CN112925303A - Automatic working system and navigation control device - Google Patents
Automatic working system and navigation control device Download PDFInfo
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- CN112925303A CN112925303A CN202011528932.5A CN202011528932A CN112925303A CN 112925303 A CN112925303 A CN 112925303A CN 202011528932 A CN202011528932 A CN 202011528932A CN 112925303 A CN112925303 A CN 112925303A
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- 238000004891 communication Methods 0.000 claims abstract description 47
- 238000003032 molecular docking Methods 0.000 claims abstract description 6
- 238000012545 processing Methods 0.000 claims description 36
- 238000000034 method Methods 0.000 claims description 17
- 230000008569 process Effects 0.000 claims description 11
- 230000006872 improvement Effects 0.000 description 18
- 230000008859 change Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000000691 measurement method Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000010413 gardening Methods 0.000 description 1
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- 238000012423 maintenance Methods 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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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 an automatic working system and a navigation control device. The automatic working system comprises an automatic working device and a navigation control device, wherein the navigation control device comprises a navigation component, a planning component and a communication component; the navigation assembly is configured to receive position signals and environment image signals of the automatic working device and/or the navigation control device, the planning assembly is configured to receive the position signals and the environment image signals transmitted by the navigation assembly and fit to obtain a control map of a working area, the planning assembly is in communication connection with the automatic working device through the communication assembly and transmits the control map to the automatic working device, and the automatic working device is controlled to operate in the working area according to the control map and execute corresponding garden work tasks or return to a charging station to achieve automatic charging docking. The automatic working system has a map establishing function, can conveniently and quickly acquire a high-precision control map of a working area, and effectively improves the practicability of the automatic working system for realizing garden work.
Description
Technical Field
The present invention relates to an automatic work system and a navigation control device.
Background
With the continuous development of intelligent technology in recent years, intelligent mechanical equipment is applied to various fields, and particularly in the field of garden machinery, the generation of intelligent garden equipment frees users from time-consuming and labor-consuming work such as cleaning and maintenance.
As shown in fig. 1 and fig. 2, an RTK (Real-time kinematic) technique is a difference method for processing carrier phase observations of two measurement stations in Real time, and sends carrier phases acquired by a reference station to a user receiver for difference calculation and coordinate calculation. The method is a new common satellite positioning measurement method, the former static, rapid static and dynamic measurement needs to be solved afterwards to obtain centimeter-level precision, and the RTK is a measurement method capable of obtaining centimeter-level positioning precision in real time in the field.
The RTK positioning modules of the intelligent mower in the prior art are all modules which cannot be detached in the intelligent mower, when the RTK positioning modules are used as other functions, for example, when map data such as boundary obstacles are collected, the RTK positioning modules can only be operated together with the mower very inconveniently or other independent RTK positioning devices are high in cost, and when the RTK positioning modules of the mower have problems, the RTK positioning modules cannot be repaired in time.
In view of the above, it is necessary to provide a new automatic working system to solve the above problems.
Disclosure of Invention
The automatic working system has a control map establishing function by arranging the navigation control device, can conveniently and quickly acquire a high-precision control map of a working area, and effectively improves the practicability of the automatic working system for realizing garden work.
To achieve the above object, the present invention provides an automatic working system, including an automatic working device for moving and performing a landscape work task within a work area; the navigation control device is detachably connected with the automatic working device and comprises a navigation component, a planning component and a communication component; the navigation assembly is configured to receive position signals of the automatic working device and/or the navigation control device, the planning assembly is configured to receive the position signals transmitted by the navigation assembly and to fit and acquire a control map of the working area according to the position signals, the planning assembly is in communication connection with the automatic working device through the communication assembly and transmits the control map to the automatic working device, and the automatic working device is controlled to operate in the working area according to the control map and execute corresponding garden work tasks or return to a charging station to realize automatic charging docking.
As a further improvement of the present invention, the navigation control device further comprises an image acquisition device, wherein the image acquisition device is used for acquiring an environment image signal, and the environment image signal at least comprises a panoramic photo of the working area.
As a further improvement of the present invention, the navigation assembly further comprises an image processing module in signal connection with the image acquisition device, and the image processing module is configured to receive and process the environment image signal.
