CN105988472A - Intelligent lawn trimming system, intelligent lawn trimmer and edge trimming method thereof - Google Patents
Intelligent lawn trimming system, intelligent lawn trimmer and edge trimming method thereof Download PDFInfo
- Publication number
- CN105988472A CN105988472A CN201510084729.6A CN201510084729A CN105988472A CN 105988472 A CN105988472 A CN 105988472A CN 201510084729 A CN201510084729 A CN 201510084729A CN 105988472 A CN105988472 A CN 105988472A
- Authority
- CN
- China
- Prior art keywords
- intelligent grass
- module
- boundary
- intelligent
- grass
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Guiding Agricultural Machines (AREA)
- Harvester Elements (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an intelligent lawn trimming system, an intelligent lawn trimmer and an edge trimming method thereof. According to the intelligent lawn trimmer of the invention, based on an edge trimming control device adopted, it can be ensured that the work module of the intelligent lawn trimmer can constantly carry out cutting instructions until a boundary monitoring module finds that at least one part of the work module goes beyond a boundary, so that the intelligent lawn trimmer will go back, and therefore, a work area of the intelligent lawn trimmer, which is located at the edge of a lawn outside the boundary can be also cut, so that edge trimming can be realized; and the automatic system of the intelligent lawn trimmer can carry out automatic edge trimming, so that the intelligent lawn trimmer can be more user-friendly, convenient and easy to use. With the edge trimming method of the intelligent lawn trimmer adopted, the intelligent lawn trimmer goes back after the least one part of the work module of the intelligent lawn trimmer goes beyond the boundary, so at the edge of the lawn can cut, and edge trimming can be realized.
Description
Technical field
The present invention relates to field of intelligent control, particularly relate to a kind of intelligence mowing system, intelligent grass-removing and
Trimming method.
Background technology
In field, gardens, intelligent grass-removing is widely used.For ensureing that intelligent grass-removing is in default work
Make operated within range, generally use boundary system that the working range of hay mover is controlled.Boundary system bag
Include the boundary line being laid on earth's surface, the signal generator being connected with boundary line, hay mover include detector unit with
And signal processes and controls the control unit of hay mover walking path.Control unit is according to receiving
Signal controls hay mover and works in predetermined working range.
Usually, two sensors are set in the fuselage front of hay mover, each one of left and right.Control unit root
Judge that each sensor is in inner side or the outside of boundary line, when any one senses according to the signal of sensor
Device becomes being positioned at line from being positioned at line, and control unit is judged as the out-of-bounds of this sensor, and control unit is held
Capable action of turning back.
But, due to boundary line typically can arrange more inner than reality lawn, to stay some surpluses to avoid machine
Directly out-of-bounds.When control unit judge sensor from be positioned at boundary line become being positioned at line time, hay mover is just
Action of turning back can be performed so that the borderline grass in lawn can not be trimmed to, need the most again to cut off, it is impossible to
Realize the automatic trimming of hay mover.
Summary of the invention
Based on this, it is necessary to can not the problem of automatic trimming for above-mentioned intelligent grass-removing, it is provided that a kind of intelligence
Mowing system, intelligent grass-removing and trimming method thereof.
Intelligent grass-removing of the present invention, for walking in the working range limited by boundary and working,
Including:
Housing；
Walking module, is installed on housing, and described walking module drives intelligent grass-removing walking and turns to, walking
Module includes wheels and drives the driving motor of wheels walking；
Boundary monitoring modular, the position relationship between monitoring intelligent grass-removing and boundary；
Energy module, is installed on housing, provides energy for intelligent grass-removing；
Operational module, for performing the work of cutting lawns；
Control module, is electrically connected with walking module, operational module and boundary monitoring modular；Control described intelligence
Boundary can driven towards and arriving predeterminated position relation rear steering to sail out of boundary by hay mover；Also include
Deburring controls device, and described deburring controls device and is connected with described control module, in described boundary
Monitoring module monitors is to after at least part of out-of-bounds of operational module of intelligent grass-removing, then makes intelligent grass-removing turn back；
Described deburring controls device and includes presetting module, judge module, module of turning back；
Described presetting module, starts the trigger condition of action of turning back for presetting intelligent grass-removing；
Described judge module, the running status of the intelligent grass-removing for monitoring is pre-with above-mentioned presetting module
If trigger condition of turning back compare judgement；
Described module of turning back, for receiving the judged result of above-mentioned judge module, in the operation of intelligent grass-removing
State reach described in turn back trigger condition time, control intelligent grass-removing turn back.
Wherein in an embodiment, described boundary monitoring modular is at least one border sensing element, described
Border sensing element is arranged on the front of the front portion of described housing, operational module, for induced intelligent hay mover
Position relationship with described boundary.
Wherein in an embodiment, described presetting module is time presetting module, described time presetting module,
For being preset in described border sense element senses to the time worked on after intelligent grass-removing out-of-bounds for turning back
Trigger condition.
Wherein in an embodiment, described judge module includes intelligent grass-removing walking timing module, compares
Module；
Described walking timing module, for the Working mould in described border sense element senses to intelligent grass-removing
Timing is carried out after block out-of-bounds；
Described comparison module, for by the clocking information of described walking timing module and described time presetting module
Default time value compares judgement.
Wherein in an embodiment, described boundary monitoring modular is at least one border sensing element, described
Border sensing element is arranged on the front of the front portion of described housing, operational module, for induced intelligent hay mover
Position relationship with described boundary.
Wherein in an embodiment, described presetting module is distance presetting module, described distance presetting module,
For being preset in described border sense element senses to the distance worked on after intelligent grass-removing out-of-bounds for turning back
Trigger condition.
Wherein in an embodiment, described judge module include intelligent grass-removing travel distance judge module,
Comparison module；
Described travel distance judge module, for the signal according to described border sense element senses, it is judged that intelligence
Can hay mover and the distance of described boundary；
Described comparison module, for the intelligent grass-removing and the described boundary that are judged by described travel distance judge module
The distance of limit, the distance value preset with described distance presetting module compares judgement.
Wherein in an embodiment, described boundary monitoring modular is border sensing element, and described border senses
Element is arranged on the rear of described rear, operational module, for induced intelligent hay mover and described boundary
Position relationship.
Wherein in an embodiment, described presetting module is preset the rear portion of intelligent grass-removing and is positioned at described boundary
Time upper, the output signal of described border sensing element is trigger condition of turning back.
Wherein in an embodiment, described judge module is by the output signal of described border sensing element and institute
State trigger condition of turning back and compare judgement.
Intelligence mowing system of the present invention, including:
Boundary, for limiting the working range of intelligence mowing system, also includes aforesaid intelligent grass-removing.
Intelligent grass-removing trimming method of the present invention, described intelligent grass-removing is for being limited by boundary
Working range in walking and work, comprise the steps:
Intelligent grass-removing drives towards boundary；
Intelligent grass-removing monitoring self and the position relationship of boundary；
After at least part of out-of-bounds of operational module of intelligent grass-removing, intelligent grass-removing is turned back；
After the wherein said at least part of out-of-bounds of the operational module at intelligent grass-removing, intelligent grass-removing is turned back,
Also comprise the steps:
Preset the trigger condition of turning back after at least part of out-of-bounds of operational module of intelligent grass-removing；
The running status of the intelligent grass-removing monitored is compared with above-mentioned default trigger condition of turning back and sentences
Disconnected；
Receive above-mentioned judged result, when turning back trigger condition described in the running status of intelligent grass-removing reaches,
Intelligent grass-removing is turned back.
