CN108142070B - Automatic mowing system and control method thereof - Google Patents
Automatic mowing system and control method thereof Download PDFInfo
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- CN108142070B CN108142070B CN201611111590.0A CN201611111590A CN108142070B CN 108142070 B CN108142070 B CN 108142070B CN 201611111590 A CN201611111590 A CN 201611111590A CN 108142070 B CN108142070 B CN 108142070B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
Abstract
An automatic mowing system comprises a mower and a stop station in communication connection with the mower, wherein at least one part of the boundary of a working area is a virtual boundary, and a boundary line is arranged on the virtual boundary and comprises an emission state for transmitting a radio frequency signal and an integrity detection state for transmitting a detection signal; and the stop station is used for sending a working instruction when receiving the detection signal transmitted by the boundary line and judging that the boundary line is in a complete state. According to the automatic mowing system, the stop station detects the boundary line, and sends a working instruction to the mower when the boundary line is detected to be in a complete state, and the mower can work in a working area only after receiving the working instruction. Therefore, the situation that the mower walks outside the working area due to the fact that the mower cannot sense the boundary line and cross the virtual boundary when the power failure occurs or the boundary line is abnormal at the stop station is avoided. The invention also provides a control method of the automatic mowing system.
Description
Technical Field
The invention relates to an electric garden tool, in particular to an automatic mowing system and a control method thereof.
Background
The working area of the existing automatic mower is basically composed of the following two forms:
the first method comprises the following steps: the working area is completely formed by a closed electrified lead, magnetic fields with different polarities are arranged inside and outside the closed area, and the automatic mower can receive magnetic field signals in real time, so that the automatic mower is prevented from moving out of the working area. If the magnetic field signal disappears due to the power failure or cut-off of the electrified lead, the automatic mower can be stopped once the magnetic field signal sent by the lead cannot be received, so that the working area is ensured not to be beyond.
And the second method comprises the following steps: in the working area which is formed by a physical boundary (a wall and a fence) and a non-closed boundary (a radio frequency signal cable for transmitting radio frequency signals) in one part, the automatic mower can sense the radio frequency signals transmitted by the wires only when the automatic mower is close to the radio frequency signal cable (1-2 m). If the radio frequency signal disappears due to the power failure or cut-off of the electrified lead, the automatic mower cannot know the information in real time and possibly crosses the working area.
Disclosure of Invention
In view of the above, there is a need for an automatic mowing system capable of automatically detecting whether a boundary line of a working area formed by a partially non-closed boundary is complete.
It is also desirable to provide a method of controlling an automated mowing system.
An automatic mowing system comprises a mower working in a preset working area and a stop station in communication connection with the mower, wherein at least one part of the boundary of the working area is a virtual boundary, and a boundary line is arranged on the virtual boundary and comprises an emission state for transmitting a radio frequency signal and an integrity detection state for transmitting a detection signal; and the stop station is used for sending a working instruction when receiving the detection signal transmitted by the boundary line and judging that the boundary line is in a complete state.
In one embodiment, the stop station is used for stopping sending the working instruction when the detection signal of the boundary line conveying is not received and the boundary line is judged to be in an abnormal state.
In one embodiment, the mower comprises a first controller, the stop station comprises a second controller, and a boundary line integrity detection signal generator and a boundary line integrity detection signal receiver which are connected with the second controller, the boundary line integrity detection signal generator is used for generating the detection signal, the boundary line is used for transmitting the detection signal in the integrity detection state, and the boundary line integrity detection signal receiver is used for receiving the detection signal to judge whether the boundary line is in the integrity state; the second controller is used for sending the working instruction at preset interval time when the boundary line complete detection signal receiver receives the detection signal, and the first controller is used for controlling the mower to work in the working area after receiving the working instruction.
In one embodiment, the second controller further stops issuing the work instruction when the boundary line integrity detection signal receiver does not receive the detection signal, and the mower controls the mower to stop working after the mower does not receive the work instruction within a predetermined interval time.
In one embodiment, the mower comprises a boundary radio frequency signal generator connected with the first controller, the boundary radio frequency signal generator is used for sending out the radio frequency signals to the boundary line at preset intervals in the transmitting state, and the first controller is used for controlling the mower to turn or turn after advancing the preset distance when the boundary radio frequency signal generator detects the radio frequency signals output by the boundary line within the preset distance.
