CN112840865A - Anti-collision mower system and anti-collision method for mower - Google Patents
Anti-collision mower system and anti-collision method for mower Download PDFInfo
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- CN112840865A CN112840865A CN202110029037.7A CN202110029037A CN112840865A CN 112840865 A CN112840865 A CN 112840865A CN 202110029037 A CN202110029037 A CN 202110029037A CN 112840865 A CN112840865 A CN 112840865A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D75/00—Accessories for harvesters or mowers
- A01D75/18—Safety devices for parts of the machines
- A01D75/185—Avoiding collisions with obstacles
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Abstract
The invention relates to an anti-collision mower system and a mower anti-collision method. The anti-collision mower system comprises a base station, a mower and a boundary signal line, wherein a boundary line driving circuit of the base station is connected with the boundary signal line, and the boundary line driving circuit drives the boundary signal line to generate a first magnetic field; the base station also comprises at least one magnetic field transmitting module, and the magnetic field transmitting module generates a second magnetic field according to preset transmitting power; the mower is capable of receiving and identifying the first magnetic field and the second magnetic field. According to the invention, the independent magnetic field emission module is arranged in the base station, so that the mower is effectively prevented from colliding with the base station, and collision damage between the base station and the mower is avoided.
Description
Technical Field
The present invention relates to the field of lawn mowers, and more particularly, to an anti-collision lawn mower system and a method for preventing collision of a lawn mower.
Background
The automatic mower system can automatically complete mowing operation, improves mowing efficiency, can reduce labor cost, and is widely used. The automatic mower system comprises a base station and a mower, and the mower is powered by a battery pack carried by the mower. During the automatic mowing process, the mower may collide with the base station, and although the existing mower has the function of changing the course after collision, the existing mower still causes damage to the base station and the mower for a long time. In addition, the mower may collide with the base station during the return to the base station, causing damage to the base station and the mower.
Disclosure of Invention
The present invention is directed to provide an anti-collision mower system and an anti-collision method for a mower, which address the above-mentioned drawbacks of the prior art.
The technical scheme adopted by the invention for solving the technical problems is as follows: constructing an anti-collision mower system, which comprises a base station, a mower and a boundary signal line, wherein a boundary line driving circuit of the base station is connected with the boundary signal line, and drives the boundary signal line to generate a first magnetic field;
the base station also comprises at least one magnetic field transmitting module, and the magnetic field transmitting module generates a second magnetic field according to preset transmitting power;
the lawn mower is capable of receiving and identifying the first magnetic field and the second magnetic field.
Further, in the anti-collision mower system of the present invention, during a mowing operation of the mower, when the received magnetic field strength of the second magnetic field is greater than a first predetermined magnetic field strength, the heading of the mower is changed to avoid the base station.
Further, in the anti-collision mower system of the present invention, the mower may reduce the traveling speed of the mower when the received magnetic field strength of the second magnetic field is greater than a second predetermined magnetic field strength during the return to the base station.
Further, in the anti-collision mower system of the present invention, the mower obtains a distance between the mower and the magnetic field emission module according to the received magnetic field strength of the second magnetic field.
Further, in the anti-collision lawn mower system of the present invention, the base station includes at least three magnetic field emission modules, each of the magnetic field emission modules generates a different magnetic field;
the lawn mower determines the orientation and the distance of the base station relative to the lawn mower according to the distance between each magnetic field emission module, the distance between the magnetic field emission modules and the received strength change trend of the second magnetic field.
Further, in the anti-collision lawn mower system of the present invention, the base station comprises one magnetic field emission module, and the lawn mower comprises at least three magnetic field receiving modules for receiving and recognizing the second magnetic field;
the lawn mower determines the orientation and the distance of the base station relative to the lawn mower according to the distance between each magnetic field receiving module and the magnetic field transmitting module, the distance between the magnetic field receiving modules and the received strength change trend of the second magnetic field, wherein the magnetic field receiving module obtains the distance between the magnetic field receiving module and the magnetic field transmitting module according to the received magnetic field strength of the second magnetic field.