Wherein in an embodiment, after the described at least part of out-of-bounds of the operational module at intelligent grass-removing, intelligence
Can turn back by hay mover, with cutting lawns edge, it is achieved deburring, also comprise the steps:
The time worked on after being preset in intelligent grass-removing work out-of-bounds is trigger condition of turning back；
The time continuing cutting after the operational module out-of-bounds of intelligent grass-removing is carried out timing；
The time value calculated and default time value are compared judgement；
Reaching default time value, intelligent grass-removing is turned back.
Wherein in an embodiment, by being arranged on intelligent grass-removing housing front portion, the front of operational module
At least one border sensing element, monitor the position relationship of self and described boundary.
Wherein in an embodiment, by being arranged on intelligent grass-removing housing front portion, the front of operational module
At least one border sensing element, monitor the position relationship of self and described boundary.
Wherein in an embodiment, after the described at least part of out-of-bounds of the operational module at intelligent grass-removing, intelligence
Can turn back by hay mover, also comprise the steps:
The distance value worked on after being preset in intelligent grass-removing out-of-bounds is as trigger condition of turning back；
According to described border sense element senses signal, it is judged that intelligent grass-removing and the distance of described boundary；
The intelligent grass-removing that will determine that and the distance of described boundary, compare with described default distance value and sentence
Disconnected；
Reaching default distance value, intelligent grass-removing is turned back.
Wherein in an embodiment, by being arranged on the rear of intelligent grass-removing rear, operational module
Border sensing element, monitor the position relationship of self and described boundary.
Wherein in an embodiment, after the described at least part of out-of-bounds of the operational module at intelligent grass-removing, intelligence
Can turn back by hay mover, also comprise the steps:
When the rear portion of default intelligent grass-removing is positioned in described boundary, the output signal of described border sensing element
For trigger condition of turning back；
The output signal of borderline for intelligent grass-removing sensing element is compared with described trigger condition of turning back
Judge；
Meeting above-mentioned default trigger condition of turning back, intelligent grass-removing is turned back.
Compared with prior art, the intelligent grass-removing of the present invention, controlling device by deburring therein can be true
The operational module protecting intelligent grass-removing performs cutting instruction always, lasts till that boundary monitoring module monitors is to work
Just turn back after module at least partly out-of-bounds, the most just guarantee to be positioned at intelligent grass-removing working region
Lawn edge outside boundary is also cut, it is achieved deburring.The automatic working system of intelligent grass-removing, it is possible to from
Dynamic deburring, make intelligent grass-removing more hommization, convenient, save worry.Intelligent grass-removing trimming method can be
After at least part of out-of-bounds of intelligent grass-removing operational module, just carry out turning back with cutting lawns edge, it is achieved deburring.
Accompanying drawing explanation
Fig. 1 is the existing intelligent grass-removing schematic diagram in boundary edge cuts；
Fig. 2 is intelligent grass-removing theory diagram in one embodiment of the invention；
Fig. 3 be in one embodiment of the invention intelligent grass-removing at the schematic diagram of boundary edge cuts；
Fig. 4 is intelligent grass-removing theory diagram in further embodiment of this invention；
Fig. 5 is intelligent grass-removing theory diagram in further embodiment of this invention；
Fig. 6 be in further embodiment of this invention intelligent grass-removing at the schematic diagram of boundary edge cuts；
Fig. 7 is intelligent grass-removing theory diagram in further embodiment of this invention；
Fig. 8 is intelligent grass-removing trimming method flow chart in one embodiment of the invention；
Fig. 9 is intelligent grass-removing trimming method flow chart in further embodiment of this invention；
Figure 10 is intelligent grass-removing trimming method flow chart in further embodiment of this invention；
Figure 11 is intelligent grass-removing trimming method flow chart in further embodiment of this invention；
Figure 12 is intelligent grass-removing trimming method flow chart in further embodiment of this invention；
Figure 13 is intelligent grass-removing trimming method flow chart in further embodiment of this invention.
Detailed description of the invention
By further illustrating the technological means and the effect of acquirement that the present invention taked, below in conjunction with the accompanying drawings and
Preferred embodiment, to technical scheme, carries out clear and complete description.
As it is shown in figure 1, existing intelligent grass-removing mowing system 200 is in the working area surrounded by boundary 210
Carrying out the cutting on lawn, pruning in territory, the most according to actual needs, the region of real needs cutting is
The working region that dotted line 220 surrounds, and the region that intelligent grass-removing 100 can monitor is boundary 210 encloses
The region become.When the border sensing element 121 of intelligent grass-removing 100 monitors boundary 210, intelligence is mowed
The cutting zone 171 of machine 100 cannot be cut to be actually needed the limit in the region surrounded by dotted line 220 of cutting
Edge, thus affect the working effect of whole intelligence mowing system 200.
As in figure 2 it is shown, the theory diagram for the intelligent grass-removing 100 of the present invention is one of them embodiment.
Intelligent grass-removing 100, for walking in the working range limited by boundary and working, including: housing
110, walking module 130, boundary monitoring modular 120, energy module 160, operational module 170, control mould
Block 150 and deburring control device 140.
Walking module 130, is installed in housing 110, it is possible to drive intelligent grass-removing 100 to turn to, mould of walking
Block 130 also includes wheels and drives the driving motor of wheels walking.Motor is driven to provide driving force for wheels,
It is operated meeting intelligent grass-removing 100.
Operational module 170, is connected with the control module of intelligent grass-removing 100, for performing the cutting on lawn,
Including cutter 172, cutter 172 is arranged on the bottom of intelligent grass-removing 100, and is carried out by modes such as rotations
The cutting on lawn, pruning, cutter 172 can be tool section or cutterhead, has as shown in Figure 3 during work
Cutting zone 171, it is achieved the cutting on lawn, pruning.
Boundary monitoring modular 120, the position relationship between monitoring intelligent grass-removing 100 and boundary.Due to intelligence
Hay mover 100 intelligent walking working in the region surrounded by boundary, needs to arrange boundary monitoring modular 120
Monitor the position relationship with boundary in intelligent grass-removing 100 work process, and by this monitoring result real-time Transmission
Control centre to intelligent grass-removing 100, in order to control centre issues corresponding work order.
Energy module 160, is installed on housing 110, provides energy for intelligent grass-removing 100.
Control module 150, electrically connects with walking module 130, operational module 170 and boundary monitoring modular 120
Connect；Intelligent grass-removing 100 is driving towards boundary and is arriving predeterminated position relation rear steering to sail out of boundary.This mould
Block is the whole control centre of intelligent grass-removing 100, with other dependency structure electricity in intelligent grass-removing 100
Property connect, to receive relevant information, and issue dependent instruction, make that intelligent grass-removing 100 is ruly to be held
Row task.
Deburring controls device 140, is connected with control module 150, for monitoring at boundary monitoring modular 120
After at least part of out-of-bounds of operational module 170 of intelligent grass-removing 100, then make intelligent grass-removing 100 turn back with
Cutting lawns edge.Shown in Fig. 3, owing to intelligent grass-removing 100 needs the border, real estate of cutting
220 in the outside of boundary 210, and the boundary monitoring modular 120 of intelligent grass-removing 100 monitors intelligent grass-removing
During 100 arrival boundary 210, the cutter 172 of the operational module 170 of intelligent grass-removing 100 is not cut to
Just turn back and carry out other region cutting in real zone boundary 220, on cutting zone boundary edge, lawn
Pruning exist omit.Deburring controls device 140 and is able to ensure that the operational module 170 of intelligent grass-removing 100
Cutter 172 always perform cutting instruction, last till that boundary monitoring modular 120 monitors intelligent grass-removing 100
At least part of out-of-bounds of operational module 170 after just turn back, the most just eliminate above-mentioned boundary limit
There is the problem omitted in edge cutting.
