CN104699101A - Robot mowing system capable of customizing mowing zone and control method thereof - Google Patents

Robot mowing system capable of customizing mowing zone and control method thereof Download PDF

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Publication number
CN104699101A
CN104699101A CN201510054667.4A CN201510054667A CN104699101A CN 104699101 A CN104699101 A CN 104699101A CN 201510054667 A CN201510054667 A CN 201510054667A CN 104699101 A CN104699101 A CN 104699101A
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China
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mowing
robot
control
area
mower
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CN201510054667.4A
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Chinese (zh)
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梁峰
李瑜
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深圳拓邦股份有限公司
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Priority to CN201510054667.4A priority Critical patent/CN104699101A/en
Publication of CN104699101A publication Critical patent/CN104699101A/en

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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions

Abstract

The invention discloses a robot mowing system capable of customizing mowing zone and a control method of the robot mowing system. The system comprises at least one camera, a control terminal, a robot mowing machine and a local router; the camera is used for collecting an image of the mowing zone and sending the image to the control terminal through a local router; the control terminal is used for controlling the camera to collect the image of the mowing zone, and generating and customizing an environmental drawing of the mowing zone corresponding to the customized mowing zone and a corresponding space coordinate system according to the image of the mowing zone; a first space coordinate (X1, Y1) of the robot mowing machine is marked in the environmental drawing of the mowing zone c; moreover, the control terminal is further used for controlling the work of the robot mowing machine according to a first control instruct input by a user, and monitoring the working state of the robot mowing machine by monitoring the position change of the first space coordinate (X1, Y1) in a space coordinate system. The robot mowing system needs not to preset a boundary lead, and can customize the mowing zone in real time; moreover, the mowing path is more free, and not influenced by the boundary lead.

Description

可定制割草区域的机器人割草系统及其控制方法 Customizable mowing area mowing robot system and control method

技术领域 FIELD

[0001] 本发明机器人割草系统,尤其涉及一种可定制割草区域的机器人割草系统及其控制方法。 Robot [0001] The present invention mowing system, particularly to a customized robot mowers region mowing system and control method.

背景技术 Background technique

[0002]目前市场上主流的机器人割草系统对割草区域边界的识别采用的是边界导线及机器人割草机的边界传感器组件来检测割草区域的边界,如图1所示。 [0002] Currently on the market mainstream mowing robot for identification of the mowing area boundary and the boundary wire is used in robotic lawnmower boundary sensor detects the boundary mowing assembly area, as shown in FIG. 在安装目前市场上主流的机器人割草机时,需预先布设边界线10及安装边界线信号发生装置11,机器人割草机12通过自身的边界传感器组件121来检测割草区域边界线10,检测到边界信号后再通过车辆控制单元122来控制机器人割草机12的行为使其转弯从而达到限定割草区域的目的。 When mounted on the robotic mower is currently the mainstream market, the need to install prewired and a boundary line 10 boundary line signal generating means 11, the robot mower mowing area 12 detects a boundary line 10 by its own boundary sensor assembly 121 detects then the boundary signal to control the behavior of the robotic mower 12 so as to achieve the purpose of turning the mowing area defined by the vehicle control unit 122. 当这些机器人割草机12需充电时,机器人割草机12将沿着边界线10自动返回到充电站13用弹性金属接触片对接进行充电。 When these robotic lawnmower 12 need to be recharged, the robotic mower 12 along the boundary line 10 is automatically returned to the charging station 13 with the resilient contact piece abutting the metal charge.

[0003]当前的机器人割草系统存在以下问题:其一是其采用边界导线及边界传感器组件来识别割草区域边界,布设边界导线后就相对固定,若要改变割草区域必须重新布设边界导线才行,不能随时定制割草区域、不能个性化定制割草路径;其二是当前的机器人割草系统无远程控制功能。 There is a problem [0003] Current robotic mowing system: one is the boundary wire and its use to identify the boundary sensor assembly mowing area boundary, the boundary wire laid after relatively fixed, the mowing area to change the boundary wire must be re-routed the job can not be readily customized mowing area, not customization mowing path; the other is the current robotic mowing system without remote control functions. 其三是在返回充电过程中,机器人割草机只能沿边界线返回,不能在割草区域的任何一地方以最短的路径返回充电站。 The third is the return charging process, the robotic lawnmower can return along the boundary line, the shortest path can not be returned to the charging station at any place of the mowing area. 其四是在当前的机器人割草系统,其充电的对接接头采用的是弹性金属接触片,容易磨损而且容易出现接触不良等现象。 Fourth, the current mowing robot system charging uses a butt joint contact piece elastic metal, easy to wear and easy to poor contact and so on.

发明内容 SUMMARY

[0004] 本发明要解决的技术问题在于,针对现有技术的缺陷,提供一种可定制割草区域的机器人割草系统及其控制方法。 [0004] The present invention is to solve the technical problem that the defects of the prior art, to provide a customized robot mowers region mowing system and control method.

[0005] 本发明解决其技术问题所采用的技术方案是:一种可定制割草区域的机器人割草系统,包括:至少一个摄像机、控制终端、机器人割草机和本地路由器; [0005] aspect of the present invention to solve the technical problem are: a customizable area mowing robot mowers system, comprising: at least one camera, the control terminal, and a robotic mower local router;

[0006] 所述至少一个摄像机,用于采集割草区域图像并通过所述本地路由器发送给所述控制终端; [0006] The at least one camera for acquiring the image and the mowing area is sent to the control terminal through the local router;

[0007] 所述控制终端,用于控制所述至少一个摄像机采集所述割草区域图像,根据至少一个所述割草区域图像规划生成与定制割草区域对应的割草区域环境图及相应的空间坐标系,所述割草区域环境图中标识出所述机器人割草机的第一空间坐标(XI,Yi);还用于根据用户输入的第一控制指令控制所述机器人割草机工作,并通过监测所述第一空间坐标(XI,Y1)在所述空间坐标系中的位置变化实现对所述机器人割草机工作状态的监控。 [0007] The control terminal for controlling at least one of the mowing area image captured by the camera, in accordance with FIG customized environment mowing mowing area corresponding to at least one region of the mowing area and generating corresponding image Planning spatial coordinate system, the environment of FIG mowing area identified in the first robotic mower spatial coordinates (XI, Yi); also used to control the robot lawn mower according to a first control instruction input by the user , and to achieve the monitoring of the operating state of the robot mower by monitoring the first spatial coordinates (XI, Y1) position change in the space coordinate system.

[0008] 优选地,还包括无线充电站,所述机器人割草机包括与所述无线充电站配合以实现充电的电磁感应充电模块;所述控制终端规划生成的所述割草区域环境图中还标识出所述无线充电站的第二空间坐标(X2,Y2),所述控制终端或所述机器人割草机根据所述第二空间坐标(X2,Y2)与所述第一空间坐标(XI,Yl)形成最短的充电路径,所述机器人割草机根据接收到的第二控制指令控制所述机器人割草机依所述最短的充电路径行进。 [0008] Preferably, further comprising a wireless charging station comprises a robotic mower with the wireless charging station for charging to effect charging module electromagnetic induction; the control terminal of the generation of the plan area of ​​the mowing FIG environment also identifies a second spatial coordinates (X2, Y2) of the wireless charging station, or the control terminal of the robot mower according to the second spatial coordinate (X2, Y2) of the first spatial coordinate ( XI, Yl) is formed a charging path of the shortest, the robot mower robot control according to the second control instruction received by the mower travels the shortest charging path.

[0009] 优选地,所述机器人割草机还包括用于检测电池状态并在电源不足时触发所述第二控制指令的电池管理模块。 [0009] Preferably, the robotic mower further comprising means for detecting a battery status and trigger the second control instruction management module battery power is insufficient.