As a further improvement of the present invention, the planning component includes a data processing unit and a path planning unit, the data processing unit is respectively in communication connection with the navigation component and the communication component, and obtains the position signal and the environment image signal in the moving process of the automatic working device and/or the navigation control device in real time through the navigation component, so as to obtain the control map in a fitting manner, and can correct the control map.
As a further improvement of the present invention, the path planning unit is electrically connected to the data processing unit and the communication component, respectively, the path planning unit is configured to mark a reference object and set a reference coordinate in the control map, and the data processing unit marks an obstacle in the control map by using the reference object and the reference coordinate; and the path planning unit can also set the boundary of a working area and/or a path for returning the automatic working device to a set position for charging on the control map.
As a further improvement of the invention, the navigation assembly comprises a receiving module, the receiving module can receive the position signal, and the position signal comprises a travel track path and position coordinates of the automatic working device and/or the navigation control device.
As a further improvement of the present invention, the navigation control device includes a housing, the navigation assembly, the planning assembly and the communication assembly are all accommodated in the housing, the housing is further formed with a connection assembly, and the navigation control device is detachably connected to the automatic working device through the connection assembly.
As a further improvement of the present invention, the connecting assembly includes a connecting portion formed on the housing and a connecting terminal accommodated in the connecting portion, and the navigation control device is electrically and/or communicatively connected to the automatic working device through the connecting terminal.
As a further improvement of the present invention, the navigation control device further includes a power supply assembly housed in the housing, and the power supply assembly is detachably connected to the navigation control device.
As a further improvement of the present invention, the automatic working device includes a housing, a control unit accommodated in the housing, a power supply unit, and a working unit for performing garden work, and the navigation control device is detachably connected to the housing and electrically connected to the control unit and the power supply unit, respectively.
As a further improvement of the present invention, the control unit is used for controlling the operation of the automatic working device, and includes a control circuit board housed in the housing, a driving motor, a driving wheel located behind the housing, and a driven wheel located in front of the housing.
In order to achieve the above object, the present invention provides a navigation control device detachably connected to an automatic working device for moving and performing garden work tasks within a work area, the navigation control device comprising a navigation component, a planning component and a communication component; the navigation assembly is configured to receive position signals of the automatic working device and/or the navigation control device, the planning assembly is configured to receive the position signals transmitted by the navigation assembly and to fit and acquire a control map of the working area according to the position signals, the planning assembly is in communication connection with the automatic working device through the communication assembly and transmits the control map to the automatic working device, and the automatic working device is controlled to operate in the working area according to the control map and execute corresponding garden work tasks or return to a charging station to realize automatic charging docking.
As a further improvement of the present invention, the navigation control device further includes an image capturing device, and the image capturing device is configured to capture an environment image signal, where the environment image signal at least includes a panoramic photograph of the working area.
As a further improvement of the present invention, the navigation assembly further comprises an image processing module in signal connection with the image acquisition device, and the image processing module is configured to receive and process the environment image signal.
As a further improvement of the present invention, the planning component includes a data processing unit and a path planning unit, the data processing unit is respectively in communication connection with the navigation component and the communication component, and obtains the position signal and the environment image signal in the moving process of the automatic working device and/or the navigation control device in real time through the navigation component, so as to obtain the control map in a fitting manner, and can correct the control map.
As a further improvement of the present invention, the path planning unit is electrically connected to the data processing unit and the communication component, respectively, the path planning unit is configured to mark a reference object and set a reference coordinate in the control map, and the data processing unit marks an obstacle in the control map by using the reference object and the reference coordinate; and the path planning unit can also set the boundary of a working area and/or a path for returning the automatic working device to a set position for charging on the control map.
As a further improvement of the invention, the navigation assembly comprises a receiving module, the receiving module can receive the position signal, and the position signal comprises a travel track path and position coordinates of the automatic working device and/or the navigation control device.
As a further improvement of the present invention, the navigation control device includes a housing, the navigation assembly, the planning assembly and the communication assembly are all accommodated in the housing, the housing is further formed with a connection assembly, and the navigation control device is detachably connected to the automatic working device through the connection assembly.
As a further improvement of the present invention, the connecting assembly includes a connecting portion formed on the housing and a connecting terminal accommodated in the connecting portion, and the navigation control device is electrically and/or communicatively connected to the automatic working device through the connecting terminal.
As a further improvement of the present invention, the navigation control device further includes a power supply assembly housed in the housing, and the power supply assembly is detachably connected to the navigation control device.