Deburring controls device 140 and includes presetting module 141, judge module 142, module 143 of turning back.
Presetting module 141, starts the trigger condition of action of turning back for presetting intelligent grass-removing 100.Herein
The operational module 170 of intelligent grass-removing 100 at least partly works out-of-bounds, refers to guarantee the cutter of operational module 170
Tool 172 has been cut in boundary 210.This trigger condition sets when can be and dispatch from the factory, it is also possible to for
Intelligent grass-removing user as required, and the structure type of intelligent grass-removing 100, and arrange suitable
Condition, to reach perfect to judge the purpose of at least part of out-of-bounds of intelligent grass-removing operational module 170.
Judge module 142, for the running status of intelligent grass-removing 100 and the above-mentioned presetting module that will monitor
141 trigger conditions of turning back preset compare judgement.This module receiver margin monitoring modular 120 monitors
Instantaneous operating conditions in intelligent grass-removing 100, and by the working status parameter that receives with aforementioned default
Trigger condition compares, it is judged that whether the duty of intelligent grass-removing 100 meets intelligence mowing at present
At least part of out-of-bounds situation of operational module 170 of machine.
Turn back module 143, for receiving the judged result of above-mentioned judge module 142, at intelligent grass-removing 100
Running status reach to turn back trigger condition time, control intelligent grass-removing 100 turn back, with cutting lawns edge,
Realize deburring.This module is controlled especially by control module 150, by the wheel in walking module 130
Group and supporting driving motor realize.
As it is shown on figure 3, wherein in an embodiment, boundary monitoring modular is at least one border sensing unit
Part 121, border sensing element 121 is arranged on the front portion of housing, the front of operational module, be used for sensing intelligence
Can hay mover 100 and the position relationship of boundary 210.Border sensing element 121 generally sensor, works as intelligence
Energy hay mover 100 is when a region internal cutting, and transmitting telecommunication number in boundary 210, this sensor can be felt
Answer the direction in magnetic field, power that the signal of telecommunication produces, owing to sensor wants whether induced intelligent hay mover 100 goes out
Boundary, therefore position before intelligent grass-removing 100 housing should be arranged on, generally anterior at intelligent grass-removing 100
Whether symmetrical both sides are respectively provided with a sensor, while induced intelligent hay mover 100 out-of-bounds, also use
Recurrence in intelligent grass-removing 100.When only realizing judging intelligent grass-removing 100 whether out-of-bounds, it is only necessary to
Want a sensor being arranged on its front portion just can realize, the most multiple can also realize.
Shown in Fig. 4, presetting module is time presetting module 141, is used for being preset in border sensing element
121 sense intelligent grass-removing 100 out-of-bounds after time of working on be trigger condition of turning back.This time needs
Determine according to situations such as user's request, intelligent grass-removing structure types.Such as, if intelligent grass-removing normal
Speed is V m/min, needs to monitor intelligent grass-removing at border sensing element 121 as the case may be and arrives
Cutting L rice is continued, then Preset Time should be L/V minute after reaching boundary 210.Certainly, conduct herein
The time value of trigger condition and cutter 172 front end of intelligent grass-removing operational module 170 and intelligent grass-removing machine
The distance of body front end is the most relevant, it is ensured that after front sensors out-of-bounds, and the distance of walking enables to cutter 172
Can out-of-bounds one segment distance, with the cutting at edge, feasible region.
Judge module 142 includes intelligent grass-removing walking timing module 142a, comparison module 142b.
Walking timing module 142a, for sensing the Working mould of intelligent grass-removing at border sensing element 121
Timing is carried out after block 170 out-of-bounds.Comparison module 142b, for the clocking information by walking timing module 142a
Time value default with time presetting module compares judgement.Module of turning back 143 receives judge module 142
Judged result, when reaching default time value, intelligent grass-removing 100 just stops cutting, and controls
Turn back, with cutting lawns edge, it is achieved deburring.
In this embodiment, the border sensing element 121 of intelligent grass-removing 100 senses that it crosses over boundary 210
During out-of-bounds, starting walking timing module 142a, start timing, now intelligent grass-removing 100 moves on it
The cutter 172 of operational module 170 continues cutting.Comparison module 142b is by the meter of intelligent grass-removing 100 simultaneously
Time result compare with aforementioned preset time value, when reaching default time value, intelligent grass-removing 100
Just stop cutting, and control to turn back, with cutting lawns edge, it is achieved deburring.
Such as Fig. 5, and combining shown in Fig. 3, wherein in an embodiment, boundary monitoring modular 120 is at least
One border sensing element 121, border sensing element 121 is arranged on the front of the front portion of housing, operational module,
Position relationship for induced intelligent hay mover 100 with boundary 210.Border sensing element 121 output sensing
The relevant information of signal is corresponding to the distance size of intelligent grass-removing 100 relative limit 210, and intelligence is mowed
Machine 100 is positioned at that boundary 210 is inside and outside or in boundary 210.Such as, can be by intelligent grass-removing 100
The mileage gauge that arranges, timer coordinate the mode such as tachymeter measure intelligent grass-removing 100 and boundary 210 away from
From.
In this embodiment, border sensing element 121 generally sensor, when intelligent grass-removing 100 is on boundary
During the region internal cutting that limit surrounds, transmitting telecommunication number in boundary 210, this sensor can produce by electrical signal of reaction
The raw direction in magnetic field, power, owing to induced intelligent hay mover 100 whether out-of-bounds wanted by sensor, therefore should set
Put the front of the front portion at intelligent grass-removing 100 housing, operational module, generally before intelligent grass-removing 100
Whether symmetrical both sides, portion are respectively provided with a sensor, while induced intelligent hay mover 100 out-of-bounds, also
Recurrence for intelligent grass-removing 100.When only realizing judging intelligent grass-removing 100 whether out-of-bounds, only
Need a sensor being arranged on its front portion just can realize, the most multiple can also realize.
Presetting module is distance presetting module 141, is used for being preset in border sensing element 121 and senses that intelligence is cut
The distance worked on after grass machine 100 out-of-bounds is trigger condition of turning back.Due in this embodiment it is that pass through
Border sensing element 121 exports the intensity of induced signal corresponding to intelligent grass-removing 100 relative limit 210
Distance size；Border sensing element 121 exports the phase place of induced signal and is positioned at corresponding to intelligent grass-removing 100
Boundary 210 is inside and outside or in boundary 210.Therefore, trigger condition of turning back herein can also sense for border
The induced signal of element 121 output, or the information relevant to this induced signal, signal message and distance value
For one-to-one relationship.The size of concrete distance needs according to user's request, intelligent grass-removing 100 structure class
The situations such as type determine.
Judge module 142 intelligent grass-removing travel distance judge module 142c, comparison module 142d.Walk away from
From judge module 142c, for the signal according to border sensing element 121 sensing, it is judged that intelligent grass-removing 100
Distance with boundary 210.Comparison module 142c, for the intelligence judged by travel distance judge module 142c
Hay mover 100 and the distance of boundary 210, compare with the default distance value of distance presetting module 141 and sentence
Disconnected.Module of turning back 143 receives the judged result of judge module 142, is reaching default distance value, intelligence
Can just stop cutting by hay mover 100, and control to turn back, with cutting lawns edge, it is achieved deburring.
In this embodiment, the border sensing element 121 of intelligent grass-removing 100 senses that it crosses over boundary 210
During out-of-bounds, start travel distance judge module 142c, start the distance of walking after computational intelligence hay mover crosses the border,
Now intelligent grass-removing 100 moves on, and the cutter 172 of its operational module 170 continues cutting.Simultaneously than
Compared with module 142d, the distance result of calculation of intelligent grass-removing 100 is compared with aforementioned predeterminable range value, when
When reaching default distance value, intelligent grass-removing 100 just stops cutting, and controls to turn back, with cutting lawns
Edge, it is achieved deburring.