[0010] 优选地,所述无线充电站包括用于无线充电以产生高频交变磁场的功率逆变模块和与所述功率逆变模块相连的第二控制模块。 [0010] Preferably, the radio station comprises means for charging the wireless charging to a high frequency alternating magnetic field to generate power inverter control module and a second module connected to the power inverter module.

[0011] 优选地,所述机器人割草机还包括第一控制模块、与所述第一控制模块相连的用于割草的切割模块、与所述第一控制模块相连的用于推动所述机器人割草机行进的推进模块、与所述第一控制模块相连的无线通讯模块;所述第一控制模块与所述电磁感应充电模块和所述电池管理模块相连。 [0011] Preferably, the robotic lawnmower further comprises a first control module, the cutting module for cutting grass and the first control module is connected with the first control module is connected for urging the traveling robotic mower propulsion module, and the first control module is connected to the wireless communication module; the first control module and the electromagnetic inductive charging management module and the battery module is connected.

[0012] 优选地,所述控制终端包括与本地路由器通讯相连的本地终端。 [0012] Preferably, the control terminal includes a terminal connected to a local communication and local router.

[0013] 优选地,所述控制终端包括远程终端,所述远程终端通过云服务器与所述本地路由器通讯相连。 [0013] Preferably, the control terminal includes a remote terminal, the remote terminal connected through the cloud server to communicate with the local router.

[0014] 本发明还提供一种可定制割草区域的机器人割草系统的控制方法,其特征在于,包括如下步骤: [0014] The present invention further provides a customizable method of controlling robot mowers region mowing system, wherein, comprising the steps of:

[0015] Sll:采集至少一个割草区域图像; [0015] Sll: acquiring at least one mowing area image;

[0016] S12:根据所述至少一个割草区域图像规划与定制割草区域对应的生成割草区域环境图及相应的空间坐标系,所述割草区域环境图中标识出机器人割草机的第一空间坐标(XI,Yl); [0016] S12: The image area of ​​the at least one mowing plan and generate customized mowing area corresponding to the environment of FIG mowing area and corresponding spatial coordinate system, the mowing area identified in FIG environment robot mower a first spatial coordinates (XI, Yl);

[0017] S13:接收用户输入的控制第一控制指令以控制所述机器人割草机工作; [0017] S13: receiving a first control input by a user control command to control the robotic lawn mower;

[0018] S14:监测所述第一空间坐标(XI,Yl)在所述空间坐标系中的位置变化实现对所述机器人割草机工作状态的监控。 [0018] S14: monitoring the change in position of the first spatial coordinates (XI, Yl) in the space coordinate system to achieve control of the operating state of the robot mower.

[0019] 优选地,还包括如下步骤: [0019] Preferably, further comprising the steps of:

[0020] S15:在所述割草区域环境图中标识出无线充电站的第二空间坐标(X2,Y2); [0020] S15: identifying a second spatial coordinates of the wireless charging station (X2, Y2) in the region of the mowing FIG environment;

[0021] S16:根据所述第二空间坐标(Χ2,Υ2)与所述第一空间坐标(XI,Yl)形成最短的充电路径; [0021] S16: forming a charging path and the shortest first spatial coordinate (XI, Yl) in accordance with said second spatial coordinate (Χ2, Υ2);

[0022] S17:根据接收到的第二控制指令控制所述机器人割草机依所述充电路径行进。 [0022] S17: controlling the robot according to the second control command received by the charging path of travel of the mower.

[0023] 优选地,还包括如下步骤: [0023] Preferably, further comprising the steps of:

[0024] S18:在所述割草区域图中标识出禁止割草区域及相应的空间坐标范围; [0024] S18: In the mowing area identified in FIG mowing prohibition area range and the corresponding spatial coordinates;

[0025] S19:控制所述机器人割草机工作或行进时,控制所述机器人割草机工作或行进时规避所述禁止割草区域。 [0025] S19: controlling the robot lawn mower or the travel control of the robot avoid the prohibited region when the lawn mower or mower travels.

[0026] 本发明与现有技术相比具有如下优点:实施本发明,通过摄像机采集割草区域图像并进行处理规划生成割草区域环境图及相应空间坐标系,该割草区域环境图中标识出机器人割草机的第一空间坐标(XI,Yl),控制机器人割草机的第一空间坐标(XI,Yl)在割草区域环境图中的位置变化,以实现控制机器人割草机在割草区域环境图对应的割草区域割草的控制,该过程无需预先设置边界导线,可实现实时、个性化定制割草区域,而且割草路径更自由,不受边界导线影响。 [0026] The prior art and the present invention has the following advantages: the present embodiment of the invention, the mowing area by a camera image acquisition and processing plan generated mowing area and environment of FIG respective spatial coordinate system, the environment of FIG mowing region identified of a first robot mower spatial coordinates (XI, Yl), the control of the first robot mower spatial coordinates (XI, Yl) change in position of the mowing area of ​​FIG environment, in order to achieve control of the robot mower mowing the mowing area of ​​the control environment view corresponding mowing area, the boundary wire process without pre-set, enabling real-time, customization area mowing, the mowing paths and freer, unaffected boundary wire.

[0027] 本发明还设有无线充电站,控制终端生成的割草区域环境图中标识出无线充电站的第二空间坐标(Χ2,Υ2),在机器人割草机需要充电时,可根据第二空间坐标(Χ2,Υ2)与第一空间坐标(XI,Yl)形成最短的充电路径,以使机器人割草机在割草区域的任一地方均可沿最短的充电路径行进,到达无线充电站进行充电。 [0027] The present invention is further provided with a wireless charging station, the control identifies the second spatial coordinate mowing area wireless charging station environment of FIG terminal generated (Χ2, Υ2), when the robot mower needs to be charged, according to the first two spatial coordinates (Χ2, Υ2) with a first spatial coordinates (XI, Yl) forming the shortest charging path, so that the robot mower can travel along the shortest path to any one of a charging area where mowing and reaches the wireless charging charging station. 而且,机器人割草机上采用电磁感应充电模块与无线充电站配合以充电,避免出现机械接触存在的问题。 Further, the robot mower uses the wireless induction charging module for charging with the charging station, to avoid mechanical contact problems occur.

附图说明 BRIEF DESCRIPTION

[0028] 下面将结合附图及实施例对本发明作进一步说明,附图中: [0028] The accompanying drawings and the following embodiments of the present invention is further illustrated drawings in which:

[0029]图1是现有技术中机器人割草系统的结构示意图。 [0029] FIG. 1 is a schematic view of a robot system of the prior art mowing.

[0030] 图2是本发明一实施例中可定制割草区域的机器人割草系统的原理框图。 [0030] FIG. 2 is a schematic block diagram of a customized robot mowers mowing region of a system embodiment of the present invention.

[0031]图3是本发明一实施例中可定制割草区域的机器人割草系统的拓扑图。 [0031] FIG. 3 is a topology view of the mowing area customizable mowing robot system according to an embodiment of the present invention.

[0032]图4是本发明一实施例中可定制割草区域的机器人割草系统的网络传输拓扑图。 [0032] FIG. 4 is a view of the topology of the network transmission customizable mowing area mowing robot system according to an embodiment of the present invention.

[0033]图5是本发明一实施例中本地终端控制机器人割草系统所形成的割草区域环境图的不意图。 [0033] FIG. 5 is not intended environment of FIG mowing area local terminal mowing robot control system according to an embodiment formed in the present invention.

[0034] 图6是本发明一实施例中远程终端控制机器人割草系统所形成的割草区域环境图的不意图。 [0034] FIG. 6 is not intended environment of FIG mowing area remote terminal mowing robot control system according to an embodiment formed in the present invention.