In one embodiment, the boundary line is a cable for transmitting radio frequency signals, when the boundary line is in the integrity detection state, a first end of the cable is connected with the boundary line integrity detection signal generator, and a second end of the cable is connected with the boundary line integrity detection signal receiver to form a signal detection loop.
In one embodiment, when the boundary line is in the transmitting state, the first end and the second end of the cable are both connected with the boundary radio frequency signal generator to form a signal transmitting loop.
In one embodiment, the automatic mowing system comprises a change-over switch, and the change-over switch is used for controlling the first end and the second end of the cable to be selectively connected with the boundary line complete detection signal generator and the boundary line complete detection signal receiver respectively to form the signal detection loop or be connected with the boundary radio frequency signal generator simultaneously to form the signal transmission loop.
In one embodiment, the boundary of the working area comprises a physical boundary arranged around the virtual boundary, the mower comprises a physical boundary signal generator and a physical boundary signal receiver which are connected with the first controller, the physical boundary signal generator is used for emitting a physical boundary signal, the physical boundary receiver judges whether a physical boundary exists according to the physical boundary signal reflected back, and the first controller is used for controlling the mower to change the walking direction when the mower approaches the physical boundary.
In one embodiment, the first controller stores a predetermined distance value, and the first controller maintains the walking direction of the mower when the calculated distance value between the mower and the physical boundary is greater than the predetermined distance value; and when the calculated distance value between the mower and the physical boundary is smaller than or equal to the preset distance value, the first controller judges that the mower is close to the physical boundary and controls the mower to turn.
In one embodiment, the physical boundary signal is an ultrasonic/infrared/laser/impact signal.
In one embodiment, the physical boundary is a fence, an enclosure, or a wall of a house.
In one embodiment, the docking station is a charging station that provides energy to the lawn mower.
A control method of an automatic mowing system, the automatic mowing system comprising a mower and a docking station communicatively coupled to the mower; wherein the control method of the automatic mowing system comprises the following steps:
switching the boundary line to an integrity detection state, and sending a detection signal to detect whether the boundary line is in the integrity state;
when a detection signal transmitted by the boundary line is received and the boundary line is judged to be in a complete state, a working instruction is sent out;
switching the boundary line to a transmitting state, and detecting whether a radio frequency signal is received; and when the radio frequency signal is received, controlling the mower to change the walking direction.
In one embodiment, the control method of the automatic mowing system further comprises the following steps:
and when the detection signal transmitted by the boundary line is not received and the boundary line is judged to be in an abnormal state, the work instruction is stopped, and the mower stops working after not receiving the work instruction within the preset interval time.
In one embodiment, the method further comprises the steps of, when the lawnmower is operating in the work area:
detecting whether a physical boundary signal is received;
controlling the mower to change the walking direction to avoid walking out of the working area when the physical boundary signal is received; wherein the physical boundary signal can be one of an ultrasonic signal, a laser signal, a boundary infrared signal and an impact signal.
The stop station in the automatic mowing system detects the boundary line on the virtual boundary, and sends a working instruction to the mower when the boundary line is detected to be in a complete state, and the mower can work in a working area only after receiving the working instruction and automatically stops when not receiving the working instruction. Therefore, the situation that the mower walks outside the working area due to the fact that the mower cannot sense the boundary line and cross the virtual boundary when the power failure occurs or the boundary line is abnormal at the stop station is avoided.
Drawings
FIG. 1 is a schematic view of an automatic mowing system and a working area thereof according to the present invention;
FIG. 2 is a block diagram of the automated mowing system of FIG. 1;
FIG. 3a is a schematic view of a boundary element forming a signal transmitting circuit in the mowing system of FIG. 1;
FIG. 3b is a schematic view of a border element forming a signal detection circuit in the automatic mowing system of FIG. 1;
FIG. 3c is a schematic view of the robotic lawnmower system of FIG. 1 with the border member broken away;
fig. 4 is a flowchart of a control method of the automatic mowing system shown in fig. 1.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1, in a preferred embodiment of the present invention, an automated mowing system 100 includes a lawnmower 10 and a docking station 30 communicatively coupled to the lawnmower. The lawn mower 10 is used to walk in a predetermined work area 200 and perform a mowing work. The docking station 30 is disposed within or on the boundary of the work area 200. In this embodiment, the docking station 30 is a charging station for returning the lawn mower 10 with supplementary energy when the energy source is insufficient or for keeping the lawn mower 10 from rain and parked. It is understood that in other embodiments, the docking station 30 may be other external devices that communicate with the lawn mower 10, and is not limited thereto.
