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 PDF

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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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China
Prior art keywords
module
trimming
cutting
boundary
area
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CN201980033387.1A
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English (en)
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CN112135513B (zh
Inventor
赵凤丽
查霞红
周晓青
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Positec Power Tools Suzhou Co Ltd
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Positec Power Tools Suzhou Co Ltd
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Priority claimed from CN201810540754.4A external-priority patent/CN110547088A/zh
Application filed by Positec Power Tools Suzhou Co Ltd filed Critical Positec Power Tools Suzhou Co Ltd
Publication of CN112135513A publication Critical patent/CN112135513A/zh
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Publication of CN112135513B publication Critical patent/CN112135513B/zh
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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
    • 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
    • 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
    • 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

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  • 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)

  1. PCT国内申请，权利要求书已公开。
CN201980033387.1A 2018-05-30 2019-05-30 自动割草机及其控制方法 Active CN112135513B (zh)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
CN201810540754.4A CN110547088A (zh) 2018-05-30 2018-05-30 割草机及其系统和操作方法
CN2018105407544 2018-05-30
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

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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) US20210219488A1 (zh)
EP (1) EP3804496A4 (zh)
CN (1) CN112135513B (zh)
WO (1) WO2019228461A1 (zh)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
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
CN112911923A (zh) * 2018-09-28 2021-06-04 创科无线普通合伙 与自主工具一起使用的停靠站、自主草坪割草机、以及朝向停靠站引导自主工具的方法
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
SE2150336A1 (en) * 2021-03-24 2022-09-25 Husqvarna Ab Robotic lawnmower
USD997997S1 (en) * 2021-07-29 2023-09-05 Andreas Stihl Ag & Co. Kg Robotic lawnmower
SE2350849A1 (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

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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
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Patent Citations (15)

* Cited by examiner, † Cited by third party
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
WO2019228461A1 (zh) 2019-12-05
US20210219488A1 (en) 2021-07-22
EP3804496A4 (en) 2022-03-02
CN112135513B (zh) 2023-03-28

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