[0035] 图7是本发明一实施例中机器人割草机到无线充电站最短路径的示意图。 [0035] FIG. 7 is a schematic diagram illustrating the wireless charging station to the robot mower shortest path to an embodiment of the present invention.

[0036] 图8示出本发明一实施例中可定制割草区域的机器人割草系统的控制方法的流程图。 [0036] FIG. 8 illustrates a flowchart of a control method of this embodiment can be customized robot system mowing mowing region of an embodiment of the present invention.

[0037] 图中:10、边界线;11、边界线信号发生装置;12、割草机;121、边界传感线组件;122、车辆控制单元;13、充电站;20、摄像机;30、控制终端;31、本地终端;32、远程终端;40、机器人割草机;41、电磁感应充电模块;42、电池管理模块;43、第一控制模块;44、切割模块;45、推进模块;451、左牵引轮;452、右牵引轮;46、无线通讯模块;50、本地路由器;60、无线充电站;61、功率逆变模块;62、第二控制模块;70、云服务器;80、第一环境区域图;81、第二环境区域图;82、割草区域轮廓线;83、禁入区域轮廓线;84、禁止割草区域;85、平面坐标系;86、割草区域。 [0037] FIG: 10, the boundary line; 11, a boundary line signal generating means; 12, mower; 121, the boundary line of the sensor assembly; 122, the vehicle control unit; 13, a charging station; 20, camera; 30, control terminal; 31, local terminal; 32, remote terminal; 40, robotic mower; 41, electromagnetic induction charging module; 42, the battery management module; 43, a first control module; 44, cutting module; 45, propulsion module; 451, left traction wheels; 452, right traction wheels; 46, wireless communication module; 50, local router; 60, a wireless charging station; 61, the power inverter module; 62, a second control module; 70, cloud server; 80, FIG region first environment; 81, a second area of ​​the environment map; 82, mowing region contour; 83, forbidden area contour; 84, prohibition region mowing; 85, plane coordinate system; 86, mowing area.

具体实施方式 Detailed ways

[0038] 为了对本发明的技术特征、目的和效果有更加清楚的理解,现对照附图详细说明本发明的具体实施方式。 [0038] For the technical characteristics of the invention, the objects and effects more clearly understood, embodiments of the present invention will now be explained in detail with reference to the drawings.

[0039] 图2示出本发明一实施例中的可定制割草区域的机器人割草系统,该机器人割草系统包括:至少一个摄像机20、控制终端30、机器人割草机40和本地路由器50。 [0039] Figure 2 illustrates an embodiment of the present invention can be customized robot system mowing area mowing, the mowing robot system comprising: at least one camera 20, control terminal 30, the robotic lawnmower 40 and the local router 50 .

[0040] 至少一个摄像机20,用于采集割草区域图像并通过本地路由器50发送给控制终端30,可以理解地,摄像机20的数量可根据所需确定的割草区域的大小确定,本实施例中定制的割草区域在一个或多个摄像机20采集的割草区域图像的覆盖范围。 [0040] at least one camera 20, for capturing images and transmitting the mowing area by the local router 50 to the control terminal 30, the number will be appreciated, the camera 20 may be determined based on the size of the mowing area determination, the present embodiment Customizing mowing mowing area image region or a plurality of cameras 20 capture of coverage.

[0041] 控制终端30,用于控制至少一个摄像机20采集割草区域图像,根据至少一个割草区域图像规划生成与定制割草区域对应的割草区域环境图及相应的空间坐标系,割草区域环境图中标识出机器人割草机40的第一空间坐标(XI,Y1)。 [0041] The control terminal 30, 20 for controlling at least one camera image capture area mowing, the mowing area of ​​at least one image generating custom programming environment mowing the mowing area and corresponding to a respective view of the region of the space coordinate system, mowing FIG regional environment identified in a first spatial coordinate robotic mower 40 (XI, Y1). 可以理解地,在开展割草工作之前,控制终端30通过本地路由器50控制至少一个摄像机20采集割草区域图像,并接收摄像机20反馈的割草区域图像,对至少一幅割草区域图像进行合成处理,形成与实际环境对应的环境区域图(即所有割草区域图像合成的原始图像),在环境区域图中规划出割草区域,规划生成与定制割草区域对应的割草区域环境图,该割草区域环境图设置有相应的空间坐标系,该割草区域环境图与实际空间存在固定比例。 Understandably, prior to engaging the mowing operation, the control terminal 30 by the local router 50 controls the camera 20 at least one region of the image acquisition mowing, the mowing area and receives images from the camera 20 of the feedback, at least one area image synthesizing Mowing , to form the actual environment areas corresponding to FIG environment (i.e., all of the original image area of ​​the image synthesis mowing), the mowing planning environment areas in the drawing area, generate custom programming environment of FIG mowing mowing area corresponding to the area, the environment of FIG mowing region provided with a respective spatial coordinate system, the presence of the mowing area and environment of FIG real space fixed ratio. 割草区域环境图中标识出机器人割草机40的第一空间坐标(XI,Yl),可根据第一空间坐标(XI,Yl)在割草区域环境图中的位置推算其实际所处的位置。 FIG environment mowing area identified in a first spatial coordinate robotic mower 40 (XI, Yl), the position of mowing area may be in the environment of FIG estimating actual spatial coordinates at which a first (XI, Yl) position.

[0042] 控制终端30还用于根据用户输入的第一控制指令控制机器人割草机40在割草区域环境图所对应的割草区域内进行割草工作;并通过监测第一空间坐标(XI,Yi)在空间坐标系中的位置变化实现对机器人割草机40工作状态的监控,以避免机器人割草机40在割草过程中远离所定制的割草区域。 [0042] The further control terminal 30 for controlling the robot in accordance with a first control instruction input by a user mowing the lawn mower 40 in the mowing area corresponding to the environment of FIG mowing region; and by monitoring a first spatial coordinate (XI change in position, Yi) in the space coordinate system of the robotic mower implemented to monitor operation state 40, to avoid the robotic mower 40 away from the mowing area customized during mowing.

[0043] 实施本发明,通过摄像机20采集割草区域图像,并通过控制终端30进行处理规划生成割草区域环境图及相应空间坐标系,该割草区域环境图中标识出机器人割草机40的第一空间坐标(XI,Yl),控制机器人割草机40的第一空间坐标(XI,Yl)在割草区域环境图中的位置变化,以实现控制机器人割草机40在割草区域环境图对应的割草区域割草的控制,该过程无需预先设置边界导线,可实现实时、个性化定制割草区域,而且割草路径更自由,不受边界导线影响。 [0043] The embodiment of the present invention, the mowing area image acquired by the camera 20 and processed by the control terminal 30 generates plan mowing area and environment of FIG respective spatial coordinate system, the environment of FIG mowing region identified in robotic mower 40 a first spatial coordinates (XI, Yl), a first control robotic mower 40 of spatial coordinates (XI, Yl) change in position of the mowing area of ​​FIG environment, to implement a control robotic mower in the mowing area 40 FIG mowing controlled environment corresponding mowing area, the boundary wire process without pre-set, enabling real-time, customization area mowing, the mowing paths and freer, unaffected boundary wire.