The invention has the beneficial effects that: according to the automatic working system, the navigation control device detachably connected with the automatic working device is arranged, and the structure and the form of the navigation control device are set, so that the control map of the working area of the automatic working device can be conveniently and quickly acquired through the navigation control device, and the drawing precision of the control map of the working area of the automatic working device is effectively improved; meanwhile, the working path of the automatic working device can be planned, so that the automatic working device can be quickly moved to the position of the charging station according to the planned path, automatic charging butt joint between the automatic working device and the charging station is realized, and the practicability of the automatic working system is further improved.
Drawings
Fig. 1 is a schematic diagram of a real-time dynamic technique in the prior art.
Fig. 2 is a schematic diagram of an interaction principle of the real-time dynamic technology in fig. 1.
Fig. 3 is a schematic structural view of the automatic working system of the present invention.
Fig. 4 is a schematic view of the structure of the automatic working device and the navigation control device of fig. 2 when combined.
Fig. 5 is a disassembled schematic view of the automatic working device and the navigation control device in fig. 2.
FIG. 6 is a schematic view of the navigation control device of FIG. 4 from another perspective.
Fig. 7 is a block diagram of the automatic working device of fig. 2.
FIG. 8 is a block diagram of the navigation control device of FIG. 4.
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.
It should be noted that, in order to avoid obscuring the present invention with unnecessary details, only the structures and/or processing steps closely related to the aspects of the present invention are shown in the drawings, and other details not closely related to the present invention are omitted.
In addition, it is also to be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Referring to fig. 3 to 8, an automatic working system 100 according to the present invention includes an automatic working device 1 and a navigation control device 2 detachably connected to the automatic working device 1, wherein the navigation control device 2 is configured to obtain a control map of the automatic working device 1 in a working area and plan a walking path of the automatic working device 1 in the working area.
The automatic working device 1 is used to move and perform a landscape work task within a work area. In the present invention, the automatic working apparatus 1 includes a cabinet 11, a control unit 12 housed in the cabinet 11, a power supply unit 13, and a working unit 14 for performing a gardening work.
Specifically, the housing 11 has an accommodating space (not shown), and the control unit 12 controls the operation of the automatic working device 1, and includes a control circuit board (not shown) accommodated in the accommodating space of the housing 11, a driving motor 121, a driving wheel 122 located at the rear of the housing 11, and at least one driven wheel 123 located at the front of the housing 11.
Further, at least 2 driving motors 121 are provided, including a first driving motor (not numbered) for driving the driving wheel 122 and a second driving motor (not numbered) for driving the working unit 14 to work, to drive the operation and working of the automatic working device 1. Preferably, the automatic working device 1 has two driving wheels 122 located at the rear of the housing 11 and 2 first driving motors provided in one-to-one correspondence with the driving wheels 122, and the driven wheels 123 are universal wheels.
The power supply unit 13 is accommodated in the accommodating space to supply electric energy to the automatic working device 1, and in the present invention, the power supply unit 13 is a rechargeable power supply unit detachably connected to the automatic working device 1 to facilitate charging/replacement of the power supply unit 13, however, in other embodiments of the present invention, the power supply unit 13 may also be fixedly connected to the automatic working device 1, and at this time, the power supply unit 13 may be charged through a charging wire, and preferably, the power supply unit 13 is a rechargeable battery pack.
The working unit 14 is connected to the housing 11 and is in driving connection with the second driving motor, and in the present invention, the working unit 14 can be any garden working unit for performing garden work, such as a cutting blade assembly for performing a mowing task or a snow removing assembly for performing a snow removing task. It should be noted that the working unit 14 is detachably connected to the housing 11, that is, the connection position between the working unit 14 and the housing 11 can be connected and installed according to the specific function of the working unit 14, and it is only necessary to ensure that the working unit 14 is electrically connected to the control motor 121 and can perform the garden work task.
The navigation control device 2 is configured to receive and obtain a control map of a working area of the automatic working device 1, and plan and obtain a driving path of the automatic working device 1 in the working area, so as to facilitate operation of the automatic working device 1 and charging docking with the charging station 200. In the present invention, the navigation control device 2 includes a housing 21, a navigation module 22 housed in the housing 21, a planning module 23, a communication module 24, and an image capturing device 25.