As shown in Figure 6, wherein in an embodiment, boundary monitoring modular 120 is border sensing element 121,
Border sensing element 121 is arranged on housing 110 rear portion, the rear of operational module, mows for induced intelligent
Machine 100 and the position relationship of boundary 210.In this embodiment, border sensing element 121 generally sensing
Device, intelligent grass-removing 100 in the region internal cutting that boundary surrounds time, transmitting telecommunication number in boundary 210,
This sensor can electrical signal of reaction produce the direction in magnetic field, power, owing to sensor wants induced intelligent to cut
The afterbody whether out-of-bounds of grass machine 100, therefore position after intelligent grass-removing 100 should be arranged on.Only real
When now judging the whether out-of-bounds of intelligent grass-removing afterbody, it is only necessary to a sensor being arranged on its rear portion just can be real
Existing, certain multiple sensors can also realize.
Shown in Fig. 7, presetting module 141 presets the rear portion of intelligent grass-removing when being positioned in boundary 210,
The output signal of border sensing element 121 is trigger condition of turning back.After in this embodiment it is that pass through
The border sensing element 121 put monitors the afterbody whether out-of-bounds of intelligent grass-removing, judges intelligence mowing with this
Machine 100 whether out-of-bounds.This border sensing element 121 only when the afterbody out-of-bounds of intelligent grass-removing, just meeting
Send the induced signal monitoring boundary 210, therefore the trigger condition of turning back of presetting module 141 should be rearmounted
When border sensing element 121 senses boundary 210, the triggering signal sent.
The output signal of border sensing element 121 is compared by judge module 142 with trigger condition of turning back to be sentenced
Disconnected.Module of turning back 143 receives the judged result of judge module 142, when consistent with default trigger condition,
Intelligent grass-removing 100 just stops cutting, and controls to turn back, with cutting lawns edge, it is achieved deburring.
In this embodiment, the rearmounted border sensing element 121 of intelligent grass-removing 100 senses that its afterbody goes out
During boundary, just produce induced signal, it is judged that module 142 is by the rearmounted border sensing element of intelligent grass-removing 100
121 induced signals produced and the trigger condition multilevel iudge of turning back preset, when consistent with default trigger condition
Time, intelligent grass-removing 100 just stops cutting, and controls to turn back, with cutting lawns edge, it is achieved deburring.
Such as Fig. 6, and combining shown in Fig. 7, wherein in an embodiment, boundary monitoring modular 120 is shooting
Element 122, capturing element 122 is arranged on housing 110 rear portion, for gathering intelligent grass-removing 100 rear portion
Image information.In this embodiment, capturing element 122 can be that photographic head etc. can gather image information
Equipment.Owing to capturing element 122 wants the afterbody whether out-of-bounds of induced intelligent hay mover 100, therefore should be arranged on
Position after intelligent grass-removing housing 110.When only realizing judging the whether out-of-bounds of intelligent grass-removing afterbody,
Only need a capturing element being arranged on its rear portion 122 just can realize, the most multiple can also realize.
It is trigger condition of turning back that presetting module 141 presets the image comprising boundary 210.Due in this embodiment
In, it is the image letter being gathered the visual field after the afterbody of intelligent grass-removing 100 by rearmounted capturing element 122
Breath, judges intelligent grass-removing 100 whether out-of-bounds.Only when the afterbody out-of-bounds of intelligent grass-removing 100,
Capturing element 122 just can collect the image information representing out-of-bounds, therefore the triggering bar of turning back of presetting module 141
Part should be rearmounted capturing element 122 and collects the image information of boundary 210.
The image information that capturing element 122 is collected by judge module 142 compares with trigger condition of turning back
Judge.Module of turning back 143 receives the judged result of judge module 142, with default image information one
During cause, the cutter 172 of intelligent grass-removing operational module 170 just stops cutting, and controls to turn back, with cutting
Lawn edge, it is achieved deburring.
In this embodiment, the rearmounted capturing element 122 of intelligent grass-removing 100 gathers with its afterbody as the visual field
Image information, when intelligent grass-removing 100 afterbody out-of-bounds, just gather corresponding image information, it is judged that mould
The image information that the rearmounted capturing element 122 of intelligent grass-removing 100 is gathered by block 142 and the image letter preset
Breath multilevel iudge, when consistent with default image information, the operational module 170 of intelligent grass-removing just stops
Cutting, and control to turn back, with cutting lawns edge, it is achieved deburring.
The intelligent mowing system 200 of the present invention, including:
Boundary 210, for limiting the working range of intelligence mowing system 200, also includes that aforesaid intelligence is mowed
Machine 100.In this embodiment, intelligent grass-removing by boundary 210 around region in automatically carry out lawn and cut
Cut, the intelligent mowing system 200 of intelligent grass-removing, it is possible to automatic trimming, make intelligent grass-removing more hommization,
Convenient, save worry.
As shown in Figure 8, the intelligent grass-removing trimming method of the present invention, intelligent grass-removing 100 is for by boundary
Walk in the working range that limit 210 is limited and work, comprising the steps:
S310 intelligent grass-removing 100 drives towards boundary.
S320 intelligent grass-removing 100 monitors the position relationship of self and boundary.
S330 is after at least part of out-of-bounds of operational module 170 of intelligent grass-removing, and intelligent grass-removing 100 is carried out
Turn back with cutting lawns edge, it is achieved deburring.
In this embodiment, need the border, real estate 220 of cutting in boundary due to intelligent grass-removing 100
The outside of 210, when intelligent grass-removing 100 monitors its arrival boundary 210, intelligent grass-removing operational module
The cutter 172 of 170 is not cut to real zone boundary 220 and just turns back and carry out other region cutting.?
Cutting zone boundary edge, the pruning on lawn exists omits.The cutter of intelligent grass-removing operational module 170
172 perform cutting instruction always, continue to intelligent grass-removing to have monitored its operational module 170 the most
After out-of-bounds, just stop cutting, and turn back, the most just eliminate above-mentioned boundary edge cuts and there is something lost
The problem of leakage.
As it is shown in figure 9, wherein after at least part of out-of-bounds of intelligent grass-removing operational module 170, intelligence is mowed
Machine 100 is turned back, and with cutting lawns edge, it is achieved deburring, also comprises the steps:
S301 presets the trigger condition of turning back after at least part of out-of-bounds of operational module of intelligent grass-removing.In this step
In Zhou, the operational module 170 of intelligent grass-removing 100 herein at least partly works out-of-bounds, refers to guarantee work
The cutter 172 of module 170 has been cut in boundary 210.This trigger condition is intelligent grass-removing user's root
According to needs, and the structure type of intelligent grass-removing 100, suitable condition is set, so that reach can be perfect
Judge the purpose of at least part of out-of-bounds of intelligent grass-removing operational module 170.
The running status of the intelligent grass-removing monitored is compared by S302 with above-mentioned default trigger condition of turning back
Relatively judge.In this step, the instantaneous operating conditions of self that intelligent grass-removing 100 will monitor, with front
State default trigger condition to compare, it is judged that whether the duty of intelligent grass-removing 100 meets at present
At least part of out-of-bounds situation of operational module 170 of intelligent grass-removing.
S303 receives above-mentioned judged result, the running status at intelligent grass-removing reach to turn back trigger condition time,
Intelligent grass-removing is turned back, with cutting lawns edge, it is achieved deburring.In this step, cut especially by intelligence
The control centre of grass machine 100 is controlled, and is realized by the wheels in walking structure and supporting driving motor.