[0044] 如图2所示,该可定制割草区域的机器人割草系统还包括无线充电站60,相应的,机器人割草机40包括与无线充电站60配合以实现充电的电磁感应充电模块41,可以理解地,采用电磁感应充电模块41与无线充电站60配合以充电,避免出现机械接触存在的接触不良、磨损、老化等问题,提高产品运行的稳定性,以减少使用故障。 [0044] 2, which can be customized robot mower mowing area wireless system further comprises a charging station 60, a respective robot mower 40 includes a wireless charging station 60 cooperate to achieve a charging electromagnetic induction charging module 41, can be appreciated, an electromagnetic induction charging module 41 of the wireless charging with the charging station 60, to avoid the presence of mechanical contact poor contact wear and aging problems, improve product stability operation, to reduce failures. 具体地,控制终端30规划生成的割草区域环境图中还标识出无线充电站60的第二空间坐标(X2,Y2),控制终端30或机器人割草机40根据第二空间坐标(X2,Y2)与第一空间坐标(XI,Yl)形成最短的充电路径,机器人割草机40根据第二控制指令控制机器人割草机40依最短的充电路径行进。 Specifically, FIG mowing regional environmental control terminal 30 is also generated plan identifies a second spatial coordinate the wireless charging station 60 (X2, Y2), the control terminal 30 or the robotic mower 40 according to a second spatial coordinates (X2, Y2) with a first spatial coordinates (XI, Yl) is formed a charging path to the shortest, the robotic lawnmower 40 controls the robotic mower 40 travels in accordance with a second control instruction by the shortest charging path. 具体地,机器人割草机40还包括用于检测电池状态并在电源不足时触发第二控制指令的电池管理模块42。 In particular, the robotic mower 40 further comprising means for detecting a battery state of the battery management module 42 and triggers the second control instruction when the power shortage. 可以理解地,当电池管理模块42检测到机器人割草机40电源不足时产生第二控制指令,将该第二控制指令发送给机器人割草机40的第一控制模块43,并通过本地路由器50发送给控制终端30,控制终端30生成第二空间坐标(Χ2,Υ2),并依第二空间坐标(Χ2,Υ2)与第一空间坐标(XI,Yl)形成最短的充电路径,将该最短充电路径发送给机器人割草机40,机器人割草机40根据第二控制指令沿接收到的最短充电路径行进,以到达无线充电站60进行充电。 It will be appreciated, when the battery management module 42 detects a second control command generating robotic mower 40 is insufficient power transmitted to the control module 40 of the first robotic mower 43 of a second control instruction, and by the local router 50 sent to the control terminal 30, control terminal 30 generates a second spatial coordinate (Χ2, Υ2), and in accordance with a second spatial coordinate (Χ2, Υ2) with a first spatial coordinates (XI, Yl) forming the shortest charging path, the shortest a charging path to a robotic lawn mower 40, the robotic lawnmower 40 received along the shortest path of travel in accordance with a second charging control command to reach the wireless charging station 60 for charging. 或者控制终端30生成第二空间坐标(Χ2,Υ2)并将该第二空间坐标(Χ2, Υ2)发送给机器人割草机40,机器人割草机40依第二空间坐标(Χ2,Υ2)与第一空间坐标(XI,Yl)形成最短的充电路径,并控制机器人割草机40沿该最短充电路径行进,以到达无线充电站60进行充电。 Generating a second control terminal 30 or the spatial coordinates (Χ2, Υ2) and the second spatial coordinates (Χ2, Υ2) 40 transmits to the robot mower robot mower 40 by a second spatial coordinate (Χ2, Υ2) and a first spatial coordinates (XI, Yl) forming the shortest charging path, and controls the robotic mower 40 to travel along the shortest charging path to reach the wireless charging station 60 for charging.

[0045] 如图2所示,无线充电站60包括用于无线充电以产生高频交变磁场的功率逆变模块61和与功率逆变模块61相连的第二控制模块62,可以理解地,当无线充电站60检测到机器人割草机40到达其充电范围时,第二控制模块62控制功率逆变模块61与电磁感应充电模块41配合进行充电。 [0045] 2, charging station 60 includes a radio for wireless charging high frequency alternating magnetic field to generate a power inverter module 61 and the second control module 61 is connected to the power inverter module 62, can be appreciated, when the wireless charging station 60 detects the robotic mower 40 reaches its charge range, the second control module 62 controls the power inverter module 61 and charging module 41 with the electromagnetic induction charging.

[0046] 如图2所示,机器人割草机40还包括第一控制模块43、与第一控制模块43相连的用于割草的切割模块44、与第一控制模块43相连的用于推动机器人割草机40行进的推进模块45、与第一控制模块43相连的无线通讯模块46 ;第一控制模块43与电磁感应充电模块41和电池管理模块42相连。 [0046] 2, the robotic mower 40 further comprises a first control module 43, and a first control module 43 for cutting grass is connected to the cutting module 44, connected to the first control module 43 for urging robotic mower 40 travels propulsion module 45, wireless communication module connected to the first control module 4346; a first electromagnetic induction control module 43 and the module 41 and the charging of the battery 42 is connected to the management module. 具体地,无线通讯模块46可以是W1-Fi通讯模块、2G通讯模块、3G通讯模块、4G通讯模块或其他无线通讯模块46。 Specifically, wireless communication module 46 may be W1-Fi communication module, 2G communication module, 3G communication module, 4G communication module 46, or other wireless communication module.

[0047] 在本发明的一个实施例中,如图3并结合图2所示,机器人割草机40由电池组供电,当电池管理模块42检测到电池组的电源不足时,产生第二控制指令,以使控制终端30或机器人割草机40形成机器人割草机40到无线充电站60之间的最短充电路径,机器人割草机40的第一控制模块43控制推进模块45的左牵引轮451和右牵引轮452的沿该最短充电路径行进,并控制其行进速度。 [0047] In one embodiment of the present invention, and FIG. 3 in conjunction with FIG. 2, the robotic lawnmower 40 powered by the battery, when the battery management module 42 detects a low battery power source generating a second control command, so that the control terminal 30 or the robotic mower robotic lawnmower 40 is formed between the shortest charging path 40 to the wireless charging station 60, a first robotic mower control module 43 controls a left propulsion module 40 of the traction wheel 45 right traction wheels 451 and 452 travel along the shortest charging path, and controlling the travel speed.

[0048] 可以理解地,第一控制模块43为机器人割草机40的核心组件,用于接收电池管理模块42的电源不足信号产生第二控制指令,并通过无线通讯模块46发送至控制终端30 ;还用于接收控制终端30发送第一控制指令控制推进模块45行进,并控制切割模块44对定制的割草区域86进行识别和维护割草区域86 (如图5、图6所示),并向控制终端30反馈其工作状态;还用于根据控制终端30发送的最短充电路径控制推进模块45的进行方向和速度。 [0048] It will be appreciated, the first control module 43 is robotic mower 40 of the core assembly for receiving a battery power management module 42 generates a second control signal is less than instruction, and transmits to the control terminal 30 through the wireless communication module 46 ; further configured to receive a first control command to control the transmission terminal 30 controls the propulsion module 45 travels, and the control module 44 customized cutting mowing area 86 to identify and maintain mowing region 86 (FIG. 5, FIG. 6), 30 to control its operating condition feedback terminal; also used to control the direction and speed of the propulsion module 45 according to a shortest path for transmitting the charging control terminal 30.

[0049] 如图2和图3所示,控制终端30可以是与本地路由器50通讯相连的本地终端31,本地终端31与本地路由器50相连,用于定制割草区域86并控制对摄像机20和机器人割草机40工作。 [0049] As shown in FIGS. 2 and 3, the control terminal 30 may be a local terminal 50 to communicate with the local router 31 is connected, the local terminal 31 is connected with a local router 50 for customizing the mowing area 86 and controls the camera 20 and 40 robotic lawnmower work. 控制终端30还可以是远程终端32,远程终端32通过云服务器70与本地路由器50通讯相连,以实现对摄像机20和机器人割草机40的控制。 The control terminal 30 may also be a remote terminal 32, remote terminal 32 is connected to server 70 through the cloud with a local router 50 communication to the camera control 20 and 40 is robotic mower. 具体地,远程终端32采用云服务器70通过互联网实现对机器人割草系统进行远程控制和监控,远程终端32可依控制指令与云服务器70互联,再通过云服务器70与本地路由器50进行信息交互从而实现远程控制和监控。 In particular, the remote terminal 32 using the Internet cloud server achieved by robotic lawnmower 70 for remote control and monitoring system, the remote terminal 32 to follow the control commands 70 interconnected with the cloud server, and then exchange information with the server 70 through the cloud such that the local router 50 remote control and monitoring. 可以理解地,本地终端31和远程终端32均可以是智能手机、平板电脑、PAD、台式电脑、笔记本电脑等终端。 Understandably, the local terminal 31 and remote terminal 32 can be a smart phone, tablet PC, PAD, desktop computers, notebook computers and other terminals.