Specifically, the housing 21 has a cylindrical housing portion 211, and the housing portion 211 is hollow to house the navigation module 22, the planning module 23, and the communication module 24. Further, one end of the housing portion 211 is connected to a receiving portion 212; the other end is provided with a connecting component 213; in a preferred embodiment of the present invention, the connection assembly 213 includes a connection portion 2131 and a connection terminal 2132 formed on the accommodating portion 211, specifically, the navigation control assembly 2 is detachably connected to the automatic operation assembly 1 through the connection portion 2131, the housing 11 is provided with a connection structure 111 corresponding to the connection portion 2131, the connection structure 111 is formed on the housing 11, so that the navigation control assembly 2 can be detachably connected to the automatic operation assembly 1 through a matching clip between the connection portion 2131 and the connection structure 111, preferably, the connection portion 2131 and the connection structure 111 are both arranged in a cylindrical shape, and the diameter of the connection portion 2131 is greater than that of the connection structure 111, so as to facilitate the connection between the navigation control assembly 2 and the automatic operation assembly 1.
One end of the connection terminal 2132 is accommodated in the accommodating portion 211 to be electrically and/or signal-connected to the navigation module 22, the planning module 23 and the communication module 24, respectively, and the other end thereof penetrates through the accommodating portion 211 and is accommodated in the connection portion 2131; specifically, a plug-in structure 112 provided corresponding to the connection terminal 2132 is provided in the connection structure 111, and the plug-in structure 112 is connected with the control unit 12 and the power supply unit 13, respectively, and when the navigation control device 2 is connected with the automatic working device 1, the connecting terminal 2132 is inserted into the inserting structure 112, so that the cooperation between the navigation control device 2 and the automatic working device 1 is realized, in a preferred embodiment of the present invention, the plug structure 112 at least includes a power supply plug structure (not shown) electrically connected to the power supply unit 13 and a signal plug structure (not shown) electrically connected to the control unit 12, the connection terminal 2131 includes a power supply plug terminal and a signal plug terminal respectively corresponding to the power supply plug structure and the signal plug structure, to finally achieve the transmission of electric power and/or signals between the navigation control device 2 and the automatic working device 1.
The navigation module 22 is configured to receive a position signal and an environment image signal of the automatic working apparatus 1 and/or the navigation control apparatus 2. The navigation component 22 is a component that can acquire a control map of the automatic working device 1 in a working area through Real-time kinematic (RTK), and the navigation component 22 can monitor the position of the navigation control device 2 and/or the automatic working device 1 in Real time to prevent the automatic working device 1 from moving beyond the working area, and at the same time, the navigation control device 2 can control the automatic working device 1 to move along a planned path in the control map through the control unit 12, and implement a corresponding garden work task.
In fact, since the navigation module 22 of the present invention is a position control module using RTK technology, the navigation module 22 of the present invention can acquire the three-dimensional position coordinates of the automatic working device 1 and/or the navigation control device 2 during the movement process in real time according to the satellites and the position base stations, and form the differential observed values in the navigation module 22 for real-time processing, so as to further provide centimeter-level positioning results, thereby facilitating real-time monitoring of the position of the automatic working device 1 and/or the navigation control device 2.
In the present invention, the navigation module 22 includes a receiving module 221 and an image processing module 222 in signal connection with the receiving module 221, the receiving module 221 is configured to receive a position signal of the automatic working device 1 and/or the navigation control device 2, and in the present invention, the position signal includes a track path along which the automatic working device 1 and/or the navigation control device 2 moves and a position coordinate (three-dimensional position coordinate) of each point in the track path.
Further, the receiving module 221 is accommodated in the accommodating portion 211 and located at the position of the receiving portion 212, in a preferred embodiment of the present invention, the receiving portion 212 is disposed in an arc shape, so that the receiving/sending effect of the receiving module 221 for receiving and/or sending the position information can be effectively improved.
