CN112673794B - Mower and control method thereof - Google Patents
Mower and control method thereof Download PDFInfo
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- CN112673794B CN112673794B CN202011544833.6A CN202011544833A CN112673794B CN 112673794 B CN112673794 B CN 112673794B CN 202011544833 A CN202011544833 A CN 202011544833A CN 112673794 B CN112673794 B CN 112673794B
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000002035 prolonged effect Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 4
- 244000025254 Cannabis sativa Species 0.000 description 3
- 238000009966 trimming Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
Abstract
The invention provides a mower and a control method thereof, wherein the mower comprises a self-walking module for driving the mower to walk and a mowing module for executing mowing function of the mower, the mowing module is provided with a first working mode and a second working mode, the mower comprises a control module, and the control module controls the mower to walk and mow in a working area in the first working mode; the mower further comprises an information acquisition module, wherein the information acquisition module records a working area of the mower which finishes mowing in the first working mode and marks the working area as a cut area; when the mower enters the cut area again, the control module controls the mowing module to self-propel in the second working mode. Compared with the prior art, the mower can control the working state of the cutting knife assembly of the mower according to whether the area to be operated finishes mowing or not, so that the working time of the mower is prolonged.
Description
Technical Field
The present invention relates to a lawn mower and a control method of the lawn mower.
Background
A lawn mower is a garden tool for trimming lawns, vegetation, and the like, and typically includes a self-propelled assembly, a cutter assembly, and a power source, which may be a gasoline engine, a battery pack, and the like. Battery powered mowers are popular with users because of low noise and zero pollution. After the existing mower is started to work, the cutting knife assembly can continuously work until a user intervenes to control the cutting knife assembly to stop working. However, in actual use, it often happens that a part of the lawn has already been mowed, a part of the lawn has not yet been mowed, and the mowed and unmamowed areas cross each other. When the mower is pushed through an area where grass has been cut, the cutter assembly still operates at a normal rotational speed. Thus, not only is the amount of power consumed by the battery assembly, but the mower does not perform as effectively, i.e.: when the cutting knife assembly finishes mowing areas, energy needs to be consumed, and mowing is not carried out, so that the electric quantity utilization rate of the mower is reduced, and the effective service time of the mower is shortened.
In view of the above problems, there is a need to provide a lawn mower to solve the above problems.
Disclosure of Invention
The invention aims to provide a mower which can control the working state of a cutting knife assembly of the mower according to whether the area to be operated finishes mowing or not, effectively saves electric quantity and prolongs the working time of the mower.
In order to achieve the above object, the present invention provides a lawn mower including a self-propelled module for driving the lawn mower to self-propel and a mowing module for performing a mowing function of the lawn mower, the mowing module having a first operating mode and a second operating mode, the lawn mower including a control module for controlling the lawn mower to self-propel to mow in the first operating mode in a working area; the mower further comprises an information acquisition module, wherein the information acquisition module records a working area of the mower which finishes mowing in the first working mode and marks the working area as a cut area; when the mower enters the cut area again, the control module controls the mowing module to self-propel in the second working mode.
As a further improvement of the present invention, the working area outside the cut area is marked as an uncut area, and the control module controls the mowing module to perform self-propelled mowing in the first working mode when the mower enters the uncut area.
As a further improvement of the present invention, the first operating mode is a normal mowing mode, and the second operating mode is a stop mowing mode.
As a further development of the invention, the lawn mower further comprises a positioning module for providing information on the position of the lawn mower, the cut area being marked by the positioning module.
As a further improvement of the present invention, the positioning module is an RTK real-time positioning module.
As a further development of the invention, the lawn mower further comprises a camera module for identifying the cut state of the lawn, the cut area being marked by the camera module.
The invention also discloses a control method of the mower, the mower comprises a self-walking module for driving the mower to walk and a mowing module for executing mowing function of the mower, the mowing module has a first working mode and a second working mode, and the control method comprises the following steps:
the mower carries out self-propelled mowing in a working area in the first working mode;
the mower records the work area where mowing is finished in the first work mode and marks the work area as a cut area;
when the mower reenters the cut area, the mower controls the mowing module to self-propel in the second operating mode.