Shown in Fig. 3, wherein in an embodiment, before being arranged on intelligent grass-removing housing 110
Portion, at least one border sensing element 121 in front of operational module, monitor the position of self and boundary 210
Relation.
In this embodiment, border sensing element 121 generally sensor, when intelligent grass-removing 100 is one
During individual region internal cutting, transmitting telecommunication number in boundary 210, this sensor can electrical signal of reaction produce magnetic
Direction, power, owing to induced intelligent hay mover 100 whether out-of-bounds wanted by sensor, therefore intelligence should be arranged on
Position before energy hay mover 100 housing, is generally respectively provided with in the anterior symmetrical both sides of intelligent grass-removing 100
One sensor, while induced intelligent hay mover 100 whether out-of-bounds, is additionally operable to intelligent grass-removing 100
Recurrence.When only realizing judging intelligent grass-removing 100 whether out-of-bounds, it is only necessary to before one is arranged on it
The sensor in portion just can realize, and the most multiple can also realize.
As shown in Figure 10, wherein in an embodiment, the operational module at intelligent grass-removing at least partly goes out
Behind boundary, intelligent grass-removing is turned back, and with cutting lawns edge, it is achieved deburring, also comprises the steps:
The time that S401 works on after being preset in intelligent grass-removing work out-of-bounds is trigger condition of turning back.At this
In step, this time needs determine according to situations such as user's request, intelligent grass-removing structure types.Such as,
If the normal speed of intelligent grass-removing is V m/min, need as the case may be at border sensing element 121
Monitor after intelligent grass-removing arrives boundary 210 and continue cutting L rice, then Preset Time should be L/V and divides
Clock.Certainly, herein as time value and the cutter 172 of intelligent grass-removing operational module 170 of trigger condition
Front end is the most relevant with the distance of intelligent grass-removing front fuselage, it is ensured that after front sensors out-of-bounds, walking away from
From enable to cutter 172 can out-of-bounds one segment distance, with the cutting at edge, feasible region.
S402 carries out timing to the time continuing cutting after the operational module out-of-bounds of intelligent grass-removing.In this step
In, the border sensing element 121 of intelligent grass-removing 100 senses when it crosses over boundary 210 out-of-bounds, starts
Walking timing module 142a, starts timing, and now intelligent grass-removing 100 moves on its operational module 170
Cutter 172 continue cutting.
The time value calculated and default time value are compared judgement by S403.In this step, will
The timing result of intelligent grass-removing 100 and aforementioned preset time value compare judgement.
S404 reaches default time value, and intelligent grass-removing is turned back, with cutting lawns edge, it is achieved deburring.
In this step, when reaching default time value, intelligent grass-removing 100 just stops cutting, and controls folding
Return, with cutting lawns edge, it is achieved deburring.
Shown in Fig. 3, wherein in an embodiment, by be arranged on intelligent grass-removing housing anterior,
At least one border sensing element in the front of operational module, monitors the position relationship of self and boundary.Border
Sensing element 121 exports the relevant information of induced signal corresponding to intelligent grass-removing 100 relative limit 210
Distance size, and intelligent grass-removing 100 is positioned at that boundary 210 is inside and outside or in boundary 210.Such as, may be used
The modes such as tachymeter are coordinated to measure intelligence mowing by the mileage gauge arranged in intelligent grass-removing 100, timer
Machine 100 and the distance of boundary 210.
In this embodiment, border sensing element 121 generally sensor, when intelligent grass-removing 100 is on boundary
During the region internal cutting that limit surrounds, transmitting telecommunication number in boundary 210, this sensor can produce by electrical signal of reaction
The raw direction in magnetic field, power, owing to induced intelligent hay mover 100 whether out-of-bounds wanted by sensor, therefore should set
Put the front of the front portion at intelligent grass-removing 100 housing, operational module, generally before intelligent grass-removing 100
Whether symmetrical both sides, portion are respectively provided with a sensor, while induced intelligent hay mover 100 out-of-bounds, also
Recurrence for intelligent grass-removing 100.When only realizing judging intelligent grass-removing 100 whether out-of-bounds, only
Need a sensor being arranged on its front portion just can realize, the most multiple can also realize.
As shown in figure 11, wherein in an embodiment, at least part of at intelligent grass-removing operational module 170
After out-of-bounds, intelligent grass-removing 100 is turned back, and with cutting lawns edge, it is achieved deburring, also includes as follows
Step:
The distance value that S501 works on after being preset in intelligent grass-removing out-of-bounds is as trigger condition of turning back.At this
In step, exported the intensity of induced signal corresponding to intelligent grass-removing by then passing through border sensing element 121
The distance size of 100 relative limit 210；Border sensing element 121 exports the phase place of induced signal corresponding to intelligence
Can be positioned at that boundary 210 is inside and outside or in boundary 210 by hay mover 100.Therefore, trigger condition of turning back herein
Can also be the induced signal of border sensing element 121 output, or the information relevant to this induced signal,
Signal message and distance value are one-to-one relationship.The size of concrete distance needs according to user's request, intelligence
The situations such as hay mover 100 structure type determine.
S502 is according to border sense element senses signal, it is judged that intelligent grass-removing and the distance of boundary.In this step
In Zhou, the border sensing element 121 of intelligent grass-removing 100 senses when it crosses over boundary 210 out-of-bounds, logical
Cross the signal message that border sensing element 121 sends, by control centre's computational intelligence of intelligent grass-removing 100
The distance that hay mover is walked after crossing the border, now intelligent grass-removing 100 moves on, its operational module 170
Cutter 172 continues cutting.
The intelligent grass-removing that S503 will determine that and the distance of boundary, compare judgement with default distance value.
In this step, the distance result of calculation of intelligent grass-removing 100 is compared with aforementioned predeterminable range value.
S504 reaches default distance value, and intelligent grass-removing is turned back, with cutting lawns edge, it is achieved deburring.
In this step, when reaching default distance value, intelligent grass-removing 100 just stops cutting, and controls folding
Return, with cutting lawns edge, it is achieved deburring.
As shown in Figure 6, wherein in an embodiment, by be arranged on intelligent grass-removing housing 110 rear portion,
The border sensing element 121 at the rear of operational module, monitors the position relationship of self and boundary.
In this embodiment, border sensing element 121 generally sensor, at intelligent grass-removing 100 on boundary
During the region internal cutting that limit surrounds, transmitting telecommunication number in boundary 210, this sensor can produce by electrical signal of reaction
The raw direction in magnetic field, power, owing to the afterbody whether out-of-bounds of induced intelligent hay mover 100 wanted by sensor,
Therefore position after intelligent grass-removing 100 should be arranged on.Only realizing whether judging intelligent grass-removing afterbody
During out-of-bounds, it is only necessary to a sensor being arranged on its rear portion just can realize, and certain multiple sensors can also
Realize.
As shown in figure 12, wherein in an embodiment, in the operational module 170 at least portion of intelligent grass-removing
After separating boundary, intelligent grass-removing 100 is turned back, with cutting lawns edge, it is achieved deburring, also include as
Lower step:
S601 presets the rear portion of intelligent grass-removing when being positioned in boundary, and the output signal of border sensing element is folding
Return trigger condition.In this step, by then pass through rearmounted border sensing element 121 monitor intelligence mowing
The whether out-of-bounds of the afterbody of machine, judge intelligent grass-removing 100 whether out-of-bounds with this.This border sensing element 121
Only when the afterbody out-of-bounds of intelligent grass-removing, just can send the induced signal monitoring boundary 210, therefore in advance
If the trigger condition of turning back of module 141 should be rearmounted border sensing element 121 when sensing boundary 210,
The triggering signal sent.