Specifically, the lawnmower 10 is communicatively coupled to the docking station 30 via a wireless communication module, such as Bluetooth. Meanwhile, in order to ensure that the lawn mower 10 is not interfered by other wireless signals, software handshaking, verification and the like can be adopted for verification when the lawn mower 10 communicates with the docking station 30. It is understood that in other embodiments, the communication between the lawn mower 10 and the docking station 30 may be determined according to the needs, such as wired communication, and the like, and is not limited herein.
The boundaries of the work area 200 include a physical boundary 210 and a virtual boundary 230. The physical boundary 210 is an existing physical barrier, such as a fence 211, a fence 212, or a wall of a house. The virtual boundary 230 is a position without a physical boundary such as a yard entrance. In this embodiment, the working area 200 is a quadrilateral working area having three sides as a physical boundary 210 and one virtual boundary 230. Wherein the docking station 30 is disposed at the junction of the physical boundary 210 and the virtual boundary 230.
Referring to fig. 2 and fig. 3a-3c, a boundary line 231 is disposed on the virtual boundary 230, and the boundary line 231 includes an emission state and an integrity check state switched with each other. When the boundary line 231 is in the transmitting state, it can be used to transmit radio frequency signals; when the boundary line 231 is in the integrity check state, it forms a loop for transmitting a check signal by itself.
Specifically, the lawnmower 10 includes a first controller 11, and the docking station 30 includes a second controller 31, a boundary line integrity detection signal generator 32, and a boundary line integrity detection signal receiver 33, both connected to the second controller 31. The boundary line 231 is a cable for transmitting a radio frequency signal, and the boundary line integrity detection signal generator 32 and the boundary line integrity detection signal receiver 33 are both provided on the docking station 30.
When the boundary line 231 is in the integrity check state, the first end of the cable is connected to the boundary line integrity check signal generator 32, and the second end of the cable is connected to the boundary line integrity check signal receiver 33, so that the cable, the boundary line integrity check signal generator 32, and the boundary line integrity check signal receiver 33 together form a signal check loop to check whether the boundary line 231 is in the integrity check state.
The boundary line integrity detection signal generator 32 is configured to send out detection signals to the cable at predetermined intervals, and when the boundary line integrity detection signal receiver 33 receives the corresponding detection signals, it indicates that the cable is normal. The second controller 31 is configured to issue the operation command at predetermined intervals when the boundary line 231 is in the complete state. The first controller 11 controls the lawnmower 10 to operate in the work area 200 upon receiving the operation command. Meanwhile, if the docking station 30 has a power failure or the rf cable is damaged, the boundary line integrity detection signal receiver 33 cannot receive the detection signal from the boundary line integrity detection signal generator 32, which indicates that the cable is abnormal. The second controller 31 is also configured to stop issuing the operation instruction when the boundary line 231 is in the abnormal state. The first controller 11 controls the mower 10 to stop operating after receiving no operating command within a predetermined interval.
It will be appreciated that in other embodiments, the detection signal generated by the boundary line integrity detection signal generator 32 may be a current signal, a voltage signal, a pulse signal, or the like. In addition, the interval between the detection signals from the boundary line integrity detection signal generator 32 and the operation commands from the second controller 31 may be different, and is not limited herein.
Further, the lawn mower 10 comprises a border radio frequency signal generator 13 connected to the first controller 11 for detecting the border line 231. The boundary rf signal generator 13 is configured to send an rf signal to the cable within a preset distance, and the first controller 11 is configured to control the lawn mower 10 to turn or to turn after moving forward a preset distance when the boundary rf signal generator 13 detects the rf signal output by the boundary line 231 within the preset distance. The preset distance may be a distance value pre-stored in the first controller 11, or a transmission distance of a virtual boundary signal output from the boundary line 231 into the working area 200 or beyond the working area 200 with its center as a center.
Specifically, when the boundary line 231 is in the transmitting state, the first end and the second end of the cable are both connected to the boundary rf signal generator 13, so that the cable and the boundary rf signal generator 13 form a signal transmitting loop. When the boundary line 231 is in the complete state, the first controller 11 determines that the lawn mower 10 reaches the area of the virtual boundary 230 after the boundary rf signal generator 13 receives the rf signal output by the boundary line 231. At this time, the first controller 11 may directly control the lawn mower 10 to change the walking direction, or the first controller 11 may continue to advance a preset distance until the boundary line 231 is really reached and then turn, so as to avoid moving out of the working area.
