CN103891463A - Automatic mowing system - Google Patents
Automatic mowing system Download PDFInfo
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- CN103891463A CN103891463A CN201210584509.6A CN201210584509A CN103891463A CN 103891463 A CN103891463 A CN 103891463A CN 201210584509 A CN201210584509 A CN 201210584509A CN 103891463 A CN103891463 A CN 103891463A
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Abstract
The invention discloses an automatic mowing system which comprises an automatic mowing machine and a boundary device. The boundary device comprises a plurality of wireless emitters, and rays emitted by the wireless emitters are taken as boundary lines to form a closed or basically closed polygon by surrounding so as to define a working area. Consequently, a user is enabled to quickly replacing or changing the working area.
Description
Technical field
The present invention relates to a kind of mowing system automatically.
Background technology
Along with the continuous progress of computer technology and artificial intelligence technology, the automatic running device that is similar to intelligent robot has started the life of coming into people slowly.The company such as Samsung, Electrolux has all developed automatic dust catcher and has put goods on the market.The common volume of this automatic dust catcher is small and exquisite, is integrated with environmental sensor, from drive system, dust collecting system, battery and charging system, can be without manual control, cruise indoor voluntarily, auto-returned base station in the time that energy is low, docks and charges, and then continues the dust suction of cruising.Meanwhile, the companies such as Haas Ke Wana have developed similar intelligent grass-removing, and it can mow automatically in user's lawn, charging, interferes without user.Due to this automatic mowing system once arrange after just without dropping into again energy management, user from cleaning, free the uninteresting and housework work of wasting time and energy such as lawn maintenance, is therefore subject to very big welcome.
Existing automatic mower is generally applied to the working region that area is larger, as 1000 square metres.The border of the working region of automatic mower is the wire that can produce magnetic field, thus identification border, the detecting of the magnetic-inductive device on automatic mower magnetic field.In the less working region of some work area, as 50-200 square metre, for hope energy quick-replaceable or change working region, and route wires bothers as border very much, is inconvenient to change or change working region.
Therefore be necessary existing automatic mower and base station to improve, make user's fast changeable or change working region.
Summary of the invention
For the deficiency of prior art existence, the invention provides the automatic mowing system of a kind of user's of making fast changeable or change working region.
Technical scheme of the present invention is achieved in that a kind of mowing system automatically, comprise automatic mower and boundary means, described boundary means comprises some wireless launchers, described some wireless launchers send ray, the ray that each wireless launcher sends surrounds the polygon of a sealing or base closed as boundary line, to define the working region of described automatic mower, described automatic mower is provided with at least one first wireless receiver, for the wireless signal that receives wireless launcher to detect the boundary line of described working region.
Preferably, described some wireless launchers are infrared transmitter, and described the first wireless receiver is infrared remote receiver.
Preferably, described some wireless launchers lay respectively on the border extended line of a described polygonal edge.
Preferably, described automatic mowing system also comprises base station, and described base station is positioned on the boundary line of described working region, and described base station has at least one side towards boundary line, and described base station is provided with wireless launcher towards the side of boundary line.
Preferably, described wireless launcher has multiple, and the transmit direction entirety of described multiple wireless launchers is clockwise or distributes counterclockwise.
Preferably, described base station is positioned at a described polygonal edge.
Preferably, described the first wireless receiver is positioned at least one fuselage side of described automatic mower, the front end of described automatic mower is also provided with the second wireless receiver, described automatic mower also comprises controller, in the time that described controller control automatic mower returns, if the first wireless receiver receives wireless signal, controller control automatic mower rotation, until the second wireless receiver receives wireless signal, control afterwards automatic mower in the process of walking the second wireless receiver receive all the time wireless signal.
Preferably, in the process of automatic mower walking, if the first wireless receiver receives wireless signal again, controller control automatic mower rotation, until the second wireless receiver receives wireless signal again.
Preferably, described some wireless launchers comprise battery, wind power generation plant or device of solar generating.
The boundary means of the automatic mowing system in the present invention comprises some wireless launchers, the ray that described some wireless launchers send surrounds the polygon of a sealing or base closed as boundary line, to define working region, so make user's fast changeable or change working region.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described:
Fig. 1 is the schematic diagram of automatic mowing system of the present invention.