[0050] 可以理解地,本地路由器50为具有无线路由功能的无线路由器,作为热点用于为本地局域局提供通信链路,用于连接摄像机20、本地终端31及机器人割草机40,使其形成一个局域网,并通过云服务器70连接远程终端32,以实现远程终端32对机器人割草机40和摄像机20的控制。 [0050] It will be appreciated, the local router is a wireless router 50 having a wireless router function, a hot spot for providing a communication link to a local area Bureau, 20 for connecting the camera, the local terminal 31 and the robotic mower 40, so that which form a LAN, and a remote terminal connected through the cloud server 7032, in order to achieve remote control of the robotic mower 32 pairs of terminal 40 and the camera 20.

[0051] 在一个实施例中,参考图3,在建立后整个机器人割草系统后,用户使用本地终端31、通过由本地路由器50构成的本地局域网,并将本地终端31的控制命令传输到摄像机20,以采集割草区域图像。 [0051] In one embodiment, with reference to FIG. 3, after the establishment of the whole robot system mowing, the user uses a local terminal 31, local area network and transmitted by the local router 50 configuration, the local terminal 31 by the control command to the camera 20 to acquire the image mowing area. 摄像机20对采集图像完成后将割草区域图像通过本地局域网传送到本地终端31。 After completion of the image the camera 20 collected mowing area image to the local terminal 31 through a LAN. 本地终端31对割草区域图像进行处理及识别出置于采集的割草区域图像中的机器人割草机40和无线充电站60,并合并形成一张包含已被识别的机器人割草机40和已被识别的无线充电站60的第一环境区域图80。 The local terminal 31 pairs of mowing and processing an image region of the identified image region mowing placed in the acquired robotic mower 40 and the wireless charging station 60, and combined to form a robot comprising a lawn mower has been identified and 40 FIG first environment region has been identified wireless charging station 60 80.

[0052] 仍参考图3,通过远程终端32对割草区域86进行图像采集时,需先使远程终端32登陆云服务器70,通过云服务器70连接到本地路由器50,通过互联网进行数据信息的传输。 [0052] Still referring to Figure 3, 32 image acquisition mowing area 86, so that the remote terminal 32 must first log in the cloud server 70, server 70 is connected through the cloud 50 to a local router, the data transmission through the Internet for information by the remote terminal . 远程终端32发送的控制命令经云服务器70后传输到本地路由器50,再传送到摄像机20,以控制摄像机20进行图像采集,形成割草区域图像。 The terminal 32 sends the remote control command transmitted after the cloud server 70 to the local router 50, then transmitted to the camera 20, the camera 20 to control the image acquisition, image forming mowing area. 摄像机20将采集形成的割草区域图像通过本地路由器50上传到云服务器70,再通过云服务器70推送到远程终端32,远程终端32对割草区域图像进行处理并识别出置于采集图像区域中的机器人割草机40和无线充电站60,并合并形成一张包含已被识别的机器人割草机40和已被识别的无线充电站60的第二环境区域图81。 Mowing area image acquisition camera 20 is formed by the local router 50 uploaded to the cloud server 70, and then pushed through the cloud server 70 to the remote terminal 32. Remote terminal 32 pairs of mowing and processing an image region of the identified image region disposed acquisition the robotic mower 40 and the wireless charging station 60, and combined to form a second environment comprises a region of FIG. 81 has been identified and the robotic mower 40 has been identified wireless charging station 60.

[0053] 在一个实施例中,如图4所示,该可定制割草区域的机器人割草系统的网络包含作为热点的本地路由器50,连接着本地终端31、用于实现远程控制的云服务器70、远程终端32、用于采集割草区域图像的摄像机20和机器人割草机40。 [0053] In one embodiment, shown in Figure 4, which can be customized robot mowing mowing area network system comprising a router as a local hot spot 50, connected to the local terminal 31, the cloud server for implementing remote control 70, remote terminal 32 for acquiring the camera image mowing region 20 and the robotic lawnmower 40. 控制命令及建模数据由本地终端31或远程终端32发出,通过该网络传送控制摄像机20采集割草区域图像及传送控制数据到机器人割草机40规划控制其行为。 Modeling data and control commands sent by the local terminal 31 and remote terminal 32, transmitted through the network 20 to control the camera image acquisition mowing area and send data to the robot control planning mower 40 to control its behavior. 摄像机20采集到割草区域图像也通过该网络传送到对应的本地终端31或远程终端32。 Mowing the camera 20 to capture the image area to be transferred corresponding to the local terminal or the remote terminal 31 through the network 32. 机器人割草机40的工作状态数据也通过该网络传输到对应的控制终端30,使用户能够实时了解到机器人割草机40的工作状态。 Robotic mower operation state data 40 is also transmitted to the corresponding control terminal 30 through the network, enabling a user to know in real time the operating state 40 is robotic mower.

