CN110764495A - Mower and control method thereof - Google Patents
Mower and control method thereof Download PDFInfo
- Publication number
- CN110764495A CN110764495A CN201810744548.5A CN201810744548A CN110764495A CN 110764495 A CN110764495 A CN 110764495A CN 201810744548 A CN201810744548 A CN 201810744548A CN 110764495 A CN110764495 A CN 110764495A
- Authority
- CN
- China
- Prior art keywords
- boundary
- mower
- signal
- lawn
- lawnmower
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 41
- 244000025254 Cannabis sativa Species 0.000 claims description 37
- 230000011664 signaling Effects 0.000 claims description 3
- 239000004744 fabric Substances 0.000 abstract description 7
- 239000000523 sample Substances 0.000 description 6
- 230000003993 interaction Effects 0.000 description 5
- 239000011449 brick Substances 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 241001494496 Leersia Species 0.000 description 2
- 239000003990 capacitor Substances 0.000 description 2
- 238000009966 trimming Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Harvester Elements (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to a mower and a control method thereof, wherein the control method of the mower comprises the following steps: acquiring a first boundary signal, wherein the first boundary signal is a magnetic field signal generated by a boundary line; acquiring a second boundary signal, wherein the second boundary signal is a signal which indicates that grassland or non-grassland is below the mower or in front of the moving direction and is detected by a grassland sensor; determining a positional relationship of the mower to a boundary of a work area according to the first boundary signal or the second boundary signal; and controlling the mower to move according to the position relation between the mower and the boundary of the working area. The control method of the mower acquires the lawn boundary signals in various ways, and is more convenient and wider in application environment compared with a method in the prior art that the boundary lines can only be defined by cloth boundary lines.
Description
Technical Field
The invention relates to the field of automatic control, in particular to a mower and a control method thereof.
Background
The intelligent lawn mower can automatically finish the lawn trimming work without manual direct control and operation, greatly reduces manual operation, and is a tool suitable for lawn trimming and maintenance in places such as family courtyards and public greenbelts.
Conventional intelligent lawn mowers typically employ a boundary line setting approach to define the working area of the lawn mower. During the operation of the mower, the set boundary line is automatically identified, so that the mower can work in the boundary line.
The applicant found in the course of implementing the conventional technique that: when the traditional intelligent mower works, the cloth boundary line is complex.
Disclosure of Invention
In view of the above, it is necessary to provide a lawn mower and a control method thereof.
A control method of a lawn mower, comprising the steps of: acquiring a first boundary signal, wherein the first boundary signal is a magnetic field signal generated by a boundary line; acquiring a second boundary signal, wherein the second boundary signal is a signal which indicates that grassland or non-grassland is below the mower or in front of the moving direction and is detected by a grassland sensor; determining a positional relationship of the mower to a boundary of a work area according to the first boundary signal or the second boundary signal; and controlling the mower to move according to the position relation between the mower and the boundary of the working area.
According to the control method of the mower, the boundary signals of the lawn are acquired in two modes, the position relation between the mower and the boundary of the working area is determined according to any one boundary signal, and therefore the mower is controlled to move according to the position relation. The control method of the mower acquires the lawn boundary signals in various ways, and is more convenient and wider in application environment compared with a method in the prior art that the boundary lines can only be defined by cloth boundary lines.
In one embodiment, the method for controlling a lawn mower, before acquiring the magnetic field signal of the boundary line disposed at the lawn boundary, further includes: setting a lawn boundary line at the lawn boundary; and introducing current into the lawn boundary line to generate a magnetic field.
In one embodiment, the method for controlling the lawn mower, which determines the position relation of the lawn mower and the boundary of the working area according to the first boundary signal or the second boundary signal, comprises the following steps: when a first boundary signal is acquired, determining the position relation of the mower and the boundary of the working area according to the first boundary signal; and when the first boundary signal is not acquired, acquiring the position relation of the boundary of the mower and the working area according to the second boundary signal.
The control method of the mower in the above embodiment may determine the position relationship between the mower and the boundary of the working area by acquiring the magnetic field information of the boundary line, and may also determine the position relationship between the mower and the working area by using a signal indicating that grass or non-grass is under the mower or in front of the moving direction, which is detected by the grass sensor.
In one embodiment, the control method of the lawn mower, the positional relationship of the lawn mower to the boundary of the work area includes: the robotic lawnmower is located within a boundary of the work area, or at least a portion of the robotic lawnmower is located outside the boundary of the work area.
In one embodiment, the control method of the lawn mower, which controls movement of the lawn mower according to a positional relationship of the lawn mower to a boundary of the work area, includes: controlling the mower to move forward when the mower is located within the boundary of the work area; when at least part of the mower is positioned outside the boundary of the working area, the mower is controlled to turn or retreat so as to enter the boundary of the working area.