As a further improvement of the present invention, the method further comprises the steps of: the working area outside the cut area is marked as an uncut area, and when the mower enters the uncut area, the mower controls the mowing module to perform self-propelled mowing in the first working mode.
As a further improvement of the present invention, the first operating mode is a normal mowing mode, and the second operating mode is a stop mowing mode.
As a further development of the invention, the lawn mower further comprises a positioning module for providing information on the position of the lawn mower, the cut area being marked by the positioning module.
As a further improvement of the present invention, the positioning module is an RTK real-time positioning module.
As a further development of the invention, the lawn mower further comprises a camera module for identifying the cut state of the lawn, the cut area being marked by the camera module.
The invention has the beneficial effects that: the mower can control the working state of the cutting knife assembly of the mower according to whether the mowing of the area to be operated is finished or not, so that the electric quantity is effectively saved, and the working time of the mower is prolonged.
Drawings
Fig. 1 is a schematic view of the operation of a prior art lawnmower.
Fig. 2 is a schematic diagram of a planned path.
Fig. 3 is a schematic block diagram of the mower of the present invention.
Fig. 4 is a block diagram of an information collection module.
Fig. 5 is a block diagram of an information collection module according to another embodiment.
Fig. 6 is a schematic view of a scene in which the area to be worked is located in the area already mowed.
Fig. 7 is a schematic view of a scene in which the area to be worked is located in an area not to be mowed.
Fig. 8 is a modular schematic of a mower according to a second embodiment of the present invention.
Fig. 9 is a modular schematic of a lawnmower according to a third embodiment of the invention.
Fig. 10 is a flowchart illustrating a mower control method according to a first embodiment of the present invention.
Fig. 11 is a flowchart illustrating a mower control method according to a second embodiment of the present invention.
Fig. 12 is a flowchart illustrating a mower control method according to a third embodiment of the present invention.
Fig. 13 is a schematic flow chart of a mower control method according to a fourth embodiment of the present invention.
Fig. 14 is a flowchart of step S1.
Fig. 15 is a flowchart of step S3.
Fig. 16 is a flowchart of another embodiment of step S1.
Fig. 17 is a schematic view of the operation of the mower in a normal working area.
Fig. 18 is an operational schematic of the mower from a cut area into an uncut area.
Fig. 19 is an operational schematic of the mower reentering the cut zone.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
The existing intelligent lawn mower can generally finish lawn trimming work autonomously without manual control, operation and the like of a user, so that the workload of the user can be greatly reduced, and the intelligent lawn mower is popular among users. Referring to fig. 1, a conventional intelligent lawn mower 700 is generally provided with a GPS positioning module. In this way, the intelligent lawn mower 700 can acquire the position information by positioning itself through the GPS positioning module in cooperation with the satellite 710. Then, the intelligent lawn mower 700 may automatically mow grass within a predetermined lawn area 730 under the guidance of the navigation module. In order to further improve the positioning accuracy, the intelligent lawn mower 700 may also perform real-time positioning through an RTK positioning module, so as to improve the positioning accuracy through a carrier phase dynamic real-time difference method.
Referring to fig. 1, the RTK positioning module generally includes a base station receiver 720 and a mobile receiver (not shown). The base station receiver 720 receives the GPS signal transmitted from the satellite 710 and transmits the received GPS signal and the coordinate information of the base station to the mobile receiver. The mobile receiver is disposed on the intelligent lawn mower 700 and is configured to receive a GPS signal transmitted by a satellite 710. The mobile receiver performs data processing according to the GPS signal received by the mobile receiver and the GPS signal and the position information sent by the base station receiver 720, so as to provide centimeter-level positioning data. When the intelligent lawn mower is used, the mobile receiver is firstly used for driving a circle around the edge of the lawn area 730, boundary line map information of the lawn area 730 is generated and stored in the intelligent lawn mower 700. Further, the mobile receiver may be used to drive a circle around the obstacles in the lawn area 730, and the boundary curve of each obstacle may be recorded and stored in the map information of the intelligent lawn mower 700. The obstacle may be a pool, a flower bed, a bush, or the like. Next, the intelligent lawn mower 700 generates a work area map according to the boundary line map and the obstacle boundary curve. Referring to fig. 2, finally, the intelligent lawn mower 700 plans the self-propelled path 740 according to the work area map, and works according to the planned self-propelled path 740, thereby completing the task of self-mowing.
However, in actual use, it often happens that a part of the lawn has already been mowed, a part of the lawn has not yet been mowed, and the mowed and unmamowed areas cross each other. When the intelligent mower 700 passes over an area that has already mowed, the cutter assembly is still operating at normal speed. Thus, not only is the amount of power consumed by the battery assembly, but the mower does not perform as effectively, i.e.: the cutting blade assembly consumes energy when passing through the area where mowing has been completed, but does not mow, thereby reducing the electricity usage rate of the intelligent mower 700 and reducing the effective use time of the mower.
Referring to fig. 3, the present invention discloses a lawn mower 100 including an information collecting module 10 and a control module 20. The information collecting module 10 is configured to collect area information of an area to be operated 3 (shown in fig. 6), and determine whether mowing of the area to be operated 3 is completed according to the area information. The area to be worked 3 is an area where the lawnmower 100 is to perform work. The control module 20 controls the operation state of a cutter assembly (not shown) of the lawn mower 100 according to whether the work area 3 is finished mowing. Referring to fig. 6, when the area to be worked 3 is located in the area to be worked 2 where mowing is completed, and the area to be worked 3 is completed mowing, the control module 20 controls the cutter assembly to operate at the first rotation speed and controls the mower 100 to pass through the area to be worked 3 at the first speed. Referring to fig. 7, when the area to be worked 3 is located in the unfinished area 1 where mowing is unfinished, and the area to be worked 3 is unfinished, the control module 20 controls the cutter assembly to operate at the second rotation speed and controls the mower 100 to pass through the area to be worked 3 at the second speed. Wherein the first rotational speed is less than the second rotational speed. Since the mower 100 passes through the area where mowing is finished in a low-speed state, the power can be effectively saved, and the working time of the mower 100 is prolonged. Preferably, the first rotational speed is zero.
Preferably, the first speed is greater than the second speed, i.e.: when the mower 100 passes through an area where mowing has been completed, it passes at a high speed. By the arrangement, the working efficiency of the mower 100 can be effectively improved, and the waste of time in the area where mowing is finished by the mower 100 is avoided.
Fig. 4 shows an information collection module 10 of the first embodiment. The information acquisition module 10 includes a position acquisition unit 11 and a navigation unit 12. The position acquisition unit 11 is configured to acquire area information of the area to be worked 3, where the area information is coordinate information of the area to be worked 3. The position acquisition unit 11 may be an rtk (real time kinematic) positioning module. The navigation unit 12 determines whether the corresponding area in the navigation map is identified as completing mowing according to the coordinate information. When the area identifier corresponding to the coordinate information in the navigation map is that mowing is completed, the control module 20 controls the cutting knife assembly to work at a first rotating speed. When the area identifier corresponding to the coordinate information in the navigation map is unfinished mowing, the control module 20 controls the cutting knife assembly to work at a second rotating speed; and, after the mower 100 finishes mowing the to-be-worked area 3, the navigation unit 12 identifies an area corresponding to the coordinate information as finish mowing in a navigation map.
Fig. 5 shows an information collection module 10' of a second embodiment. The information acquisition module 10 ' includes an image acquisition unit 11 ' and an image recognition unit 12 '. The image acquisition unit 11' is used for acquiring a real-time image of the area 3 to be operated. The image recognition unit 12' is configured to analyze the real-time image to determine whether mowing of the area to be worked 3 is completed. In practical applications, a plurality of lawn images with grass cut already completed may be pre-stored in the image recognition unit 12'. The image recognition unit 12' compares the difference between the real-time image and the pre-stored image, thereby calculating whether the mowing of the area to be worked 3 is completed.
Referring to fig. 8, the present invention discloses a lawn mower 200 including a self-propelled module 210, a lawn mowing module 220, a positioning module 230, an information collecting module 240 and a control module 250. The self-propelled module 210 is used for driving the lawn mower 200 to realize self-propelling. The mowing module 220 is configured to perform a mowing function of the lawn mower 200. The positioning module 230 is used for positioning the lawn mower 200 in real time, so as to obtain the position information of the lawn mower 200. In this embodiment, the positioning module 230 is an RTK real-time positioning module. The lawn mower 200 includes a first mode of operation and a second mode of operation. Wherein the operating power of the first operating mode is greater than the operating power of the second operating mode. In this embodiment, the first operating mode is a normal mowing mode, and the second operating mode is a mowing stopping mode. However, in other embodiments, the first operating mode may be set to a normal mowing mode and the second operating mode is set to a low mowing mode. The control module 250 controls the lawn mower 200 to perform self-propelled mowing in the first operating mode in a working area. Meanwhile, the information collecting module 240 records the working area of the mower 200 in the first working mode, in which mowing is finished, and marks the working area as a cut area. In this embodiment, the information collecting module 240 obtains the current position information through the positioning module 230, and then marks a position corresponding to the current position information in the navigation map. And when the area corresponding to the current position information is already mowed, marking the area as a cut area. And marking the working area outside the cut area as an uncut area. When the lawn mower 200 enters the uncut area, the control module 250 controls the mowing module 220 to perform self-propelled mowing in the first operating mode. When the lawn mower 200 reenters the cut area, the control module 250 controls the mowing module 220 to self-propel in a second mode of operation.
Referring to fig. 9, the present invention discloses a lawn mower 300, including a self-propelled module 310, a lawn mowing module 320, a camera module 330, an information collecting module 340 and a control module 350. The self-propelled module 310 is used for driving the lawn mower 300 to realize self-propelling. The mowing module 320 is configured to perform a mowing function of the lawn mower 300. The camera module 330 is used for acquiring a real-time image of an area to be worked. The lawn mower 300 includes a first mode of operation and a second mode of operation. Wherein the operating power of the first operating mode is greater than the operating power of the second operating mode. In this embodiment, the first operating mode is a normal mowing mode, and the second operating mode is a mowing stopping mode. However, in other embodiments, the first operating mode may be set to a normal mowing mode and the second operating mode is set to a low mowing mode. The control module 350 controls the lawn mower 300 to perform self-propelled mowing in the first operating mode in a work area. Meanwhile, the information collecting module 340 records the working area of the mower 300 which finishes mowing in the first working mode and marks the working area as a cut area. In this embodiment, the control module 350 analyzes the real-time image of the area to be worked, which is acquired by the camera module 330, to determine whether mowing of the area to be worked is completed. And if the area to be operated is already mowed, marking the area as the mowed area in the navigation map. And marking the working area outside the cut area as an uncut area. When the lawn mower 300 enters the uncut area, the control module 350 controls the mowing module 320 to perform self-propelled mowing in the first operating mode. When the lawn mower 300 reenters the cut area, the control module 350 controls the mowing module 320 to propel in a second mode of operation.
Referring to fig. 10, the present invention further discloses a mower control method 400, which includes the following steps:
s410: the self-propelled mowing machine is controlled to perform self-propelled mowing in a working area in a first working mode.
Referring to fig. 17, the lawn mower 411 is controlled by the navigation module to perform autonomous mowing in the working area 412. Where the region 413 is a cut region, the region 414 is an uncut region, and the trajectory line 415 is the operation trajectory of the cutter head.
S420: and controlling the mower to record the work area of which mowing is finished in the first work mode and mark the work area as a mowed area.
S430: and when the mower enters the cut area again, controlling the mower to self-walk in a second working mode.
Referring to fig. 19, when the mower 411 enters the cut area 413 again, the mower 411 is controlled to self-propel in the second operating mode, thereby saving energy.
And the working power of the mower in the first working mode is larger than that in the second working mode. In this embodiment, the first operating mode is a normal mowing mode, and the second operating mode is a mowing stopping mode.
Referring to fig. 11, the present invention further discloses a mower control method 500, including the following steps:
s510: the self-propelled mowing machine is controlled to perform self-propelled mowing in a working area in a first working mode.
Referring to fig. 17, the lawn mower 411 is controlled by the navigation module to perform autonomous mowing in the working area 412. Where the region 413 is a cut region, the region 414 is an uncut region, and the trajectory line 415 is the operation trajectory of the cutter head.
S520: and controlling the mower to record the work area in which mowing is finished in the first work mode and mark the work area as a mowed area.
S530: judging whether the mower enters a cut area or not; if yes, go to step S540; otherwise, go to step S520.
S540: and controlling the mower to self-walk in the second working mode.
Referring to fig. 19, when the mower 411 enters the cut area 413 again, the mower 411 is controlled to self-propel in the second operating mode, thereby saving energy.
The working power of the mower in the first working mode is larger than that in the second working mode. In this embodiment, the first operating mode is a normal mowing mode, and the second operating mode is a mowing stopping mode.
Referring to fig. 12, the present invention further discloses a mower control method 600, including the following steps:
s610: the self-propelled mowing machine is controlled to perform self-propelled mowing in a working area in a first working mode.
Referring to fig. 17, the lawn mower 411 is controlled by the navigation module to perform autonomous mowing in the working area 412. Where the region 413 is a cut region, the region 414 is an uncut region, and the trajectory line 415 is the operation trajectory of the cutter head.
S620: controlling the mower to record a working area in which mowing is finished in the first working mode and mark the working area as a cut area; and marking the working area outside the cut area as an uncut area.
S630: and when the mower enters the cut area again, controlling the mower to walk in the second working mode.
Referring to fig. 19, when the mower 411 enters the cut area 413 again, the mower 411 is controlled to self-propel in the second operating mode, thereby saving energy.
S640: and when the mower enters the uncut area, controlling the mower to perform self-propelled mowing in a first working mode.
Referring to fig. 18, when the mower 411 enters the uncut area 414, the mower 411 is controlled to perform self-propelled mowing in the first operating mode, thereby completing the mowing task.
The working power of the mower in the first working mode is larger than that in the second working mode. In this embodiment, the first operating mode is a normal mowing mode, and the second operating mode is a mowing stopping mode.
Referring to fig. 13, the present invention further discloses a control method of a lawn mower, including the following steps:
s1: acquiring the area information of the area 3 to be operated, and judging whether the mowing of the area 3 to be operated is finished or not according to the area information.
S2: if the mowing is finished, the cutter assembly is controlled to work at a first rotating speed, and the mower 100 is controlled to pass through the area to be worked 3 at the first speed.
S3: if the mowing is not finished, controlling the cutting knife assembly to work at a second rotating speed, and controlling the mower 100 to pass through the area to be worked 3 at the second speed; wherein the first speed is greater than the second speed.
Preferably, the step S1 further includes the steps of:
s11: acquiring area information of an area to be operated 3, wherein the area information is coordinate information of the area to be operated 3;
s12: and judging whether the area corresponding to the coordinate information is marked as finishing mowing in the navigation map.
Preferably, the step S3 further includes the steps of:
s31: controlling the cutter assembly to work;
s32: and identifying the area corresponding to the coordinate information in the navigation map as finishing mowing.
Of course, it is understood that, in other embodiments, the step S1 may also be the following step:
s11: acquiring area information of an area to be operated 3, wherein the area information is a real-time image of the area to be operated 3;
s12: and analyzing the real-time image to judge whether the area 3 to be operated completes mowing.
In summary, the mower 100 of the present invention can control the operating state of the cutting blade assembly of the mower 100 according to whether the area to be operated 3 finishes mowing, so as to effectively save the electric power and prolong the operating time of the mower 100.
Although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the spirit and scope of the present invention.
Claims (12)
1. A lawnmower comprising a walk-through module for propelling the lawnmower and a mowing module for performing a mowing function of the lawnmower, the mowing module having a first mode of operation and a second mode of operation, the lawnmower comprising a control module that controls the lawnmower to walk-through mow within an operating area in the first mode of operation; the mower further comprises an information acquisition module, wherein the information acquisition module records a working area of the mower which finishes mowing in the first working mode and marks the working area as a cut area; when the mower enters the cut area again, the control module controls the mowing module to self-propel in the second working mode; the first working mode comprises a second speed of the self-walking module for self-walking and a second rotating speed of the mowing module for mowing, the second working mode comprises a first speed of the self-walking module for self-walking and a first rotating speed of the mowing module for mowing, the first speed is greater than the second speed, and the first rotating speed is less than the second rotating speed.
2. The mower of claim 1, wherein: the working area outside the cut area is marked as an uncut area, and when the mower enters the uncut area, the control module controls the mowing module to perform self-propelled mowing in the first working mode.
3. The mower of claim 1, wherein: the first working mode is a normal mowing mode, and the second working mode is a mowing stopping mode.
4. The mower of claim 1, wherein: the lawn mower also includes a positioning module for providing position information of the lawn mower, and the cut area is marked by the positioning module.
5. The mower of claim 4, wherein: the positioning module is an RTK real-time positioning module.
6. The mower of claim 1, wherein: the lawn mower further comprises a camera module used for identifying the cut state of the lawn, and the cut area is marked through the camera module.
7. A method of controlling a lawnmower including a walk-behind module for propelling the lawnmower and a mowing module for performing a mowing function of the lawnmower, the mowing module having a first mode of operation and a second mode of operation, comprising the steps of:
the mower carries out self-propelled mowing in a working area in the first working mode;
the mower records the work area where mowing is finished in the first work mode and marks the work area as a cut area;
when the mower reenters the cut area, the mower controls the mowing module to self-propel in the second working mode;
the first working mode comprises a second speed of self-walking of the self-walking module and a second rotating speed of mowing of the mowing module, the second working mode comprises a first speed of self-walking of the self-walking module and a first rotating speed of mowing of the mowing module, the first speed is greater than the second speed, and the first rotating speed is smaller than the second rotating speed.
8. The mower control method of claim 7, further comprising the steps of:
the working area outside the cut area is marked as an uncut area, and when the mower enters the uncut area, the mower controls the mowing module to perform self-propelled mowing in the first working mode.
9. The mower control method of claim 7, wherein said first mode of operation is a normal mowing mode and said second mode of operation is a stop mowing mode.
10. The mower control method of claim 7, wherein said mower further comprises a location module for providing information on the location of said mower, said cut zone being marked by said location module.
11. The mower control method of claim 10, wherein said positioning module is an RTK real time positioning module.
12. The mower control method of claim 7, wherein said mower further comprises a camera module for identifying a cut status of the lawn, said cut area being marked by said camera module.
Priority Applications (8)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011544833.6A CN112673794B (en) | 2020-12-24 | 2020-12-24 | Mower and control method thereof |
| US17/555,491 US20220197295A1 (en) | 2020-12-22 | 2021-12-19 | Robotic mower, and control method thereof |
| PCT/CN2021/139509 WO2022135317A1 (en) | 2020-12-22 | 2021-12-20 | Robotic tool system and control method thereof |
| EP21909313.5A EP4268042A1 (en) | 2020-12-22 | 2021-12-20 | Robotic tool system and control method thereof |
| EP21216244.0A EP4020112B1 (en) | 2020-12-22 | 2021-12-21 | Robotic mower and control method thereof |
| ES21216244T ES2963141T3 (en) | 2020-12-22 | 2021-12-21 | Lawnmower robot and its control method |
| EP23207591.1A EP4293468A3 (en) | 2020-12-22 | 2021-12-21 | Robotic mower and control method thereof |
| US18/321,798 US20230292657A1 (en) | 2020-12-22 | 2023-05-23 | Robotic tool system and control method thereof |
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| CN202011544833.6A CN112673794B (en) | 2020-12-24 | 2020-12-24 | Mower and control method thereof |
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| CN112673794A CN112673794A (en) | 2021-04-20 |
| CN112673794B true CN112673794B (en) | 2022-06-07 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US7350344B2 (en) * | 2003-11-18 | 2008-04-01 | Daniel Charles Heinz | Lawnmower rotary cutting apparatus and grass guide |
| CN107960191A (en) * | 2016-10-19 | 2018-04-27 | 惠州市蓝微电子有限公司 | A kind of intelligent grass-removing system |
| CN108490932B (en) * | 2018-03-09 | 2021-01-26 | 东南大学 | Control method of mowing robot and automatic control mowing system |
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