[0054] 在一个实施例中,如图5所示,本地终端31通过摄像机20采集割草区域图像处理后得到第一环境区域图80。 [0054] In one embodiment, shown in Figure 5, the local environment of the terminal 31 to obtain a first area of ​​FIG. 80 after mowing area image 20 acquired by the camera processing. 即可以在第一环境区域图80上定制规划所要割草维护的割草区域86。 That may be the first area of ​​the environment map on customized planning 80 to 86 mowing maintenance mowing area. 在第一环境区域图80上使用一种颜色闭合的割草区域轮廓线82将所要割草维护的割草区域86的具体轮廓圈出,即定制割草区域86对应的割草区域环境图,该割草区域轮廓线82所限定的割草区域86可包含机器人割草机40所在的位置和无线充电站60所在的位置,也可不包含它们。 One color on a first area of ​​the environment of FIG. 80 is closed contour 82 of the mowing area will be maintained by mowing the mowing region-specific contour 86 of the ring, i.e., custom mowing the mowing area 86 corresponding to FIG environment area, the mowing region defined by the contour line 82 mowing area 86 may comprise a position 40 where the robotic mower and a wireless charging station 60 is located, may not include them. 即机器人割草机40和无线充电站60可在定制后的割草区域86内,也可以不在其内,但在第一环境区域图80中,必须包含已图像处理后识别出来的机器人割草机40和无线充电站60。 I.e., the robotic lawnmower 40 and the wireless charging station 60 may be in the region 86 after mowing customized, may not within, the environment in the first area of ​​FIG. 80, an image processing must be included after having identified mowing robot charging station 40 and the radio unit 60. 也就是说机器人割草机40和无线充电站60所安放的位置必须能被摄像机20所拍摄到。 That robotic mower 40 and the wireless charging station 60 sited must be captured to the camera 20. 对于在割草区域轮廓线82所限定的割草区域86内采用另一种颜色闭合的禁入区域轮廓线83将禁止机器人割草机40所禁止进入的禁止割草区域84圈出。 For the use of another color within the closed forbidden region 86 mowing mowing area 82 defined by the contour line into the contour region 83 will be prohibited from entering the robotic mower 40 is prohibited mowing prohibition region 84 encircled. 以图像的形式完全定制好割草区域86和禁止割草区域84后,本地终端31对所规划的割草区域轮廓线82和禁入区域轮廓线83进行分析及依据图像采集比例进行建模并建立一个平面坐标系85,在平面坐标系85上,通过图像识别计算出此时机器人割草机40所在位置的第一空间坐标(XI,Yl)、无线充电站60所在位置的第二空间坐标(X2,Y2)、所规划割草区域轮廓线82内的所有相对坐标点,及禁止禁入区域轮廓线83的所有相对坐标点。 In the form of an image area of ​​86 fully customizable good mowing and mowing prohibited area 84, the mowing area contours local terminal 31 pairs planned for 82 and 83 forbidden area contours based on the analysis and modeling and image capture ratio 85 to establish a plane coordinate system, the coordinate system on the plane 85, this time to calculate the location of the robotic lawnmower 40 of the first spatial coordinates (XI, Yl) through the image recognition, a second spatial position coordinates of the wireless charging station 60 is located (X2, Y2), the coordinate points of all the relative contours of the mowing area 82 of planning, and the no forbidden area relative coordinates of all the contour points 83. 由于第一环境区域图80与实际空间有着一个固定的放大比例,第一环境区域图80与实际空间为一一对应关系,即第一环境区域图80所在的平面坐标系85对应实际空间的平面坐标系85'。 FIG environment since the first region 80 and has a fixed real space enlarged scale, FIG. 80 and the first area of ​​the environment to one correspondence between the real space, i.e., a first environment 80 where the region 85 corresponding to FIG plane coordinate system of the real space plane coordinate system 85 '. 如图5所示,该第一环境区域图80中割草区域轮廓线82对应着实际空间的割草区域轮廓线82' (其限定实际的割草区域86'),禁入区域轮廓线83对应这实际空间的禁入区域轮廓线83' (其限定实际的禁止割草区域84'),图像上的机器人割草机40对应着实际的机器人割草机40,图像上的无线充电站60对应着实际的无线充电站60。 As shown, the first environment in the region 80 in FIG. 5 mowing area 82 corresponding to the contour lines in real space the mowing area contour 82 '(which defines the actual mowing area 86'), forbidden area contour 83 this corresponds to the real space into a forbidden area of ​​the contour lines 83 '(which defines the actual mowing prohibition region 84'), the robot mower 40 on the image corresponding to the actual robotic mower 40, the wireless charging station 60 on the image corresponding to the actual wireless charging station 60. 本地终端31完成建模生成第一环境区域图80上的坐标系数据后,在根据第一环境区域图80与实际空间的放大比例运算生成实际空间的平面坐标系85'的数据,并将生成的数据通过本地路由器50传输给机器人割草机40。 After completion of the local terminal 31 generates the modeling coordinate system data on a first area of ​​the environment of FIG. 80, the operation data generation plane coordinate system of the real space 85 'according to FIG enlarged scale a first region 80 and the environment of the real space and the resulting data transmission to the robotic mower 40 by the local router 50. 机器人割草机40得到的自身当前位置的第一空间坐标(Χ1',ΥΓ)、无线充电站60的第二空间坐标(Χ2',Υ2' )和割草区域轮廓线82'和禁入区域轮廓线83'的相对坐标数据后,由第一控制模块43控制机器人割草机40行为,进行割草维护,并实时计算运动中的机器人割草机40的相对位置坐标并将该位置坐标数据与轮廓线坐标位置比对,当数据对比一致时表明机器人割草机40运行到了轮廓线(包括割草区域轮廓线82'和禁入区域轮廓线83'),第一控制模块43将控制机器人割草机40的行为使其转弯不越出定制的割草区域86'和不进入禁止割草区域84'。 A first spatial coordinate robot mower 40 of its current location obtained (Χ1 ', ΥΓ), the wireless charging station 60 a second spatial coordinate (Χ2', Υ2 ') and cutting area contour line 82' and the forbidden area after the contour line 83 'relative coordinate data, by the first control module 43 controls the robotic mower 40 acts mowing maintenance, and real-time computation of movement coordinates of the relative position of the robotic lawnmower 40 and the position coordinate data contour lines aligned coordinate position, when the data comparison shows that the robotic mower 40 moves to the contour (contour including mowing region 82 'and the forbidden area contour line 83') coincides, the first control module 43 to control the robot 40 turn mower's behavior so that it does not go beyond custom mowing area 86 'mowing and do not enter the prohibited area 84'.

[0055] 在一个实施例中,如图6所示,采用远程终端32定制割草区域86与采用本地终端31定制割草区域86实现方式一致,不同的是,所有数据信息的传输均需经过云服务器70。 [0055] In one embodiment, shown in Figure 6, using the remote terminal 32 using the customized mowing area 86 and local terminal 31 to customize the mowing area 86 to achieve a consistent manner, except that the transmission of all data information shall be subject to cloud server 70. 在远程终端32定制割草区域86的过程中,远程终端32必须先登录云服务器70,建立与云服务器70的连接,同时本地路由器50也必须与云服务器70建立了连接,即可像本地终端31定制割草区域86的操作方式一样来远程定制割草区域86和控制机器人割草机40的行为。 In the process of remote terminal 32 custom mowing area 86, 32 remote terminal must be logged in cloud server 70 to establish a connection with the cloud server 70, while the local router 50 must also be 70 established a connection with the cloud server, you can like a local terminal 31 custom mowing operation area 86 as mowing area to remotely customize and control the robot mower behavior 86 40.

[0056] 在一个实施例中,如图7所示,如上所述在定制了割草区域86建立割草区域模型坐标系时,将无线充电站60的第二空间坐标(X2',Y2' )已传送到了机器人割草机40上。 [0056] In one embodiment, as shown in Fig, 86 described above establish customized model coordinate system mowing area, the wireless charging station 60 mowing region of the second spatial coordinates (X2 ', Y2' ) has been transferred to the robotic mower 40. 机器人割草机40在运行过程中也实时记录了自己的第一空间坐标(ΧΓ,Υ1')。 Robotic mower 40 also records his first real space coordinates (ΧΓ, Υ1 ') during operation. 当机器人割草机40电量不足需要充电时,机器人割草机40会计算一个从自身所在的位置的第一空间坐标(ΧΓ,Υ1' )到无线充电站60的第二空间坐标(Χ2',Υ2' )的一个最短的充电路径,并沿着该最短的充电路径返回无线充电站60,当机器人割草机40的自身实时的相对位置坐标与无线充电站60的相对坐标重合是,表明机器人割草机40已返回到充电站。 When the robot mower battery needs to be charged is less than 40, the robotic lawnmower 40 will calculate a "second spatial coordinate to the wireless charging station 60 (X2 coordinate position from the first space itself where (ΧΓ, Υ1) ', Υ2 ') of a shortest path to the charging, the wireless charging station 60 and returns along the shortest charging path, when the robot mower their real relative position coordinates and relative coordinates 40 of the wireless charging station 60 coincides establish that the robot Mower 40 has returned to the charging station.

[0057] 在一个实施例中,到达无线充电站60后进行无线充电,参考图7,无线充电站60通过的功率逆变模块61上的电磁感应线圈检测到机器人割草机40后,无线充电站60的功率逆变模块61上的电磁感应线圈上产生一个高频磁场。 [0057] In one embodiment, after reaching the wireless charging wireless charging station 60, with reference to FIG. 7, an electromagnetic induction coil is detected on the power inverter module 60 via the wireless charging station to the robot 61 of the mower 40, the wireless charging generating a high frequency magnetic field on the electromagnetic induction coil 61 on the power inverter module station 60. 在机器人割草机40上的电磁感应充电模块41上的感应线圈上会产生感应电动,通过第一控制模块43控制给机器人割草机40内的电池组充电。 Mower on electromagnetic induction charging module 40 of the robot will be induced on the electric induction coil 41, the control of the battery pack 40 in charging the robotic mower 43 by the first control module.