The output signal of borderline for intelligent grass-removing sensing element is compared by S602 with trigger condition of turning back
Judge.In this step, the rearmounted border sensing element 121 of intelligent grass-removing 100 senses that its afterbody goes out
During boundary, just produce induced signal, and the rearmounted border sensing element 121 of intelligent grass-removing 100 is produced
Induced signal and the trigger condition multilevel iudge of turning back preset.
S603 meets above-mentioned default trigger condition of turning back, and intelligent grass-removing is turned back, with cutting lawns edge,
Realize deburring.In this step, when consistent with default trigger condition, intelligent grass-removing 100 just stops
Cutting, and control to turn back, with cutting lawns edge, it is achieved deburring.
As shown in Figure 6, wherein in an embodiment, by being arranged on intelligent grass-removing housing 110 rear portion
Capturing element 122, monitor the position relationship of the boundary 210 of self and boundary.Capturing element 122 can be
Image the first-class equipment that can gather image information.Owing to capturing element 122 wants induced intelligent hay mover 100
Afterbody whether out-of-bounds, therefore position after intelligent grass-removing 100 should be arranged on.Judge intelligence only realizing
Can the whether out-of-bounds of hay mover afterbody time, it is only necessary to an imaging apparatus being arranged on its rear portion just can realize, when
The most multiple can also realize.
As shown in figure 13, wherein in an embodiment, in the operational module 170 at least portion of intelligent grass-removing
After separating boundary, intelligent grass-removing 100 is turned back, with cutting lawns edge, it is achieved deburring, also include as
Lower step:
S701 presets the image comprising described boundary for trigger condition of turning back.In this step, by then passing through
Rearmounted capturing element 122 gathers the image information in the visual field after the afterbody of intelligent grass-removing 100, judges intelligence
Can hay mover 100 whether out-of-bounds.Only when the afterbody out-of-bounds of intelligent grass-removing 100, capturing element 122 just meeting
Collect the image information representing out-of-bounds, therefore the trigger condition of turning back of presetting module 141 should be rearmounted shooting unit
Part 122 collects the image information of boundary 210.
The image information that imaging apparatus on intelligent grass-removing is collected by S702 and above-mentioned trigger condition of turning back
Compare judgement.In this step, the rearmounted capturing element 122 of intelligent grass-removing 100 gathers with its afterbody
For the image information in the visual field, when intelligent grass-removing 100 afterbody out-of-bounds, just gather corresponding image information, will
The image information that the rearmounted capturing element 122 of intelligent grass-removing 100 gathers compares with the image information preset to be sentenced
Disconnected.
S703 meets above-mentioned default condition of turning back, and intelligent grass-removing is turned back, with cutting lawns edge, it is achieved
Deburring.In this step, when consistent with default image information, the operational module 170 of intelligent grass-removing is
Stop cutting, and control to turn back, with cutting lawns edge, it is achieved deburring.
Compared with prior art, the intelligent grass-removing 100 of the present invention, control device 140 by deburring therein
It is able to ensure that the operational module 170 of intelligent grass-removing performs cutting instruction always, lasts till boundary monitoring modular
120 monitor at least part of out-of-bounds of operational module 170 after just turn back, the most just guarantee to cut intelligence
The lawn edge that grass machine working region is positioned at outside boundary 210 is also cut, it is achieved deburring.Intelligent grass-removing
Automatic working system 200, it is possible to automatic trimming, make intelligent grass-removing more hommization, convenient, save worry.Intelligence
Can just can roll over after at least part of out-of-bounds of intelligent grass-removing operational module 170 by hay mover trimming method
Return with cutting lawns edge, it is achieved deburring.
Each technical characteristic of embodiment described above can combine arbitrarily, for making description succinct, the most right
The all possible combination of each technical characteristic in above-described embodiment is all described, but, if these skills
There is not contradiction in the combination of art feature, is all considered to be the scope that this specification is recorded.
Embodiment described above only have expressed the several embodiments of the present invention, and it describes more concrete and detailed,
But can not therefore be construed as limiting the scope of the patent.It should be pointed out that, for this area
For those of ordinary skill, without departing from the inventive concept of the premise, it is also possible to make some deformation and change
Entering, these broadly fall into protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be with appended power
Profit requires to be as the criterion.
Claims (18)
1. an intelligent grass-removing, for walking in the working range limited by boundary and working, including:
Housing；
Walking module, is installed on housing, and described walking module drives intelligent grass-removing walking and turns to, walking
Module includes wheels and drives the driving motor of wheels walking；
Boundary monitoring modular, the position relationship between monitoring intelligent grass-removing and boundary；
Energy module, is installed on housing, provides energy for intelligent grass-removing；
Operational module, for performing the work of cutting lawns；
Control module, is electrically connected with walking module, operational module and boundary monitoring modular；Control described intelligence
Boundary can driven towards and arriving predeterminated position relation rear steering to sail out of boundary by hay mover；It is characterized in that, also
Including
Deburring controls device, and described deburring controls device and is connected with described control module, in described boundary
Monitoring module monitors is to after at least part of out-of-bounds of operational module of intelligent grass-removing, then makes intelligent grass-removing turn back；
Described deburring controls device and includes presetting module, judge module, module of turning back；
Described presetting module, starts the trigger condition of action of turning back for presetting intelligent grass-removing；
Described judge module, the running status of the intelligent grass-removing for monitoring is pre-with above-mentioned presetting module
If trigger condition of turning back compare judgement；
Described module of turning back, for receiving the judged result of above-mentioned judge module, in the operation of intelligent grass-removing
State reach described in turn back trigger condition time, control intelligent grass-removing turn back.
Intelligent grass-removing the most according to claim 1, it is characterised in that described boundary monitoring modular is
At least one border sensing element, described border sensing element is arranged on the front portion of described housing, operational module
Front, for the position relationship of induced intelligent hay mover Yu described boundary.
Intelligent grass-removing the most according to claim 2, it is characterised in that described presetting module is the time
Presetting module, described time presetting module, it is used for being preset in described border sense element senses and mows to intelligence
The time worked on after machine out-of-bounds is trigger condition of turning back.
Intelligent grass-removing the most according to claim 3, it is characterised in that described judge module includes intelligence
Can hay mover walking timing module, comparison module；
Described walking timing module, for the Working mould in described border sense element senses to intelligent grass-removing
Timing is carried out after block out-of-bounds；
Described comparison module, for by the clocking information of described walking timing module and described time presetting module
Default time value compares judgement.
Intelligent grass-removing the most according to claim 1, it is characterised in that described boundary monitoring modular is
At least one border sensing element, described border sensing element is arranged on the front portion of described housing, operational module
Front, for the position relationship of induced intelligent hay mover Yu described boundary.
Intelligent grass-removing the most according to claim 5, it is characterised in that described presetting module is distance
Presetting module, described distance presetting module, it is used for being preset in described border sense element senses and mows to intelligence
The distance worked on after machine out-of-bounds is trigger condition of turning back.
Intelligent grass-removing the most according to claim 6, it is characterised in that described judge module includes intelligence
Can hay mover travel distance judge module, comparison module；
Described travel distance judge module, for the signal according to described border sense element senses, it is judged that intelligence
Can hay mover and the distance of described boundary；
Described comparison module, for the intelligent grass-removing and the described boundary that are judged by described travel distance judge module
The distance of limit, the distance value preset with described distance presetting module compares judgement.