Further, in the anti-collision mower system of the present invention, when the mower travels, if the magnetic field strength of the second magnetic field received by the mower is gradually reduced, the mower is away from the base station;
if the magnetic field intensity of the second magnetic field received by the mower is gradually increased, the mower is close to the base station.
Further, in the anti-collision lawn mower system of the present invention, the frequencies of the first magnetic field and the second magnetic field are different; and/or
The magnetic field directions of the first magnetic field and the second magnetic field are different; and/or
The first magnetic field and the second magnetic field are out of phase.
Further, in the anti-collision lawn mower system of the present invention, the magnetic field transmitting module is a second magnetic field transmitting coil, and the second magnetic field transmitting coil is located inside or outside the base station; or
The magnetic field emission module comprises an emission module and a second magnetic field emission antenna, the emission module is connected with the second magnetic field emission antenna, and the second magnetic field emission antenna is positioned inside or outside the base station.
In addition, the invention also provides an anti-collision method of the mower, which comprises the following steps:
s1, generating a second magnetic field by a magnetic field transmitting module of the base station according to preset transmitting power;
s2, in the process of mowing, the mower judges whether the received magnetic field intensity of the second magnetic field is larger than a first preset magnetic field intensity;
and S3, if yes, changing the heading of the mower.
Further, in the method for preventing collision of lawn mowers according to the present invention, after the step S3, the method further includes:
s4, in the process that the mower returns to the base station, the mower judges whether the received magnetic field intensity of the second magnetic field is larger than a second preset magnetic field intensity;
and S5, if yes, reducing the traveling speed of the mower.
Further, in the anti-collision method for a lawn mower of the present invention, the base station includes at least three magnetic field emission modules, and the magnetic field generated by each of the magnetic field emission modules is different; the method further comprises the following steps:
the lawn mower determines the orientation and the distance of the base station relative to the lawn mower according to the distance between each magnetic field emission module, the distance between the magnetic field emission modules and the received strength change trend of the second magnetic field.
Further, the anti-collision method for the mower further comprises the following steps: the distance between the mower and the magnetic field emission module is obtained by the mower according to the received magnetic field intensity of the second magnetic field.
Further, in the method for preventing collision of lawn mowers according to the present invention, the base station includes one magnetic field emitting module, and the lawn mower includes at least three magnetic field receiving modules for receiving and recognizing the second magnetic field; the method further comprises the following steps:
the lawn mower determines the orientation and the distance of the base station relative to the lawn mower according to the distance between each magnetic field receiving module and the magnetic field transmitting module, the distance between the magnetic field receiving modules and the received strength change trend of the second magnetic field, wherein the magnetic field receiving module obtains the distance between the magnetic field receiving module and the magnetic field transmitting module according to the received magnetic field strength of the second magnetic field.
Further, the anti-collision method for the mower further comprises the following steps: when the mower travels, if the magnetic field intensity of the second magnetic field received by the mower is gradually reduced, the mower is far away from the base station;
if the magnetic field intensity of the second magnetic field received by the mower is gradually increased, the mower is close to the base station.
The anti-collision mower system and the anti-collision method of the mower have the following beneficial effects: according to the invention, the independent magnetic field emission module is arranged in the base station, so that the mower is effectively prevented from colliding with the base station, and collision damage between the base station and the mower is avoided.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
fig. 1 is a schematic diagram of an embodiment of an anti-collision mower system;
FIG. 2a is a schematic structural diagram of a magnetic field emission module according to an embodiment;
FIG. 2b is a schematic structural diagram of a magnetic field emission module according to an embodiment;
FIG. 2c is a schematic structural diagram of a magnetic field emission module according to an embodiment;
fig. 3 is a flowchart of a method for preventing collision of a mower according to an embodiment;
fig. 4 is a flowchart of a method for preventing collision of a mower according to an embodiment.
