CN108605516B - Intelligent mower capable of mowing in different zones and zone control method thereof - Google Patents
Intelligent mower capable of mowing in different zones and zone control method thereof Download PDFInfo
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- CN108605516B CN108605516B CN201810445383.1A CN201810445383A CN108605516B CN 108605516 B CN108605516 B CN 108605516B CN 201810445383 A CN201810445383 A CN 201810445383A CN 108605516 B CN108605516 B CN 108605516B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D75/00—Accessories for harvesters or mowers
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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Abstract
The invention relates to an intelligent mower capable of mowing in a subarea and a subarea control method thereof. The intelligent mower comprises a main machine and a shell covering the main machine, wherein a mark setting key and a wireless distance measuring unit are arranged on the main machine, a coded disc is installed on a driving wheel of the main machine, and the mark setting key, the coded disc and the wireless distance measuring unit are respectively connected with a main control circuit in the main machine. A plurality of mark points on the boundary line of the mowing area are set in advance through a mark setting key; when mowing starts, the mower starts from the charging seat and rides a line along the boundary line of a certain mowing area, when the track distance measured by the code disc and the straight line distance measured by the wireless distance measuring unit respectively accord with the recorded values of the mark points of the area, the mower leaves the boundary line and enters the area to mow, and returns to the charging seat after completing the mowing to continuously search the next area. The invention can memorize and identify a plurality of working areas, automatically complete the multi-area mowing task, does not need to manually move the mower to the required working area, and is time-saving and labor-saving.
Description
Technical Field
The invention relates to a full-automatic intelligent mower, in particular to an intelligent mower capable of mowing in a subarea and a subarea control method thereof.
Background
The intelligent mower can automatically finish the work of trimming the lawn without manual direct control and operation. The intelligent electric mower generally comprises a walking driving module and a cutting driving module, can automatically walk in a set electronic fence and finish a mowing task, has an anti-collision function, and can automatically return to charge. Is suitable for lawn trimming and maintenance in courtyards, public greenbelts and other places. However, the current intelligent lawn mowers can only automatically complete lawn trimming tasks in one working area, and the situation that a plurality of greening areas exist in a courtyard is ubiquitous, so that the intelligent lawn mowers are required to be moved to the next required working area through manpower at present, or the multi-area lawn mowing operation can be completed by using a plurality of intelligent lawn mowers, so that the intelligent lawn mowers are very inconvenient to use, time and labor are wasted, and the cost is increased.
Disclosure of Invention
The invention aims to solve the technical problems and provides an intelligent mower capable of mowing in different zones and a zone control method thereof.
Another objective of the present invention is to provide an intelligent lawn mower capable of mowing in different zones, which has an accurate collision detection mechanism, so that the lawn mower can sense obstacles in 360 ° horizontal direction, and greatly improve the accuracy of detecting the direction of collision, so that the lawn mower can achieve a good obstacle avoidance effect, and successfully and efficiently complete a mowing task.
The technical problem of the invention is mainly solved by the following technical scheme: the intelligent lawn mower capable of mowing in a subarea comprises a host and a shell covering the host, wherein a main control circuit is arranged in the host, a mark setting key and a wireless distance measuring unit capable of measuring the linear distance between the lawn mower and a charging seat are arranged on the host, a coded disc is arranged on one driving wheel of the host, and the mark setting key, the coded disc and the wireless distance measuring unit are respectively connected with the main control circuit. The coded disc is arranged on a wheel shaft of the driving wheel, the rotation angle of the driving wheel is measured through the grating, and the walking distance of the riding line walking of the mower from the charging seat to the area mark point can be calculated by integrating the perimeter of the driving wheel. The wireless distance measuring unit is matched with the charging seat for use, and the signal round-trip time is measured through wireless communication, so that the linear distance between the mower and the charging seat is calculated. The mark setting button is used for setting mark points of the mower on the boundary lines of the n mowing areas in advance, and the main control circuit records the track distance of the mower on the mark points of the n mowing areas and the linear distance between the mower and the charging seat. The boundary line is a full-length line, and two ends of the full-length line start from the charging seat to frame each area. The method comprises the following steps that a mowing task starts from a charging seat, the mowing machine rides along a boundary line of a certain mowing area to run, a code disc records track distance of the mowing machine running on the boundary line of the area from the charging seat in real time, a wireless distance measuring unit measures linear distance between the mowing machine and the charging seat in real time and transmits the linear distance to a main control circuit, the main control circuit analyzes and calculates the track distance, the code disc track distance and the linear distance between the mowing machine and the charging seat are respectively identical to values recorded at mark points of the area in the actual running process, the situation that the mowing machine reaches the mark points of the area is indicated, the main control circuit sends a signal to control the mowing machine to leave the boundary line to enter the area to mow, and the mowing machine returns to the charging seat after the mowing machine finishes. Then, the lawn mower continues to finish the task of mowing the next working area in the same way. The invention can memorize a plurality of working areas, automatically complete the multi-area mowing task, does not need to manually move the mower to the required working area, is convenient to use, saves time and labor and reduces the cost.
