result of the human body detection module.

In an embodiment of the present application, when it is determined that the user is not near the self-mobile device, the control module prohibits the self-mobile device from walking according to the map.

The self-moving device includes:

Walking module, used to drive the self-moving device to walk;

In the map confirmation mode, when the control module controls the walking module to walk along the boundary for at least one week, the self-mobile device completes the map confirmation.

In an embodiment of the present application, when the map confirmation mode is interrupted, the navigation mechanism records the interruption location where the interruption occurred. In the map confirmation mode, the walking module starts from the interruption location and After walking along the boundary for at least one week without interruption, the self-mobile device completes map confirmation.

In an embodiment of the present application, when the map confirmation mode is interrupted, the navigation agency records the interruption location where the interruption occurred. In the map confirmation mode, when the map confirmation mode is interrupted, the When the control module controls the walking module to walk along the boundary for at least one week, the self-mobile device completes map confirmation, wherein the self-mobile device is between the walking path before the interruption location and the walking path after the interruption location There is overlap between.

In an embodiment of the present application, in the map confirmation mode, the self-mobile device confirms the map from the starting point of the patrol on the boundary of the map, and accordingly, the control module controls The walking module completes the map confirmation when it has walked along the boundary for at least one week from the starting point of the side tour without interruption.

In an embodiment of the present application, when it is detected that the walking module has walked along the boundary for at least one week, the self-mobile device sends to the client whether the self-mobile device has completed confirming the boundary Notification message.

In an embodiment of the present application, when the control module receives the information about the self-mobile device completing the confirmation of the boundaries in the map, the self-mobile device completes the map confirmation.

In an embodiment of the present application, the self-moving device further includes: a work module for performing a predetermined work;

The automatic working system further includes: a working mode, in which the self-mobile device automatically walks and/or works within a working area defined by a confirmed map, and the confirmed map is completed The map is generated after confirmation.

The embodiment of the present invention also provides an automatic working system, including: a self-moving device and a navigation mechanism;

The self-moving device includes:

Walking module, used to drive the self-moving device to walk;

A storage unit storing a map of the work area in the storage unit;

In an embodiment of the present application, in the map confirmation mode, when the abnormality detection module detects an abnormal situation in the automatic working system, the control module controls the mobile device to interrupt the map confirmation mode Enter the abnormality processing mode, and re-enter the map confirmation mode after solving the abnormal situation to continue to confirm the map. The abnormal situation represents a problem that prevents the self-mobile device from completing the confirmation of the map.

In an embodiment of the present application, the self-moving device further includes: a detection module for monitoring the distance between the user and the self-moving device, and sending the monitoring result to the control module, through the control The module determines whether the user is located near the self-mobile device. In the map confirmation mode, the control module determines whether the user is located near the self-mobile device during the process of the automatic working system confirming the map,

In an embodiment of the present application, in the map confirmation mode, when the control module controls the walking module to walk along the boundary for at least one week, the self-mobile device completes map confirmation.

In an embodiment of the present application, the self-moving device further includes: a working module for performing predetermined tasks;

Compared with the prior art, the beneficial effects of the present invention are:

In one embodiment of the present application, before starting the map confirmation mode from the mobile device, the abnormality detection module detects whether there is an abnormal situation in the automatic working system, and activates the map confirmation mode when it detects that there is no abnormal situation, so as to avoid accidents during startup. Status to ensure the safety when starting the map confirmation mode.

In another embodiment of the present application, after the map confirmation mode is activated, when an abnormal situation is detected during the map confirmation process in the map confirmation mode from the mobile device, the mobile device can be controlled to interrupt the map confirmation mode and enter the abnormal processing mode. , To avoid accidents during the map confirmation process, ensure the safety of the map confirmation process, and re-enter the map confirmation mode to continue to confirm the map after the exception is resolved, so that the machine can continue the map even if it encounters an abnormality Confirm work. Further, processing is performed according to the detected abnormal situation to ensure the accuracy of the map obtained after the map confirmation mode.

In another embodiment of the present application, the map confirmation mode is activated and in the map confirmation mode, the distance between the user and the mobile device is monitored. When the user is located near the mobile device, the mobile device is controlled to walk according to the map and perform the map. confirm. That is, in the process of map confirmation, the distance between the user and the machine is limited to ensure that the machine is within the user's controllable range, so that if the machine exceeds the working area or does not completely cover the working area while the machine is walking, the user can immediately Deal with these situations to ensure that non-turf areas or pedestrian animals will not be damaged in the map confirmation mode. In addition, when an abnormal situation that is not recorded on the map such as low voltage, collision, lifting, etc. occurs from the mobile device in the map confirmation mode, the user can immediately handle the abnormal situation to ensure that the mobile device can successfully complete the map confirmation , Improve the work efficiency of mobile devices, and ensure the reliability of map inspection.

In another embodiment of the present application, in the process of confirming the map, when it is detected that the mobile device has walked along the boundary for at least one week (a complete boundary), the map boundary confirmation is completed by the mobile device. That is, since the mobile device determines whether to complete the map boundary confirmation process according to the requirements, to ensure the accuracy of the map obtained after the map confirmation process, and the safety of the machine when working according to the confirmed map, and then the machine walks according to the map During the process, there will be no unsafe incidents caused by walking outside the working area (outside the actual limits), and incidents such as incomplete cutting of the lawn due to incomplete coverage of the working area (walking within the actual limits) .

Description of the drawings

The objectives, technical solutions, and beneficial effects of the present invention described above can be achieved through the following drawings:

Figure 1 is a schematic diagram of an automatic working system according to an embodiment of the present invention;

2 is a schematic diagram of functional modules of an automatic lawn mower according to an embodiment of the present invention;

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

4 is a flowchart of a control method of an automatic working system according to an embodiment of the present invention;

FIG. 5 is a flowchart of a method for starting a condition check of a confirmed map mode according to an embodiment of the present invention;

6 is a flowchart of a method for detecting the distance between the user and the lawn mower in the process of confirming the map according to an embodiment of the present invention;

FIG. 7 is a flowchart of a method for abnormality detection and processing in the process of confirming a map according to an embodiment of the present invention;

8 is a flowchart of a method for confirming the completion of the map in the process of confirming the map according to an embodiment of the present invention;

FIG. 9 is a flowchart of a control method for confirming boundaries in a map in an automatic working system according to an embodiment of the present invention;

The schematic diagram of the application scenario of the present invention is shown in Figures 10-12.

detailed description

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of the present invention. The terms used in the description of the present invention herein are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. And, the term "and/or" as used herein includes any and all combinations of one or more related listed items.

As shown in FIG. 1, the automatic working system of the specific embodiment may include: self-mobile device 1, boundary 2, charging station 3, and navigation mechanism 26. Among them, the self-mobile device 1 walks and works in the working area 4 defined by the boundary 2, the charging station 3 can be used for the self-mobile device to return to docking to recharge when the energy is insufficient, and the navigation mechanism 26 can be used to provide the self-mobile device The current location information and build a map of the work area 4. The self-moving equipment 1 can be an automatic lawn mower, a sweeping robot, an automatic snow sweeper and other equipment suitable for unattended operation. They automatically walk on the surface of the work area for mowing, vacuuming or snow sweeping, or other It is suitable for unattended equipment, which is not limited in this application. In the following embodiments of the present application, the self-mobile device 1 is an automatic lawn mower 20 as an example for description.

As shown in FIGS. 2 to 3, the automatic lawn mower 20 may include a housing 27, and may also include a walking module 21, a working module 22, a communication module 23, a control module 24, and an energy module 25. The control module 24 is connected to and controls the walking module 21 and the working module 22 to realize the automatic walking and working of the automatic lawn mower 20.

Specifically, the walking module 21 may include a wheel set and a walking motor driving a wheel set. Generally, the wheel set includes a driving wheel 211 driven by the walking motor and an auxiliary wheel 212 that assists in the support housing. It is understood that the walking module 21 may also It is a crawler structure. In this embodiment, the right drive wheel and the left drive wheel are each equipped with a drive motor to achieve differential output to control steering. The walking motor can be directly connected to the driving wheel, or it can be provided with a transmission device, that is, the same motor drives the right driving wheel and the left driving wheel through different transmission devices to achieve differential output to control the steering. The working module 22 is a mowing module, such as a cutting blade 221, which can be driven by a cutting motor 222 to work. The center of the working module 22 is located on the central axis of the lawn mower 20, located below the casing, between the auxiliary wheel and the driving wheel, and can also be offset to the left or right side of the casing. The energy module 25 is fixedly or detachably installed in the housing, and may be a battery pack or the like. During operation, the battery pack releases electric energy to keep the lawn mower 20 working and walking. When it is not working, the battery can be connected to an external power source to supplement the electric energy; the automatic lawn mower 20 can also automatically find the charging station 3 to supplement the electric energy when it detects that the electricity is insufficient. The control module 24 may be a controller, which can control the walking, turning and automatic operation of the automatic lawn mower 20 according to a preset program or received instructions. The communication module 23 may include, but is not limited to, at least one of the following: wifi, Bluetooth, infrared, 4G or 5G and other cellular communication modules.

As shown in Fig. 1, the automatic working system may include a navigation mechanism 26, which may include but is not limited to at least one of the following: UWB sensors, inertial navigation equipment, satellite navigation systems (GPS, Beidou, RTK, etc.), and vision sensors. The navigation mechanism 26 can be used to establish a map of the working area 4, which is detachably or fixedly installed on the housing 27 of the lawn mower, or a part of the lawn mower 20 is integrated with the lawn mower, and the user controls and records the position To generate a map. When the navigation mechanism 26 is detached from the automatic lawn mower 1, it can work independently and record the position coordinates it passes through when it moves; when the navigation mechanism 26 is installed on the housing 27 of the automatic lawn mower 1, it can work with The control module of the automatic lawn mower 1 is electrically connected to output the current position coordinates of the automatic lawn mower 1. In this embodiment, in the process of generating the work area map, you can hold the navigation mechanism 26 or control the automatic lawn mower 20 installed with the navigation mechanism to walk along the boundaries or obstacles of the work area to record the boundaries and obstacles of the work area. Equal position coordinates. In this embodiment, the navigation mechanism 26 may also include inertial navigation equipment. The inertial navigation equipment may include gyroscopes, accelerometers, etc., and the inertial navigation equipment can cooperate with the satellite navigation system to assist in navigation when the satellite signal is poor.

In the embodiment of the present application, as shown in FIG. 1, the boundary 2 may be the periphery of the entire working area, which may also be referred to as the outer boundary in this application. There may also be areas in the working area that are not suitable for working from the mobile device 1. 5. The area 5 forms a boundary 2, such as gardens, pools, etc., which can also be referred to as inner boundaries in this application, and the part outside the inner boundaries is the working area.

In the embodiment of the present application, the automatic working system may include: a mapping mode. In the mapping mode, the navigation mechanism 26 creates a corresponding work area map for the actual work area as shown in FIG. 1, and during the mapping process, The working module of the lawn mower is in a stopped working state. Among them, the work area map may include: boundaries, charging station locations and/or charging station docking directions, and inside the work area. In the establishment mode, the lawn mower or navigation mechanism 26 can be controlled to walk along the boundary 2 (including the outer boundary and the inner boundary) as shown in Figure 1 and establish the corresponding boundary map; it can be along the docking direction of the charging station 8 Walk and record the location of the charging station and the docking direction 8 on the map. For wireless charging charging stations, only the location of the charging station can be recorded. For the automatic mowing system shown in Figure 1, it is also possible to record the obstacle information in the work area, the slope information in the work area, and the strength of the satellite signal received in the work area, and unsafe areas in the work area, such as : Information about pits, etc. The automatic mowing system may also include: a storage module, which is arranged on the navigation mechanism or the lawn mower. After the navigation mechanism 26 has established the map of the automatic mowing system, the map may be stored in the storage module and controlled The lawn mower follows the map.

In other embodiments, the work area map may also be generated by manually delineating the work area on the electronic map displayed by the client. Specifically, the client terminal may be a terminal device that can access a communication network based on a network protocol and has a map confirmation function for controlling the lawn mower, that is, it may be a smart terminal device installed with a lawn mower app. Specifically, the client can be a mobile smart phone, a computer (including a notebook computer, a desktop computer), a tablet electronic device, a personal digital assistant (PDA), or a smart wearable device.

If there is an error between the established work area map and the actual work area, for example: the established work area map is larger than the actual work area, when the lawn mower runs along the work area map, it will exceed the actual work area and damage the non- Lawn areas, accidental injuries to pedestrians or animals, such as: wheels crushing non-turf areas or cutting blades accidentally injuring non-turf areas. Therefore, in the embodiment of the present application, an automatic mowing system is proposed, which may include: a map confirmation mode. In the map confirmation mode, the lawn mower walks according to the boundaries in the map. In the process of walking, the user observes whether the walking path of the lawn mower is consistent with the actual boundary of the work area to verify the accuracy of the work area map. By verifying the accuracy of the established map, it is guaranteed that the lawn mower will not accidentally injure pedestrians and other unsafe incidents during the subsequent work. In the following embodiments of this application, check whether there is an abnormal situation when the map confirmation mode is started, check whether there is an abnormal situation in the map confirmation mode and solve the abnormal situation, continue to work, and ensure that the user is near the lawn mower during the entire process of confirming the map. As well as the completion conditions of the map confirmation, these aspects ensure the safety of the lawn mower during the map confirmation process, the accuracy of the map obtained, and the safety of the lawn mower when working in accordance with the map confirmed by the map.

In the first embodiment of the present application, the automatic lawn mower may further include: an abnormality detection module for detecting whether there is an abnormal situation in the automatic mowing system, the abnormality detection module can detect whether there is an abnormal situation in the system, and will detect The result is sent to the control module. Before starting the map confirmation mode, a condition check for starting the confirmation map mode is performed. When no abnormality is detected, the control module allows the map confirmation mode to be started. Among them, the abnormal situation represents a problem that prevents the lawn mower from completing the map confirmation. Through the above-mentioned check of the starting conditions, an abnormality can be avoided when the lawn mower starts in the map confirmation mode, and the safety of the map confirmation mode is guaranteed.

In one embodiment, the abnormal situation includes: an abnormality caused by the machine's own factors such as insufficient power of the mobile device and hardware failure. At this time, the abnormality detection module performs a self-check on the lawnmower, and determines whether the lawnmower is abnormal according to the self-check result, which may include: detecting the energy level of the lawnmower and whether there is a hardware failure. Specifically, when the lawn mower is turned on, it can be detected whether the remaining power of the energy module in the lawn mower meets the requirements for map confirmation, and if it meets the requirements, other startup conditions are checked. If the requirements are not met (the power of the lawnmower is lower than the preset power threshold), the user can move the lawnmower to the charging station to recharge (charge) by remote control or by holding the lawnmower. At this time, the user controls it to walk to the position before charging to check the starting conditions. When the lawn mower is turned on, it detects whether there is a hardware failure. When a hardware failure is detected, it can shut down and send an alarm or send a failure notification message to the client, so that the user can restart the machine and check the startup conditions after the user resolves the failure.

In another embodiment, the abnormal conditions include: abnormalities caused by external environmental factors such as weather, obstacles, and satellite signals. At this time, the abnormality detection module includes: an environment detection sensor, which can detect the external environment in a local and/or remote manner to determine whether there is an abnormal situation in the system.

Specifically, the environment detection sensor may include obstacle detection sensors for detecting obstacles in the moving direction of the lawn mower, including collision detection sensors (contact sensors), vision sensors, and ultrasonic sensors (non-contact sensors). When the machine is turned on, the obstacle detection sensor detects the collision of the automatic lawn mower, and the control module can control the lawn mower to perform but not limited to at least one of the following operations: stop; send an alarm signal through the alarm module in the lawn mower; to the customer The terminal sends an abnormal notification message; autonomously avoids obstacles. The machine can solve the abnormality by bypassing the obstacle or bypassing the obstacle under the control of the user, or removing the obstacle by the user. After the abnormality is resolved, the lawn mower continues to check the starting conditions until no abnormality is detected. .

The environmental detection sensor may also include a rain sensor, such as a resistance sensor, which may be installed on the outer surface of the housing. When rain or snow is detected by the rain sensor, the lawnmower can be controlled to stop, give an alarm, and send an abnormal notification message to the client. The user can control the machine to move indoors to hide from the rain. When the rain stops, the user can remotely move the lawn mower to the position or the previous position when the machine detects abnormalities such as rain or snow. Alternatively, the communication module or the current weather condition can also be used, so that the machine can handle the abnormality in the above-mentioned similar manner according to the current weather condition. Further, when the detected amount of rain or snow is small and has little or no influence on the operation of the machine, the machine can be controlled to work normally. Only when the amount of rain or snow is greater than a certain preset threshold, the machine is controlled to handle abnormalities to ensure maximum utilization of machine work.

Environmental detection sensors can also include accelerometers, lift sensors, IMUs and other sensors to determine whether they are trapped, lifted, or dropped. Alternatively, it may also include a slope detection sensor for detecting the slope of the working area. Or, it may also include: a device that can detect the strength of the satellite signal. When the above abnormal situation is detected, a processing method similar to that described above can be adopted, which is not repeated here in this application. Similarly to the above-mentioned embodiment, when the obstacle or slope detected by the machine has little or no influence on its normal operation, it can be controlled to work normally.

When the machine detects that the abnormality has been resolved or the user sends the information that the abnormality has been resolved to the machine, the control module allows the map confirmation mode to be activated. After the lawn mower starts the map confirmation mode, the user can move the lawn mower to the work area by remote control or holding the lawn mower by himself or manually draw the walking path on the electronic map, or directly move the lawn mower Move to the boundary so that you can confirm the boundary on the map later. Preferably, the working area in this step may be an open area, so as to ensure that the lawn mower does not appear abnormalities such as weak satellite signals when starting to walk. When the lawn mower is in the working area, the lawn mower can determine whether the lawn mower is in the map based on the current position information provided by the navigation mechanism. If the lawnmower is not on the map, it means that the map created in the mapping mode is not accurate, that is, it can also indicate that the current position of the lawnmower on the map does not match the actual working area, and the lawnmower cannot start the map confirmation mode. , The control module can control the lawn mower to stop and alarm. At this time, the user can control the lawn mower to enter the retouching mode shown below. In this embodiment, before formally confirming the map, the automatic lawn mower is controlled to be in the map, so that when the automatic lawn mower performs map confirmation, the navigation mechanism can plan to walk according to the map. It is worth noting that, in this application, the step of moving the lawn mower into the map by the user can be performed before or after starting the map confirmation mode, which is not limited in this application.

In an embodiment of the present application, when the automatic lawnmower is in the map, when the user confirms the map boundary, the navigation mechanism of the lawnmower can determine the location on the map boundary according to the current position of the lawnmower and the map. The starting point of the side patrol. The starting point of the side patrol can be the position point closest to the lawn mower on the boundary, or the position point selected by the user, or the position point when the lawn mower walks to the limit randomly. After the lawn mower reaches the limit, the patrol path when the lawn mower walks along the limit can be determined according to the starting point of the patrol and the map. The patrolling path may be the path that the lawnmower travels from the starting point of the patrol along the limit and then walks to the starting point of the patrol again. In another embodiment, the lawn mower can also directly determine the patrol path according to the current position of the lawn mower and the map, so that the lawn mower can walk according to the patrol path. Preferably, the side patrol path is half the width of the fuselage from the boundary of the actual working area to achieve cutting to the side. Of course, it can also be other distance values, which are not limited in this application.

In one embodiment, after the map confirmation mode is activated, the control module plans the path of the lawn mower to the starting point of the patrol, controls it to walk to the starting point of the patrol, and confirms the map from the starting point of the patrol. The edge start point is on the boundary. By controlling the lawn mower from the starting point of the patrol on the boundary, and walking according to the boundary on the map to confirm the map (confirm the boundary on the map), the user observes the walking path of the lawn mower and the actual work area Whether the boundaries are consistent, to ensure the accuracy and safety of the resulting map.

The lawn mower may also include: an interactive module, the interactive module may include: a communication module, a light emitting module or a sound module, keys, etc. (virtual keys on the display interface of the housing or physical keys on the housing of the lawn mower, etc.). There is no restriction on this. The interaction module is electrically connected to the control module to realize the interaction between the lawn mower and the user. After the control module plans the path from the lawn mower to the starting point of the patrol, the interaction module sends the user confirmation whether the planned path is accurate information. If the path is accurate, the user confirms the information. After the lawn mower receives the confirmation message, the control module controls it to walk to the starting point of the patrol, and confirm the map from the starting point of the patrol. After the lawn mower plans a route for map confirmation, the user confirms the route to ensure the accuracy and safety of the obtained route. Further, when the user confirms the path by pressing the button, it can also indicate that the user is near the lawn mower. Of course, if the user observes that the path is inaccurate, he can choose to deny the path and control the machine to re-plan the path or the user to animate the line segment by hand.

Specifically, the interaction module may include: a communication module. After the lawn mower plans its path to the starting point of the patrol, the communication module of the lawn mower can send information to confirm whether the planned path is accurate to the lawn mower app in the mobile phone, so that the user can follow the map, path, and path in the app. The current position of the lawnmower judges whether the path is accurate. If it is accurate, the user chooses to confirm, so that the lawnmower walks to the starting point of the patrol according to the planned path, and confirms the map from the starting point of the patrol (check the To confirm the boundaries).

The interaction module may also include: a light emitting module. After the lawn mower plans its path to the starting point of the patrol, the light-emitting module of the lawn mower flashes or emits red light (this light-emitting mode is only a schematic description, and this application does not limit this), so that the user can follow The map, path, and current position of the lawn mower displayed on the shell determine whether the path is accurate. If it is accurate, the user selects to confirm in the interface, so that the lawn mower walks to the starting point of the patrol according to the planned path. Depart from the starting point of the patrol for map confirmation (confirm the boundaries on the map). Of course, the lawn mower can also signal the user to confirm the path through the communication module and the light-emitting module at the same time. The user only needs to confirm or disagree with any one of the methods, and there is no need to respond to both methods. The machine performs corresponding operations according to the selection result received for the first time.

In the first embodiment of the present application, the mobile device checks the conditions of the map confirmation mode before starting the map confirmation mode, that is, the abnormality detection module detects whether there is an abnormal situation in the automatic working system, and when it detects that there is no abnormal situation Start the map confirmation mode at time to avoid unexpected situations when it is started, and ensure the safety when starting the map confirmation mode.

In the embodiment of the present application, the map confirmation may include: confirming the boundaries on the map, the location of the charging station and/or the docking direction of the charging station, and whether the area inside the map matches the working area. It is worth noting that when confirming the map mentioned in the embodiments of the present application, it may refer to confirming whether the boundaries in the map are consistent with or consistent with the boundaries in the actual working area.

In the map confirmation mode, the lawn mower walks according to the boundaries on the map. In the process of walking, the user observes whether the walking path of the lawn mower is consistent with the actual boundary of the work area to verify the accuracy of the work area map. By verifying the accuracy of the established map, it is guaranteed that the lawn mower will not accidentally injure pedestrians and other unsafe incidents during the subsequent work. When the user finds that the walking path of the lawn mower is inconsistent with the actual boundaries of the working area, the lawn mower is controlled to interrupt the map confirmation mode and enter the corrected map mode. For specific processing methods, refer to the following embodiments.

In the process of the lawn mower patrolling along the boundary, the user can confirm whether the map boundary matches the actual boundary in the work area based on the patrol path of the lawn mower. The lawn mower system can include: retouching mode. When the user finds that the patrol path that the lawn mower walks along the boundary does not match the actual working area, control the lawn mower to interrupt the map confirmation mode and enter the corrected map mode, so that the user can Correct the map in the retouching mode. The user can record the point where the automatic lawn mower starts to deviate from the limits of the actual working area. The working module of the lawnmower is not working, so the lawnmower can be allowed to continue walking until it returns to the limit of the actual working area. At this time, the user can record the position when the lawnmower returns to the limit of the actual working area. After the user obtains the starting position and ending position of the boundary part of the actual working area, the user can control the lawn mower to stop walking, and then control the lawn mower to enter the retouching mode. In the retouching mode, use the navigation mechanism to re-record the actual The working area contains the boundary position coordinates from the start position to the end position, and the re-recorded boundary position coordinates are used to correct the map.

In this embodiment, after the user revises the map, the control module can revise the map stored in the storage module and control the lawn mower to walk according to the revised map again to check whether the revised map is accurate. Specifically, the lawnmower is controlled to return to the starting position of the map correction, or the position on the boundary of the map before the starting position of the map correction, and the lawnmower is controlled to walk along the boundary in the corrected map. At this time, the working module is still controlled to remain in a non-working state to ensure the safety of the inspection process. Similarly, the user observes the walking of the lawn mower and judges whether the walking path of the automatic lawn mower is consistent with the boundary of the actual working area. If the automatic lawn mower walks to the end position of the map correction, it will always follow the actual working area. Boundary walking indicates that the correction of the map is accurate. If the automatic lawnmower deviates from the boundary of the actual working area again, it indicates that the correction of the map is inaccurate and the map needs to be corrected again. In this embodiment, the walking module is controlled to drive the automatic lawnmower to walk. By checking the corrected map, the reliability of the map checking is further ensured.

In another embodiment of the present application, when the user finds that the patrol path of the lawn mower walking along the boundary does not match the actual working area, the user can obtain the starting position and ending point of the boundary part of the actual working area where the boundary deviates from the actual working area on the map. The user’s smart terminal will mark the start and end positions on the displayed map. In the retouching mode, the user can modify the map by manually connecting the start and end positions on the smart terminal’s display screen. Specifically, the user can determine the shape of the boundary between the start position and the end position according to the shape characteristics of the actual boundary, or determine the start position and the end point according to the offset of the boundary recorded on the map before correction from the boundary in the actual working area The degree of deviation of the boundary between the locations relative to the boundary recorded on the map before correction. Similarly, after the user modifies the map, the control module will modify the map stored in the storage module, and again control the walking module to drive the lawn mower to walk to check whether the modified map is accurate.

In another embodiment of the present application, when the user finds that the patrol path of the lawn mower walking along the boundary does not match the actual working area, the automatic lawn mower can be controlled to stop walking, and the lawn mower can be controlled to enter the image editing mode. In the retouching mode, control the lawnmower to return to the point where it starts to deviate from the actual working area limit, or the position before that point, and record this position as the starting point. The user remotely controls the lawn mower to walk along the boundaries of the actual work area through the smart terminal, and records the position coordinates of the lawn mower when the lawn mower walks along the boundaries in the actual work area. The user observes the current position of the lawn mower on the map displayed by the smart terminal, and judges whether the current position of the lawn mower has returned to the boundary recorded on the map before correction, and if the current position of the automatic lawn mower has returned to the map before correction At the limit of recording, stop the remote control of the automatic lawn mower and record the end position. Use the position coordinates recorded by the automatic lawn mower in remote control mode to correct the map. Similarly, after the user corrects the map, the control module will modify the map stored in the storage module, and again control the walking module to drive the automatic lawn mower to walk to check whether the modified map is correct. Of course, there is no need for a retouching mode in the lawn mower, as long as the user observes that the patrol path of the lawn mower is inconsistent with the actual working area, one of the above methods can be used to correct the established map. It is worth noting that, in this application, the remote control can be the remote control of the lawn mower through the client, or the user can directly operate the lawn mower to remotely control the lawn mower.

In the embodiment of this application, the limit in the map does not match the limit of the actual work area. It may be that the limit in the map deviates outward from the actual limit, or it may deviate inward from the boundary of the actual work area. In both cases, you can use any of the above methods to correct the boundaries in the map; when the lawn mower walks along the boundaries, it does not match the boundaries of the actual working area, which leads to walking to the flower beds, In dangerous areas such as pools, the user can use the method in the last embodiment to control the mower to stop and enter the retouching mode. In the embodiment of the present application, the map is modified to make the boundaries in the map consistent with the boundaries of the actual working area, avoiding the problem that the area close to the boundary of the actual working area cannot be cut, and enabling the lawn to achieve an ideal cutting effect.

In the embodiment of the present application, after the user corrects the map, if the correction of the map is correct, the lawnmower is controlled to continue walking along the boundary recorded on the map until the completion of walking along the boundary in the map. If the correction of the map is not accurate, the user can correct the map again.

Further, after correcting the accuracy of the map at least once in the above manner, a confirmed map can be obtained, and the confirmed map is consistent with the actual work area. In an embodiment of the present application, when the control module detects that the lawn mower has walked at least one circle along the boundary, it may send to the client information confirming that the boundary in the map matches the working area, that is, send the cutting tool to the client. Whether the grass machine completes the notification message of confirming the boundary in the map. When the user receives the notification message, he can observe whether the lawn mower has completed the boundary confirmation. If it is completed, the user can confirm the message, so that the lawn mower receives the user's confirmation signal based on the receipt of the user confirmation signal , The lawn mower can confirm that the boundaries in the map match the boundaries in the work area, so that the lawn mower completes the map confirmation.

In the map confirmation mode, after confirming the map boundaries, the lawn mower can continue to confirm the charging station location and/or the docking direction of the charging station based on the user's instructions. The control module controls the lawn mower to follow the map and During the docking process of the charging station, based on the successful docking signal of the lawn mower and the charging station and/or the user confirmation signal received, confirm whether the location of the charging station and/or the docking direction of the charging station on the map are consistent with the charging station in the work area . If they match, the lawn mower sends a notification message of successful docking of the charging station to the client. After receiving the notification message, if the user observes that the lawn mower and the charging station are successfully docked, they can click to confirm, so that the lawn mower can After receiving the user confirmation message sent by the client, the lawn mower confirms that the charging station location and/or the docking direction of the charging station on the map match the charging station in the work area based on the received user confirmation signal.

In one embodiment, the lawn mower is docked with the charging station according to the map. At this time, the charging station confirmation and map correction can be performed in the manner described above. In another embodiment, the charging station and the lawn mower can also be equipped with ultrasonic sensors or infrared sensors to confirm the docking of the charging station by detecting ultrasonic or infrared. If they match, the charging station can send a successful docking to the lawn mower. So that the lawn mower can send the successful docking signal to the client and charge the lawn mower. If the charging station cannot be successfully docked within the preset number of times, you can control the lawn mower to perform but not limited to at least one of the following operations, which can include: shutdown, alarm, and control the lawn mower to send the client the charging station is not successfully docked The notification message is preferably 3 times preset. Based on the unsuccessful docking of the lawn mower to the charging station, the user can choose to change the location of the charging station or the direction of the charging station. It is worth noting that in the process of confirming whether the charging station location and/or the docking direction of the charging station in the map are consistent with the charging station in the work area, the distance between the user and the lawn mower is not limited, that is, the user may not Present.

In one embodiment, the user can choose to confirm the map boundary first and then confirm the charging station location and the charging station docking direction on the map, or first confirm the charging station location and the charging station docking direction on the map and then confirm the map boundary, or Only one of the two is confirmed, and this application is not limited.

In the embodiment of the present application, when the lawn mower is walking along the inside of the map, the method in the above embodiment can also be used to confirm whether the internal path of the map is consistent with the actual working area or the planned path. The embodiment of the present application The same applies to the confirmation of the map in the work area.

In the second embodiment of the present application, the automatic lawn mower may further include: an abnormality detection module for detecting whether there is an abnormal situation in the automatic mowing system, the abnormality detection module detects whether there is an abnormal situation in the automatic mowing system, and Send the test result to the control module. In the map confirmation mode, when the lawn mower walks along the boundaries in the map, the map is confirmed during the process of confirming the map, and exception processing is performed during the process of confirming the map. When an abnormal situation is detected in the automatic mowing system, the control module controls the automatic lawn mower to interrupt the map confirmation mode and enter the abnormal processing mode, and re-enter the map confirmation mode after the abnormal situation is resolved to continue to confirm the map. Among them, the abnormal situation represents a problem that prevents the automatic lawn mower from completing the confirmation of the map. Through the above-mentioned abnormal handling in the map confirmation process, it is prevented from accidents during the map confirmation process, and the safety during the map confirmation process is guaranteed, and the machine can continue the map confirmation work even if it encounters an abnormality.

In this embodiment, similar to the abnormal situation and abnormality detection module in the first embodiment, it may include abnormalities caused by machine factors and external environmental factors, and the abnormality detection module may include: environmental detection sensors and the like. The abnormality detection module detects whether there is an abnormal situation in the automatic mowing system and can self-check itself, and detects the external environment through the environment detection sensor to determine whether there is an abnormal situation. Specifically, reference may be made to the first embodiment, which is not repeated in this application. In the map confirmation mode, when an abnormal situation is detected in the automatic mowing system, the control module controls the automatic lawn mower to interrupt the map confirmation mode and enter the abnormal processing mode, and re-enter the map confirmation mode after the abnormal situation is resolved to continue the map confirmation mode confirm.

In one embodiment, the automatic working system includes: an interaction module, which is electrically connected to the control module, and is used for interaction between the mobile device and the user. When an abnormal situation is detected, the control module controls the lawn mower to interrupt the map The confirmation mode enters the abnormal handling mode. In the abnormal handling mode, the control module controls the lawn mower to solve the abnormal situation based on the output of the interactive module. Similar to the first embodiment, the interaction module may include: a communication module, a button, a light-emitting unit, and so on. In this embodiment, when an abnormality is detected, the abnormal situation can be solved by the user controlling the machine.

Specifically, it will be explained by taking an abnormal situation of rain as an example. When the lawn mower is in the process of confirming the map, when it detects rain, the control module controls the lawn mower to stop and send an alarm or send an abnormal information to the user, so that the user controls the machine to enter the abnormal processing mode through the lawn mower app. In the abnormal handling mode, the user uses the mowing app to remotely control the machine to walk indoors to hide from the rain, or hold the lawn mower indoors to solve the abnormal rain situation. When encountering other abnormal situations, this method can be used to solve the abnormality, and this application is not limited.

In another embodiment, in the abnormal handling mode, the control module controls the lawn mower to resolve the abnormal situation based on the detection result. That is, when an abnormality is encountered, the abnormal situation can be resolved autonomously by the machine.

Specifically, an example of an obstacle being an abnormal situation is described. When the lawn mower is in the process of confirming the map, when an obstacle is detected, the control module can control the lawn mower to automatically interrupt the map confirmation mode and enter the exception handling mode. In the exception handling mode, it will automatically avoid it by backing and turning. Obstacles to solve abnormal situations encountered obstacles. When encountering other abnormal situations that the machine can solve independently, such as insufficient power, this method can be used to solve the abnormality, which is not limited by this application.

In one embodiment, after the abnormal situation is resolved, the control module modifies the map stored in the storage unit according to the walking path generated when the abnormal situation is resolved, and controls the lawn mower to proceed according to the modified map stored in the storage unit Map confirmation. That is, when re-entering the map confirmation mode later, the updated (or revised) map can be used for map confirmation. It is worth noting that, in this embodiment, the lawn mower may also include: a retouching mode. In the retouching mode, the control module modifies the map stored in the storage unit.

Specifically, an example of an obstacle being an abnormal situation is described. When the lawn mower automatically avoids obstacles to solve the abnormal situation of encountering obstacles by backing and turning, etc., the lawn mower can record the walking path when the abnormality is solved, and send to the mowing app whether to solve the abnormality according to Update the map information with the walking path at the time. If the user selects yes, the map stored in the storage unit is modified to the updated map, and the machine is controlled to enter the map confirmation mode (or the map confirmation mode). When the abnormality detection module detects that there is no obstacle currently, it can send the information that the abnormality has been resolved to the control module, and control the lawn mower to re-enter the map confirmation mode. In the map confirmation mode, the machine continues to confirm the map according to the updated map. Specifically, it can be that the machine starts from the current position and continues to walk along the boundary according to the updated path in the map.

It can also be that the user controls the machine to walk to the position where the abnormality is detected or the position before the abnormality is detected. Starting from the position where the user walks to, follow the updated path in the map to continue walking along the boundary. At this time the abnormality has been resolved. The information can be sent to the machine actively by the user. After the machine receives the information that the abnormality has been resolved, it can send the user a message whether it is necessary to continue the map confirmation. When encountering other abnormal situations similar to obstacles that cannot be repaired by the user or will affect the future work of the machine, such as: unrepairable poor satellite signal, detection of a slope, unrepairable lifting, and jamming, etc. It is also possible to update the map in a similar manner, and control the machine to install the updated map for map confirmation, which is not limited in this application.

In another embodiment, after solving the abnormal situation, the control module controls the automatic lawn mower to continue to perform map confirmation according to the map. That is, when you re-enter the map confirmation mode later, you can use the previously stored map for map confirmation.

Specifically, it will be explained by taking an abnormal situation of rain as an example. In the abnormal handling mode, the user uses the mowing app to remotely control the machine to walk indoors to hide from the rain, or hold the lawn mower indoors to solve the abnormal rain situation. When the rain stops, the user can control the machine to return to the location where it was sheltered from the rain or the location before sheltering from the rain, and send a notification message that the abnormality has been resolved to the lawn mower, thereby controlling the machine to re-enter the map confirmation mode and continue according to the originally stored map Check the map. Or, when the machine detects rain, it can record the position of sheltering from the rain. When the rain stops, the machine can control the machine to automatically return to the sheltered position or the position before sheltering according to the external environment detected by the rain sensor. When encountering other abnormal conditions similar to rain that users can repair or will not affect the subsequent work of the machine, such as: insufficient battery, machine stuck, repairable satellite signal poor, detected user can be repaired (eradicated ) Slopes, repairable lifting and stuck (removing obstacles), etc., can also be used to update the map in a similar way, and control the machine to install the updated map for map confirmation, which is not limited in this application.

It is worth noting that in all the embodiments of this application, when the lawn mower stops and restarts the map confirmation mode, the startup condition check can be performed by the method in the first embodiment. When the startup condition is met, the map is restarted. Confirmation mode.

In the second embodiment of the present application, after the map confirmation mode is activated, during the process of map confirmation by the mobile device in the map confirmation mode, abnormalities in the map confirmation process will be detected and processed. When an abnormal situation is detected, the mobile device can be controlled to interrupt the map confirmation mode and enter the abnormal handling mode to avoid accidents during the map confirmation process, ensure the safety during the map confirmation process, and re-enter the map confirmation after the abnormality is resolved The mode continues to confirm the map, so that the machine can continue to confirm the map even if it encounters an abnormal situation. Further, processing is performed according to the detected abnormal situation to ensure the accuracy of the map obtained after the map confirmation mode.

In the third embodiment of the present application, the automatic lawn mower may further include: a detection module for monitoring the distance between the user and the lawn mower, the detection module sends the monitoring result to the control module, and the control module determines the user Is it near the lawn mower? In the map confirmation mode, the process of the automatic mowing system confirming the map includes: the condition checking process of the map confirmation mode in the first embodiment, the abnormal detection and processing process in the process of confirming the map in the second embodiment During the process of map confirmation and the whole process of determining or confirming the completion of map confirmation in the fourth embodiment, the control module determines whether the user is located near the lawn mower. When it is determined that the user is located near the lawn mower, the control module allows the lawn mower to confirm the map, that is, control the lawn mower to confirm the map based on the walking path. That is, in the process of map confirmation, the distance between the user and the machine is limited to ensure that the machine is within the user's controllable range, so that if the machine exceeds the working area or does not completely cover the working area while the machine is walking, the user can immediately Deal with these situations to ensure that non-turf areas or pedestrian animals will not be damaged in the map confirmation mode. In addition, when an abnormal situation that is not recorded on the map such as low voltage, collision, lifting, etc. occurs from the mobile device in the map confirmation mode, the user can immediately handle the abnormal situation to ensure that the mobile device can successfully complete the map confirmation , Improve the work efficiency of mobile devices, and ensure the reliability of map inspection.

The automatic working system in the embodiment of the present application may include: a map confirmation mode. In the map confirmation mode, the detection module monitors the distance between the user and the lawn mower. When it is determined that the user is near the lawn mower, the control module allows A lawn mower with a navigation mechanism is installed based on the map for walking or map confirmation. The map confirmation mode may include: the user confirms whether the map matches the work area based on the walking path of the lawnmower.

In the embodiment of the present application, when the control module determines that the user is not near the lawn mower, the control module prohibits the lawn mower from walking according to the map to ensure the safety of the lawn mower.

In the embodiment of the present application, the lawn mower may further include: a working module electrically connected to the control module. In the process of confirming whether the map and the working area are consistent, the control module controls the working module to stop working, thereby mowing the grass. The machine will not accidentally hurt pedestrians or non-turf areas in the map confirmation mode.

In the embodiment of the present application, when the user interacts with the lawn mower, the data interaction can be realized through the application software installed in the client; it can be through the input/output device on the lawn mower, such as: The electronic display interface realizes data interaction; it can also recognize user behavior (such as user voice, user action, etc.) through a lawn mower that has been connected to the network, and realize data interaction based on corresponding instructions of the user behavior. For example: when the user says to the lawn mower: "stop", the lawn mower can recognize the stop instruction and stop walking and working.

In an embodiment of the present application, if the lawn mower has completed the establishment of the map but has not confirmed the map, if the lawn mower receives the map confirmation instruction, the control module can determine whether the user is located near the lawn mower. When the user is near the lawn mower, the control module can allow the lawn mower to start the map confirmation mode. Specifically, the pressing operation can be received by detecting the virtual buttons or physical buttons on the lawnmower, or by receiving a user instruction signal through the communication module (for example, when the client communicates with the lawnmower via Bluetooth, the lawnmower receives To the instruction sent by the user), or by detecting that the signal strength of the communication module is greater than a preset threshold (for example: when the client communicates with the lawnmower via Bluetooth, the lawnmower detects that the client's Bluetooth signal strength is greater than a certain value ), it can be determined that the user is located near the lawn mower, and the control module controls the lawn mower to confirm the map. Of course, the above method can also be used in the process of determining whether the user is near the lawn mower by the control module during the map confirmation process, which is not limited in this application.

In the embodiment of the present application, in the map confirmation mode, the control module monitors whether the user is near the lawn mower, and when it is determined that the user is near the lawn mower, the control module controls the lawn mower to confirm the map.

In an embodiment of the present application, it may be determined whether the user is located near the lawn mower based on the lawn mower within the user’s visual range, that is, the distance that the user is located near the lawn mower may be determined by the user being able to observe the lawn mower The distance of the current walking path. When less than or equal to the visible range, the control module can control the lawn mower to walk. Of course, other user-defined or pre-set parameters of the lawn mower system can also be used to determine whether the user is near the lawn mower. When this parameter is used, the lawn mower performs map confirmation. When the boundary is crossed, the boundary is not reached, or some abnormal situation, the user can deal with the abnormal situation in time.

In an embodiment of the present application, the navigation mechanism can also be used to record the position information of the lawn mower during walking. It can determine whether the user is on the lawn mower by comparing the distance between the current position of the lawn mower and the user's position. nearby. When the user uses the client to communicate with the lawnmower, the user's location can be uploaded to the server with the user's permission, so that the user's location and the location of the lawnmower can be displayed on the map, and the current location and The distance between user positions to determine whether the distance meets the preset requirements. Specifically, the server may include a hardware device with data information processing functions and the necessary software required to drive the hardware device to work. The server may perform data interaction with a terminal device with the function of controlling a lawn mower map confirmation. For example, the server may be based on Network protocols such as HTTP, TCP/IP or FTP, and network communication modules exchange network data with the client.

In an embodiment of the present application, the lawn mower may further include a button, and the control module may determine that the user is located near the lawn mower according to the button in the lawn mower receiving the user's pressing operation. In the case where the user controls the lawn mower through keys, it can be determined whether the user is located near the lawn mower by detecting whether the lawn mower receives a pressing operation.

In another embodiment of the present application, the control module can determine whether the user is located near the lawn mower according to the signal received by the communication module. Specifically, it may include determining that the user is located near the lawn mower based on whether the strength of the communication signal received by the communication module is greater than the preset strength threshold or the signal can be received by the communication module. For example: when the communication module is wifi or bluetooth, when the client communicates with the lawnmower via wifi or bluetooth, you can compare the strength of the wifi signal received by the lawnmower or whether the bluetooth signal strength is greater than the preset signal strength threshold To determine if the user is near the lawn mower.

In another embodiment of the present application, the lawn mower may further include: a near field communication module, and the control module may determine that the user is located near the lawn mower based on the communication signal received by the communication module. Preferably, the near field communication module may be a module suitable for short-distance transmission, such as an NFC module or Bluetooth. When the user uses the smart terminal to communicate with the lawn mower through the near field communication module, it can be determined whether the user is located near the lawn mower by detecting whether the lawn mower can receive the wireless instruction sent by the user.

In another embodiment of the present application, the lawn mower may further include: a human body detection module, which can determine whether the user is located near the lawn mower according to the detection result of the human body detection module. When the detection result of the human body detection module is negative, it can be determined that the user is not near the lawn mower, thereby prohibiting the lawn mower from working. Specifically, the human body detection module may include: an infrared sensor and/or a vision sensor installed on the lawn mower housing 27. It can be judged by the human body temperature detected by the infrared sensor, and can also be detected by the visual sensor whether the user is near the lawn mower.

In an embodiment of the present application, in the map confirmation mode, the control module can monitor whether the user is near the lawn mower. When it is detected that the user is not near the lawn mower, the control module can control the lawn mower to stop walking or give an alarm. Until it detects that the user is nearby, start working again, or the user controls it to restart.

In the third embodiment of the present application, the map confirmation mode is activated and in the map confirmation mode, the distance between the user and the mobile device is monitored. When the user is located near the mobile device, the mobile device is controlled to walk according to the map and perform the map. confirm. That is, in the process of map confirmation, the distance between the user and the machine is limited to ensure that the machine is within the user's controllable range, so that if the machine exceeds the working area or does not completely cover the working area while the machine is walking, the user can immediately Deal with these situations to ensure that non-turf areas or pedestrian animals will not be damaged in the map confirmation mode. In addition, when an abnormal situation that is not recorded on the map such as low voltage, collision, lifting, etc. occurs from the mobile device in the map confirmation mode, the user can immediately handle the abnormal situation to ensure that the mobile device can successfully complete the map confirmation , Improve the work efficiency of mobile devices, and ensure the reliability of map inspection.

In the fourth embodiment of the present application, in the map confirmation mode, when the control module controls the walking module to walk along the boundary for at least one week, the lawn mower completes the map confirmation. Using the above method, the accuracy of the map obtained after the map confirmation process can be guaranteed, and the safety of the machine when working according to the confirmed map afterwards, and the machine will not walk outside the working area during the process of walking according to the map. (Outside the actual limit) will cause unsafe incidents to occur, and will not cause incidents such as incomplete cutting of the lawn due to incomplete coverage of the work area (walking within the actual limit).

In the above-mentioned map confirmation process, the lawn mower may interrupt the map confirmation mode, or may not interrupt the map confirmation mode. At the same time, the lawn mower may interrupt the map confirmation mode due to an abnormality detected, or the map confirmation mode may be interrupted due to the user's observation that the walking path of the lawn mower is inconsistent with the actual boundary, which is not limited in this application.

In one embodiment, when the map confirmation mode is interrupted, the navigation organization records the interruption location where the interruption occurred. In the map confirmation mode, the walking module starts from the interruption location and walks along the boundary for at least one week without interruption, The lawn mower completes the map confirmation. That is, when there is an interruption in the process of confirming the map, the lawnmower starts from the position where the last interruption occurred as the starting point, and when it walks along the boundary at least one circle, it indicates that the lawnmower has completed the map confirmation.

Specifically, when the lawn mower walks along the map boundary for a week to confirm the map, it may encounter a variety of abnormal conditions, or may not encounter abnormal conditions. The lawn mower encounters an abnormal situation and the last abnormal situation is the following Take rain as an example. When encountering other abnormal situations, the conditions for confirming the map are the same. When the lawnmower detects that the last time it was raining, it can control the lawnmower to interrupt the map confirmation mode. When the lawnmower returns to the abnormal location where it rained, it can control the lawnmower from where it rained. Starting from the abnormal position or the position before the rain, continue walking along the limit for one or more circles until returning to the abnormal position of the rain. If the map confirmation mode is not interrupted during walking, it can indicate that the lawn mower has completed map confirmation. After that, the lawnmower can independently mowing the grass according to the updated map due to an abnormality or due to an error when no one is present. The application scenario in Figure 10-12, that is, after the lawn mower reaches point B in the process of confirming the map, it starts from point B and walks along the boundary and then reaches point B again, when there is no interruption in the process It means that the lawn mower has completed map confirmation.

In another embodiment, when the map confirmation mode is interrupted, the navigation agency records the interruption location where the interruption occurred. In the map confirmation mode, when the map confirmation mode is interrupted, the control module controls the walking module to walk along the boundary for at least one week , The lawn mower completes the map confirmation, in which there is an overlap between the walking path of the lawn mower before the interruption location and the walking path after the interruption location. That is, when there is an interruption in the process of confirming the map, the lawnmower walks along the boundary for at least one circle to indicate that it has completed the map confirmation work, wherein there is overlap between the walking paths at the position where the lawnmower is interrupted.

Specifically, when the lawn mower walks along the map boundary for a week to confirm the map, it may encounter a variety of abnormal conditions, or may not encounter abnormal conditions, and the lawn mower encounters multiple abnormal conditions and one of the abnormal conditions Taking rain as an example, when other abnormal situations are encountered, the conditions for confirming the map are the same. During the process of map confirmation from the starting point of the patrol along the boundary, the lawnmower can be controlled to interrupt the map confirmation mode when it detects abnormal conditions of rain. When the lawnmower returns to the abnormal location where it rained, the lawnmower can be controlled to start from the abnormal location of the rain or the location before the rain, and continue to walk along the boundary to confirm the map until it walks again to the edge of the patrol. The starting point indicates that the lawn mower has completed map confirmation. After that, the lawn mower can independently mow the grass according to the updated map without being present. The application scenario in Figure 10-12 is that the lawn mower starts from point A to point B along the boundary during the map confirmation process, and then starts from point C or the position before point C when encountering obstacles. Walk along the limit to point A. When there is no interruption in the process, it means that the lawn mower has completed the map confirmation.

In another embodiment, in the map confirmation mode, the lawnmower confirms the map from the starting point of the patrol on the boundary of the map. Accordingly, the control module controls the walking module to proceed from the patrol without interruption. When starting from the edge starting point and walking along the boundary for at least one week, complete the map confirmation. That is, regardless of whether there is an interruption in the map confirmation process of the lawn mower, the lawn mower needs to walk along the boundary for at least one circle without interruption to indicate that it has completed the map confirmation work.

Specifically, when the lawn mower walks along the map boundary for a week to confirm the map, it may encounter a variety of abnormal conditions, or may not encounter abnormal conditions, and the lawn mower encounters multiple abnormal conditions and one of the abnormal conditions Taking rain as an example, when other abnormal situations are encountered, the conditions for confirming the map are the same. During the process of map confirmation from the starting point of the patrol along the boundary, the lawnmower can be controlled to interrupt the map confirmation mode when it detects abnormal conditions of rain. When the lawnmower returns to the abnormal location where it rained, the lawnmower can be controlled to start from the abnormal location of the rain or the location before the rain, and continue to walk along the boundary to confirm the map until it walks again to the edge of the patrol. Starting point. After reaching the starting point of the patrol, the lawn mower will continue to walk one or more circles along the boundary from the starting point of the patrol. If the map confirmation mode is not interrupted during the walking, it means that the lawn mower has completed the map confirmation . After that, the lawn mower can independently mow the grass according to the updated map without being present.

In one embodiment, when it is detected that the walking module has walked along the boundary for at least one week, the lawnmower sends a notification message confirming whether the lawnmower has completed the boundary confirmation to the client. After the user confirms, the lawn mower can receive a notification message that the user confirms the completion of the map confirmation mode, and based on the received user confirmation signal, it can confirm that the boundaries in the map match the boundaries in the work area. After the lawnmower detects that the map confirmation is completed, it pushes a confirmation message to the client to prevent the user from sending the lawnmower a misoperation of completing the map confirmation mode when the lawnmower has not completed the map confirmation work.

In an embodiment of the present application, the lawn mower may further include a working mode. After completing the map confirmation mode, the user can control the lawn mower to enter the working mode. In the working mode, the lawn mower can walk and/or work automatically within the working area defined by the confirmed map.

In this embodiment, in the process of confirming the map, when it is detected that the mobile device has walked along the boundary for at least one week (a complete boundary), the map boundary confirmation is completed by the mobile device. That is, since the mobile device determines whether to complete the map boundary confirmation process according to the requirements, to ensure the accuracy of the map obtained after the map confirmation process, and the safety of the machine when working according to the confirmed map, and then the machine walks according to the map During the process, there will be no unsafe incidents caused by walking outside the working area (outside the actual limits), and incidents such as incomplete cutting of the lawn due to incomplete coverage of the working area (walking within the actual limits) .

In an embodiment of the present application, the lawn mower may further include: an abnormality detection module, which can be used to detect whether the lawn mower has abnormal conditions such as low voltage, trapped, falling, collision, and poor satellite signals when lifted. An abnormal situation can indicate that there is a problem on the boundary that prevents the mower from completing the correction or confirmation of the map. During the map confirmation process of the lawn mower, when an abnormal situation that is not marked on the map is detected, the control module can control the machine to interrupt the map confirmation mode, enter the abnormal handling mode, and re-enter the map confirmation mode after handling the abnormal situation Continue to map to confirm. When the abnormality detection sensor detects an abnormal situation that is not recorded in the map, the control module controls the lawn mower to perform but not limited to at least one of the following actions: shutdown, alarm, send notification messages of abnormal repair to the client, and send to the client The notification message of abnormal confirmation, and the notification message of correcting (or updating) the map are sent to the client. In this embodiment, since the lawn mower may encounter abnormal situations that are not marked on the map during the map confirmation process, the safety of the lawn mower can be guaranteed by controlling the machine to perform map confirmation after handling the abnormal situation. Furthermore, the accuracy of the map obtained when the map confirmation process is completed can be guaranteed by performing map confirmation after handling the exception.

In an embodiment of the present application, the user can observe whether there are abnormal conditions on the actual boundary that are not recorded in the map while following the lawn mower, and can handle these abnormal conditions in advance, so that the lawn mower can detect These abnormal situations are handled in advance to avoid the above-mentioned abnormal situations of the lawn mower.

In one embodiment, after receiving these notification messages, the user observes that an abnormal situation does occur in the actual working area. If the abnormality can be directly repaired and the repair will not affect the mower to continue patrolling along the current path If the situation occurs, the user can directly deal with it, and after the processing is completed, the lawn mower is remotely controlled or held to the position where the abnormality occurred, or the position before the abnormality occurred, and sent to the lawn mower that the abnormality has been fixed and continue to follow the previously determined patrol The notification message that the edge path (or the originally stored map) continues to patrol the edge. In another embodiment, when the user handles the abnormality directly, the navigation mechanism can record the location where the abnormality occurs. After the user handles the abnormal situation, the user can control the lawnmower to return to the location where the abnormality occurs, or the abnormality occurs. Before the location.

In one embodiment, if the abnormality is unrepairable or will affect the current patrol path after the repair, the user can control the lawn mower to switch to the retouching mode after receiving the notification message such as the abnormality repair, through indirect processing Control the lawn mower to bypass the abnormal situation, correct the map, and mark the abnormal situation on the map. Alternatively, after receiving a notification message such as an exception repair, the user can also control it to enter the exception handling mode first, and enter the image editing mode after the exception is resolved, which is not limited in this application. The specific method of correcting the map is similar to the method of repairing the map when patrolling, so I won't repeat it here. After the map is corrected, the user can send a message to the lawnmower that the map is corrected and continue patrolling with the corrected map, so that the lawnmower switches to the map confirmation mode again and continues to patrol. In another embodiment, when the user confirms that the lawnmower encounters an abnormal situation, a notification message can be sent to the lawnmower to repair the abnormality by itself, so that the lawnmower can generate information for handling the abnormality based on the detected abnormality and the map. And control the lawn mower to walk along the path to bypass the abnormality, and record the path through the navigation mechanism. After the lawnmower bypasses the abnormality, a notification message can be sent to the user whether to repair the map based on the path. The user can make a selection according to the actual situation. After the selection is completed, the lawnmower will be controlled to enter the correct map mode and continue to patrol. It is worth noting that the following embodiments all take the confirmation limit as an example. When the charging station is confirmed or the map in the working area is confirmed, the processing method in the following embodiment is also applicable.

In an embodiment of the present application, the lawn mower may include an obstacle detection sensor for detecting obstacles in the moving direction of the lawn mower. Specifically, the obstacle detection sensor may include a collision detection sensor, a visual sensor, an ultrasonic sensor, etc. When the obstacle detection sensor detects a collision of the automatic lawn mower, the control module determines that there is an obstacle in the moving direction of the automatic lawn mower. When an obstacle is detected in the moving direction of the automatic lawn mower, the control module obtains the position of the detected obstacle, and compares the position of the detected obstacle with the position of the obstacle recorded on the map. If the position of the detected obstacle is not When it is not recorded in the boundary, it is judged that the detected obstacle is an unknown obstacle. The control module can control the lawn mower to perform but not limited to at least one of the following operations: stop; send an alarm signal through the alarm module in the lawn mower; send a notification message of abnormal repair to the client, that is, send an obstacle to the client A notification message for anomalies such as objects that need to be repaired; a notification message for anomaly confirmation can be sent to the client; a notification message for map correction can also be sent to the client. Anomaly repair can be the user chooses to remove the obstacle or bypass the obstacle.

In the foregoing embodiment, when the user confirms that the lawn mower encounters an obstacle, the user can select a corresponding abnormality repair method from the foregoing embodiment according to whether the obstacle is a temporary obstacle. If it is a temporary obstacle, the user can control the lawnmower to bypass the obstacle and continue to walk along the original patrol path; if the user cannot move the obstacle, he can also control the lawnmower to enter the retouching mode, in the retouching mode , You can control the lawn mower to avoid obstacles, record the path through the navigation mechanism, and correct the boundaries in the map based on the path, then you can reconfirm the map based on the corrected map, or the lawn mower can return The starting point of the patrol before departure, and continue to confirm the map along the map generated in the mapping mode.

In an embodiment of the present application, the automatic lawn mower can also use obstacle detection sensors such as accelerometers and lift sensors to determine whether it is trapped, lifted, or dropped. If it is determined that these abnormalities occur, it can: stop , Alarm, and send a notification message of abnormal repair to the client, you can send a notification message of abnormal confirmation to the client, or send a notification message of map correction to the client to remind the user to repair the abnormality. Based on the received user operation, the control module controls the lawnmower to repair the abnormality. The specific abnormality processing method is the same as in the foregoing embodiment, and will not be repeated here.

In an embodiment of the present application, the automatic lawn mower may further include a slope detection sensor for detecting the slope of the working area. When it is detected that the slope is different from the one marked on the map, the similar exception handling method described above can be selected.

In an embodiment of the present application, the control module determines the strength of the satellite signal in the work area according to the reliability of the positioning signal output by the satellite navigation system. When the lawn mower enters a position where the satellite signal is weak, the aforementioned similar abnormal handling method can be selected, which will not be repeated in this application.

In one embodiment of the present application, when it is detected that the voltage of the lawnmower is low, the lawnmower can be controlled to stop; alarm; send a notification message of abnormal repair to the client; record the current position information of the lawnmower, so that the user can The lawn mower is remotely controlled or carried to the charging station for charging. When the charge is completed, the lawn mower can be returned to the abnormal position according to the position information recorded by the lawn mower or the lawn mower walks to the recorded position through the navigation mechanism The location continues to map to confirm.

In an embodiment of the present application, the lawn mower may further include a rain sensor, such as a resistance sensor, which may be installed on the outer surface of the housing. When rain or snow is detected by the rain sensor, the lawnmower can be controlled to stop; alarm; send a notification message of abnormal confirmation to the client. After the user confirms that the lawnmower encounters an abnormality, the user can remotely control the lawnmower or hold it indoors to hide from the rain; or control the lawnmower to record the current location information, so that the user can remotely move the lawnmower until it encounters the abnormality after the rain stops. Or the position before the abnormality is encountered, or the mower automatically walks to the recorded position through the navigation mechanism, thereby continuing to patrol.

In an embodiment of the present application, in the map confirmation mode, the lawn mower confirms whether the map is consistent with the work area based on the walking path of the lawn mower, if low voltage, trapped, dropped, collision, or lift occurs again If the signal is weak or the satellite signal is weak, the user will be notified again, and the user will be reminded to take corresponding measures to deal with abnormalities according to actual needs until the user has confirmed the map to improve the work efficiency of the lawn mower and ensure the reliability of the map inspection.

It is worth noting that the four embodiments of this application may exist independently on different lawn mowers, or they may exist on the same lawn mower at the same time, or only any two or three of them exist on the same lawn mower. For lawn mowers, this application is not limited.

As shown in FIG. 4, an embodiment of the present invention also provides a control method of an automatic working system, and the control method may include:

S401: Start a condition check for confirming the map mode;

S402: Start the confirmation map mode;

S403: Abnormal detection and abnormal handling in the process of confirming the map;

S404: Confirm that the drawing is completed.

In this embodiment, the condition check can occur every time the confirm map mode is activated. The process of detecting anomalies and processing anomalies occurs in the entire map confirmation mode. The process of the automatic mowing system confirming the map specifically includes: the condition checking process of starting the map confirmation mode in the first embodiment, the abnormal handling process in the process of confirming the map in the second embodiment, and the process of performing map confirmation During the whole process of determining or confirming the map confirmation in the fourth embodiment, the control module determines whether the user is located near the lawn mower.

As shown in FIG. 5, an embodiment of the present invention also provides a control method of an automatic working system. The control method involves confirming the condition check of the map mode, and may include:

S501: Self-checking of lawn mower;

S502: Detect whether there is an abnormality in the mowing system; if the self-check result is that there is no abnormality, go to step S505; if the self-check result is that there is an abnormality, go to step S503;

S503: Control the lawn mower to stop and alarm;

S504: Control the lawnmower to solve the abnormal situation; if it is detected that the abnormal situation has been solved, return to step S501:

S505: Detect the external environment through the environment detection sensor;

S506: Determine whether there is an abnormality according to the detection result; if the detection result is that there is no abnormality, go to step S507; if the detection result is that there is an abnormality, go to step S503;

S507: Start the map confirmation mode;

S508: After starting the map confirmation mode, determine the starting point of the patrol and plan the path from the current position to the starting point of the patrol; control the mower to walk to the starting point of the patrol, and start from the starting point of the patrol along the boundaries in the map Patrol the side and check the map.

In this embodiment, the start-up check of the lawn mower may be performed when it is turned on or when it re-enters the map confirmation process. The environmental inspection may be performed before or at the same time as the self-inspection, which is not limited in this application.

As shown in FIG. 6, an embodiment of the present invention also provides a control method of an automatic working system, and the automatic working system may include a self-moving device. Specifically, the control method may include:

S601: In the map confirmation mode, control the mobile device to walk according to the map of the work area;

S602: monitor the distance between the user and the lawn mower;

S603: Determine whether the user is near the lawn mower; when not near, go to step S604; when near, go to step S605;

S604: Interrupt the map confirmation mode, and prohibit the lawnmower from walking; and return to step S602;

S605: When it is determined that the user is near the lawn mower, allow the self-mobile device to walk based on the map.

Specifically, the execution subject in the foregoing embodiment of the control method may be a control module, and the control module may be located in a mobile device (lawn mower) or in a server, which is not limited in this application.

Specifically, the automatic working system may include, but is not limited to, the following three modes: a mapping mode for establishing a map of the work area; a map confirmation mode for confirming the accuracy and safety of the established map; After accuracy and safety, it is used to control the working mode of the self-mobile device automatically walking within the working area defined by the confirmed map. The above three modes of the automatic working system can all enter the next working mode after receiving the user’s confirmation instruction. The user can choose to enter the next mode immediately after one mode is completed, or choose not to enter the next mode temporarily. This application does not limit this. The automatic working system may also include: a retouching mode. When the user observes that the walking path of the self-mobile device does not match the map, the user can control the self-mobile device to stop and control the self-mobile device to enter the retouching mode. The user can revise the map created by the mobile device in the mapping mode in the retouching mode.

In an embodiment of the present application, before controlling the mobile device to walk according to the map of the working area, the method may further include: generating a map of the working area in the mapping mode. By generating a map of the work area, the mobile device can then be controlled to enter the map confirmation mode.

As shown in FIG. 7, the embodiment of the present invention also provides a control method of an automatic working system involving abnormal detection and processing during map confirmation. The control method may include:

S701: In the map confirmation mode, the lawn mower performs self-check;

S702: Detect whether there is an abnormality in the mowing system. In this embodiment, it is an abnormality of insufficient power; if the self-check result is that there is no abnormality, go to step S705; if the self-check result is that there is an abnormality, go to step S703;

S703: Control the lawn mower to return to the charging station for charging to solve the abnormality;

S704: Control the lawnmower to re-walk to the position before returning to charging; in the case of detecting that the abnormal situation has been resolved, return to step S701:

S705: Detect the external environment through the environment detection sensor;

S706: Determine whether there is an abnormality according to the detection result; if the detection result is that there is no abnormality, go to step S709; if the detection result is that there is an abnormality, go to step S707;

S707: Control the lawn mower to interrupt the map confirmation mode and start the exception handling mode;

S708: Control the lawnmower to avoid abnormalities, generate a new route, and update the map; in the case that the abnormality is detected and resolved, go to step S709:

S709: Continue to confirm the map.

In this embodiment, the abnormal situation detection of the lawn mower can be performed during the entire process of confirming the map. The environmental test can be performed before or at the same time as the self-test, and the self-test can also be performed after the environmental test is completed, which is not limited in this application.

As shown in FIG. 8, the embodiment of the present invention also provides a control method of an automatic working system involving confirming the completion of the drawing, and the control method may include:

S801: Judge whether the lawn mower has walked one circle along the limit; if one circle has been walked, go to step S803, if it has not walked one circle, go to step S802;

S802: Walk along the boundary to confirm the map; return to step S801;

S803: The control module sends to the client a notification message of completing the map confirmation;

S804: Based on the received user confirmation signal, the control module confirms that the boundary in the map matches the boundary in the actual working area.

In this embodiment, the lawn mower completes map confirmation after receiving the user confirmation signal.

Fig. 9 is a flow chart of a method when the automatic working system performs map boundary confirmation in an embodiment of the application. As shown in Fig. 9, the control method may include the following steps:

S901: A map of the working area is stored in the storage module;

S902: The control module confirms that the mobile device is in the map;

S903: The control module controls the working module to stop working;

S904: In the case that the distance between the user and the self-mobile device meets the preset requirements, the control module allows the self-mobile device to enter the map confirmation mode to confirm the map boundary;

S905: In the case that the distance between the user and the self-mobile device meets the preset requirements, the control module allows the self-mobile device to walk along the map boundary;

S906: The user observes the walking path from the mobile device and judges whether the walking path matches the map boundary, if they match, go to step S909; if they do not match, go to step S907;

S907: The user corrects the map;

S908: The control module controls the self-mobile device to return to the corrected starting point or a position before the starting point, and controls the self-mobile device to walk along the corrected limit; return to S906;

S909: The control module detects whether the self-mobile device encounters an abnormal situation while walking along the map boundary, and if no abnormal situation is encountered, it proceeds to step S911; if it encounters an abnormal situation, it proceeds to step S910;

S910: The control module controls the mobile device to perform at least one of the following actions: shutdown alarm, sending a notification message for abnormal repair to the client, sending a notification message for abnormal confirmation to the client, and sending a notification message for map correction to the client;

S911: The control module controls the mobile device to handle the abnormal situation according to the received user operation; return to S909;

S912: The control module judges whether the self-mobile device walks a circle along the limit without user intervention; if one circle has been walked, it goes to S913, if it has not walked one circle, it goes to S906;

S913: The control module sends to the client a notification message of completing the map confirmation;

S914: The user confirms the notification message, and the control module confirms that the boundaries on the map are consistent with the boundaries in the actual work area based on the received user confirmation signal.

In an embodiment of the present application, when the map boundary has been confirmed, the control method for the automatic working system to confirm the charging station in the map may include the following steps:

S1001: A map of the working area is stored in the storage module;

S1002: The control module confirms that the mobile device is in the map;

S1003: The control module controls the working module to stop working;

S1004: The control module controls the mobile device to enter the map confirmation mode to confirm the charging station location and/or charging station docking direction;

S1005: The control module controls the self-mobile device to walk based on the location of the charging station in the map to connect with the direction of the charging station in the work area;

S1006: The control module judges whether the docking is successful, if it succeeds, it executes step S1008; if it is unsuccessful, it executes step S1007;

S1007: Control the self-mobile device to try charging and docking at least 3 times, and if all fail, it will stop and alarm, and send a notification message to the client to change the charging station location;

S1008: Control charging from mobile devices.

In the above embodiment, the user judges whether the walking path of the self-mobile device is consistent with the map boundary and the control module detects whether the self-mobile device encounters an abnormal situation. These two actions are in no particular order, and can be performed at the same time, or the abnormality can be detected first. After detecting whether the paths are consistent, the ordering in this embodiment is only an embodiment for convenience of description. In addition to confirming the boundaries and charging stations, the accuracy of the work area in the map can also be confirmed. Similarly, the steps for confirming the accuracy of the boundaries, charging stations and the map in the work area are not in order.

The following is a schematic description of the embodiment of the present invention through a specific application scenario. It is worth noting that this embodiment is only a schematic description, and the present application is not only implemented in this way.

Figure 10-12 shows a schematic diagram of this application scenario. The lawn mower walks along the dotted line in FIG. 1 to establish a map of the boundaries of the working area, and displays the map in the client user interface 1 as shown in FIG. 11. The user 27 powers on the lawn mower, and the lawn mower is located at the position A on the boundary. The lawn mower confirms that there is no abnormality in the current position A and starts the map confirmation mode. As shown in Fig. 10, the user 27 observes whether the machine matches the actual limits when walking according to the limits in the map, that is, the map confirmation process. When confirming the boundary in the map, the user always follows the lawn mower and controls the lawn mower to walk along the boundary counterclockwise from the position A shown in FIG. 10. When the user walks with the lawnmower, when walking to position C, the lawnmower finds that there is an obstacle 6 in front of position C. The obstacle 6 prevents the lawnmower from confirming the map. The obstacle does not exist in the original map. on. When walking to position C, the lawnmower interrupts the map confirmation mode and enters the exception handling mode. In the exception handling mode, the lawnmower walks along the path corresponding to 9 to avoid obstacle 6; During the process, record its path (as shown at 9 in Figure 12), and send the user whether to change the map according to path 9. When the user selects yes, the lawn mower changes the map in the storage unit to the map shown in FIG. 12, and sends the user whether to continue to confirm the map at position B after avoiding the obstacle 6 from the current position. After receiving the user's confirmation message, the lawnmower will continue to confirm the map according to the revised map. No new abnormalities are detected in the subsequent process, and the walking path is consistent with the map during the whole process. When the lawn mower walks along the boundary to point A, the map shown in Figure 12 is obtained. The lawnmower can continue to walk around from point A according to the map shown in Figure 12. If the map confirmation mode is not interrupted during this period, it indicates that the lawnmower has completed the map confirmation.

The above-mentioned embodiments only express several implementation modes of the present invention, and the description is relatively specific and detailed, but it should not be understood as a limitation to the patent scope of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can be made, and these all fall within the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention should be subject to the appended claims.

Claims

An automatic working system, including: self-moving equipment, navigation mechanism; characterized in that,

The navigation mechanism is configured to be installed on the self-moving device and used to provide current location information of the self-moving device;

The self-moving device includes:

Walking module, used to drive the self-moving device to walk;

A storage unit storing a map of the work area in the storage unit;

A control module, electrically connected to the walking module, for controlling the walking of the walking module, and controlling the self-moving device to walk within a working area defined by a boundary according to the current position information;

The automatic working system has a map confirmation mode. In the map confirmation mode, the self-mobile device walks according to the map, and based on the walking path of the self-mobile device, confirms whether the map matches the boundary, and

The self-mobile device further includes: an abnormality detection module for detecting whether there is an abnormal situation in the automatic working system, the abnormality detection module detects whether there is an abnormal situation in the automatic working system, and sends the detection result to the The control module, before starting the map confirmation mode, when it is detected that the abnormal situation does not exist, the control module allows the map confirmation mode to be started, and the abnormal situation characterizes the existence of preventing the self-mobile device from completing the pairing The map to confirm the problem.
The system according to claim 1, wherein the abnormality detection module performs a self-check on the self-mobile device, and determines whether the self-mobile device has an abnormal condition according to the self-check result, and the self-check includes: detection The energy level of the self-mobile device and detecting whether the self-mobile device has a hardware failure.
The system of claim 1, wherein the abnormality detection module comprises: an environment detection sensor, which detects the external environment in a local and/or remote manner to determine whether the abnormal situation exists, The external environment includes at least one of the following: weather, obstacles, and satellite signals.
The system of claim 1, wherein after the map confirmation mode is activated, the control module plans the path from the mobile device to the starting point of the side tour, and controls the mobile device to walk to the Patrol the starting point, and confirm the map from the patrol starting point, which is located on the boundary.
The system of claim 4, wherein the self-mobile device further comprises: an interaction module, the interaction module is electrically connected to the control module, and is used for interaction between the self-mobile device and the user. After the control module plans the path from the mobile device to the starting point of the patrol, the interaction module sends the user information confirming whether the planned path is accurate, and after receiving the confirmation information, the control module controls the Walk from the mobile device to the starting point of the side patrol.
The system according to claim 1, wherein, in the map confirmation mode, when the self-mobile device is walking along the boundary in the map, when the self-mobile device receives a notification message to correct the map The control module controls the self-mobile device to interrupt the map confirmation mode to enter the retouching mode, and in the retouching mode, the boundary stored in the storage unit is corrected according to the position information of the navigation mechanism to obtain the corrected boundary.
The system of claim 6, wherein after the self-mobile device has corrected the boundaries in the map, the control module controls the self-mobile device according to the corrected data stored in the storage unit The boundaries are confirmed on a map.
An automatic working system, characterized in that the system includes: a self-moving device, a navigation mechanism, and a navigation mechanism, configured to be installed on the self-moving device and used to provide current location information of the self-moving device;

The self-moving device includes:

Walking module, used to drive the self-moving device to walk;

A storage unit storing a map of the work area in the storage unit;

A control module, electrically connected to the walking module, for controlling the walking of the walking module, and controlling the self-moving device to walk within a working area defined by a boundary according to the current position information;

The automatic working system has a map confirmation mode. In the map confirmation mode, the self-mobile device walks according to the map, and based on the walking path of the self-mobile device, confirms whether the map matches the boundary, and

The self-mobile device further includes: an abnormality detection module for detecting whether there is an abnormal situation in the automatic working system, the abnormality detection module detects whether there is an abnormal situation in the automatic working system, and sends the detection result to the The control module, in the map confirmation mode, when an abnormal situation is detected in the automatic working system, the control module controls the self-mobile device to interrupt the map confirmation mode to enter the abnormal processing mode, and after the abnormal situation is resolved Then re-enter the map confirmation mode to continue to confirm the map, and the abnormal situation signifies that there is a problem that prevents the self-mobile device from completing the confirmation of the map.
The system according to claim 8, wherein the abnormality detection module performs a self-check on the self-mobile device, and determines whether the self-mobile device has an abnormal condition according to the self-check result, and the self-check includes: detection The energy level of the self-mobile device, detecting whether the self-mobile device has a hardware failure, and when the abnormal situation in the automatic working system is detected, the control module controls the self-mobile device to interrupt the map confirmation mode To enter the exception handling mode.
The system according to claim 8, wherein the abnormality detection module comprises: an environment detection sensor, which detects the external environment in a local and/or remote manner to determine whether the abnormal situation exists, The external environment includes at least one of the following: weather, obstacles, and satellite signals. When the abnormal situation is detected in the automatic working system, the control module controls the self-mobile device to interrupt the map confirmation mode to enter abnormal processing mode.
The system according to claim 8, wherein the automatic working system comprises: an interaction module, the interaction module is electrically connected to the control module, and is used for interaction between the mobile device and the user. When the abnormal situation exists, the control module controls the self-mobile device to interrupt the map confirmation mode to enter the abnormal processing mode. In the abnormal processing mode, the control module controls the self-mobile device based on the interaction module Output to resolve the abnormal situation.
The system according to claim 8, wherein in the abnormality processing mode, the control module controls the self-mobile device to resolve the abnormal situation based on the detection result.
The system according to claim 8, wherein the mode of interrupting the map confirmation mode includes: shutdown and/or alarm.
The system according to claim 8, wherein after the abnormal situation is resolved, the control module modifies the map stored in the storage unit according to the walking path generated when the abnormal situation is resolved, and controls The self-mobile device continues to perform map confirmation according to the modified map stored in the storage unit.
The system according to claim 8, wherein after the abnormal situation is resolved, the control module controls the self-mobile device to continue map confirmation according to the map.
An automatic working system, characterized in that the system includes: a self-moving device, a navigation mechanism,

A navigation mechanism, configured to be installed on the self-mobile device, and used to provide current location information of the self-mobile device;

The self-moving device includes:

Walking module, used to drive the self-moving device to walk;

A control module, electrically connected to the walking module, for controlling the walking of the walking module, and controlling the self-moving device to walk within a working area defined by a boundary according to the current position information;

In the automatic working system map confirmation mode, in the map confirmation mode, the self-mobile device walks according to the map, and based on the walking path of the self-mobile device, it is confirmed whether the map matches the boundary,

The self-mobile device further includes a detection module for monitoring the distance between the user and the self-mobile device, and sends the monitoring result to the control module, and the control module determines whether the user is in the self-mobile device. Near the device, in the map confirmation mode, during the process of the automatic working system confirming the map, the control module determines whether the user is located near the self-mobile device,

When it is determined that the user is located near the self-mobile device, the control module controls the self-mobile device to confirm the map based on the walking path.
The system according to claim 16, wherein the detection module comprises a button, and the control module determines that the user is located in the self-mobile device according to the button and/or touch operation received by the user. nearby.
The system of claim 16, wherein the detection module comprises: a communication module, the communication module is used for communication between the mobile device and the client, and the communication module determines that the user is located Near the self-mobile device.
21. The system of claim 18, wherein the control module determines that the user is located near the self-mobile device according to the signal characteristics received by the communication module.
The system of claim 18, wherein the signal characteristics include: communication signal strength.
The system of claim 18, wherein the control module determines that the user is located near the self-mobile device based on the signal received by the communication module.
The system of claim 18, wherein the communication module comprises: a near field communication module.
16. The system of claim 16, wherein the detection module comprises a human body detection module, and the control module determines that the user is located near the self-mobile device based on the detection result of the human body detection module.
The system according to claim 16, wherein when it is determined that the user is not near the self-mobile device, the control module prohibits the self-mobile device from walking according to the map.
An automatic working system, characterized in that the system includes: a self-moving device, a navigation mechanism,

A navigation mechanism, configured to be installed on the self-mobile device, and used to provide current location information of the self-mobile device;

The self-moving device includes:

Walking module, used to drive the self-moving device to walk;

A control module, electrically connected to the walking module, for controlling the walking of the walking module, and controlling the self-moving device to walk within a working area defined by a boundary according to the current position information;

The automatic working system has a map confirmation mode. In the map confirmation mode, the self-mobile device walks according to the map, and based on the walking path of the self-mobile device, confirms whether the map matches the boundary, and

In the map confirmation mode, when the control module controls the walking module to walk along the boundary for at least one week, the self-mobile device completes the map confirmation.
The system according to claim 25, wherein when the map confirmation mode is interrupted, the navigation mechanism records the interruption location where the interruption occurs, and in the map confirmation mode, the walking module starts from the interruption Starting from the location, the self-mobile device completes map confirmation after walking along the boundary for at least one week without interruption.
The system according to claim 25, wherein when the map confirmation mode is interrupted, the navigation organization records the interruption location where the interruption occurred, and in the map confirmation mode, when the map confirmation mode is interrupted When the control module controls the walking module to walk along the boundary for at least one week, the self-mobile device completes map confirmation, wherein the self-mobile device is in the walking path before the interruption location and after the interruption location There is overlap between the walking paths of.
The system according to claim 25, wherein in the map confirmation mode, the self-mobile device confirms the map from the starting point of the patrol on the boundary of the map, and correspondingly, The control module controls the walking module to complete the map confirmation when at least one week has been walked along the boundary from the starting point of the side tour without interruption.
The system according to claim 25, wherein, when it is detected that the walking module has walked along the boundary for at least one week, the self-mobile device sends to the client whether the self-mobile device has completed the communication The notification message that confirms the boundary.
The system of claim 25, wherein when the control module receives the information about the self-mobile device completing the confirmation of the boundaries in the map, the self-mobile device completes the map confirmation.
The system according to claim 25, wherein the self-moving device further comprises: a working module for performing predetermined tasks;

The automatic working system further includes: a working mode, in which the self-mobile device automatically walks and/or works within a working area defined by a confirmed map, and the confirmed map is completed The map is generated after confirmation.