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
In a preferred embodiment, referring to fig. 1, the anti-collision mower system comprises a base station, a mower and a boundary signal line, wherein the boundary signal line is a conductor, a boundary line driving circuit of the base station is connected with the boundary signal line, and a lower boundary line driving circuit is controlled by the base station to drive the boundary signal line to generate a first magnetic field, and the first magnetic field is used for determining the mowing boundary line by the mower. The base station also comprises at least one magnetic field emission module, the magnetic field emission module generates a second magnetic field according to preset emission power, and the second magnetic field is used for determining the relative position of the mower and the base station. The first magnetic field and the second magnetic field are different magnetic fields, and the mower can receive and identify the first magnetic field and the second magnetic field. Alternatively, the base station may distinguish between the first magnetic field and the second magnetic field by setting different magnetic field parameters, which may be different for one or more magnetic field parameters. For example, if one magnetic field parameter is different, the frequencies of the first magnetic field and the second magnetic field may be set to be different, the magnetic field directions of the first magnetic field and the second magnetic field may be set to be different, the phases of the first magnetic field and the second magnetic field may be different, and the like.
It should be noted that the second magnetic field in this embodiment is a magnetic field signal, but the magnetic field signal is different from a wireless signal for transmitting information, such as a 3G wireless communication signal, a 4G wireless communication signal, a 5G wireless communication signal, a bluetooth signal, and the like, and the second magnetic field itself is not modulated and carries information.
Further, in order to enable the lawn mower to recognize the first magnetic field and the second magnetic field, the base station and the lawn mower need to be matched in advance, and parameters of the first magnetic field and the second magnetic field in the base station are set in the lawn mower, so that the lawn mower can recognize the first magnetic field and the second magnetic field.
According to the embodiment, the independent magnetic field emission module is arranged in the base station, so that the mower is effectively prevented from colliding with the base station, and collision damage between the base station and the mower is avoided.
In an embodiment, the magnetic field transmitting module of the base station generates the second magnetic field according to the preset transmitting power, which indicates that the magnetic field distribution of the second magnetic field is stable, and the magnetic field intensity is larger when the base station is closer, and the magnetic field intensity is smaller when the base station is farther. Based on this, the lawn mower can obtain the distance between the lawn mower and the magnetic field emission module according to the received magnetic field intensity of the second magnetic field, and the corresponding relation between the magnetic field intensity and the distance is stored in the lawn mower. And after the mower receives and identifies the second magnetic field, calculating the magnetic field intensity of the received second magnetic field, and searching the corresponding relation between the magnetic field intensity and the distance to obtain the distance between the mower and the base station. The mower of the embodiment can determine the distance between the mower and the base station by using the second magnetic field, and can effectively prevent the mower from colliding with the base station; in addition, the embodiment also shows that the mower does not receive information through the second magnetic field, but determines the distance between the mower and the base station through the magnetic field intensity.
In an embodiment, the magnetic field transmitting module of the base station generates the second magnetic field according to the preset transmitting power, which indicates that the magnetic field distribution of the second magnetic field is stable, and the magnetic field intensity is larger when the base station is closer, and the magnetic field intensity is smaller when the base station is farther. Based on this, the distance between lawn mower and the magnetic field emission module can be obtained according to the magnetic field intensity of the second magnetic field that receives to the lawn mower, and the first preset magnetic field intensity that is used for the early warning is stored in the lawn mower, and the distance of the position of first preset magnetic field intensity apart from the base station is the early warning distance, if continue to be close to the base station will collide. The method comprises the steps that in the process of mowing operation of the mower, whether the magnetic field intensity of a received second magnetic field is larger than a first preset magnetic field intensity or not is judged, and when the magnetic field intensity of the received second magnetic field is larger than the first preset magnetic field intensity, the course of the mower is changed to avoid a base station; if the magnetic field intensity of the received second magnetic field is not greater than the first preset magnetic field intensity, the distance between the mower and the base station is in a safe range, and the current traveling state does not need to be changed. The embodiment gives an early warning to the mower by setting the first preset magnetic field intensity, and once the early warning value is reached, the traveling direction of the mower needs to be changed, so that the mower is prevented from colliding with a base station.