Preferably, the wireless ranging unit is an ultra-wideband ranging unit, an infrared ranging unit, an ultrasonic ranging unit or a bluetooth ranging unit. The wireless distance measuring unit is matched with the charging seat for use, and the distance between the mower and the charging seat can be measured wirelessly.
Preferably, the main control circuit comprises a central processing unit, a display screen, a boundary sensing unit, a wheel driving unit and a cutting driving unit, and the mark setting key, the code disc, the wireless distance measuring unit, the display screen, the boundary sensing unit, the wheel driving unit and the cutting driving unit are respectively connected with the central processing unit. The central processing unit is a control core and controls the steering and rotating speed of the wheels of the mower through the wheel driving unit so as to realize the automatic running of the mower. The cutting driving unit finishes cutting and trimming the lawn. The boundary induction unit is used for inducing a boundary line of a mowing area arranged on the charging seat, and is also called an electronic fence. The boundary induction unit comprises two groups of inductors which are symmetrically arranged at the left side and the right side of a central axis by taking the advancing direction of the mower as the central axis. When the mower works in the mowing area, if the mower travels to the vicinity of the boundary, the boundary line signal is inducted by the inductor, and then the mower executes a backward steering command. When the mower runs on the boundary line, the mower needs to run by riding the line when starting from a charging seat to a working area or returning to charge after mowing, and signals sensed by the left inductor and the right inductor need to be compared. If the signals on the two sides are consistent, the riding line of the mower is considered to be running in the middle and normal; otherwise, the wheel driving unit is controlled to correct the deviation of the riding line driving.
Preferably, a circuit board is installed in the host, more than four Hall sensors are installed on the circuit board, the Hall sensors are arranged in a circle at equal intervals, the Hall sensors are connected with a main control circuit in the host, a magnetic block is installed on the back of the shell and located above the center of the circle formed by the Hall sensors, and the shell is connected with the host through an elastic piece. When the Hall sensor works normally, all the Hall sensors are electrified with the same current, and the distances between the Hall sensors and the magnetic blocks are equal, so that the voltages output by the Hall sensors are also the same, and the four sensing signals received by the main control circuit are equal. When the mower collides when encountering an obstacle during walking or mowing, the housing is connected with the main machine through the elastic piece, so that the housing can generate certain displacement after being collided, the distance between the magnetic block and the Hall sensor can be changed, the Hall sensor is different in size when being induced by the magnetic field of the magnetic block, the voltage output by the Hall sensor is also changed, the main control circuit can accurately judge which direction the collided obstacle is positioned in the mower through analysis and calculation according to the change, and then signals are sent out to drive the wheels, so that the mower can accurately avoid the obstacle. Because the shell is covered on the main machine in a suspension manner, the shell can be displaced no matter which direction is collided, and the collision detection of 360 degrees in the horizontal direction of the mower without dead angles is realized. The number of the Hall sensors is at least four, and can be 6 or 8 or even more according to the requirement. The more hall sensors are provided, the more accurate the collision detection. The invention has simple structure and convenient realization, leads the mower to sense the obstacle in 360 degrees in the horizontal direction, and greatly improves the accuracy of the direction detection when collision occurs, thus leading the mower to achieve good obstacle avoidance effect and smoothly and efficiently finish the mowing task.
Preferably, the elastic part is a spring, the left side and the right side of the main machine are respectively provided with two mounting lugs which are distributed front and back, the spring is mounted in the mounting lugs, one end of the spring is connected with the mounting lugs, and the other end of the spring is connected with the back of the shell. The shell can be firmly connected with the host, and can be covered on the host in a suspension manner, so that displacement can be generated after collision occurs, and the accuracy and reliability of collision detection are improved.