The image processing module 222 is in signal connection with the image acquisition device 25 and is configured to receive an environment image signal of a working area acquired by the image acquisition device 25, in the present invention, the environment image signal at least includes a panoramic image of the working area, the image processing module 222 can further receive and process the environment image signal through the receiving module 221 after receiving the environment image signal, further, the panoramic image is obtained by fitting a plurality of terrain images in the working area acquired by the automatic working device 1 through the receiving module 221, and the panoramic image at least includes a relative height (i.e., an altitude) of each position in the working area, so that the accuracy of the control map obtained by fitting the navigation control device 2 can be further improved. The planning component 23 is configured to receive the position signal and the environment image signal transmitted by the navigation component 22, and to obtain a control map of the work area according to the position signal and the environment image signal. In the present invention, the planning component 23 includes a data processing unit 231 and a path planning unit 232, specifically, the data processing unit 231 is in communication connection with the navigation component 22 and the communication component 24, and obtains the position signal and the environment image signal in the moving process of the automatic working device 1 and/or the navigation control device 2 in real time through the navigation component 22, so as to obtain the control map in a fitting manner, and can correct the control map.
Further, the path planning unit 232 is electrically connected to the data processing unit 231 and the communication component 24, respectively, and in the present invention, the path planning unit 232 is further configured to mark a reference object and set a reference coordinate in the control map, and the data processing unit 231 marks an obstacle in the control map through the reference object and the reference coordinate; and the route planning unit 232 may set the boundary of the work area and/or the route for the automatic working device 1 to return to the charging station 200 for charging on the control map.
Further, the path planning unit 232 is further configured to calibrate obstacles in the work area, and the obstacles that can be calibrated in the control map in the present invention at least include a fixed obstacle, a flow obstacle, and a target obstacle, where the fixed obstacle is: objects and/or equipment which cannot move in the working area for a long time, and the shape, the position, the size and other attributes of the objects and/or equipment cannot change along with the time; such as buildings, roads, yard walls, etc., located within a work area.
The flow obstacles are: objects and/or equipment and/or pets, pedestrians, etc. that are temporarily stored/parked in the work area, and the shape, position, size, etc. attributes of the flow obstruction will change over time; such as carts parked within a work area, people and/or pets playing within a work area, and plants that are often trimmed, etc.
The target obstacle is: obstacles, such as bushes and the like, which do not change for a short time but change for a long time in the work area.
The communication component 24 is used for realizing communication connection between the navigation control device 2 and the automatic working device 1, that is, the navigation control device 2 transmits corresponding control map and path planning information to the control unit 12 through the communication component 24, and then controls the automatic working device 1 to move in the control map according to the path planning information and realize corresponding garden work tasks.
Further, when the electric quantity of the automatic working device 1 is too low, the control unit 12 may further be in signal connection with the navigation assembly 22 through the communication assembly 24, and further detect and acquire the relative position between the charging station 200 and the automatic working device 1 through the navigation assembly 22, and then control the automatic working device 1 to move to the position of the charging station 200 according to the control map, so as to complete the automatic charging of the automatic working device 1.
Specifically, the charging stand 200 is provided in the work area to ensure the normal operation of the automatic working device 1 for charging the automatic working device 1. Specifically, the path planning unit 232 may also be used to plan a charging return path for the automatic working apparatus 1 to return to the charging station 200, in order to facilitate the automatic working apparatus 1 to return to the charging station 200 at various positions in the working area.
It should be noted that the communication module 24 is in communication connection with the automatic working device 1 through wired connection and/or wireless connection such as wifi, bluetooth, infrared, etc., and when the communication module 24 is in wired connection, the communication module 24 is in signal connection with the control unit 12 in the automatic working device 1 through the connection terminal. Of course, in other embodiments of the present invention, the communication component 24 may also be communicatively connected to the control unit 12 via other wireless connections to facilitate the operation of the automatic working device 1 controlled by the navigation component 22 and the planning component 23 via the control unit 12.
Further, navigation control device 2 still includes power supply member 25, navigation control device 2 can dismantle with navigation control device 2 through power supply member 25 and be connected, so set up, when navigation control device 2 connects on automatic operating device 1, navigation control device 2 passes through connecting terminal and power supply unit 13 electric connection, power supply unit 13 can be when providing the electric energy for automatic operating device 1 this moment, supply power for navigation control device 2, and when power supply member 25 did not demolish from navigation control device 2, power supply unit 13 still can charge for power supply member 25. When the navigation control apparatus 2 is detached from the automatic working apparatus 1 or installed in another type of apparatus that cannot supply electric power, the power supply means 25 may continuously supply electric power to the navigation control apparatus 2 so that the navigation control apparatus 2 may still normally operate.