According to the control method of the mower, when the mower is located outside the boundary of the working area, the mower is controlled to turn or reverse, and the mower can be ensured to work in the working area.
An robotic lawnmower configured to travel and work within a work area defined at least in part by a boundary line, comprising: the device comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring a first boundary signal, and the first boundary signal is a magnetic field signal generated by a boundary line; the second acquisition module is used for acquiring a second boundary signal; the second acquisition module comprises a lawn sensor, and the second boundary signal is a signal which is detected by the lawn sensor and indicates that lawn or non-lawn is below the mower or in front of the moving direction; and the control module is used for determining the position relation of the automatic mower and the boundary of the working area according to the first boundary signal or the second boundary signal and controlling the movement of the automatic mower according to the position relation of the automatic mower and the boundary of the working area.
The automatic mower is provided with a first acquisition module for acquiring a first boundary signal of a magnetic field signal generated by the boundary line, a second acquisition module for detecting a current signal, and a control module for controlling the mower. The automatic mower can obtain the lawn boundary signal through any one of the first acquisition module and the second acquisition module, so that the position relation of the boundary of the automatic mower and the working area is determined, the problem that the traditional mower completely depends on the cloth boundary line to determine the position relation of the boundary of the mower and the working area is solved, and the application environment is wider.
In one embodiment, the control module of the robotic lawnmower is configured to: when the first obtaining module obtains the first boundary signal, the position relation of the boundary of the automatic mower and the working area is judged according to the first boundary signal; and when the first acquiring module does not acquire the first boundary signal, judging the position relation between the automatic mower and the boundary of the working area according to the second boundary signal acquired by the second acquiring module.
In one embodiment, the positional relationship of the robotic lawnmower to the boundary of the work area comprises: the robotic lawnmower is located within a boundary of the work area, or at least partially outside the boundary of the work area.
In one embodiment, when the control module determines that the robotic lawnmower is at least partially outside the boundary of the work area, the robotic lawnmower is controlled to turn or move backwards to drive away from the boundary.
In one embodiment, the first acquisition module of the robotic lawnmower includes a boundary line identification sensor to acquire a magnetic field signal of a boundary line disposed at the lawn boundary.
In one embodiment, the grass sensor of the robotic lawnmower generates a current signal based on the contact environment such that the control module determines from the current signal whether grass or non-grass is present beneath or in front of the mower in the direction of movement.
Drawings
FIG. 1 is a schematic diagram of functional modules of a lawn mower according to an embodiment of the present disclosure.
FIG. 2 is a schematic cross-sectional view of a lawn mower according to an embodiment of the present application.
Fig. 3 is a schematic view of functional modules of a lawn mower according to another embodiment of the present disclosure.
Fig. 4 is a schematic view of functional modules of a lawn mower according to another embodiment of the present application.
FIG. 5 is a schematic view of a mowing system according to an embodiment of the present application.
FIG. 6 is a flow chart illustrating a mower control method according to an embodiment of the present application.
FIG. 7 is a schematic view of a lawn mower operating environment according to an embodiment of the present disclosure.
FIG. 8 is a schematic view of another exemplary embodiment of a lawnmower of the present application.
Wherein the meanings represented by the reference numerals are as follows:
100. a mower;
110. a first acquisition module;
120. a second acquisition module;
130. a control module;
140. a human-computer interaction module;
150. a timing module;
210. a boundary line;
220. a power source;
300. lawn;
310. a boundary brick.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
The application provides an automatic mower, a control method thereof and a mowing system.
An automatic lawn mower 100, as shown in fig. 1, includes a first obtaining module 110, a second obtaining module 120 and a control module 130.
Specifically, the first obtaining module 110 is disposed on the robotic lawnmower 100 and configured to obtain a boundary signal of the lawn. The first obtaining module 110 may obtain the boundary signal by obtaining a magnetic field signal generated by a lawn boundary line. To distinguish this boundary signal from the boundary signal described below, this boundary signal is named the first boundary signal.
The second obtaining module 120 is disposed on the robotic lawnmower 100 and is configured to detect a boundary signal of the lawn. The second acquisition module 120 may be a grass sensor, such that the boundary signal of the lawn is derived from the current signal detected by the grass sensor. The boundary signal may be a signal detected by a grass sensor indicating that grass is likely to be non-grass below the mower or ahead in the direction of travel. To distinguish this boundary signal from the first boundary signal described above, this boundary signal is named the second boundary signal.
The control module 130 is disposed in the robotic lawnmower 100, and is configured to determine a positional relationship between the robotic lawnmower 100 and a boundary of the work area according to any one of the first boundary signal or the second boundary signal, and control movement of the robotic lawnmower 100 according to the positional relationship between the robotic lawnmower 100 and the boundary of the work area.
The robotic lawnmower 100 is provided with a first acquisition module 110 for acquiring a first boundary signal of a magnetic field signal generated by the boundary line, a second acquisition module 120 for detecting a current signal, and a control module 130 for controlling the robotic lawnmower 100. The automatic mower 100 can obtain the lawn boundary signal through any one of the first acquisition module 110 or the second acquisition module 120, so as to determine the position relationship between the automatic mower 100 and the boundary of the working area, thereby solving the problem that the conventional automatic mower completely depends on the cloth boundary line to determine the position relationship between the automatic mower 100 and the boundary of the working area, and having wider application environment.
In one embodiment, the control module of the robotic lawnmower is configured to: when the first obtaining module obtains the first boundary signal, the control module judges the position relation of the boundary of the automatic mower and the working area according to the first boundary signal obtained by the obtaining module. When the first obtaining module does not obtain the first boundary signal, the control module judges the position relation of the boundary of the automatic mower and the working area according to the second boundary signal detected by the second obtaining module.
Specifically, the first boundary signal is generally a boundary signal generated by a magnetic field generated after the lawn boundary line is energized. The second boundary signal is generally a boundary signal obtained by the lawn sensor contacting an object on the ground below or in front of the robotic lawnmower, generating currents of different magnitudes, and determining the magnitude of the current. The first boundary signal may be preferentially identified during operation of the robotic lawnmower. Namely, when the first acquiring module acquires the first boundary signal, the control module judges the position relation of the boundary of the automatic mower and the working area according to the first boundary signal acquired by the first acquiring module. When the first obtaining module does not obtain the first boundary signal, the control module judges the position relation of the boundary of the automatic mower and the working area according to the second boundary signal detected by the second obtaining module.
In a specific embodiment, the above-mentioned positional relationship between the robotic lawnmower and the boundary of the work area may include both cases where the robotic lawnmower is located within the boundary of the work area, or where at least a portion of the robotic lawnmower is located outside the boundary of the work area.
When the automatic mower works, two situations can occur at the position of the automatic mower: the robotic lawnmower may be located entirely within the boundaries of the work area, or at least a portion of the robotic lawnmower may be located outside the boundaries of the work area. The control module of the robotic lawnmower may be configured to: when the automatic mower is positioned in the boundary of the working area, controlling the automatic mower to continue to advance; when at least part of the automatic mower is positioned outside the boundary of the working area, the automatic mower is controlled to turn or retreat so as to drive the automatic mower into the working area and drive the automatic mower away from the boundary.
In one embodiment, the robotic lawnmower, the first acquisition module may comprise a boundary line identification sensor.
Specifically, the boundary line recognition sensor is used to recognize the boundary line. The boundary line is a conductive line that forms a loop when energized, and when the boundary line is used to divide a range, an alternating current is generally input therein, thereby generating a magnetic field around the boundary line. The boundary line identification sensor is used for acquiring a magnetic field generated by the boundary line, so that a first boundary signal is obtained according to the magnetic field.
More specifically, the first acquisition module may include a plurality of boundary line recognition sensors respectively distributed around the robotic lawnmower. In the moving and mowing process of the automatic mower, each boundary line recognition sensor monitors magnetic field information of the boundary line in real time and transmits the magnetic field information to the control module. The control module analyzes the boundary line magnetic field information obtained by each boundary line identification sensor so as to obtain a first boundary line signal.
In one embodiment, the robotic lawnmower, wherein the second acquisition module comprises a grass sensor. The lawn sensor is a capacitance sensor arranged at the bottom of the automatic mower. The lawn sensor generates an electrical current in response to the contact environment such that the control module determines a positional relationship of the robotic lawnmower with a boundary of the work area based on the electrical current.
Specifically, this meadow sensor is located the automatic mower bottom, and this meadow sensor is equipped with towards the probe of automatic mower below. When the automatic mower moves to mow, a capacitor is formed between the probe and the surface below or in front of the automatic mower. At this time, the current signal output by the grass sensor is related to the medium between the two capacitors. When the surface below or the place ahead of the probe is the non-meadow, and when the surface below the probe is the meadow, the medium between the two poles is different, and the current signal size of the output of the meadow sensor is different.
When the second acquisition module is the grass sensor, can set up a current threshold in the control module to whether the electric current size of output according to the grass sensor is judging in the scope of current threshold that grass sensor below or direction of movement front surface are the meadow.
In one embodiment, as shown in FIG. 2, an robotic lawnmower 100 is provided with a boundary line recognition sensor and a grass sensor. The boundary line recognition sensor is configured to recognize a magnetic field generated by a boundary line, which is provided on the lawn and to which a current is applied, and to obtain a first boundary signal based on the magnetic field. The lawn sensor is a capacitive sensor that is located at the bottom of the robotic lawnmower 100 and is configured to form a capacitance with a surface below the robotic lawnmower 100. The grassland sensor is provided with a probe facing the bottom surface, and when the surfaces below the probes are different, the current signals output by the grassland sensor are different in size. At this time, the control module may be provided with a current threshold value to determine whether the lower side of the robotic lawnmower 100 is a lawn based on the magnitude of the current signal output from the lawn sensor, thereby obtaining a second boundary signal.
During the operation of the robotic lawnmower 100, the positional relationship between the robotic lawnmower 100 and the boundary of the work area is obtained based on one of the first boundary signal or the second boundary signal, and the robotic lawnmower 100 is controlled to operate within the lawn work area. Wherein, obtaining the position relationship of the boundary between the automatic mower 100 and the working area according to one of the first boundary signal or the second boundary signal means: when the automatic mower 100 only acquires the first boundary signal, determining the position relationship between the automatic mower 100 and the boundary of the working area according to the first boundary signal; when the automatic mower 100 only acquires the second boundary signal, determining the position relationship between the automatic mower 100 and the boundary of the working area according to the second boundary signal; when the robotic lawnmower 100 acquires the first boundary signal and the second boundary signal simultaneously, the positional relationship between the robotic lawnmower 100 and the boundary of the work area is determined according to the first boundary signal.
In one particular embodiment, the lawn sensors may be turned off when the robotic lawnmower 100 is operating within a lawn area having a boundary line. The boundary line recognition sensor may be turned off when the robotic lawnmower 100 is operating within a lawn area where no boundary line is provided.
In one embodiment, as shown in FIG. 3, an robotic lawnmower 100 is provided with a first acquisition module 110, a second acquisition module 120, and a control module 130. The first acquisition module 110 is a boundary line recognition sensor, and the second acquisition module 120 is a grass sensor. The control module 130 is electrically connected to the boundary line recognition sensor and the grass sensor. In this embodiment, the robotic lawnmower 100 further comprises a human-machine interaction module 140. Human-computer interaction module 140 is communicatively coupled to control module 130. The control module 130 is provided with a preset program: when the automatic mower 100 works, the control module 130 controls the first obtaining module 110 to work, and the second obtaining module 120 does not work; when the first acquiring module 110 does not acquire the first boundary signal, controlling the first acquiring module 110 to be closed, and inquiring whether to open the second acquiring module 120 through the human-computer interaction module 140; when the human-computer interaction module 140 obtains an instruction to open the second obtaining module 120, the control module 130 controls the second obtaining module 120 to open.
In a specific embodiment, as shown in fig. 4, the robotic lawnmower 100 further comprises: a timing module 150. The timing module 150 is electrically connected to the control module 130, and when the robotic lawnmower 100 is operating, the starting time and the operating time of the robotic lawnmower 100 can be set by the timing module 150. After the start time of the robotic lawnmower 100 is set by the timing module 150, the robotic lawnmower 100 begins to operate when the start time is reached. After the operational time period is set by the timing module 150, the robotic lawnmower 100 stops operating when the operational time period is reached. Automatic mower
The robotic lawnmower 100 is further provided with a timing module 150, which can control the working duration of the robotic lawnmower 100. When the robotic lawnmower 100 is operating on a lawn without a boundary line, the robotic lawnmower 100 cannot return to the charging station in time to be charged. At this time, the length of time required for the robotic lawnmower 100 to complete lawn mowing can be estimated, the working duration is set through the timing module 150, and when the working duration is reached, the robotic lawnmower 100 automatically stops working, so that the situation that the battery of the robotic lawnmower 100 is over-discharged and electric energy is wasted can be prevented.
The present application further provides a mowing system, as shown in fig. 5, comprising: a boundary line 210, a power source 220, and the robotic lawnmower 100.
Specifically, the boundary line 210 is a conductive line that forms a loop after being energized, and when the boundary line 210 is used to divide a range, a current is generally input therein, so that a magnetic field is generated around the boundary line 210.
The power supply 220 is a dc power supply 220. The power source 220 is electrically connected to the boundary line 210 and is used for providing direct current to the boundary line 210.
The robotic lawnmower 100 is used to cut grass in the lawn area. The robotic lawnmower 100 includes a first acquisition module, a second acquisition module, and a control module. The first acquisition module is used for acquiring a first boundary signal of the lawn. The second acquisition module is used for detecting a second boundary signal of the lawn. The control module is used for determining the position relation of the boundary of the automatic mower and the working area according to the first boundary signal or the second boundary signal and controlling the automatic mower 100 to work within the lawn range.
The mowing system can define the lawn range through the boundary line 210, so that the position of the automatic mower 100 on the lawn can be detected through the second acquisition module on the automatic mower 100, the problem that the traditional automatic mower 100 completely depends on the cloth boundary line 210 to determine the position of the automatic mower is solved, and the application range is wider.
In one embodiment, the present mowing system, wherein the first acquisition module of the robotic lawnmower includes a boundary line identification sensor to acquire magnetic field information of a boundary line disposed at a boundary of a lawn.
In one embodiment, the second acquisition module includes a lawn sensor disposed at a bottom of the robotic lawnmower. The lawn sensor generates a current signal according to the contact environment, so that the control module determines the position relation between the automatic mower and the boundary of the working area according to the magnitude of the current signal.
A control method of a lawn mower, as shown in fig. 6, comprising the steps of:
s110, a first boundary signal is acquired, and the first boundary signal is a magnetic field signal generated by the boundary line.
The mower acquires a boundary signal, and the boundary signal can be acquired by acquiring a magnetic field signal emitted by the boundary line through a first acquisition module arranged on the mower. To distinguish this boundary signal from the boundary signal described below, the boundary signal acquired in this step is named a first boundary signal.
And S120, acquiring a second boundary signal, wherein the second boundary signal is a signal which indicates that grass or non-grass is below the mower or in front of the moving direction and is detected by the grass sensor.
The mower acquires another boundary signal. The boundary signal may be obtained by detecting grass or non-grass below the mower or in front of the moving direction of the mower through a second obtaining module arranged on the mower, so as to obtain the boundary signal of the grass. To distinguish the boundary signal from the boundary signal acquired in step S110, the boundary signal acquired in this step is named a second boundary signal.
And S200, determining the position relation between the mower and the boundary of the working area according to the first boundary signal or the second boundary signal.
And when the mower acquires at least one of the first boundary signal or/and the second boundary signal, determining the position relation between the mower and the boundary of the working area according to one of the first boundary signal or the second boundary signal.
And S300, controlling the mower to move according to the position relation between the mower and the boundary of the working area.
And after determining the position relation between the mower and the boundary of the working area according to one of the first boundary signal and the second boundary signal, the mower controls the mower to move according to the position relation between the mower and the boundary of the working area.
More specifically, the control method of the mower comprises the following steps: when the mower is used for mowing, the boundary signal of the detected lawn can be acquired through a plurality of methods, so that the position relation between the mower and the boundary of the working area can be obtained through any one of the methods. And after the position relation between the mower and the boundary of the working area is acquired, controlling the mower to move to cut grass within the lawn range.
According to the control method of the mower, the boundary signals of the lawn are acquired through two modes, and the position relation between the mower and the boundary of the working area is determined according to any one of the boundary signals. The control method of the mower acquires the lawn boundary signals in various ways, and is more convenient and wider in application environment compared with a method in the prior art that the boundary lines can only be defined by cloth boundary lines.
In an embodiment, the method for controlling a lawn mower further includes, before step S110:
and S101, setting a lawn boundary line at the lawn boundary.
And setting a lawn boundary line at the boundary of the range which needs to be divided by the lawn. Typically, the lawn boundary line will be a wire that can be looped when energized.
And S102, introducing current into the lawn boundary line to generate a magnetic field.
After the lawn boundary line is set, current is supplied into the lawn boundary line to generate a magnetic field around the lawn boundary line.
In this embodiment, in the control method of the lawn mower, step S110 may specifically include:
and S111, acquiring a magnetic field signal of a boundary line arranged at the lawn boundary.
After current is introduced into the lawn boundary line, a magnetic field is generated around the lawn boundary line. The lawn mower acquires a magnetic field signal of a boundary line arranged at the boundary of the lawn through an acquisition module.
And S112, obtaining a first boundary signal according to the magnetic field signal.
The lawn mower acquires a magnetic field signal around a lawn boundary line, and analyzes the signal to obtain a first boundary line signal. The analysis of the magnetic field signal may include an analysis of the strength of the magnetic field, an analysis of the direction of the magnetic field, etc.
In an embodiment, the control method of the lawn mower, wherein the step S120 specifically includes:
and S121, detecting the current generated by a grass sensor arranged on the mower.
A lawn sensor is arranged on the mower and is a capacitance sensor. And in the moving process of the mower, the current generated by the grass sensor is detected.
And S122, obtaining a second boundary signal according to the current.
The mower analyzes the current generated by the capacitive sensor to obtain a second boundary signal, and the second boundary signal is used for determining the position relation of the mower and the boundary of the working area.
In a specific embodiment, step S120 may specifically be:
arranging a grass sensor at the bottom of the mower, and detecting current generated by the grass sensor at any time; and when the current magnitude is not within the preset current threshold value, the mower obtains a second boundary signal.
The lawn sensor is arranged at the bottom of the mower. The lawn mower is internally provided with a control module which is electrically connected with the lawn sensor. A current threshold is set in the control module. During the moving process of the mower, the control module detects the current generated by the grass sensor at any time. When the grass sensor contacts different objects, such as grass or metal, cement, different magnitudes of current are generated. When the current is transmitted to the control module, the control module analyzes the current magnitude of the current. If the current is within the range of the current threshold, the capacitance sensor and the mower are still within the lawn range, and if the current is not within the range of the current threshold, the capacitance sensor touches something other than grass. Combining the two states, a second boundary signal can be obtained.
In an embodiment, the method for controlling a lawn mower, wherein the step S200 includes:
s201, when the first boundary signal is acquired, determining the position relation of the boundary of the mower and the working area according to the first boundary signal.
And S202, when the first boundary signal is not acquired, determining the position relation of the mower and the boundary of the working area according to the second boundary signal.
When the mower obtains only the first boundary signal, the position relation of the mower and the boundary of the working area is determined according to the first boundary signal. When the mower only acquires the second boundary signal, the position relation between the mower and the boundary of the working area is determined according to the second boundary signal. And when the mower simultaneously acquires the first boundary signal and the second boundary signal, determining the position relation of the mower and the boundary of the working area according to the first boundary signal.
The control method of the mower in the embodiment can determine the position relationship between the mower and the boundary of the working area by acquiring the magnetic field information of the boundary line, and also can determine the position relationship between the mower and the boundary of the working area by detecting the current generated by the capacitive sensor on the mower.
In one particular embodiment, when a lawn 300 does not have a relatively distinct boundary area, or when the lawn 300 requires a pattern to be drawn by mowing, as shown in FIG. 7, a lawn boundary line 210 may be provided at the boundary of the area where the lawn 300 requires cutting. The lawn boundary 210 includes a dc power source 220 and a conductive wire electrically connected to the dc power source 220. After current is introduced into the wire, a magnetic field is formed around the wire. When the lawn mower 100 mows within the lawn range, the information of the magnetic field is acquired in real time to determine the position of the lawn mower 100, and the lawn mower operates within the lawn range according to the position and the lawn boundary line 210. The information of the magnetic field comprises the magnetic field intensity, the position and the direction of the magnetic field.
However, when there is a distinct boundary outside the area where the lawn 300 needs to be cut, as shown in fig. 8, for example, when the boundary of the lawn 300 is surrounded by boundary bricks, the lawn boundary line 210 does not need to be set. During the moving of the lawn mower 100 to cut the lawn 300, the current generated by the capacitive sensor disposed at the bottom of the lawn mower 100 is detected in real time. The capacitive sensor generates different magnitudes of current when it contacts different objects, such as grass or border tiles 310. When the current level is within the preset current threshold of the lawn mower 100, the capacitive sensor and the lawn mower 100 are still on the lawn 300. When the current magnitude exceeds the current threshold preset by the mower 100, the capacitive sensor touches the boundary brick 310. At this point, a second boundary signal is obtained to determine the positional relationship of the mower to the boundary of the work area.
In a specific embodiment, the above-mentioned positional relationship between the robotic lawnmower and the boundary of the work area may include both cases where the robotic lawnmower is located within the boundary of the work area, or where at least a portion of the robotic lawnmower is located outside the boundary of the work area.
When the automatic mower works, two situations can occur at the position of the automatic mower: the robotic lawnmower may be located entirely within the boundaries of the work area, or at least a portion of the robotic lawnmower may be located outside the boundaries of the work area. The control module of the robotic lawnmower may be configured to: when the automatic mower is positioned in the boundary of the working area, controlling the automatic mower to continue to advance; when at least part of the automatic mower is positioned outside the boundary of the working area, the automatic mower is controlled to turn or retreat so as to drive the automatic mower into the working area and drive the automatic mower away from the boundary.
According to the control method of the mower, when the mower is located outside the boundary of the working area, the mower is controlled to turn or reverse, and the mower can be ensured to work in the working area.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
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 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 (11)
1. A control method of a mower is characterized by comprising the following steps:
acquiring a first boundary signal, wherein the first boundary signal is a magnetic field signal generated by a boundary line;
acquiring a second boundary signal, wherein the second boundary signal is a signal which indicates that grassland or non-grassland is below the mower or in front of the moving direction and is detected by a grassland sensor;
determining a positional relationship of the mower to a boundary of a work area according to the first boundary signal or the second boundary signal;
and controlling the mower to move according to the position relation between the mower and the boundary of the working area.
2. The control method of a lawnmower according to claim 1, wherein said obtaining the boundary line-generated magnetic field signal further comprises:
setting a lawn boundary line at the lawn boundary;
and introducing current into the lawn boundary line to generate a magnetic field.
3. The method of controlling a lawnmower according to claim 1, wherein said determining a positional relationship of the lawnmower to a boundary of a work area based on the first boundary signal or the second boundary signal comprises:
when a first boundary signal is acquired, determining the position relation of the mower and the boundary of the working area according to the first boundary signal;
and when the first boundary signal is not acquired, acquiring the position relation of the boundary of the mower and the working area according to the second boundary signal.
4. The control method of a lawnmower according to claim 3, wherein the positional relationship of the lawnmower to the boundary of the working area comprises: the robotic lawnmower is located within a boundary of the work area, or at least a portion of the robotic lawnmower is located outside the boundary of the work area.
5. The control method of a lawnmower according to claim 1 or 4, wherein the controlling the movement of the lawnmower according to the positional relationship of the lawnmower with the boundary of the work area comprises:
controlling the mower to move forward when the mower is located within the boundary of the work area;
when at least part of the mower is positioned outside the boundary of the working area, the mower is controlled to turn or retreat so as to enter the boundary of the working area.
6. An robotic lawnmower configured to travel and work within a work area defined at least in part by a boundary line, comprising:
the device comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring a first boundary signal, and the first boundary signal is a magnetic field signal generated by a boundary line;
the second acquisition module is used for acquiring a second boundary signal; the second acquisition module comprises a lawn sensor, and the second boundary signal is a signal which indicates that lawn or non-lawn is below the mower or in front of the moving direction and is detected by the lawn sensor;
and the control module is used for determining the position relation of the automatic mower and the boundary of the working area according to the first boundary signal or the second boundary signal and controlling the movement of the automatic mower according to the position relation of the automatic mower and the boundary of the working area.
7. The robotic lawnmower according to claim 6, wherein the control module is configured to:
when the first obtaining module obtains the first boundary signal, the position relation of the boundary of the automatic mower and the working area is judged according to the first boundary signal;
and when the first acquisition module does not acquire the first boundary signal, judging the position relation between the automatic mower and the boundary of the working area according to the second boundary signal.
8. The lawnmower of claim 7, wherein the positional relationship of the robotic lawnmower to the boundary of the work area comprises: the robotic lawnmower is located within a boundary of the work area, or at least partially outside the boundary of the work area.
9. The lawnmower of claim 8, wherein the robotic lawnmower is controlled to turn or reverse to drive away from the boundary when the control module determines that the robotic lawnmower is at least partially outside the boundary of the work area.
10. The lawnmower of claim 6, wherein the acquisition module comprises a boundary line identification sensor to acquire a magnetic field signal of a boundary line disposed at the lawn boundary.
11. The lawnmower of claim 6, wherein the grass sensor generates a current signal based on the contact environment such that the control module determines from the current signal whether grass or non-grass is under the mower or forward of the direction of travel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810744548.5A CN110764495A (en) | 2018-07-09 | 2018-07-09 | Mower and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810744548.5A CN110764495A (en) | 2018-07-09 | 2018-07-09 | Mower and control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110764495A true CN110764495A (en) | 2020-02-07 |
Family
ID=69326839
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810744548.5A Pending CN110764495A (en) | 2018-07-09 | 2018-07-09 | Mower and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110764495A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112605987A (en) * | 2020-11-25 | 2021-04-06 | 深圳拓邦股份有限公司 | Robot navigation working method and device and robot |
| CN113552873A (en) * | 2020-04-03 | 2021-10-26 | 南京德朔实业有限公司 | Intelligent mowing system |
| CN113615377A (en) * | 2021-06-21 | 2021-11-09 | 深圳拓邦股份有限公司 | Method for eliminating influence of external magnetic field of mower system |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN103891464A (en) * | 2012-12-28 | 2014-07-02 | 苏州宝时得电动工具有限公司 | Automatic mowing system |
| CN104737698A (en) * | 2013-12-27 | 2015-07-01 | 苏州宝时得电动工具有限公司 | Automatic lawn mower |
| WO2015172831A1 (en) * | 2014-05-15 | 2015-11-19 | Husqvarna Ab | Automatic sensitivity adjustment in object detection system |
| CN105472966A (en) * | 2013-08-16 | 2016-04-06 | 胡斯华纳有限公司 | Intelligent grounds management system integrating robotic rover |
| CN106910198A (en) * | 2017-02-21 | 2017-06-30 | 昂海松 | A kind of boundary determining method of hay mower without electric wire fence |
| WO2018015887A2 (en) * | 2016-07-18 | 2018-01-25 | F Robotics Acquisitions Ltd. | Improvements relating to lawnmowers and in particular robotic lawnmowers |
| CN107728217A (en) * | 2017-09-09 | 2018-02-23 | 浙江亚特电器有限公司 | Detect circuit and method in zone boundary for intelligent grass-removing |
-
2018
- 2018-07-09 CN CN201810744548.5A patent/CN110764495A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN103891464A (en) * | 2012-12-28 | 2014-07-02 | 苏州宝时得电动工具有限公司 | Automatic mowing system |
| CN105472966A (en) * | 2013-08-16 | 2016-04-06 | 胡斯华纳有限公司 | Intelligent grounds management system integrating robotic rover |
| CN104737698A (en) * | 2013-12-27 | 2015-07-01 | 苏州宝时得电动工具有限公司 | Automatic lawn mower |
| WO2015172831A1 (en) * | 2014-05-15 | 2015-11-19 | Husqvarna Ab | Automatic sensitivity adjustment in object detection system |
| WO2018015887A2 (en) * | 2016-07-18 | 2018-01-25 | F Robotics Acquisitions Ltd. | Improvements relating to lawnmowers and in particular robotic lawnmowers |
| CN106910198A (en) * | 2017-02-21 | 2017-06-30 | 昂海松 | A kind of boundary determining method of hay mower without electric wire fence |
| CN107728217A (en) * | 2017-09-09 | 2018-02-23 | 浙江亚特电器有限公司 | Detect circuit and method in zone boundary for intelligent grass-removing |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113552873A (en) * | 2020-04-03 | 2021-10-26 | 南京德朔实业有限公司 | Intelligent mowing system |
| CN113552873B (en) * | 2020-04-03 | 2024-03-26 | 南京泉峰科技有限公司 | Intelligent mowing system |
| CN112605987A (en) * | 2020-11-25 | 2021-04-06 | 深圳拓邦股份有限公司 | Robot navigation working method and device and robot |
| CN112605987B (en) * | 2020-11-25 | 2022-06-03 | 深圳拓邦股份有限公司 | Robot navigation working method and device and robot |
| CN113615377A (en) * | 2021-06-21 | 2021-11-09 | 深圳拓邦股份有限公司 | Method for eliminating influence of external magnetic field of mower system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110764495A (en) | Mower and control method thereof | |
| CN111867355B (en) | Automatic mower and method for controlling automatic mower | |
| CN111352428B (en) | Automatic working system and control method thereof | |
| CN212278869U (en) | From mobile device and intelligent lawn mower | |
| US20130199570A1 (en) | Cleaning robot system and its method for controling | |
| EP3835907A1 (en) | Self-mobile device, automatic operating system and control method thereof | |
| CN102844722A (en) | Robotic garden tool following wires at distance using multiple signals | |
| CN110392870B (en) | Self-mobile device, working system, identification method and working method thereof | |
| CN108407635B (en) | AGV charging method and system | |
| CN110138063B (en) | Matching recognition system and method based on medium-high power wireless charging equipment | |
| CN108345298A (en) | One kind is from mobile device and its control method and automatic working system | |
| CN108594827B (en) | Control system | |
| CN111338332A (en) | Automatic walking equipment and obstacle avoidance method and device thereof | |
| CN105406556A (en) | Auxiliary equipment charging system and method | |
| CN106468920B (en) | Regression charging method and automatic walking equipment thereof | |
| CN111602097B (en) | Self-mobile device and control method thereof | |
| CN108944501A (en) | A kind of AGV vehicle, recharging device and charging system | |
| US11169527B2 (en) | Automatic working system, self-moving device and control method therefor | |
| CN113050620B (en) | Self-driven equipment system and boundary line broken line detection method thereof | |
| CN106208261B (en) | A kind of charging method of robot, pedestal and system | |
| CN106292651B (en) | Automatic working system, automatic working equipment and method for identifying starting position | |
| CN208745769U (en) | AGV vehicle, recharging device and charging system | |
| CN104111652A (en) | Automatic working system and docking method thereof | |
| CN113552874B (en) | Intelligent mowing system | |
| CN106292652B (en) | Automatic working system, automatic working equipment and method for identifying starting position |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200207 |