[0058] 如图8所示,并结合图2-7,本发明还提供一种可定制割草区域的机器人割草系统的控制方法,该控制方法包括如下步骤: [0058] As shown in FIG. 8, in conjunction with FIGS. 2-7, the present invention also provides a customizable method of mowing robot control region mowing system, the control method comprising the steps of:

[0059] Sll:采集至少一个割草区域图像,采用摄像机20采集至少一个割草区域图像,割草区域图像的数量由摄像机20摄像所覆盖的范围确定。 [0059] Sll: acquiring at least one mowing area image 20 using the camera image capture area of ​​the at least one mowing, the mowing range of the number of regions of the image by the imaging camera 20 covered determined.

[0060] S12:根据至少一个割草区域图像规划生成与定制割草区域86对应的割草区域环境图及相应的空间坐标系,割草区域环境图中标识出机器人割草机40的第一空间坐标(XI,Yl)。 [0060] S12: The Environment FIG mowing area at least one area image generating customized programming mowing grass cutting area 86 and corresponding to a respective spatial coordinate system, the environment of FIG mowing area identified in the first robotic mower 40 spatial coordinates (XI, Yl). 具体地,控制终端30将接收到的至少一个割草区域图像进行合成处理,形成与实际环境对应的环境区域图,在环境区域图中规划出割草区域86,规划生成与定制割草区域86对应的割草区域环境图,该割草区域环境图设置有相应的空间坐标系,该割草区域环境图与实际空间存在固定比例。 Specifically, the control terminal 30 receives at least one mowing area image synthesizing process, and the environment is formed corresponding to regions in FIG actual environment, in the environment region planning mowing area 86 shown in FIG, schedule generation and customization mowing area 86 FIG mowing area corresponding to the environment, the environment of FIG mowing region provided with a respective spatial coordinate system, the presence of the mowing area and environment of FIG real space fixed ratio. 割草区域环境图中标识出机器人割草机40的第一空间坐标(XI,Yl),可根据第一空间坐标(XI,Yl)在割草区域环境图中的位置推算其实际所处的位置。 FIG environment mowing area identified in a first spatial coordinate robotic mower 40 (XI, Yl), the position of mowing area may be in the environment of FIG estimating actual spatial coordinates at which a first (XI, Yl) position.

[0061] S13:接收用户输入的控制第一控制指令以控制机器人割草机40在割草区域环境图所对应的割草区域86内进行割草工作。 [0061] S13: receiving a first control instruction input by a user to control the control 40 is robotic mower in the mowing area mowing the mowing area 86 corresponding to the environment of FIG.

[0062] S14:监测第一空间坐标(XI,Yl)在空间坐标系中的位置变化实现对机器人割草机40工作状态的监控,以避免机器人割草机40在割草过程中远离所定制的割草区域86。 [0062] S14: monitoring a first spatial coordinates (XI, Yl) change in position in the space coordinate system of the robotic mower 40 to achieve the operating state of the monitor, in order to avoid the customized remote robotic mower 40 during mowing 86 of the mowing area.

[0063] 可以理解地,本发明所提供的控制方法控制机器人割草机40工作过程中无需预先设置边界导线,可实现实时、个性化定制割草区域86,而且割草路径更自由,不受边界导线影响。 [0063] It will be appreciated, the present invention provides a control method of controlling the robotic lawnmower 40 is set in advance during operation without boundary wire, enabling real-time, customization mowing area 86, but mowing path more freely, without influence of the boundary wire.

[0064] 可以理解地,该控制方法还包括如下步骤: [0064] It will be appreciated, the control method further comprising the steps of:

[0065] S15:控制终端30在割草区域环境图中标识出无线充电站60的第二空间坐标(Χ2, Υ2); [0065] S15: mowing area control terminal 30 identified in FIG environment second spatial coordinates of the wireless charging station 60 (Χ2, Υ2);

[0066] S16:控制终端30或机器人割草机40根据第二空间坐标(Χ2,Υ2)与第一空间坐标(XI,Yl)形成最短的充电路径; [0066] S16: control terminal 30 or the robotic mower 40 first spatial coordinates (XI, Yl) forming the shortest path according to the second charging space coordinates (Χ2, Υ2);

[0067] S17:根据接收到的第二控制指令控制机器人割草机40依充电路径行进。 [0067] S17: controlling the robot according to the second control command received by the charging path of travel of the mower 40. 具体地,第二控制指令是由机器人割草机40的电池管理模块42在检测到电源不足时产生并通过本地路由器50发送至控制终端30,控制终端30接收到该第二控制指令时,形成无线充电站60的第二空间坐标(X2,Y2),并根据第二空间坐标(Χ2,Υ2)与第一空间坐标(XI,Yl)形成最短的充电路径;或将第二空间坐标(Χ2,Υ2)发送给机器人割草机40,由机器人割草机40根据第二空间坐标(Χ2,Υ2)与第一空间坐标(XI,Yl)形成最短的充电路径并依最短充电路径行进,以使机器人割草机40与无线充电站60进行无线充电,避免机械接触存在的问题。 Specifically, the second control instruction 40 is the battery management module 42 generates and transmits to the control terminal 30 by the local router 50 is insufficient to power the robotic mower is detected, the control terminal 30 receives the second control instruction, forming charging a second wireless station 60 spatial coordinates (X2, Y2), and the first spatial coordinates (XI, Yl) forming the shortest path based on a second charging space coordinates (Χ2, Υ2); or a second spatial coordinate (X2 , v2 is) transmitted to the robotic mower 40, 40 by the first robotic mower spatial coordinates (XI, Yl) is formed a charging path and the shortest travel by the shortest path based on a second charging space coordinates (Χ2, Υ2) and to the robot mower 40 wirelessly charge the wireless charging station 60, to avoid mechanical contact problems.

[0068] 具体地,该控制方法还包括如下步骤: [0068] Specifically, the control method further comprising the steps of:

[0069] S18:在割草区域图中标识出禁止割草区域84及相应的空间坐标范围; [0069] S18: In the mowing area identified in FIG mowing prohibited area 84 and the appropriate range of spatial coordinates;

[0070] S19:控制机器人割草机40工作或行进时,控制机器人割草机40工作或行进时规避禁止割草区域84,以使其割草控制更人性化,满足用户的需求。 When circumvent controls the robot mower to work or travel 40, 40 to control the robot mower to work or travel ban mowing area 84 to make it more user-friendly mowing control, to meet the needs of users: [0070] S19.

[0071] 本发明是通过一个具体实施例进行说明的,本领域技术人员应当明白,在不脱离本发明范围的情况下,还可以对本发明进行各种变换和等同替代。 [0071] The present invention has been described by a particular embodiment, those skilled in the art will appreciate, without departing from the scope of the invention, and that various changes may also be equivalents of the present invention. 另外,针对特定情形或具体情况,可以对本发明做各种修改,而不脱离本发明的范围。 Further, for a particular situation or circumstances, you can make various modifications to the present invention, without departing from the scope of the invention. 因此,本发明不局限于所公开的具体实施例,而应当包括落入本发明权利要求范围内的全部实施方式。 Accordingly, the present invention is not limited to the particular embodiment disclosed, but shall include within the claims of the invention fall within the scope of all embodiments.