The above two control modes may be set according to the specific situation of the lawn mower 10 performing the lawn mowing operation, for example, when there is no lawn in the preset distance from the boundary line 231 in the working area 200, the first controller 11 may directly control the lawn mower 10 to change the traveling direction because the lawn mowing operation is not required; in the opposite case, the first controller 11 may continue to advance by the preset distance until the boundary line 231 is really reached or the preset distance is exceeded by the boundary line 231 and then perform steering to return to the working area; and is not limited herein.
Further, the automatic mowing system 100 includes a switch (not shown) for controlling the first end and the second end of the cable to be selectively connected with the boundary line integrity detection signal generator 32 and the boundary line integrity detection signal receiver 33 respectively to form a signal detection loop, or simultaneously connected with the boundary rf signal generator 13 to form a signal transmission loop. The switch may be an analog switch, a relay, etc.
Further, the lawn mower 10 includes a physical boundary signal generator 15 and a physical boundary signal receiver 17 connected to the first controller 11. The physical boundary signal generator 160 and the physical boundary signal receiver 170 are used to sense the physical boundary 210 of the work area 200. When the lawnmower 10 approaches the physical boundary 210, the first controller 11 controls the lawnmower to change the walking direction to return to the work area.
Specifically, the physical boundary signal generator 15 is configured to emit a physical boundary signal, the physical boundary signal is reflected after reaching the physical boundary 210, the physical boundary signal receiver 17 receives the reflected physical boundary signal, and the first controller 11 determines whether the lawn mower 10 is close to the physical boundary 210.
The first controller 11 stores a predetermined distance value. When the calculated distance value between the mower 10 and the physical boundary 210 is greater than the predetermined distance value, the first controller 11 maintains the traveling direction of the mower 10; when the calculated distance value between the lawnmower 10 and the physical boundary 210 is less than or equal to the predetermined distance value, the first controller 11 determines that the lawnmower 10 is close to the physical boundary 210 and controls the lawnmower 10 to turn, so as to prevent the lawnmower 10 from hitting the physical boundary 210 and to allow the lawnmower 10 to always work within the working area 200.
Specifically, the physical boundary signal is an ultrasonic signal, the physical boundary signal generator 15 is an ultrasonic transmitter, the physical boundary signal receiver 17 is an ultrasonic receiver, and the first controller 11 calculates the distance between the lawn mower 10 and the physical boundary 210 according to the time difference between the transmission and reception of the ultrasonic signal.
In one embodiment, the physical boundary signal may also be a laser signal, the physical boundary signal generator 15 is a laser transmitter, the physical boundary signal receiver 17 is a laser receiver, and the first controller 11 calculates the distance between the lawn mower 10 and the physical boundary 210 according to the time difference between the transmission and reception of the laser signal.
In another embodiment, the physical boundary signal may also be a boundary infrared signal, the physical boundary signal generator 15 is a first infrared transmitter, and the physical boundary signal receiver 17 is a first infrared receiver. Since the boundary infrared ray signal is attenuated more during propagation, the first infrared receiver cannot effectively recognize the boundary infrared ray signal when it is far from the physical boundary 210. In addition, the user can set the distance of the first infrared receiver for identifying the boundary infrared signal according to the requirement. If the light intensity of the boundary infrared ray signal is attenuated to a predetermined light intensity value after the boundary infrared ray signal is transmitted and returned a predetermined distance, the first infrared receiver recognizes the boundary infrared ray signal when the light intensity of the boundary infrared ray signal reflected to the first infrared receiver is greater than or equal to the predetermined light intensity value. At this time, the first controller 11 judges that the lawnmower 10 is close to the physical boundary 210 and controls the lawnmower 10 to turn. The physical boundary signal may be a collision signal, etc., which are not limited herein.
Referring to fig. 4, the present invention further relates to a control method of an automatic mowing system, and provides an automatic mowing system 100, wherein the automatic mowing system 100 comprises a mower 10 and a docking station 30 communicatively connected to the mower 10. The control method of the automatic mowing system comprises the following steps of:
step S10: switching the boundary line 231 to the integrity detection state, and the boundary line integrity detection signal generator 32 sending out a detection signal to detect whether the boundary line 231 is in the integrity state; if yes, go to step S20; if not, go to step S30.