In an embodiment, the magnetic field transmitting module of the base station generates the second magnetic field according to the preset transmitting power, which indicates that the magnetic field distribution of the second magnetic field is stable, and the magnetic field intensity is larger when the base station is closer, and the magnetic field intensity is smaller when the base station is farther. Based on this, the distance between lawn mower and the magnetic field emission module can be obtained according to the magnetic field intensity of the second magnetic field of receipt to the lawn mower, and the storage has the second preset magnetic field intensity that is used for the early warning in the lawn mower, and the distance of second preset magnetic field intensity position apart from the base station is the early warning distance, should reduce the speed of marcing of lawn mower at the early warning distance to make things convenient for the lawn mower can in time brake when touchhing the base station, reduce the impact simultaneously. And in the process that the mower returns to the base station, judging whether the magnetic field intensity of the received second magnetic field is greater than a second preset magnetic field intensity, and reducing the travelling speed of the mower when the magnetic field intensity of the received second magnetic field is greater than the second preset magnetic field intensity. Alternatively, after the traveling speed of the lawnmower is reduced, the traveling speed of the lawnmower is slower as the magnetic field strength of the second magnetic field received by the lawnmower is larger, and the lawnmower stops traveling until the lawnmower and the base station are docked. The mower is pre-warned by setting the second preset magnetic field intensity, and once the pre-warned value is reached, the travelling speed of the mower needs to be reduced, so that the impact force of the mower on a base station is reduced, and the mower is enabled to approach the base station in a moderate manner.
In one embodiment, the base station includes at least three magnetic field emission modules, each magnetic field emission module generates a different magnetic field, and different magnetic field emission modules can distinguish the magnetic field by setting different magnetic field parameters, which may be different in one or more magnetic field parameters. For example, if a parameter of a magnetic field is different, the frequency of the magnetic field generated by each magnetic field emitting module may be set to be different, the phase of the magnetic field generated by each magnetic field emitting module may be set to be different, and the like. Further, the position information of each magnetic field emission module is obtained, wherein the position information comprises the distance between the magnetic field emission modules. Further, each magnetic field emitting module of the base station generates a respective magnetic field according to the preset emitting power, and it is stated that the closer to the base station, the larger the magnetic field intensity is, and the farther from the base station, the smaller the magnetic field intensity is. Based on this, the lawn mower can obtain the distance between the lawn mower and each magnetic field emission module according to the received magnetic field intensity of each magnetic field emission module. Further, the mower can determine whether the mower is approaching or departing from the base station according to the intensity variation trend of the received magnetic field, and when the intensity of the received magnetic field of the mower is greater, the mower is approaching the base station; as the intensity of the magnetic field received by the mower becomes smaller and smaller, it is indicated that the mower is moving away from the base station.
After the distance between the mower and each magnetic field emission module, the distance between the magnetic field emission modules and the strength change trend of the second magnetic field are obtained, the mower determines the orientation and the distance of the base station relative to the mower according to the distance between the mower and each magnetic field emission module, the distance between the magnetic field emission modules and the received strength change trend of the second magnetic field. The multi-point positioning algorithm can be referred to in the prior art, for example, using triangulation techniques, where the three magnetic field emission modules of the mower form a triangle. The embodiment can determine the direction and the distance of the base station relative to the mower, so that the mower can be effectively prevented from colliding with the base station, and the mower can be guided to return to the base station.
In one embodiment, the base station includes a magnetic field emitting module and the lawnmower includes at least three magnetic field receiving modules for receiving and identifying the second magnetic field. The magnetic field emission module of the base station generates a second magnetic field according to the preset emission power, which shows that the magnetic field distribution of the second magnetic field is stable, and the magnetic field intensity is larger when the base station is closer, and the magnetic field intensity is smaller when the base station is farther. Based on this, each magnetic field receiving module can obtain the distance between magnetic field receiving module and the magnetic field emission module according to the magnetic field intensity of the second magnetic field received, and the lawn mower stores the corresponding relation between the magnetic field intensity and the distance. And after each magnetic field receiving module receives and identifies the second magnetic field, calculating the magnetic field intensity of the received second magnetic field, and searching the corresponding relation between the magnetic field intensity and the distance to obtain the distance between each magnetic field receiving module and the base station. Further, the positional relationship of all the magnetic field receiving modules and the distance between the magnetic field receiving modules are obtained. Further, each magnetic field receiving module can determine whether the mower is approaching to the base station or is moving away from the base station according to the strength change trend of the received magnetic field, and when the strength of the magnetic field received by each magnetic field receiving module is larger and larger, the mower is approaching to the base station; when the intensity of the magnetic field received by each magnetic field receiving module is smaller and smaller, the lawn mower is far away from the base station.
After the distance between each magnetic field receiving module and each magnetic field transmitting module, the distance between the magnetic field receiving modules and the strength change trend of the second magnetic field are obtained, the lawn mower determines the direction and the distance of the base station relative to the lawn mower according to the distance between each magnetic field receiving module and each magnetic field transmitting module, the distance between the magnetic field receiving modules and the received strength change trend of the second magnetic field, wherein the magnetic field receiving modules obtain the distance between the magnetic field receiving modules and the magnetic field transmitting modules according to the received magnetic field strength of the second magnetic field. The multi-point positioning algorithm can be referred to in the prior art, for example, using triangulation techniques, where the three magnetic field emission modules of the mower form a triangle. The embodiment can determine the direction and the distance of the base station relative to the mower, so that the mower can be effectively prevented from colliding with the base station, and the mower can be guided to return to the base station.
In an embodiment, referring to fig. 2a, the magnetic field transmitting module is a second magnetic field transmitting coil, and the second magnetic field transmitting coil is located inside the base station.
In an embodiment, referring to fig. 2b, the magnetic field transmitting module is a second magnetic field transmitting coil, and the second magnetic field transmitting coil is located outside the base station.
In an embodiment, referring to fig. 2c, the magnetic field transmitting module includes a transmitting module and a second magnetic field transmitting antenna, the transmitting module is connected to the second magnetic field transmitting antenna, and the second magnetic field transmitting antenna is located inside or outside the base station.
In a preferred embodiment, referring to fig. 3, the method for preventing collision of lawn mower of the present embodiment comprises the following steps:
and S1, the magnetic field emission module of the base station generates a second magnetic field according to the preset emission power.
S2, in the process of mowing, the mower judges whether the received magnetic field intensity of the second magnetic field is larger than a first preset magnetic field intensity. The magnetic field emission module of the base station generates a second magnetic field according to the preset emission power, which shows that the magnetic field distribution of the second magnetic field is stable, and the magnetic field intensity is larger when the base station is closer, and the magnetic field intensity is smaller when the base station is farther. Based on this, the lawn mower can obtain the distance between the lawn mower and the magnetic field emission module according to the received magnetic field intensity of the second magnetic field, and the corresponding relation between the magnetic field intensity and the distance is stored in the lawn mower. And after the mower receives and identifies the second magnetic field, calculating the magnetic field intensity of the received second magnetic field, and searching the corresponding relation between the magnetic field intensity and the distance to obtain the distance between the mower and the base station. The mower of the embodiment can determine the distance between the mower and the base station by utilizing the second magnetic field, and can effectively prevent the mower from colliding with the base station.
And S3, if the magnetic field intensity of the received second magnetic field is larger than the first preset magnetic field intensity, changing the heading direction of the mower. The course of the mower can be changed according to a preset direction or randomly.
According to the embodiment, the independent magnetic field emission module is arranged in the base station, so that the mower is effectively prevented from colliding with the base station, and collision damage between the base station and the mower is avoided.
In a preferred embodiment, referring to fig. 4, after step S3 of the above embodiment, the method further includes:
and S4, in the process that the mower returns to the base station, the mower judges whether the magnetic field intensity of the received second magnetic field is larger than a second preset magnetic field intensity. The magnetic field emission module of the base station generates a second magnetic field according to the preset emission power, which shows that the magnetic field distribution of the second magnetic field is stable, and the magnetic field intensity is larger when the base station is closer, and the magnetic field intensity is smaller when the base station is farther. Based on this, the distance between lawn mower and the magnetic field emission module can be obtained according to the magnetic field intensity of the second magnetic field of receipt to the lawn mower, and the storage has the second preset magnetic field intensity that is used for the early warning in the lawn mower, and the distance of second preset magnetic field intensity position apart from the base station is the early warning distance, should reduce the speed of marcing of lawn mower at the early warning distance to make things convenient for the lawn mower can in time brake when touchhing the base station, reduce the impact simultaneously. And in the process that the mower returns to the base station, judging whether the magnetic field intensity of the received second magnetic field is greater than a second preset magnetic field intensity, and reducing the travelling speed of the mower when the magnetic field intensity of the received second magnetic field is greater than the second preset magnetic field intensity.
And S5, if the magnetic field intensity of the received second magnetic field is larger than the second preset magnetic field intensity, reducing the traveling speed of the mower. After the travelling speed of the mower is reduced, the travelling speed of the mower is slower when the magnetic field intensity of the second magnetic field received by the mower is larger, and the mower stops travelling until the mower is in butt joint with the base station.
The mower is pre-warned by setting the second preset magnetic field intensity, and once the pre-warned value is reached, the travelling speed of the mower needs to be reduced, so that the impact force of the mower on a base station is reduced, and the mower is enabled to approach the base station in a moderate manner.
In one embodiment, the base station includes at least three magnetic field emission modules, each magnetic field emission module generates a different magnetic field, and different magnetic field emission modules can distinguish the magnetic field by setting different magnetic field parameters, which may be different in one or more magnetic field parameters. For example, if a parameter of a magnetic field is different, the frequency of the magnetic field generated by each magnetic field emitting module may be set to be different, the phase of the magnetic field generated by each magnetic field emitting module may be set to be different, and the like. Further, the position information of each magnetic field emission module is obtained, wherein the position information comprises the distance between the magnetic field emission modules. Further, each magnetic field emitting module of the base station generates a respective magnetic field according to the preset emitting power, and it is stated that the closer to the base station, the larger the magnetic field intensity is, and the farther from the base station, the smaller the magnetic field intensity is. Based on this, the lawn mower can obtain the distance between the lawn mower and each magnetic field emission module according to the received magnetic field intensity of each magnetic field emission module. Further, the mower can determine whether the mower is approaching or departing from the base station according to the intensity variation trend of the received magnetic field, and when the intensity of the received magnetic field of the mower is greater, the mower is approaching the base station; as the intensity of the magnetic field received by the mower becomes smaller and smaller, it is indicated that the mower is moving away from the base station.
After the distance between the mower and each magnetic field emission module, the distance between the magnetic field emission modules and the strength change trend of the second magnetic field are obtained, the mower determines the orientation and the distance of the base station relative to the mower according to the distance between the mower and each magnetic field emission module, the distance between the magnetic field emission modules and the received strength change trend of the second magnetic field. The multi-point positioning algorithm can be referred to in the prior art, for example, using triangulation techniques, where the three magnetic field emission modules of the mower form a triangle. The embodiment can determine the direction and the distance of the base station relative to the mower, so that the mower can be effectively prevented from colliding with the base station, and the mower can be guided to return to the base station.
In one embodiment, the base station includes a magnetic field emitting module and the lawnmower includes at least three magnetic field receiving modules for receiving and identifying the second magnetic field. The magnetic field emission module of the base station generates a second magnetic field according to the preset emission power, which shows that the magnetic field distribution of the second magnetic field is stable, and the magnetic field intensity is larger when the base station is closer, and the magnetic field intensity is smaller when the base station is farther. Based on this, each magnetic field receiving module can obtain the distance between magnetic field receiving module and the magnetic field emission module according to the magnetic field intensity of the second magnetic field received, and the lawn mower stores the corresponding relation between the magnetic field intensity and the distance. And after each magnetic field receiving module receives and identifies the second magnetic field, calculating the magnetic field intensity of the received second magnetic field, and searching the corresponding relation between the magnetic field intensity and the distance to obtain the distance between each magnetic field receiving module and the base station. Further, the positional relationship of all the magnetic field receiving modules and the distance between the magnetic field receiving modules are obtained. Further, each magnetic field receiving module can determine whether the mower is approaching to the base station or is moving away from the base station according to the strength change trend of the received magnetic field, and when the strength of the magnetic field received by each magnetic field receiving module is larger and larger, the mower is approaching to the base station; when the intensity of the magnetic field received by each magnetic field receiving module is smaller and smaller, the lawn mower is far away from the base station.
After the distance between each magnetic field receiving module and each magnetic field transmitting module, the distance between the magnetic field receiving modules and the strength change trend of the second magnetic field are obtained, the lawn mower determines the direction and the distance of the base station relative to the lawn mower according to the distance between each magnetic field receiving module and each magnetic field transmitting module, the distance between the magnetic field receiving modules and the received strength change trend of the second magnetic field, wherein the magnetic field receiving modules obtain the distance between the magnetic field receiving modules and the magnetic field transmitting modules according to the received magnetic field strength of the second magnetic field. The multi-point positioning algorithm can be referred to in the prior art, for example, using triangulation techniques, where the three magnetic field emission modules of the mower form a triangle. The embodiment can determine the direction and the distance of the base station relative to the mower, so that the mower can be effectively prevented from colliding with the base station, and the mower can be guided to return to the base station.
In an embodiment, on the basis of the above embodiment, the method for preventing collision of a mower further includes: when the mower travels, if the magnetic field intensity of the second magnetic field received by the mower is gradually reduced, the mower is far away from the base station; if the magnetic field intensity of the second magnetic field received by the mower is gradually increased, the mower is close to the base station.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes and modifications made within the scope of the claims of the present invention should be covered by the claims of the present invention.
Claims (15)
1. An anti-collision mower system comprises a base station, a mower and a boundary signal line, wherein a boundary line driving circuit of the base station is connected with the boundary signal line, and drives the boundary signal line to generate a first magnetic field; it is characterized in that the preparation method is characterized in that,
the base station also comprises at least one magnetic field transmitting module, and the magnetic field transmitting module generates a second magnetic field according to preset transmitting power;
the lawn mower is capable of receiving and identifying the first magnetic field and the second magnetic field.
2. The anti-collision lawn mower system of claim 1, wherein the lawn mower changes a heading of the lawn mower during a mowing operation when the received magnetic field strength of the second magnetic field is greater than a first predetermined magnetic field strength to avoid the base station.
3. The anti-collision lawn mower system of claim 1, wherein the lawn mower, in returning to the base station, reduces the travel speed of the lawn mower when the received magnetic field strength of the second magnetic field is greater than a second predetermined magnetic field strength.
4. The anti-collision lawn mower system of claim 1, wherein the distance between the lawn mower and the magnetic field emission module is derived by the lawn mower from a strength of the received magnetic field of the second magnetic field.
5. The anti-collision lawn mower system of claim 4, wherein the base station comprises at least three of the magnetic field emission modules, each of the magnetic field emission modules generating a different magnetic field;
the lawn mower determines the orientation and the distance of the base station relative to the lawn mower according to the distance between each magnetic field emission module, the distance between the magnetic field emission modules and the received strength change trend of the second magnetic field.
6. The anti-collision lawn mower system of claim 1, wherein said base station comprises one said magnetic field emission module, said lawn mower comprising at least three magnetic field receiving modules for receiving and identifying said second magnetic field;
the lawn mower determines the orientation and the distance of the base station relative to the lawn mower according to the distance between each magnetic field receiving module and the magnetic field transmitting module, the distance between the magnetic field receiving modules and the received strength change trend of the second magnetic field, wherein the magnetic field receiving module obtains the distance between the magnetic field receiving module and the magnetic field transmitting module according to the received magnetic field strength of the second magnetic field.
7. The anti-collision lawn mower system of claim 1, wherein the lawn mower is moving away from the base station if the magnetic field strength of the second magnetic field received by the lawn mower is gradually decreasing during travel of the lawn mower;
if the magnetic field intensity of the second magnetic field received by the mower is gradually increased, the mower is close to the base station.
8. The collision-resistant lawn mower system of claim 1, wherein the first magnetic field and the second magnetic field differ in frequency; and/or
The magnetic field directions of the first magnetic field and the second magnetic field are different; and/or
The first magnetic field and the second magnetic field are out of phase.
9. The anti-collision lawn mower system of claim 1,
the magnetic field transmitting module is a second magnetic field transmitting coil, and the second magnetic field transmitting coil is positioned inside or outside the base station; or
The magnetic field emission module comprises an emission module and a second magnetic field emission antenna, the emission module is connected with the second magnetic field emission antenna, and the second magnetic field emission antenna is positioned inside or outside the base station.
10. A method of collision avoidance for a lawnmower, comprising:
s1, generating a second magnetic field by a magnetic field transmitting module of the base station according to preset transmitting power;
s2, in the process of mowing, the mower judges whether the received magnetic field intensity of the second magnetic field is larger than a first preset magnetic field intensity;
and S3, if yes, changing the heading of the mower.
11. The mower collision prevention method according to claim 10, further comprising, after step S3:
s4, in the process that the mower returns to the base station, the mower judges whether the received magnetic field intensity of the second magnetic field is larger than a second preset magnetic field intensity;
and S5, if yes, reducing the traveling speed of the mower.
12. The lawnmower collision avoidance method of claim 10, wherein the base station comprises at least three of the magnetic field emission modules, each of the magnetic field emission modules generating a different magnetic field; the method further comprises the following steps:
the lawn mower determines the orientation and the distance of the base station relative to the lawn mower according to the distance between each magnetic field emission module, the distance between the magnetic field emission modules and the received strength change trend of the second magnetic field.
13. The method of claim 12, further comprising: the distance between the mower and the magnetic field emission module is obtained by the mower according to the received magnetic field intensity of the second magnetic field.
14. The lawnmower collision avoidance method of claim 10, wherein the base station comprises one of the magnetic field emission modules, the lawnmower comprising at least three magnetic field receiving modules for receiving and identifying the second magnetic field; the method further comprises the following steps:
the lawn mower determines the orientation and the distance of the base station relative to the lawn mower according to the distance between each magnetic field receiving module and the magnetic field transmitting module, the distance between the magnetic field receiving modules and the received strength change trend of the second magnetic field, wherein the magnetic field receiving module obtains the distance between the magnetic field receiving module and the magnetic field transmitting module according to the received magnetic field strength of the second magnetic field.
15. The mower collision avoidance method of claim 10, further comprising: when the mower travels, if the magnetic field intensity of the second magnetic field received by the mower is gradually reduced, the mower is far away from the base station;
if the magnetic field intensity of the second magnetic field received by the mower is gradually increased, the mower is close to the base station.
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