Intelligent grass-removing the most according to claim 1, it is characterised in that described boundary monitoring modular is
Border sensing element, described border sensing element is arranged on the rear of described rear, operational module, uses
Position relationship in induced intelligent hay mover Yu described boundary.
Intelligent grass-removing the most according to claim 8, it is characterised in that described presetting module presets intelligence
When the rear portion of energy hay mover is positioned in described boundary, the output signal of described border sensing element is triggering of turning back
Condition.
Intelligent grass-removing the most according to claim 9, it is characterised in that described judge module is by institute
The output signal stating border sensing element compares judgement with described trigger condition of turning back.
11. 1 kinds of intelligent mowing systems, including:
Boundary, for limiting the working range of intelligence mowing system, it is characterised in that:
Also include the intelligent grass-removing described in aforementioned any claim.
12. 1 kinds of intelligent grass-removing trimming methods, described intelligent grass-removing is in the work limited by boundary
Walk in the range of work and work, it is characterised in that comprising the steps:
Intelligent grass-removing drives towards boundary；
Intelligent grass-removing monitoring self and the position relationship of boundary；
After at least part of out-of-bounds of operational module of intelligent grass-removing, intelligent grass-removing carries out turning back to cut grass
Edge, level ground；
After the wherein said at least part of out-of-bounds of the operational module at intelligent grass-removing, intelligent grass-removing is turned back,
With cutting lawns edge, also comprise the steps:
Preset the trigger condition of turning back after at least part of out-of-bounds of operational module of intelligent grass-removing；
The running status of the intelligent grass-removing monitored is compared with above-mentioned default trigger condition of turning back and sentences
Disconnected；
Receive above-mentioned judged result, when turning back trigger condition described in the running status of intelligent grass-removing reaches,
Intelligent grass-removing is turned back.
13. intelligent grass-removing trimming methods according to claim 12, it is characterised in that described in intelligence
After at least part of out-of-bounds of operational module of energy hay mover, intelligent grass-removing is turned back, and also comprises the steps:
The time worked on after being preset in intelligent grass-removing work out-of-bounds is trigger condition of turning back；
The time continuing cutting after the operational module out-of-bounds of intelligent grass-removing is carried out timing；
The time value calculated and default time value are compared judgement；
Reaching default time value, intelligent grass-removing is turned back.
14. intelligent grass-removing trimming methods according to claim 13, it is characterised in that by arranging
At least one border sensing element in the front of, operational module anterior at intelligent grass-removing housing, monitors self
Position relationship with described boundary.
15. intelligent grass-removing trimming methods according to claim 12, it is characterised in that by arranging
At least one border sensing element in the front of, operational module anterior at intelligent grass-removing housing, monitors self
Position relationship with described boundary.
16. intelligent grass-removing trimming methods according to claim 15, it is characterised in that described in intelligence
After at least part of out-of-bounds of operational module of energy hay mover, intelligent grass-removing is turned back, and also comprises the steps:
The distance value worked on after being preset in intelligent grass-removing out-of-bounds is as trigger condition of turning back；
According to described border sense element senses signal, it is judged that intelligent grass-removing and the distance of described boundary；
The intelligent grass-removing that will determine that and the distance of described boundary, compare with described default distance value and sentence
Disconnected；
Reaching default distance value, intelligent grass-removing is turned back.
17. intelligent grass-removing trimming methods according to claim 12, it is characterised in that by arranging
At intelligent grass-removing rear, the rear of operational module, border sensing element, monitor self and described
The position relationship of boundary.
18. intelligent grass-removing trimming methods according to claim 17, it is characterised in that described in intelligence
After at least part of out-of-bounds of operational module of energy hay mover, intelligent grass-removing is turned back, and also comprises the steps:
When the rear portion of default intelligent grass-removing is positioned in described boundary, the output signal of described border sensing element
For trigger condition of turning back；
The output signal of borderline for intelligent grass-removing sensing element is compared with described trigger condition of turning back
Judge；
Meeting above-mentioned default trigger condition of turning back, intelligent grass-removing is turned back.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510084729.6A CN105988472B (en) | 2015-02-16 | 2015-02-16 | Intelligent mowing system, intelligent mower and trimming method thereof |
| PCT/CN2016/073618 WO2016131399A1 (en) | 2015-02-16 | 2016-02-05 | Automatic walking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510084729.6A CN105988472B (en) | 2015-02-16 | 2015-02-16 | Intelligent mowing system, intelligent mower and trimming method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105988472A true CN105988472A (en) | 2016-10-05 |
| CN105988472B CN105988472B (en) | 2020-03-27 |
Family
ID=57038232
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510084729.6A Active CN105988472B (en) | 2015-02-16 | 2015-02-16 | Intelligent mowing system, intelligent mower and trimming method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105988472B (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106951004A (en) * | 2017-03-31 | 2017-07-14 | 柳州顺联科技有限公司 | A kind of farm machinery control system |
| CN107966983A (en) * | 2016-10-19 | 2018-04-27 | 惠州市蓝微电子有限公司 | A kind of grass trimmer path planning algorithm |
| CN109491397A (en) * | 2019-01-14 | 2019-03-19 | 深圳市傲基电子商务股份有限公司 | Grass-removing robot and its mowing regional assignment method |
| CN109871012A (en) * | 2019-01-29 | 2019-06-11 | 宁波大叶园林设备股份有限公司 | A kind of forward method of intelligent grass-removing in boundary |
| CN110049668A (en) * | 2016-12-28 | 2019-07-23 | 本田技研工业株式会社 | Control device, working rig and program |
| CN110192162A (en) * | 2017-01-31 | 2019-08-30 | 本田技研工业株式会社 | Unmanned operation system, server computer and unmanned operation machine |
| CN111372442A (en) * | 2017-11-20 | 2020-07-03 | 托罗公司 | System and method for operating an autonomous robotic work machine within a travel limit |
| WO2021031405A1 (en) * | 2019-08-16 | 2021-02-25 | 苏州科瓴精密机械科技有限公司 | Automatic working system, automatic travelling device and control method therefor, computer device, and computer readable storage medium |
| CN112650206A (en) * | 2019-10-10 | 2021-04-13 | 苏州宝时得电动工具有限公司 | Intelligent mower walking control method and intelligent mower |
| SE1951391A1 (en) * | 2019-12-04 | 2021-06-05 | Husqvarna Ab | Robotic work tool, system, and method for operation thereof |
| CN113821021A (en) * | 2020-06-19 | 2021-12-21 | 南京苏美达智能技术有限公司 | Automatic walking equipment area boundary generation method and system |
| CN117859500A (en) * | 2024-03-12 | 2024-04-12 | 锐驰激光(深圳)有限公司 | Mower boundary-out prevention method, device, equipment and storage medium |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3713505A (en) * | 1970-04-25 | 1973-01-30 | Bosch Gmbh Robert | Automatically steered self propelled vehicle |