Specifically, when the boundary line 231 is in the integrity check state, the first end and the second end of the boundary line 231 (i.e., the cable in the present embodiment) are connected to the boundary line integrity check signal generator 32 and the boundary line integrity check signal receiver 33, respectively, to form a signal detection loop. At this time, the boundary line integrity detection signal generator 32 sends out detection signals to the boundary line 231 at predetermined intervals, and when the boundary line integrity detection signal receiver 33 receives the corresponding detection signals, it indicates that the cable is intact. In this embodiment, the boundary line 231 is a cable for transmitting rf signals, and the boundary line integrity detection signal generator 32 is configured to send rf signals to the rf cable every 5 s. The second controller 31 also issues an operation command every 5 seconds, and the lawnmower 10 operates in the working area 200 after receiving the operation command.
Step S20: when the detection signal transmitted by the boundary line 231 is received and the boundary line 231 is judged to be in the complete state, the second controller 31 sends out an operating instruction, and the first controller 11 receives the operating instruction to control the mower 10 to operate in the operating area 200.
Specifically, when the boundary line integrity detection signal generator 32 sends the detection signal to the boundary line 231 at predetermined intervals and detects that the boundary line 231 is intact, the second controller 31 sends the operation command to the lawn mower 10 at predetermined intervals, and the first operating element 11 controls the lawn mower 10 to operate in the operation area 200 after receiving the operation command and receives the next operation command after the predetermined intervals. In this way, it is ensured that the lawnmower 10 continues to operate in the working area 200 after receiving the operation command from the second controller 31 with the boundary line 231 intact.
Step S30: when the detection signal transmitted from the boundary line 231 is not received and the boundary line 231 is determined to be in the abnormal state, the second controller 31 stops sending the work instruction, and the mower 10 stops working after the work instruction is not received within the predetermined interval time.
Specifically, the second controller 31 cannot issue the work order at the predetermined interval time, and the lawnmower 10 will stop working after the last work order is executed.
Further, in the step S20, the method further includes the steps of:
step S201: the boundary line 231 is switched to the transmitting state, whether the rf signal is received is detected, and the step S211 is performed when the rf signal is received, and the step S201 is performed when the rf signal is not received.
Step S211: the mower 10 is controlled to change the walking direction to avoid walking out of the work area.
Further, in step S20, the lawn mower 10 further includes the following steps when operating in the working area 200:
step S203: it is detected whether a physical boundary signal is received and proceeds to step S213 when a physical boundary signal is received, and proceeds to step S203 when the physical boundary signal is not received. In this embodiment, the physical boundary signal may be one of an ultrasonic signal, a laser signal, an infrared signal, and an impact signal.
Step S213: the mower 10 is controlled to change the walking direction to avoid walking out of the work area. Wherein in the above step S20, step S201 and step S203 may exist simultaneously.
In the automatic mowing system 100 of the present invention, the stop 30 detects the boundary line 231 on the virtual boundary 230, and sends a work instruction to the mower 10 when the boundary line 231 is detected to be in the complete state, and the mower 10 will work in the work area 200 only after receiving the work instruction, and automatically stop when not receiving the work instruction. In this way, when the stop 30 is powered off or the boundary line is abnormal, the lawnmower 10 does not sense the boundary line 231, and thus, the lawnmower 10 moves outside the work area 200 beyond the virtual boundary 230.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (14)
1. An automatic mowing system, characterized in that: the intelligent control system comprises a mower working in a preset working area and a stop station in communication connection with the mower, wherein at least one part of the boundary of the working area is a virtual boundary, and a boundary line is arranged on the virtual boundary and comprises an emission state for transmitting a radio frequency signal and an integrity detection state for transmitting a detection signal;
the stop station is used for sending a working instruction when receiving the detection signal transmitted by the boundary line and judging that the boundary line is in a complete state;
and the stop station is used for stopping sending the working instruction when the detection signal transmitted by the boundary line is not received and the boundary line is judged to be in an abnormal state.
2. The automated mowing system according to claim 1, wherein: the mower comprises a first controller, the stop station comprises a second controller, and a boundary line complete detection signal generator and a boundary line complete detection signal receiver which are connected with the second controller, the boundary line complete detection signal generator is used for generating the detection signal, the boundary line is used for conveying the detection signal in the integrity detection state, and the boundary line complete detection signal receiver is used for receiving the detection signal to judge whether the boundary line is in the integrity state; the second controller is used for sending the working instruction at preset interval time when the boundary line complete detection signal receiver receives the detection signal, and the first controller is used for controlling the mower to work in the working area after receiving the working instruction.