When the automatic working system 100 of the present invention is used, firstly, the automatic working device 1 or other mobile devices drive the navigation control device 2 to operate in the working area, and obtain the position signals and the environment image signals of each position point in the working area, and further obtain the control map of the automatic working device 1 in the working area; further, the navigation control device 2 can plan the operation path of the automatic working device 1 in the working area, and at this time, the automatic working device 1 can move in the working area according to the planned path and complete the corresponding garden work task.
It should be noted that, in the drawings of the present invention, the automatic working device 1 is only exemplified as an intelligent lawn mower, and in fact, since the navigation control device 2 is detachably connected to the automatic working device 1, the navigation control device 2 can also be applied to control map acquisition in other kinds of intelligent garden tools or automatic devices.
Further, the navigation control device 2 may also operate alone to obtain a control map, and then the control map may be transmitted to the various types of automatic working devices 1 through the communication unit 24, so as to control the automatic working devices 1. That is, the cooperation between the navigation control device 2 and the automatic working device 1 in the present invention is merely exemplary, and should not be limited thereto.
In summary, the automatic working system 100 of the present invention, by setting the navigation control device 2 detachably connected to the automatic working device 1 and setting the structure and form of the navigation control device 2, can conveniently and quickly obtain the control map of the working area of the automatic working device 1 through the navigation control device 2, and effectively improve the drawing accuracy of the control map of the working area of the automatic working device 1; meanwhile, the working path of the automatic working device 1 can be planned, so that the automatic working device 1 can be quickly moved to the position of the charging station according to the planned path, automatic charging butt joint between the automatic working device 1 and the charging station 200 is realized, and the practicability of the automatic working system 100 is further improved.
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 (20)
1. An automatic working system, characterized by comprising
An automatic working device for moving and executing a garden work task within a work area;
the navigation control device is detachably connected with the automatic working device and comprises a navigation component, a planning component and a communication component;
the navigation assembly is configured to receive position signals of the automatic working device and/or the navigation control device, the planning assembly is configured to receive the position signals transmitted by the navigation assembly and to fit and acquire a control map of the working area according to the position signals, the planning assembly is in communication connection with the automatic working device through the communication assembly and transmits the control map to the automatic working device, and the automatic working device is controlled to operate in the working area according to the control map and execute corresponding garden work tasks or return to a charging station to realize automatic charging docking.
2. The automatic work system according to claim 1, wherein: the navigation control device further comprises an image acquisition device, wherein the image acquisition device is used for acquiring environment image signals, and the environment image signals at least comprise the panoramic photos of the working area.
3. The automatic work system according to claim 2, wherein: the navigation assembly further comprises an image processing module in signal connection with the image acquisition device, and the image processing module is used for receiving and processing the environment image signal.
4. The automatic work system according to claim 2, wherein: the planning assembly comprises a data processing unit and a path planning unit, the data processing unit is respectively in communication connection with the navigation assembly and the communication assembly, and the position signal and the environment image signal in the moving process of the automatic working device and/or the navigation control device are obtained in real time through the navigation assembly so as to fit and obtain the control map, and the control map can be corrected.
5. The automatic work system according to claim 4, wherein: the path planning unit is electrically connected with the data processing unit and the communication assembly respectively, the path planning unit is used for marking a reference object in the control map and setting a reference coordinate of the mark, and the data processing unit marks the obstacle in the control map through the reference object of the mark and the reference coordinate of the mark; and the path planning unit can also set the boundary of a working area and/or a path for returning the automatic working device to a set position for charging on the control map.
6. The automatic work system according to claim 2, wherein: the navigation assembly comprises a receiving module, the receiving module can receive the position signal, and the position signal comprises a running track path and position coordinates of the automatic working device and/or the navigation control device.
7. The automatic work system according to claim 1, wherein: the navigation control device comprises a shell, the navigation assembly, the planning assembly and the communication assembly are contained in the shell, a connecting assembly is further formed on the shell, and the navigation control device is detachably connected with the automatic working device through the connecting assembly.
8. The automatic work system according to claim 7, wherein: the connecting component comprises a connecting part formed on the shell and a connecting terminal contained in the connecting part, and the navigation control device is electrically and/or communicatively connected with the automatic working device through the connecting terminal.
9. The automatic work system according to claim 1, wherein: the navigation control device also comprises a power supply assembly accommodated in the shell, and the power supply assembly is detachably connected with the navigation control device.