Preferably, the back of the shell is provided with a mounting column which extends downwards, and the magnetic block is embedded in the mounting column. The magnetic block is convenient and firm to mount, has a distance from the Hall sensor in the vertical direction, is very close to the Hall sensor, and improves the sensing accuracy.
Preferably, the top surface of the shell is embedded with an upper cover, the mark setting key and the display screen are arranged on the upper cover, the upper cover is hinged with a turnover cover, and the display screen is positioned below the turnover cover. The mark setting button is also an emergency stop button, when the mower works abnormally, a worker presses the emergency stop button to immediately stop the mower, and corresponding treatment is conveniently and timely carried out.
The zone control method of the intelligent mower capable of zone mowing comprises the following steps: the mark points of the mower on the boundary lines of the n mowing areas are set in advance through the mark setting keys, and the main control circuit acquires the track distance Xn of the mower at the mark points of the n mowing areas and the linear distance Yn between the mower and the charging seat; the method comprises the following steps that a mowing task starts, the mower starts from a charging seat and runs along a boundary line of a first mowing area in a riding mode, a code disc records a track distance X ' of the mower starting from the charging seat and running on the boundary line in real time, a wireless distance measuring unit measures a linear distance Y ' between the mower and the charging seat in real time and transmits the linear distance Y ' to a main control circuit, the main control circuit analyzes and calculates the linear distance X ' and the linear distance Y ' to the charging seat, when X ' = X1 and Y ' = Y1 indicate that the mower reaches a mark point of the first mowing area, the main control circuit sends a signal to control the mower to leave the boundary line to enter the first mowing area to mow, and the mower returns to the charging seat after the mowing task is completed; then, the mower starts from the charging seat and travels along the boundary line of the second mowing area by riding a line, when X '= X2 and Y' = Y2 indicate that the mower reaches the mark point of the second mowing area, the main control circuit sends a signal to control the mower to leave the boundary line to enter the second mowing area for mowing, and after the mowing is finished, the mower returns to the charging seat; by analogy, the mower automatically finishes the mowing tasks of the n mowing areas. The boundary line is a full-length line, and two ends of the full-length line start from the charging seat to frame each area. In actual use, because the code disc and the wireless distance measuring unit have measurement errors, errors exist between the track distance x 'and the straight line distance y' of the mower and the track distance Xn and the straight line distance Yn of the marking point when the mower is judged to reach the marking point. If x 'is allowed to be +/-3% of Xn and y' is allowed to be +/-0.2% of Yn, the mower can be judged to reach the mark point of the nth mowing area. The allowable error will vary depending on the distance measuring equipment used, and is obtained by actual measurement. The invention can memorize a plurality of working areas, automatically complete the multi-area mowing task, does not need to manually move the mower to the required working area, is convenient to use, saves time and labor and reduces the cost.
Preferably, the mowing task can be continuously performed between the nth mowing area and the (n + 1) th mowing area or the mowing task can be performed in the (n + 1) th mowing area after the mowing task in the nth mowing area is completed for a while, as required. The use is flexible and convenient.
Preferably, the mower can be used for selectively performing mowing tasks of one or more mowing areas in the n mowing areas according to requirements. The use is flexible and convenient, and different requirements of users are met.
The invention has the beneficial effects that: through setting up code wheel and wireless range unit, can remember and discern a plurality of work areas, accomplish the task of mowing in multizone automatically, need not the manual work and remove lawn mower to required operation area, convenient to use, labour saving and time saving also reduces the cost. Through setting up four hall sensor more than for 360 homoenergetic of lawn mower horizontal direction sense the barrier, improve the accuracy nature that the collision took place the position and detect greatly, thereby enable the lawn mower to reach fine obstacle avoidance effect, accomplish the task of mowing smoothly, high-efficiently.
Drawings
Fig. 1 is a block diagram of a circuit principle connection structure of a main control circuit in the present invention.
Fig. 2 is a schematic view of a partitioned structure of the present invention for cutting grass in two grass cutting areas.
Fig. 3 is a schematic perspective exploded view of the present invention.
Fig. 4 is a partial sectional structural schematic of the present invention.
FIG. 5 is a schematic diagram of a top view of the Hall sensor and magnetic blocks in the present invention.
In the figure, 1, a main machine, 2, a shell, 3, a circuit board, 4, a Hall sensor, 5, a mounting post, 6, a magnetic block, 7, a spring, 8, a mounting ear, 9, an upper cover, 10, a mark setting button, 11, a display screen, 12, a flip cover, 13, a front cover, 14, a signal processing unit, 15, a central processing unit, 16, a wheel driving unit, 17, a cutting driving unit, 18, a boundary sensing unit, 19, a code disc, 20, a wireless distance measuring unit, 21, a mower, 22, a charging seat, 23, a first mowing area, 24, a mark point of the first mowing area, 25, a second mowing area and 26, a mark point of the second mowing area are arranged.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.
Example (b): the intelligent mower capable of mowing in a subarea manner of the embodiment comprises a host 1 and a shell 2 covering the host, a circuit board 3 horizontally arranged is installed in the host, four Hall sensors 4 are installed on the back surface of the circuit board, the four Hall sensors are enclosed into a circle and uniformly distributed along the circumferential direction, the four Hall sensors are respectively connected with a main control circuit in the host, a mounting column 5 extending downwards is arranged on the back surface of the shell, a magnetic block 6 is embedded in the mounting column and is located at the lower end of the mounting column, and the magnetic block is located above the center of the circle enclosed by the four Hall sensors. The magnetic block and the Hall sensors are in different horizontal positions, the magnetic block and the Hall sensors are spaced in the vertical direction, and the distances from the four Hall sensors to the magnetic block are equal. The shell is connected with the host through the elastic piece, namely the shell is not fixedly arranged on the host, and the shell can displace in the horizontal direction when being subjected to external force. In this embodiment, the elastic component adopts spring 7, and the left side of host computer, right side respectively have two installation ears 8 that distribute around, install the spring in the installation ear, and the one end and the installation ear of spring link to each other, and the other end and the back of shell of spring link to each other. A wireless distance measuring unit 20, such as an infrared distance measuring unit, capable of measuring the linear distance between the mower and the charging seat is installed in the main machine, and a coded disc 19 is installed on a wheel shaft of one of driving wheels of the main machine. The top surface of the shell is embedded with an upper cover 9, the upper cover is provided with a mark setting key 10 which is also used as an emergency stop button and a display screen 11, the upper cover is also hinged with a flip cover 12, and the display screen is positioned below the flip cover. A front cover 13 is also attached to the front of the housing. As shown in fig. 1, the main control circuit includes a display screen 11, a boundary sensing unit 18, a signal processing unit 14, a central processing unit 15, a wheel driving unit 16 and a cutting driving unit 17, four hall sensors 4 are respectively connected with the central processing unit 15 through the signal processing unit 14, and a mark setting key 10, a code disc 19, a wireless distance measuring unit 20, the display screen 11, the boundary sensing unit 18, the wheel driving unit 16 and the cutting driving unit 17 are respectively connected with the central processing unit 15.
The coded disc is arranged on a wheel shaft of the driving wheel, the rotation angle of the driving wheel is measured through the grating, and the walking distance of the riding line walking of the mower from the charging seat to the area mark point can be calculated by integrating the perimeter of the driving wheel. The wireless distance measuring unit is matched with the charging seat for use, and the signal round-trip time is measured through wireless communication, so that the linear distance between the mower and the charging seat is calculated. The mark setting button is used for setting mark points of the mower on the boundary lines of the n mowing areas in advance, and the main control circuit records the track distance of the mower on the mark points of the n mowing areas and the linear distance between the mower and the charging seat. The mower runs by riding a wire from the charging seat, whether the mower reaches the mark point is judged through real-time test data of the code disc and the wireless distance measuring unit, if the mower reaches the mark point, the mower leaves the boundary line to enter a working area to mow, after the mowing task is completed, the mower returns to the charging seat, continues to search the mark point of the next working area, and finishes the mowing task of the next working area.
When the four Hall sensors work normally, the four Hall sensors are electrified with the same current, and the distances between the four Hall sensors and the magnetic blocks are equal, so that the voltages output by the four Hall sensors are also the same, and the four sensing signals received by the central processing unit are equal. When the mower encounters an obstacle and collides in the walking or mowing process, the shell is connected with the main machine through the spring, so that the shell can displace to a certain extent after being collided, the distances between the magnetic block and the four Hall sensors can be changed at the moment, the four distances are not equal any more, the magnetic field induction sizes of the four Hall sensors on the magnetic block are different, the voltages output by the four Hall sensors are also changed, the central processing unit can accurately judge which direction the collided obstacle is located in the mower according to the changes through analysis and calculation, and then signals are sent to the wheel driving unit, so that the mower can accurately avoid the obstacle.
Of course, two magnetic blocks and eight hall sensors can be arranged to form two sets of collision detection mechanisms as required. The magnetic block and the four Hall sensors form a group of collision detection mechanism which is positioned at the front part of the mower; and the other group of collision detection mechanisms are formed by a magnetic block and four Hall sensors and are positioned at the rear part of the mower. Eight Hall sensors are installed on the back of the same circuit board. And two groups of collision detection mechanisms are adopted, so that the accuracy of sensing collision and detecting the collision direction is further improved. The two groups of collision detection mechanisms are distributed front and back, so that the front collision and the rear collision can be more accurately sensed, the collision direction can be more accurately judged, and the mower can more accurately avoid the obstacles.
The zone control method of the intelligent mower capable of zone mowing comprises the following steps: the mark points of the mower on the boundary lines of the n mowing areas are set in advance through the mark setting key, the main control circuit obtains the track distance Xn of the mower on the mark points of the n mowing areas and the linear distance Yn between the mower and the charging seat, as shown in fig. 2, the track distance X1 from the mark point 24 of the first mowing area to the charging seat is shown in a thick line, and the linear distance Y1 between the mark point 24 of the first mowing area and the charging seat is shown in a dotted line; starting a mowing task, starting the mower 21 from a charging seat 22, firstly driving along a boundary line of a first mowing area 23 by riding a line, recording a track distance X ' of the mower starting from the charging seat on the boundary line in real time by a code disc, measuring a linear distance Y ' between the mower and the charging seat in real time by a wireless distance measuring unit, transmitting the linear distance Y ' to a central processing unit, analyzing and calculating by the central processing unit, when X ' = X1 and Y ' = Y1 show that the mower reaches a mark point 24 of the first mowing area, sending a signal by the central processing unit to control the mower to leave the boundary line to enter the first mowing area for mowing, and returning the mower to the charging seat after finishing mowing; then, the mower starts from the charging seat and travels along the boundary line of the second mowing area 25 in a line-riding manner, when X '= X2 and Y' = Y2 indicate that the mower reaches the marking point 26 of the second mowing area, the central processing unit sends a signal to control the mower to leave the boundary line to enter the second mowing area for mowing, and after the mowing is finished, the mower returns to the charging seat; by analogy, the mower automatically finishes the mowing tasks of the n mowing areas.
According to the requirement, the mowing task can be continuously performed between the nth mowing area and the (n + 1) th mowing area, and the mowing task of the (n + 1) th mowing area can also be performed at intervals after the mowing task of the nth mowing area is completed. Such as by setting the mower to perform a customized work plan: work 1 hour earlier 8:00 to the first mowing area, 2 pm: 00 to the second mowing area for 1 hour. Then, the 8: 00-earlier mower starts from riding the line on the charging seat, enters the first mowing area for offline operation for 1 hour when driving to the mark point 24 of the first mowing area, searches for a boundary line, and rides the line to return to the charging seat. And after waiting for 2:00 pm and then driving from the charging seat to the mark point 26 of the second mowing area, entering the second mowing area for offline operation for 1 hour, searching for the boundary line, and returning to the charging seat.
The lawn mower can selectively perform the grass cutting tasks of one or more grass cutting areas in the n grass cutting areas according to the setting requirement.
Claims (7)
1. An intelligent mower capable of mowing in a subarea manner comprises a main machine and a shell covering the main machine, wherein a main control circuit is arranged in the main machine, and the intelligent mower is characterized in that a mark setting button and a wireless distance measuring unit capable of measuring the linear distance between the mower and a charging seat are arranged on the main machine, a coded disc is arranged on one driving wheel of the main machine, the mark setting button, the coded disc and the wireless distance measuring unit are respectively connected with the main control circuit, a circuit board which is horizontally arranged is arranged in the main machine, more than four Hall sensors are arranged on the circuit board, the Hall sensors surround a circle and are distributed at equal intervals, the Hall sensors are connected with the main control circuit, a magnetic block is arranged on the back surface of the shell and is positioned above the center of the circle surrounded by the Hall sensors, and the shell is connected with the main machine through an elastic piece, the elastic part be the spring, the left side of host computer, the right side respectively be equipped with two installation ears that distribute around, install the spring in the installation ear, the one end and the installation ear of spring link to each other, the other end of spring and the back of shell link to each other, the back of shell be equipped with one installation post that stretches out downwards, the magnetic path inlay and be equipped with the installation post in.
2. The intelligent lawn mower capable of mowing zones according to claim 1, wherein the wireless ranging unit is an ultra-wideband ranging unit, an infrared ranging unit, an ultrasonic ranging unit or a Bluetooth ranging unit.
3. The intelligent lawn mower capable of mowing in different areas according to claim 1 or 2, wherein the main control circuit comprises a central processing unit, a display screen, a boundary sensing unit, a wheel driving unit and a cutting driving unit, and the mark setting button, the code disc, the wireless distance measuring unit, the display screen, the boundary sensing unit, the wheel driving unit and the cutting driving unit are respectively connected with the central processing unit.
4. An intelligent lawn mower capable of mowing in different areas according to claim 3, wherein an upper cover is embedded on the top surface of the housing, the mark setting keys and the display screen are mounted on the upper cover, a flip cover is hinged to the upper cover, and the display screen is located below the flip cover.
5. The zone control method of an intelligent lawn mower capable of mowing zones according to claim 1, wherein the mark points of the lawn mower on the boundary line of n mowing zones are set in advance through the mark setting keys, and the main control circuit acquires the track distance Xn of the lawn mower on the mark points of the n mowing zones and the linear distance Yn between the lawn mower and the charging seat; the method comprises the following steps that a mowing task starts, the mower starts from a charging seat and runs along a boundary line of a first mowing area in a riding mode, a code disc records a track distance X ' of the mower starting from the charging seat and running on the boundary line in real time, a wireless distance measuring unit measures a linear distance Y ' between the mower and the charging seat in real time and transmits the linear distance Y ' to a main control circuit, the main control circuit analyzes and calculates the linear distance X ' and the linear distance Y ' to the charging seat, when X ' = X1 and Y ' = Y1 indicate that the mower reaches a mark point of the first mowing area, the main control circuit sends a signal to control the mower to leave the boundary line to enter the first mowing area to mow, and the mower returns to the charging seat after the mowing task is completed; then, the mower starts from the charging seat and travels along the boundary line of the second mowing area by riding a line, when X '= X2 and Y' = Y2 indicate that the mower reaches the mark point of the second mowing area, the main control circuit sends a signal to control the mower to leave the boundary line to enter the second mowing area for mowing, and after the mowing is finished, the mower returns to the charging seat; by analogy, the mower automatically finishes the mowing tasks of the n mowing areas.
6. The zone control method of an intelligent lawn mower capable of zone mowing according to claim 5, wherein the mowing task of the nth mowing zone and the mowing task of the (n + 1) th mowing zone can be continuously performed or the mowing task of the (n + 1) th mowing zone can be performed after a certain time interval after the mowing task of the nth mowing zone is completed, by setting as required.
7. The zone control method of a zone-based intelligent lawn mower according to claim 5 or 6, wherein the setting is performed according to the requirement, so that the lawn mower can selectively perform the lawn mowing task of one or more of the n lawn mowing areas.
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| WO2020088460A1 (en) * | 2018-10-31 | 2020-05-07 | 苏州科瓴精密机械科技有限公司 | Walking robot control method and system |
| CN110058563B (en) * | 2019-01-18 | 2020-05-05 | 丰疆智能科技研究院(常州)有限公司 | Operation monitoring system and monitoring method thereof |
| CN114912893B (en) * | 2022-05-12 | 2023-04-28 | 上海丰麓园林绿化建设有限公司 | Afforestation management method, system, storage medium and intelligent terminal |
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| CN106535614A (en) * | 2014-12-22 | 2017-03-22 | 美国iRobot公司 | Robotic mowing of separated lawn areas |
| CN105875063A (en) * | 2015-02-17 | 2016-08-24 | 苏州宝时得电动工具有限公司 | Grass cutter |
| CN205431101U (en) * | 2015-12-22 | 2016-08-10 | 苏州宝时得电动工具有限公司 | External force detection device and install this external force detection device's intelligent lawn mower |
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