Claims (10)

1.一种可定制割草区域的机器人割草系统,其特征在于,包括:至少一个摄像机(20)、控制终端(30)、机器人割草机(40)和本地路由器(50); 所述至少一个摄像机(20),用于采集割草区域图像并通过所述本地路由器(50)发送给所述控制终端(30); 所述控制终端(30),用于控制所述至少一个摄像机(20)采集所述割草区域图像,根据至少一个所述割草区域图像规划生成与定制割草区域对应的割草区域环境图及相应的空间坐标系,所述割草区域环境图中标识出所述机器人割草机(40)的第一空间坐标(XI,Yl);还用于根据用户输入的第一控制指令控制所述机器人割草机(40)工作,并通过监测所述第一空间坐标(XI,Yl)在所述空间坐标系中的位置变化实现对所述机器人割草机(40)工作状态的监控。 1. A mowing customized robot system mowing region, characterized by comprising: at least one camera (20), the control terminal (30), the robotic lawnmower (40) and a local router (50); the at least one camera (20) for acquiring image mowing area and transmits to the control terminal (30) via the local router (50); said control terminal (30), for controlling said at least one camera ( 20) the mowing area image collection, according to at least one of the mowing area image generating custom programming environment mowing the mowing area and corresponding to a respective view of the region of the spatial coordinate system, the environment of the mowing area identified in FIG. the robotic mower (40) in a first spatial coordinates (XI, Yl); also used to control the robotic mower (40) operates according to a first control instruction input by the user, and by monitoring the first position change spatial coordinates (XI, Yl) in the space coordinate system monitor implemented mower (40) of the operating state of the robot.
2.根据权利要求1所述的可定制割草区域的机器人割草系统,其特征在于,还包括无线充电站(60),所述机器人割草机(40)包括与所述无线充电站(60)配合以实现充电的电磁感应充电模块(41);所述控制终端(30)规划生成的所述割草区域环境图中还标识出所述无线充电站(60)的第二空间坐标(X2,Y2),所述控制终端(30)或所述机器人割草机(40)根据所述第二空间坐标(Χ2,Υ2)与所述第一空间坐标(XI,Yl)形成最短的充电路径,所述机器人割草机(40)根据接收到的第二控制指令控制所述机器人割草机(40)依所述最短的充电路径行进。 The robot can be customized according to a mowing system of claim mowing region, characterized in that, further comprising a wireless charging station (60), the robotic mower (40) comprises a wireless charging station ( 60) cooperate to achieve a charging electromagnetic induction charging module (41); said control terminal (30) of the mowing area planning environment generated figure also identifies the wireless charging station (60) a second spatial coordinates ( X2, Y2), said control terminal (30) or the robotic mower (40) formed with the shortest first charging space coordinates (XI, Yl) in accordance with said second spatial coordinate (Χ2, Υ2) path, the robot mower (40) controlling the robot according to the second control command received mower (40) by the shortest travel charging path.
3.根据权利要求2所述的可定制割草区域的机器人割草系统,其特征在于,所述机器人割草机(40)还包括用于检测电池状态并在电源不足时触发所述第二控制指令的电池管理模块(42)。 The robot can be customized mowing region of the mowing system of claim 2, wherein said robotic mower (40) further comprises means for detecting when the battery status and trigger the second power supply is insufficient the battery management control command module (42).
4.根据权利要求2所述的可定制割草区域的机器人割草系统,其特征在于,所述无线充电站(60)包括用于无线充电以产生高频交变磁场的功率逆变模块(61)和与所述功率逆变模块(61)相连的第二控制模块(62)。 The robot can be customized according to the mowing area mowing system of claim 2, wherein the wireless charging station (60) comprises a high frequency alternating magnetic field for wirelessly charging power inverter module to generate ( 61) and the power inverter module (61) a second control module (62) is connected.
5.根据权利要求3所述的可定制割草区域的机器人割草系统,其特征在于,所述机器人割草机(40)还包括第一控制模块(43)、与所述第一控制模块(43)相连的用于割草的切割模块(44)、与所述第一控制模块(43)相连的用于推动所述机器人割草机(40)行进的推进模块(45)、与所述第一控制模块(43)相连的无线通讯模块(46);所述第一控制模块(43)与所述电磁感应充电模块(41)和所述电池管理模块(42)相连。 The robot can be customized according to the mowing area mowing system according to claim 3, characterized in that said robot mower (40) further comprises a first control module (43), and the first control module (43) for cutting grass cutting module (44) is connected, is connected to the first control module (43) for urging the robot mower (40) traveling propulsion module (45), and the said first control module (43) wireless communication module (46) is connected; the first control module (43) of the electromagnetic induction charging module (41) and the battery management module (42) is connected.
6.根据权利要求1-5任一项所述的可定制割草区域的机器人割草系统,其特征在于,所述控制终端(30)包括与本地路由器(50)通讯相连的本地终端(31)。 The robot according to one of the mowing area customizable mowing system according to any of claims 1-5, characterized in that the control terminal (30) comprises a local router (50) connected to the local terminal communication (31 ).
7.根据权利要求1-5任一项所述的可定制割草区域的机器人割草系统,其特征在于,所述控制终端(30 )包括远程终端(32 ),所述远程终端(32 )通过云服务器(70 )与所述本地路由器(50)通讯相连。 The customizable any one of claims 1-5 mowing area mowing robot system, characterized in that the control terminal (30) comprises a remote terminal (32), the remote terminal (32) as claimed in claim communication is connected (70) to the local router (50) through the cloud server.
8.—种权利要求1-7任一项所述的可定制割草区域的机器人割草系统的控制方法,其特征在于,包括如下步骤: Sll:采集至少一个割草区域图像; S12:根据所述至少一个割草区域图像规划生成与定制割草区域对应的割草区域环境图及相应的空间坐标系,所述割草区域环境图中标识出机器人割草机(40)的第一空间坐标(XI, Yl); 513:接收用户输入的控制第一控制指令以控制所述机器人割草机(40)工作; 514:监测所述第一空间坐标(XI,Yl)在所述空间坐标系中的位置变化实现对所述机器人割草机(40)工作状态的监控。 Customizable robot according to any one of the mowing area 1-7 8.- kinds control method of claim mowing system, wherein, comprising the steps of: Sll: acquiring at least a region of the image mowing; S12: The at least one mowing region image generating custom programming environment mowing grass cutting region and the corresponding region corresponding to FIG spatial coordinate system, the mowing robot mower (40) of the first area of ​​space environment identified in FIG. coordinates (XI, Yl); 513: receiving a control input of a first user control command to control the robotic mower (40) of work; 514: monitoring a first spatial coordinate (XI, Yl) in the space coordinate position change monitoring system implemented mower (40) of the operating state of the robot.
9.根据权利要求8所述的可定制割草区域的机器人割草系统的控制方法,其特征在于,还包括如下步骤:515:在所述割草区域环境图中标识出无线充电站(60)的第二空间坐标(X2,Y2);516:根据所述第二空间坐标(Χ2,Υ2)与所述第一空间坐标(XI,Yl)形成最短的充电路径;517:根据接收到的第二控制指令控制所述机器人割草机(40)依所述充电路径行进。 The method of controlling the robot system can be customized according to the mowing area mowing claim 8, characterized by further comprising the steps of: 515: the mowing area identified in FIG wireless environment charging station (60 ) a second spatial coordinates (X2, Y2); 516: forming a charging path and the shortest first spatial coordinate (XI, Yl) in accordance with said second spatial coordinate (Χ2, Υ2); 517: according to the received a second control command for controlling the robotic mower (40) by the charging path of travel.
10.根据权利要求9所述的可定制割草区域的机器人割草系统的控制方法,其特征在于,还包括如下步骤: 518:在所述割草区域图中标识出禁止割草区域(84)及相应的空间坐标范围; 519:控制所述机器人割草机(40)工作或行进时,控制所述机器人割草机(40)工作或行进时规避所述禁止割草区域(84 )。 The control method of a robot system can be customized according to the mowing area mowing claim 9, characterized by further comprising the steps of: 518: the mowing area identified in FIG mowing prohibition region (84 mowing avoid the prohibited zone (84) when controlling the robotic mower (40) working or traveling, controlling the robotic mower (40) or working travel: 519;) and the appropriate range of spatial coordinates.
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