| WO1999059042A1 (en) * | 1998-05-11 | 1999-11-18 | Friendly Machines Ltd. | Area coverage with an autonomous robot |
| CN101960443A (en) * | 2008-03-20 | 2011-01-26 | 迪尔公司 | System and method for generation of an inner boundary of a work area |
| CN102759924A (en) * | 2011-04-28 | 2012-10-31 | 苏州宝时得电动工具有限公司 | Automatic work system, automatic walking equipment and steering method of automatic walking equipment |
| CN102771246A (en) * | 2012-07-05 | 2012-11-14 | 芜湖鸿宇智能科技有限公司 | Intelligent mower system and intelligent mowing method thereof |
| CN102902272A (en) * | 2012-10-24 | 2013-01-30 | 吴菊芳 | Positioning control method for mowing robot and system using method |
| CN203609373U (en) * | 2013-11-20 | 2014-05-28 | 苏州科沃斯商用机器人有限公司 | Self-moving robot with correcting device |
| US20140324269A1 (en) * | 2013-04-09 | 2014-10-30 | F. Robotics Acquisitions Ltd | Domestic Robotic System and Robot Therefor |
-
2015
- 2015-02-16 CN CN201510084729.6A patent/CN105988472B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3713505A (en) * | 1970-04-25 | 1973-01-30 | Bosch Gmbh Robert | Automatically steered self propelled vehicle |
| WO1999059042A1 (en) * | 1998-05-11 | 1999-11-18 | Friendly Machines Ltd. | Area coverage with an autonomous robot |
| CN101960443A (en) * | 2008-03-20 | 2011-01-26 | 迪尔公司 | System and method for generation of an inner boundary of a work area |
| CN102759924A (en) * | 2011-04-28 | 2012-10-31 | 苏州宝时得电动工具有限公司 | Automatic work system, automatic walking equipment and steering method of automatic walking equipment |
| CN102768533A (en) * | 2011-04-28 | 2012-11-07 | 苏州宝时得电动工具有限公司 | Automatic work system, automatic walking equipment and steering method thereof |
| CN102768535A (en) * | 2011-04-28 | 2012-11-07 | 苏州宝时得电动工具有限公司 | Automatic work system, automatic walking equipment and steering method thereof |
| CN102771246A (en) * | 2012-07-05 | 2012-11-14 | 芜湖鸿宇智能科技有限公司 | Intelligent mower system and intelligent mowing method thereof |
| CN102902272A (en) * | 2012-10-24 | 2013-01-30 | 吴菊芳 | Positioning control method for mowing robot and system using method |
| US20140324269A1 (en) * | 2013-04-09 | 2014-10-30 | F. Robotics Acquisitions Ltd | Domestic Robotic System and Robot Therefor |
| CN203609373U (en) * | 2013-11-20 | 2014-05-28 | 苏州科沃斯商用机器人有限公司 | Self-moving robot with correcting device |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107966983A (en) * | 2016-10-19 | 2018-04-27 | 惠州市蓝微电子有限公司 | A kind of grass trimmer path planning algorithm |
| US11457559B2 (en) | 2016-12-28 | 2022-10-04 | Honda Motor Co., Ltd. | Control device, work machine and non-transitory computer readable medium storing program |
| CN110049668A (en) * | 2016-12-28 | 2019-07-23 | 本田技研工业株式会社 | Control device, working rig and program |
| CN110192162A (en) * | 2017-01-31 | 2019-08-30 | 本田技研工业株式会社 | Unmanned operation system, server computer and unmanned operation machine |
| CN106951004A (en) * | 2017-03-31 | 2017-07-14 | 柳州顺联科技有限公司 | A kind of farm machinery control system |
| CN111372442B (en) * | 2017-11-20 | 2023-01-24 | 托罗公司 | System and method for operating an autonomous robotic work machine within a travel limit |
| CN111372442A (en) * | 2017-11-20 | 2020-07-03 | 托罗公司 | System and method for operating an autonomous robotic work machine within a travel limit |
| US11716926B2 (en) | 2017-11-20 | 2023-08-08 | The Toro Company | System and method for operating an autonomous robotic working machine within a travelling containment zone |
| CN109491397A (en) * | 2019-01-14 | 2019-03-19 | 深圳市傲基电子商务股份有限公司 | Grass-removing robot and its mowing regional assignment method |
| CN109871012A (en) * | 2019-01-29 | 2019-06-11 | 宁波大叶园林设备股份有限公司 | A kind of forward method of intelligent grass-removing in boundary |
| WO2021031405A1 (en) * | 2019-08-16 | 2021-02-25 | 苏州科瓴精密机械科技有限公司 | Automatic working system, automatic travelling device and control method therefor, computer device, and computer readable storage medium |
| CN112445213A (en) * | 2019-08-16 | 2021-03-05 | 苏州科瓴精密机械科技有限公司 | Automatic work system, automatic walking device, control method thereof, computer device, and computer-readable storage medium |
| CN112445213B (en) * | 2019-08-16 | 2024-01-16 | 苏州科瓴精密机械科技有限公司 | Automatic working system, automatic walking equipment, control method of automatic walking equipment, computer equipment and computer readable storage medium |
| CN112650206A (en) * | 2019-10-10 | 2021-04-13 | 苏州宝时得电动工具有限公司 | Intelligent mower walking control method and intelligent mower |
| SE543950C2 (en) * | 2019-12-04 | 2021-10-05 | Husqvarna Ab | Robotic work tool being configured to switch between at least two offset settings |
| WO2021110310A1 (en) * | 2019-12-04 | 2021-06-10 | Husqvarna Ab | Robotic work tool, system, and method for operation thereof |
| SE1951391A1 (en) * | 2019-12-04 | 2021-06-05 | Husqvarna Ab | Robotic work tool, system, and method for operation thereof |
| CN113821021A (en) * | 2020-06-19 | 2021-12-21 | 南京苏美达智能技术有限公司 | Automatic walking equipment area boundary generation method and system |
| CN113821021B (en) * | 2020-06-19 | 2024-03-29 | 南京苏美达智能技术有限公司 | Automatic walking equipment region boundary generation method and system |
| CN117859500A (en) * | 2024-03-12 | 2024-04-12 | 锐驰激光(深圳)有限公司 | Mower boundary-out prevention method, device, equipment and storage medium |
| CN117859500B (en) * | 2024-03-12 | 2024-05-24 | 锐驰激光(深圳)有限公司 | Mower boundary-out prevention method, device, equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105988472B (en) | 2020-03-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105988472A (en) | Intelligent lawn trimming system, intelligent lawn trimmer and edge trimming method thereof | |
| US20220300008A1 (en) | Automatic working system and control method thereof | |
| EP3156873B1 (en) | Autonomous vehicle with improved simultaneous localization and mapping function | |
| CN103650753B (en) | Intelligent grass-removing and control method thereof | |
| CN109287246B (en) | Intelligent mower for building map based on laser radar | |
| EP3955079B1 (en) | System and method for planning traveling path of automatic harvester | |
| CN106054898A (en) | Intelligent weeding machine and weeding method | |
| CN102844722B (en) | Multiple signal is utilized to follow the robotic garden tool of lead-in wire with a distance | |
| EP3682725A1 (en) | Automatic lawnmower | |
| CN110488153B (en) | Autonomous underground cable surveying and protecting system and method based on machine learning | |
| CN110531764A (en) | A kind of driverless tractor control system and control method | |
| CN108561134B (en) | Automatic coal caving control system and method for fully mechanized top coal caving working face | |
| CN102662400A (en) | Path planning algorithm of mowing robot | |
| KR20130015457A (en) | Lawn mower robot and control method for the same | |
| KR101581258B1 (en) | System and method for repelling birds and beasts using a flying robot | |
| JP2018109849A (en) | Control device, monitoring device and control program | |
| CN102880175A (en) | Automatic walking equipment | |
| CN110286670A (en) | The driving path planning system and its method of more automatic harvesters | |
| EP3686704B1 (en) | Method for generating a representation and system for teaching an autonomous device operating based on such representation | |
| CN102650885A (en) | Robot walking monitoring system with remote-range prewarning function | |
| JP2019213133A (en) | Remote monitoring system | |
| WO2023010045A3 (en) | Autonomous electric mower system and related methods | |
| CN108934400A (en) | A kind of electrical system control method based on unmanned mowing vehicle | |
| CN113950934A (en) | Lawn mower visual system capable of being remotely controlled | |
| CN115279170B (en) | Automatic working system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |