CN112135513A - 自动割草机及其控制方法 - Google Patents
自动割草机及其控制方法 Download PDFInfo
- Publication number
- CN112135513A CN112135513A CN201980033387.1A CN201980033387A CN112135513A CN 112135513 A CN112135513 A CN 112135513A CN 201980033387 A CN201980033387 A CN 201980033387A CN 112135513 A CN112135513 A CN 112135513A
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- CN
- China
- Prior art keywords
- module
- trimming
- cutting
- boundary
- area
- 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.)
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Classifications
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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
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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
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/416—Flexible line cutters
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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
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/64—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis mounted on a vehicle, e.g. a tractor, or drawn by an animal or a vehicle
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/64—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis mounted on a vehicle, e.g. a tractor, or drawn by an animal or a vehicle
- A01D34/66—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis mounted on a vehicle, e.g. a tractor, or drawn by an animal or a vehicle with two or more cutters
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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
- A01D34/835—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes
- A01D34/84—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes for edges of lawns or fields, e.g. for mowing close to trees or walls
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D43/00—Mowers combined with apparatus performing additional operations while mowing
- A01D43/16—Mowers combined with apparatus performing additional operations while mowing with lawn edgers
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D2101/00—Lawn-mowers
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvester Elements (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
一种自动割草机,该自动割草机在工作区域内移动和工作,其包括:壳体(100),包括纵向上的中轴线;移动模块,带动壳体移动;切割模块(300),以第一转轴为中心旋转形成切割区域,包括切割元件;修边模块(200),以第二转轴为中心旋转形成修边区域,包括修边元件,其中修边元件与切割元件不同;控制模块,控制自动割草机移动和工作;所述第一转轴和所述第二转轴分别位于所述中轴线的两侧,上述技术方案的有益效果是:自动割草机能够切割到边,且布局紧凑。另外,还涉及上述自动割草机的控制方法。
Description
PCT国内申请,说明书已公开。
Claims (20)
- PCT国内申请,权利要求书已公开。
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN2018105407544 | 2018-05-30 | ||
CN201810540754.4A CN110547088A (zh) | 2018-05-30 | 2018-05-30 | 割草机及其系统和操作方法 |
CN201811064195 | 2018-09-12 | ||
CN2018110641950 | 2018-09-12 | ||
PCT/CN2019/089315 WO2019228461A1 (zh) | 2018-05-30 | 2019-05-30 | 自动割草机及其控制方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN112135513A true CN112135513A (zh) | 2020-12-25 |
CN112135513B CN112135513B (zh) | 2023-03-28 |
Family
ID=68698720
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201980033387.1A Active CN112135513B (zh) | 2018-05-30 | 2019-05-30 | 自动割草机及其控制方法 |
Country Status (4)
Country | Link |
---|---|
US (1) | US12082524B2 (zh) |
EP (1) | EP3804496A4 (zh) |
CN (1) | CN112135513B (zh) |
WO (1) | WO2019228461A1 (zh) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3850936A4 (en) * | 2018-09-12 | 2022-08-03 | Positec Power Tools (Suzhou) Co., Ltd | SELF-MOVING DEVICE AND AUTOMATIC WORKING SYSTEM THEREFOR |
EP3855878A4 (en) * | 2018-09-28 | 2022-04-27 | Techtronic Cordless GP | DOCKING STATION FOR USE WITH A AUTONOMOUS TOOL, AUTONOMOUS LAWN MOWER, AND METHOD OF ADDING A AUTONOMOUS TOOL TO A DOCKING STATION |
IT201800009580A1 (it) * | 2018-10-18 | 2020-04-18 | Mdb Srl Con Socio Unico | Tagliaerba radiocomandato |
US11778934B2 (en) * | 2019-07-02 | 2023-10-10 | Bear Flag Robotics, Inc. | Agricultural lane following |
SE546237C2 (en) * | 2021-03-24 | 2024-07-23 | Husqvarna Ab | Robotic lawnmower |
USD997997S1 (en) * | 2021-07-29 | 2023-09-05 | Andreas Stihl Ag & Co. Kg | Robotic lawnmower |
SE546178C2 (en) * | 2023-07-05 | 2024-06-18 | Husqvarna Ab | A robotic lawn mower for cutting grass close to objects and boarders |
Citations (15)
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---|---|---|---|---|
US2771730A (en) * | 1954-06-17 | 1956-11-27 | Martin E True | Lawn mower and trimmer |
US4170099A (en) * | 1978-04-06 | 1979-10-09 | Owens Boyd L | Power mower edger and trimmer attachment |
US4896488A (en) * | 1988-12-29 | 1990-01-30 | Duncan Larry A | Trimming attachment for a lawn mower etc. |
US5263304A (en) * | 1990-05-24 | 1993-11-23 | Fassauer Arthur L | Air-floated wheeled apparatus |
US5560189A (en) * | 1995-05-18 | 1996-10-01 | Devillier; Justin P. | Edging and trimming lawn mower assembly |
US5598689A (en) * | 1995-05-31 | 1997-02-04 | Bork; Bradley G. | Trim mower attachment for riding mowers |
US6474053B1 (en) * | 2000-07-28 | 2002-11-05 | David M. Lund | Lawnmower equipped with a retractable edger and trimmer |
US20030230065A1 (en) * | 2002-06-13 | 2003-12-18 | Hennum Russell David | Clutch engagable, in-line, lawn trimmer attachment |
US6779325B1 (en) * | 2003-05-20 | 2004-08-24 | Robillard, Ii James F. | Edging and trimming assembly for lawn mower |
WO2011115536A1 (en) * | 2010-03-18 | 2011-09-22 | Husqvarna Ab | Robotic lawn mower with edge cutting |
CN102768535A (zh) * | 2011-04-28 | 2012-11-07 | 苏州宝时得电动工具有限公司 | 自动工作系统、自动行走设备及其转向方法 |
US20150201559A1 (en) * | 2014-01-19 | 2015-07-23 | Dennis J. Gesker | Power Mower / Weed-Lawn Edger Combo |
CN106717479A (zh) * | 2015-11-20 | 2017-05-31 | 苏州宝时得电动工具有限公司 | 割草机 |
CN206948918U (zh) * | 2017-06-17 | 2018-02-02 | 平湖先行园艺工程有限公司 | 割草机 |
JP2018019623A (ja) * | 2016-08-02 | 2018-02-08 | 株式会社ササキコーポレーション | 草刈機 |
Family Cites Families (28)
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US4374465A (en) | 1982-02-02 | 1983-02-22 | The Toro Company | Attachment for rotary lawn mower |
US5572856A (en) * | 1994-02-18 | 1996-11-12 | Ku; Chingyu J. | Remotely controlled lawn mower |
DE29609457U1 (de) | 1996-05-28 | 1996-09-26 | Herrlinger, Matthias, 71296 Heimsheim | Gerät zum Schneiden und Trimmen von Rasenflächen und Rasenkanten |
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EP3366108B1 (en) | 2015-10-13 | 2021-10-06 | Positec Technology (China) Co., Ltd. | Mowing machine |
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US9807930B1 (en) | 2016-08-25 | 2017-11-07 | Irobot Corporation | Blade guard for a robot lawnmower |
CN206743885U (zh) | 2017-03-21 | 2017-12-15 | 广州远道建设有限公司 | 一种自走式的草坪修剪机 |
EP3412129B1 (de) * | 2017-06-09 | 2020-08-19 | Andreas Stihl AG & Co. KG | Autonomer mobiler grünflächenbearbeitungsroboter |
EP3850936A4 (en) * | 2018-09-12 | 2022-08-03 | Positec Power Tools (Suzhou) Co., Ltd | SELF-MOVING DEVICE AND AUTOMATIC WORKING SYSTEM THEREFOR |
US11297766B1 (en) * | 2019-11-26 | 2022-04-12 | Stefanie Wynn-Grayson | Standing motorized lawn mower with sulky and steering column |
SE544518C2 (en) * | 2020-02-06 | 2022-06-28 | Husqvarna Ab | Control arrangement, robotic lawnmower, and method of operating robotic lawnmower |
SE545658C2 (en) * | 2021-12-22 | 2023-11-28 | Husqvarna Ab | A robotic lawn mower with enhanced cutting properties |
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-
2019
- 2019-05-30 EP EP19812258.2A patent/EP3804496A4/en active Pending
- 2019-05-30 US US17/058,983 patent/US12082524B2/en active Active
- 2019-05-30 CN CN201980033387.1A patent/CN112135513B/zh active Active
- 2019-05-30 WO PCT/CN2019/089315 patent/WO2019228461A1/zh unknown
Patent Citations (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2771730A (en) * | 1954-06-17 | 1956-11-27 | Martin E True | Lawn mower and trimmer |
US4170099A (en) * | 1978-04-06 | 1979-10-09 | Owens Boyd L | Power mower edger and trimmer attachment |
US4896488A (en) * | 1988-12-29 | 1990-01-30 | Duncan Larry A | Trimming attachment for a lawn mower etc. |
US5263304A (en) * | 1990-05-24 | 1993-11-23 | Fassauer Arthur L | Air-floated wheeled apparatus |
US5560189A (en) * | 1995-05-18 | 1996-10-01 | Devillier; Justin P. | Edging and trimming lawn mower assembly |
US5598689A (en) * | 1995-05-31 | 1997-02-04 | Bork; Bradley G. | Trim mower attachment for riding mowers |
US6474053B1 (en) * | 2000-07-28 | 2002-11-05 | David M. Lund | Lawnmower equipped with a retractable edger and trimmer |
US20030230065A1 (en) * | 2002-06-13 | 2003-12-18 | Hennum Russell David | Clutch engagable, in-line, lawn trimmer attachment |
US6779325B1 (en) * | 2003-05-20 | 2004-08-24 | Robillard, Ii James F. | Edging and trimming assembly for lawn mower |
WO2011115536A1 (en) * | 2010-03-18 | 2011-09-22 | Husqvarna Ab | Robotic lawn mower with edge cutting |
CN102768535A (zh) * | 2011-04-28 | 2012-11-07 | 苏州宝时得电动工具有限公司 | 自动工作系统、自动行走设备及其转向方法 |
US20150201559A1 (en) * | 2014-01-19 | 2015-07-23 | Dennis J. Gesker | Power Mower / Weed-Lawn Edger Combo |
CN106717479A (zh) * | 2015-11-20 | 2017-05-31 | 苏州宝时得电动工具有限公司 | 割草机 |
JP2018019623A (ja) * | 2016-08-02 | 2018-02-08 | 株式会社ササキコーポレーション | 草刈機 |
CN206948918U (zh) * | 2017-06-17 | 2018-02-02 | 平湖先行园艺工程有限公司 | 割草机 |
Also Published As
Publication number | Publication date |
---|---|
EP3804496A1 (en) | 2021-04-14 |
CN112135513B (zh) | 2023-03-28 |
US12082524B2 (en) | 2024-09-10 |
EP3804496A4 (en) | 2022-03-02 |
US20210219488A1 (en) | 2021-07-22 |
WO2019228461A1 (zh) | 2019-12-05 |
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