3. The automated mowing system according to claim 2, wherein: the second controller also stops sending the working instruction when the boundary line complete detection signal receiver does not receive the detection signal, and the mower controls the mower to stop working after not receiving the working instruction within a preset interval time.
4. The automated mowing system according to claim 2, wherein: the mower comprises a boundary radio frequency signal generator connected with the first controller, the boundary radio frequency signal generator is used for sending radio frequency signals to the boundary line at preset interval time in the transmitting state, and the first controller is used for controlling the mower to turn or turn after advancing the preset distance when the boundary radio frequency signal generator detects the radio frequency signals output by the boundary line within the preset distance.
5. The automated mowing system according to claim 2, wherein: the boundary line is a cable for transmitting radio frequency signals, when the boundary line is in the integrity detection state, a first end of the cable is connected with the boundary line integrity detection signal generator, and a second end of the cable is connected with the boundary line integrity detection signal receiver to form a signal detection loop.
6. The automated mowing system according to claim 5, wherein: when the boundary line is in the transmitting state, the first end and the second end of the cable are both connected with the boundary radio frequency signal generator to form a signal transmitting loop.
7. The automated mowing system according to claim 6, wherein: the automatic mowing system comprises a change-over switch, wherein the change-over switch is used for controlling the first end and the second end of the cable to be selectively connected with the boundary line complete detection signal generator and the boundary line complete detection signal receiver respectively to form the signal detection loop, or simultaneously connected with the boundary radio frequency signal generator to form the signal emission loop.
8. The automated mowing system according to claim 2, wherein: the boundary of the working area comprises a physical boundary which is arranged around the periphery of the virtual boundary, the mower comprises a physical boundary signal generator and a physical boundary signal receiver which are connected with the first controller, the physical boundary signal generator is used for emitting a physical boundary signal, the physical boundary receiver judges whether a physical boundary exists according to the reflected physical boundary signal, and the first controller is used for controlling the mower to change the walking direction when the mower approaches the physical boundary.
9. The automated mowing system according to claim 8, wherein: the first controller stores a preset distance value, and when the calculated distance value between the mower and the physical boundary is larger than the preset distance value, the first controller keeps the walking direction of the mower; and when the calculated distance value between the mower and the physical boundary is smaller than or equal to the preset distance value, the first controller judges that the mower is close to the physical boundary and controls the mower to turn.
10. The automated mowing system according to claim 8, wherein: the physical boundary signal is an ultrasonic/infrared/laser/collision signal.
11. The automated mowing system according to claim 8, wherein: the physical boundary is a fence, enclosure, or wall of a house.
12. The automated mowing system according to claim 1, wherein: the docking station is a charging station that provides energy to the lawn mower.
13. A control method of an automatic mowing system is characterized in that: the automatic mowing system comprises a mower and a docking station in communication connection with the mower; wherein the control method of the automatic mowing system comprises the following steps:
switching the boundary line to an integrity detection state, and sending a detection signal to detect whether the boundary line is in the integrity state;
when a detection signal transmitted by the boundary line is received and the boundary line is judged to be in a complete state, a working instruction is sent out;
switching the boundary line to a transmitting state, and detecting whether a radio frequency signal is received; when the radio frequency signal is received, controlling the mower to change the walking direction;
and when the detection signal transmitted by the boundary line is not received and the boundary line is judged to be in an abnormal state, the work instruction is stopped, and the mower stops working after not receiving the work instruction within the preset interval time.
14. The control method of an automated mowing system according to claim 13, characterized in that: when the mower is operating in a work area, further comprising the steps of:
detecting whether a physical boundary signal is received;
controlling the mower to change the walking direction to avoid walking out of the working area when the physical boundary signal is received; wherein the physical boundary signal is one of an ultrasonic signal, a laser signal, a boundary infrared signal and an impact signal.
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| KR102292263B1 (en) * | 2018-08-03 | 2021-08-24 | 엘지전자 주식회사 | Moving robot, system of moving robot and method for moving to charging station of moving robot |
| KR102242713B1 (en) | 2018-08-03 | 2021-04-22 | 엘지전자 주식회사 | Moving robot and contorlling method and a terminal |
| CN111198557B (en) * | 2018-10-31 | 2022-03-18 | 苏州科瓴精密机械科技有限公司 | Control method and control system for walking robot |
| SE542915C2 (en) * | 2019-01-08 | 2020-09-15 | Husqvarna Ab | A robotic lawnmover, and methods of navigating and defining a work area for the same |
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