Fig. 2 is the exploded perspective view of the automatic mower in Fig. 1.
Fig. 3 is the block diagram of the automatic mower in Fig. 1.
Fig. 4 is the schematic flow sheet of the working procedure in automatic mowing system of the present invention.
Fig. 5 is the schematic diagram of another preferred embodiments of automatic mowing system of the present invention.
Fig. 6 is the schematic diagram of another preferred embodiments of automatic mowing system of the present invention.
Fig. 7 is another view of the automatic mowing system shown in Fig. 6.
Wherein,
100, automatic mower; 200, base station; 20, wheel;
30, movable motor; 40, cutting motor; 42, cutting blade;
50, supply unit; 60, border induction installation; 110, controller;
120, memory; 130, start key; 140, stop key;
310, wire; A1～A4, infrared transmitter; B1～B3, infrared remote receiver;
15, colliding sensor; 12, shell body; 14, inner housing;
16, groove; 150, power key;
Embodiment
Please refer to Fig. 1, a kind of mowing system automatically, comprises automatic mower 100, bus stop 200 and boundary means.Boundary means is for limiting the scope of working region, automatic mower 100 is for walking among working region and carrying out mowing work, and bus stop 200 is for returning to makeup energy or take shelter from rain or stop for automatic mower 100 when the energy deficiency for automatic mower 100.
Please also refer to Fig. 2 and Fig. 3, automatic mower 100 comprises the housing extending longitudinally, be arranged at some wheels 20 of housing bottom, be arranged in housing and at least one movable motor 30 of wheels 20, be arranged at housing bottom and the cutting blade 42 for the work of cutting, be arranged in housing and for driving the cutting motor 40 of cutting blade 42, and be the supply unit 50 that movable motor 30 and cutting motor 40 are powered.
In memory 120, store fixing working procedure, on operation interface, be only provided with start key 130, stop key 140 and power key 150, controller 110 is all connected with memory 120, supply unit 50, start key 130, stop key 140, movable motor 30, cutting motor 40 and border induction installation 60, and power key 150 is connected with supply unit 50.
When power key 150 is pressed, described supply unit 50 opens or cuts out.Start key 130 sends enabled instruction while being pressed, stop key 140 sends halt instruction while being pressed.Controller 110 receives after enabled instruction, and the working procedure in execute store 120 is automatically carried out mowing work and returns to bus stop 200 and charge to control automatic mower 100, so repeatedly, until controller 110 receives halt instruction.In other embodiments, start key 130 and stop key 140 also can unite two into one.
Please refer to Fig. 4, working procedure comprises the following steps:
Step S1: start movable motor 30.
Step S2: control automatic mower 100 and enter working region.
Step S3: control automatic mower 100 and carry out mowing work according to projected route or random path.
Step S4: at least one first parameter of detecting automatic mower 100, control automatic mower 100 and return to bus stop 200 and charge if the first parameter reaches the first predetermined value.In present embodiment, the first parameter is the working time, and controller 110 starts timing in the time that automatic mower 100 starts, and controls automatic mower 100 and return to bus stop 200 in the time that timing reaches predetermined value.In other embodiments, the first parameter also can be the electric weight of supply unit 50, and when the electric weight that detects supply unit 50 is during lower than predetermined value, automatic mower 100 returns to bus stop 200 and charges.In present embodiment, the electric weight of supply unit 50 is realized by the voltage of monitoring supply unit 50.
Step S5: judge whether automatic mower 100, in the process of mowing or charge, receives halt instruction, halt instruction enters step S7 if receive, otherwise enters step S6.
Step S6: at least one second parameter of detecting supply unit 50, if reaching the second predetermined value, the second parameter returns to step S1, so repeatedly.In present embodiment, the second parameter is the electric weight of supply unit 50, returns to step S1 when detecting when the electric weight of supply unit 50 reaches predetermined value.In other embodiments, the second parameter also can be the charging interval, while docking charging, starts timing from automatic mower 100 with bus stop 200, returns to step S1 if reach the scheduled time.
Step S7: powered-down device 50.
In sum, the controller 110 of automatic mower 100 is carried out above-mentioned working procedure and is made automatic mower 100 in the time of the work of the less working region of work area, as 50-200 square metre, as long as receiving enabled instruction automatically repeatedly carries out mowing work and returns to bus stop 200 and charge, until receive halt instruction, without user's input working parameter, cost is lower.
Boundary means can be physical boundary device or virtual boundary device.Physical boundary device and the independent setting of automatic mower 100, be used to form boundary line to define working region; Virtual boundary device can be arranged on automatic mower 100 or outside working region, and near environment detecting automatic mower 100, judges according to the data of detecting whether automatic mower 100 is positioned at working region.
Please refer again to Fig. 1, physical boundary device can be the wire 310 being electrically connected with bus stop 200.Wire and bus stop 200 form closed-loop path, for generation of field signal, the magnetic-inductive device that the border induction installation 60 of automatic mower 100 is detecting sideband signal, the magnetic direction that controller 110 detects according to magnetic-inductive device judges whether automatic mower 100 is positioned at working region.
Physical boundary device can be some wireless launchers independent of each other, wireless launcher is used for sending wireless signal as sideband signal, the border induction installation 60 of automatic mower 100 is the wireless receiver of detecting wireless signal, and whether controller 110 receives wireless signal according to wireless receiver judges whether automatic mower 100 is positioned at working region.Portable wireless launcher, as boundary means, makes user's fast changeable or changes working region.
Please refer to Fig. 5, in the present invention mows another preferred embodiments of system automatically, wireless launcher is infrared transmitter A1, A2, A3, A4.The infrared signal of described infrared transmitter A1, A2, A3, A4 transmitting forms the polygonal region of sealing or base closed as boundary line, to define the working region of described automatic mower 100.In a kind of embodiment, infrared transmitter A1, A2, A3, A4 are all positioned at polygonal edge therein, and the polygonal region that now described infrared transmitter A1, A2, A3, the infrared signal of A4 transmitting form seals.
In the present embodiment, infrared transmitter A1, A2, A3 lay respectively on the border extended line of polygonal three edges.Bus stop 200 is also positioned on the border extended line of an edge, and infrared transmitter A4 is arranged at the side of bus stop 200 towards border.The polygonal region that now described infrared transmitter A1, A2, A3, the infrared signal of A4 transmitting form not exclusively seals, and at bus stop, 200 places form a breach, and automatically the mow enforcement of system of the present invention is not formed to impact.
In present embodiment, infrared transmitter A1, A2, A3 are provided with independent battery, wind power generation plant or device of solar generating, thereby can independently power.Infrared transmitter A4 is powered by bus stop 200.
Wireless receiver is infrared remote receiver B1, the B2 that is arranged at the side of automatic mower 100.In the time that infrared remote receiver B1 or infrared remote receiver B2 receive infrared signal, controller 110 judges that automatic mower 100 reaches the border of working region.
Virtual boundary device can be global location module (not shown), the meadow identification module (not shown) being arranged in automatic mower 100 or is arranged at the photographing module (not shown) outside working region.
Global location module and satellite wireless communication, for knowing the position coordinates that automatic mower 100 is current, controller 110 forms virtual boundary information by preposition coordinate sequence and forms the map of working region, if in the map that the position coordinates of global location module detecting does not surround in virtual boundary information, controller 110 judges that automatic mower 100 is positioned at outside working region.
Meadow identification module is for judging according to the color on ground or humidity whether the current position of automatic mower 100 is meadow, and whether controller 110 is positioned on meadow and judges whether automatic mower 100 is positioned at working region according to automatic mower 100.
Particularly, meadow identification module can be towards the color sensor (not shown) on ground or is arranged at some electrode (not shown) of the housing bottom of automatic mower 100.The color on color sensor detecting ground, if green controller 110 judge that automatic mower 100 is positioned at working region.Some electrodes are protruding from housing bottom, its terrain clearance is less than the cutting-height of cutting blade, in the time that automatic mower 100 is positioned on meadow, some electric pole spacings have the grass that cuts or do not cut, its DIELECTRIC CONSTANTS is by the DIELECTRIC CONSTANTS much larger than air, and some interelectrode capacitor C meet: C=ε S/4 π kd; The right opposite that wherein S is some electrodes is long-pending, and k is constant, the distance that d is some electrodes, and after some electrode settings, the distance d of the long-pending S of right opposite and electrode is constant, i.e. and the variation of capacitor C is only relevant with DIELECTRIC CONSTANTS.By detecting some interelectrode electric capacity, knownly learn whether automatic mower 100 is positioned on meadow.
Photographing module is taken the image of the working region of automatic mower 100 and wish setting, and the virtual boundary of delimiting sealing on the image of taking.If show that automatic mower 100 is positioned at outside virtual boundary on the image of taking, controller 110 judges that automatic mower 100 is positioned at outside working region.
Please refer again to Fig. 2, in present embodiment, obstacle detection module is colliding sensor 15, as hall sensor, housing comprises shell body 12 and inner housing 14, and shell body 12 covers inner housing 14, and colliding sensor 15 is arranged between inner housing 14 and shell body 12, in the time that automatic mower 100 and barrier bump, colliding sensor 15 can detect relatively moving of occurring between inner housing and shell body.In other embodiments, obstacle detection module also can be supersonic generator and ultrasonic receiver, the ultrasonic signal that supersonic generator sends is received by ultrasonic receiver after barrier reflects, and can calculate the distance between automatic mower 100 and barrier according to the time difference of the transmitting of ultrasonic signal and reception.
In the time that automatic mower 100 need return to bus stop 200 and charges, takes shelter from rain or stop, controller control automatic mower returns to bus stop along the border of working region.
In the time that boundary means is wire, controller 110 is controlled automatic mower trsanscondutor and by returning to clockwise or counterclockwise bus stop.
Please refer again to Fig. 5, in the time that boundary means is some wireless launcher A1, A2, A3, A4, particularly infrared transmitter, some edges and transmit direction that some wireless launcher A1, A2, A3, A4 are arranged at working region are unanimously clockwise or counterclockwise, the side of automatic mower 100 is provided with wireless receiver B1, B2, the front end of automatic mower 100 is provided with wireless receiver B3, controller 110 is controlled automatic mower 100 and is made the wireless receiver B3 of front end receive all the time wireless signal, thereby makes automatic mower 100 return to bus stop 200.When arriving at border and wireless receiver B1 and receive wireless signal as automatic mower 100, controller 110 controls that automatic mower 100 rotates until the wireless receiver B3 of front end receives wireless signal; Maintain the direct of travel of automatic mower 100; In the time that automatic mower 100 arrives edge and wireless receiver B1 and again receives wireless signal, controller 110 controls that automatic mower 100 rotates until the wireless receiver B3 of front end receives wireless signal again, so makes automatic mower 100 return to clockwise or counterclockwise bus stop 200 along border.In other embodiments, a wireless receiver can only be established in the side of automatic mower 100, if when the transmit direction of wireless launcher is unanimously clockwise, wireless receiver is arranged at the left side of automatic mower 100; If when the transmit direction of wireless launcher is unanimously counterclockwise, wireless receiver is arranged at the right side of automatic mower 100.
Please refer to Fig. 6 and Fig. 7, in other embodiments, at bus stop, 200 places are provided with at least one supersonic generator, on automatic mower 100, be provided with at least one ultrasonic receiver, return to Time Controller 110 and adjust the direct of travel of automatic mower 100 according to the reception condition of ultrasonic receiver, automatic mower 100 is directly returned towards bus stop 200.
Particularly, be provided with the first supersonic generator A, the second supersonic generator B and an infrared transmitter C at bus stop 200 places, two supersonic generator A, B lay respectively at the both sides of infrared transmitter C, the first supersonic generator A is for sending the first ultrasonic signal, the second supersonic generator B for sending second ultrasonic signal different from the first ultrasonic signal frequency or intensity, and infrared transmitter C is for sending the infrared signal of straight line.
The angle of departure of two supersonic generator A, B partly overlaps, thereby bus stop 200 near zones are divided into some subregions: mono signal overlay area, overlapping region ab and white space.Mono signal overlay area comprises the secondary signal overlay area b that only covers the first signal overlay area a of the first ultrasonic signal and only cover the second ultrasonic signal.Overlapping region ab is coated with the first ultrasonic signal and the second ultrasonic signal.
On automatic mower 100, be provided with the first ultrasonic receiver R1, the second ultrasonic receiver R2 and an infrared remote receiver R3.
Infrared remote receiver R3 is positioned at the front center of automatic mower 100, and ultrasonic receiver R1 and R2 are arranged at respectively the both sides of infrared remote receiver R3 on automatic mower 100.
When automatic mower 100 need return or receive ultrasonic signal first, controller 110 is controlled automatic mower 100 and is first rotated a circle and carry out initial position judgement, with determine current under subregion.If after automatic mower 100 rotates a circle, the first ultrasonic receiver R1 or the second ultrasonic receiver R2 only receive the first ultrasonic signal, and controller 110 judges that current region is first signal overlay area a; If after automatic mower 100 rotates a circle, the first ultrasonic receiver R1 or the second ultrasonic receiver R2 only receive the second ultrasonic signal, and controller 110 judges that current region is secondary signal overlay area b; If after automatic mower 100 rotates a circle, the first ultrasonic receiver R1 and the second ultrasonic receiver R2 receive the first ultrasonic signal and the second ultrasonic signal, and controller 110 judges that current region is the first overlapping region ab; If after automatic mower 100 rotates a circle, the first ultrasonic receiver R1 and the second ultrasonic receiver R2 do not receive any signal, and controller 110 is controlled automatic mower 100 and continued according to projected route or random path walking.
If the initial position of automatic mower 100 is first signal overlay area a, controller 110 is controlled automatic mower 100 and is rotated, until only the first ultrasonic receiver R1 receives the first ultrasonic signal, as shown in Fig. 6 dotted portion, with the direction of travel that is oriented of automatic mower 100 now, control automatic mower 100 and enter overlapping region ab.In like manner, when the initial position of automatic mower 100 is secondary signal overlay area b, controller 110 is controlled automatic mower 100 and is rotated, until only the second ultrasonic receiver R2 receives the second ultrasonic signal, and with the direction of travel that is oriented of automatic mower 100 now.
When automatic mower 100 enters into the first overlapping region ab by first signal overlay area a, the first ultrasonic receiver R1 receives the first ultrasonic signal and the second ultrasonic signal, controller 110 is controlled automatic mower 100 and is rotated, until the first ultrasonic receiver R1, the second ultrasonic receiver R2 all receive the first ultrasonic signal and the second ultrasonic signal, make automatic mower 100 towards bus stop 200.Controller 110 Sustainable Control automatic mowers 100 afterwards, make the first ultrasonic receiver R1, the second ultrasonic receiver R2 all keep receiving the first ultrasonic signal and the second ultrasonic signal.
The limit situation that automatic mower 100 is positioned at overlapping region ab is: automatic mower 100 is positioned at the signal boundary place in the second supersonic generator B left side.This Time Controller 110 is controlled automatic mower 100, makes the first ultrasonic receiver R1 keep receiving the first ultrasonic signal, second ultrasonic receiver R2 maintenance reception the second ultrasonic signal.Automatic mower 100 will advance along the signal boundary in the second supersonic generator B left side.
In like manner, when automatic mower 100 enters into the first overlapping region ab by secondary signal overlay area b, the second ultrasonic receiver R2 receives the first ultrasonic signal and the second ultrasonic signal, controller 110 is controlled automatic mower 100 and is rotated, until the first ultrasonic receiver R1, the second ultrasonic receiver R2 all receive the first ultrasonic signal and the second ultrasonic signal.A limit situation is now: controller 110 is controlled automatic mower 100 and advanced along the signal boundary on the first supersonic generator A right side.
If the initial position of automatic mower 100 is the first overlapping region ab, controller 110 is still controlled automatic mower 100 and is rotated, until the first ultrasonic receiver R1, the second ultrasonic receiver R2 all receive the first ultrasonic signal and the second ultrasonic signal.
Please refer to Fig. 7, in the time that automatic mower 100 is about to leave the first overlapping region ab and enters white space, if the first ultrasonic receiver R1 does not receive any signal, controller 110 is controlled automatic mower 100 and is rotated counterclockwise, until infrared remote receiver R3 receives infrared signal, make automatic mower 100 just to bus stop 200.After this controller 110 maintains the direction of travel of automatic mower 100, thereby realizes automatic mower 100 and bus stop 200 Dock With Precision Positions.
In like manner, in the time that automatic mower 100 is about to leave the first overlapping region ab and enters white space m, if the second ultrasonic receiver R2 does not receive any signal, 110 of controllers are controlled automatic mower 100 and are turned clockwise, until infrared remote receiver R3 receives infrared signal, make automatic mower 100 just to bus stop 200.
The judgement of the initial position of automatic mower 100 in generator coverage, enter region decision and control mode is as shown in table 1:
Table 1
In the present embodiment, mowing system adopts portable wireless launcher as boundary means automatically, makes user's fast changeable or changes working region.
It may occur to persons skilled in the art that, in the present invention, the concrete structure of mowing system can have a lot of versions automatically, but the technical characteristics of the used technical solution and the present invention are same or similar, all should be covered by protection domain of the present invention.
Claims (9)
1. an automatic mowing system, comprise automatic mower and boundary means, it is characterized in that, described boundary means comprises some wireless launchers, described some wireless launchers send ray, the ray that each wireless launcher sends surrounds the polygon of a sealing or base closed as boundary line, to define the working region of described automatic mower, described automatic mower is provided with at least one first wireless receiver, for the wireless signal that receives wireless launcher to detect the boundary line of described working region.
2. automatic mowing system according to claim 1, is characterized in that: described some wireless launchers are infrared transmitter, described the first wireless receiver is infrared remote receiver.
3. automatic mowing system according to claim 1, is characterized in that: described some wireless launchers lay respectively on the border extended line of a described polygonal edge.
4. automatic mowing system according to claim 3, it is characterized in that: described automatic mowing system also comprises base station, described base station is positioned on the boundary line of described working region, described base station has at least one side towards boundary line, and described base station is provided with wireless launcher towards the side of boundary line.
5. automatic mowing system according to claim 4, is characterized in that: described wireless launcher has multiple, and the transmit direction entirety of described multiple wireless launchers is clockwise or distributes counterclockwise.
6. automatic mowing system according to claim 5, is characterized in that: described base station is positioned at a described polygonal edge.
7. automatic mowing system according to claim 5, it is characterized in that: described the first wireless receiver is positioned at least one fuselage side of described automatic mower, the front end of described automatic mower is also provided with the second wireless receiver, described automatic mower also comprises controller, in the time that described controller control automatic mower returns, if the first wireless receiver receives wireless signal, controller control automatic mower rotation, until the second wireless receiver receives wireless signal, control afterwards automatic mower in the process of walking the second wireless receiver receive all the time wireless signal.
8. automatic mowing system according to claim 7, it is characterized in that: in the process of automatic mower walking, if the first wireless receiver receives wireless signal again, controller control automatic mower rotation, until the second wireless receiver receives wireless signal again.
9. automatic mowing system according to claim 1, is characterized in that: described some wireless launchers comprise battery, wind power generation plant or device of solar generating.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210584509.6A CN103891463A (en) | 2012-12-28 | 2012-12-28 | Automatic mowing system |
| PCT/CN2013/090746 WO2014101840A1 (en) | 2012-12-28 | 2013-12-27 | Auto mowing system |
| EP13869696.8A EP2939508B1 (en) | 2012-12-28 | 2013-12-27 | Automatic mowing system |
| US14/758,424 US9820433B2 (en) | 2012-12-28 | 2013-12-27 | Auto mowing system |
| US15/799,114 US10555456B2 (en) | 2012-12-28 | 2017-10-31 | Auto mowing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210584509.6A CN103891463A (en) | 2012-12-28 | 2012-12-28 | Automatic mowing system |
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| CN103891463A true CN103891463A (en) | 2014-07-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210584509.6A Pending CN103891463A (en) | 2012-12-28 | 2012-12-28 | Automatic mowing system |
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