10. The automatic work system according to claim 1, wherein: the automatic working device comprises a machine shell, a control unit, a power supply unit and a working unit, wherein the control unit, the power supply unit and the working unit are contained in the machine shell, the working unit is used for executing garden work, and the navigation control device is detachably connected and installed on the machine shell and is respectively electrically connected with the control unit and the power supply unit.
11. The automatic work system according to claim 10, wherein: the control unit is used for controlling the operation and the work of the automatic working device and comprises a control circuit board, a driving motor, a driving wheel and a driven wheel, wherein the control circuit board, the driving motor, the driving wheel and the driven wheel are accommodated in the shell, the driving wheel is positioned behind the shell, and the driven wheel is positioned in front of the shell.
12. A navigation control device detachably connected to an automatic working device for moving and performing a landscape work task within a work area, characterized in that:
the navigation control device comprises a navigation component, a planning component and a communication component;
the navigation assembly is configured to receive position signals of the automatic working device and/or the navigation control device, the planning assembly is configured to receive the position signals transmitted by the navigation assembly and to fit and acquire a control map of the working area according to the position signals, the planning assembly is in communication connection with the automatic working device through the communication assembly and transmits the control map to the automatic working device, and the automatic working device is controlled to operate in the working area according to the control map and execute corresponding garden work tasks or return to a charging station to realize automatic charging docking.
13. The navigation control device according to claim 12, characterized in that: the navigation control device further comprises an image acquisition device, wherein the image acquisition device is used for acquiring environment image signals, and the environment image signals at least comprise the panoramic photos of the working area.
14. The navigation control device according to claim 13, characterized in that: the navigation assembly further comprises an image processing module in signal connection with the image acquisition device, and the image processing module is used for receiving and processing the environment image signal.
15. The navigation control device according to claim 13, characterized in that: the planning assembly comprises a data processing unit and a path planning unit, the data processing unit is respectively in communication connection with the navigation assembly and the communication assembly, and the position signal and the environment image signal in the moving process of the automatic working device and/or the navigation control device are obtained in real time through the navigation assembly so as to fit and obtain the control map, and the control map can be corrected.
16. The navigation control device according to claim 15, characterized in that: the path planning unit is electrically connected with the data processing unit and the communication assembly respectively, the path planning unit is used for marking a reference object in the control map and setting a reference coordinate of the mark, and the data processing unit marks the obstacle in the control map through the reference object of the mark and the reference coordinate of the mark; and the path planning unit can also set the boundary of a working area and/or a path for returning the automatic working device to a set position for charging on the control map.
17. The navigation control device according to claim 12, characterized in that: the navigation assembly comprises a receiving module, the receiving module can receive the position signal, and the position signal comprises a running track path and position coordinates of the automatic working device and/or the navigation control device.
18. The navigation control device according to claim 12, characterized in that: the navigation control device comprises a shell, the navigation assembly, the planning assembly and the communication assembly are contained in the shell, a connecting assembly is further formed on the shell, and the navigation control device is detachably connected with the automatic working device through the connecting assembly.
19. The navigation control device of claim 18, wherein: the connecting component comprises a connecting part formed on the shell and a connecting terminal contained in the connecting part, and the navigation control device is electrically and/or communicatively connected with the automatic working device through the connecting terminal.
20. The navigation control device according to claim 12, characterized in that: the navigation control device also comprises a power supply assembly accommodated in the shell, and the power supply assembly is detachably connected with the navigation control device.
Priority Applications (8)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011528932.5A CN112925303A (en) | 2020-12-22 | 2020-12-22 | Automatic working system and navigation control device |
| 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 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011528932.5A CN112925303A (en) | 2020-12-22 | 2020-12-22 | Automatic working system and navigation control device |
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| Publication Number | Publication Date |
|---|---|
| CN112925303A true CN112925303A (en) | 2021-06-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011528932.5A Pending CN112925303A (en) | 2020-12-22 | 2020-12-22 | Automatic working system and navigation control device |
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| Country | Link |
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| CN (1) | CN112925303A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022135317A1 (en) * | 2020-12-22 | 2022-06-30 | Globe (jiangsu) Co., Ltd. | Robotic tool system and control method thereof |
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2020
- 2020-12-22 CN CN202011528932.5A patent/CN112925303A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022135317A1 (en) * | 2020-12-22 | 2022-06-30 | Globe (jiangsu) Co., Ltd. | Robotic tool system and control method thereof |
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