CN113064419A - Intelligent mowing system and channel identification method thereof - Google Patents

Abstract

An intelligent mowing system and a channel identification method thereof are disclosed, wherein the intelligent mowing system comprises a physical boundary, the physical boundary is arranged around a driving area, and the driving area comprises at least one first working area, a second working area and a channel for connecting the first working area and the second working area; and an intelligent mowing device comprising: a control module; the positioning module is connected with the control module, and the control module controls the positioning module to acquire the position information of the intelligent mowing equipment; and the channel detection module is connected with the control module and comprises a plurality of boundary detectors, the boundary detectors are used for detecting the physical boundaries and are set to construct the position information meeting the preset conditions as the channel position information when the detection result meets the preset conditions related to the channel.

Description

Intelligent mowing system and channel identification method thereof

This application claims priority to chinese patent application No. 201911395409.7, filed 30.12.2019, the entire contents of which are incorporated herein by reference.

Technical Field

The invention relates to the technical field of intelligent control, in particular to an intelligent mowing system and a channel identification method thereof.

Background

With the continuous progress of artificial intelligence technology, intelligent robots have gradually become popular in human life, such as intelligent floor sweeping robots, intelligent dust collectors, intelligent mowing equipment, snow plowing machines and the like; need not the manual work on the artificial robot usually and control, through the intelligent control operation, cruise by oneself and walk and return the charging seat automatically when the electric quantity is low and charge, need not user's manual work and intervene, a large amount of liberated manpowers, consequently welcomed by the user.

An intelligent control system generally plans and guides a robot to walk according to a path plan or walk randomly, but in an actual use environment, the robot needs to cope with various complex and variable terrains, mainly comprising narrow areas such as narrow channels and the like, most of the existing intelligent control systems control the robot to stop walking after meeting obstacles, boundary lines or unknown terrains in the traveling process and then turn to return to a working area, and the control system can only control the robot to automatically move away after detecting the existence of the obstacles or the boundaries in the traveling process; if a special area, such as a narrow passage, needs to be detected and identified, a guide line or other guiding devices capable of generating signal transmission with the robot need to be additionally laid by people, and meanwhile, a detection device capable of sensing the guiding device or the guide line needs to be arranged on the robot, so that the structure is complex, more manpower is consumed, and the detection accuracy needs to be improved; therefore, how to simply and effectively identify a special area is a major technical difficulty encountered in intelligent control of a robot.

Disclosure of Invention

To solve the defects of the prior art, the invention aims to provide an intelligent mowing system which is simple and does not depend on an external guiding device and a channel identification method thereof.

In order to achieve the above object, the present invention adopts the following technical solutions:

an intelligent mowing system comprises a physical boundary, wherein the physical boundary is arranged around a driving area, and the driving area comprises at least one first working area, a second working area and a channel for connecting the first working area and the second working area; and

intelligent mowing equipment, include:

a control module;

the positioning module is connected with the control module, and the control module controls the positioning module to acquire the position information of the intelligent mowing equipment; and

and the channel detection module is connected with the control module and comprises a plurality of boundary detectors, the boundary detectors are used for detecting the physical boundary and are set to construct the position information meeting the preset conditions as the channel position information when the detection result meets the preset conditions related to the channel.

Furthermore, the physical boundary is a lead, alternating current is introduced into the lead, and the boundary detector is an electromagnetic sensor.

Further, the positioning module receives positioning signals from any one or more of a GPS, an inertial measurement unit and an odometer.

Furthermore, the number of the electromagnetic sensors is one, and one electromagnetic sensor is installed on the intelligent mowing equipment.

Furthermore, the electromagnetic sensor comprises a front end sensor and a rear end sensor, and the front end sensor and the rear end sensor are respectively provided with one sensor;

the two sensors are arranged on a central axis, and the central axis refers to a central line extending from the front end to the rear end of the intelligent mowing device.

Further, the electromagnetic sensor comprises an inner sensor and an outer sensor, the inner sensor and the outer sensor are symmetrically arranged on the intelligent mowing device relative to a central axis, and the central axis refers to a central line extending from the front end to the rear end of the intelligent mowing device;

the inner side sensor and the outer side sensor are respectively provided with two sensors, and the inner side sensor and the outer side sensor are respectively arranged along the direction parallel to the central axis.

Further, the intelligent mowing device comprises an indicating module arranged on the intelligent mowing device, and the indicating module indicates and feeds back the position relation between the intelligent mowing device and the channel.

Further, the indication module is a loudspeaker or an indicator light.

A channel identification method of an intelligent mowing system, the intelligent mowing system comprising: the intelligent lawn mowing system comprises a physical boundary and intelligent mowing equipment, wherein the physical boundary is arranged around a driving area, and the driving area comprises at least one first working area, a second working area and a channel for connecting the first working area and the second working area; the intelligent mowing equipment comprises a control module, a positioning module and a channel detection module, wherein the channel detection module comprises a plurality of boundary detectors;

the channel identification method comprises the following steps:

controlling the smart lawn mowing device to move along the physical boundary in the work area;

the boundary detector detects the physical boundary;

if the detection result meets the preset condition related to the channel, controlling the positioning module to acquire the position information when the intelligent mowing meets the preset condition, and constructing the position information as channel position information; wherein the preset conditions are associated with respective preset attributes characterizing a positional relationship of the intelligent mowing device relative to the channel.

Furthermore, the physical boundary is a lead, alternating current is introduced into the lead, and the boundary detector is an electromagnetic sensor.

Further, one electromagnetic sensor is provided, the preset condition comprises a first preset condition, and the first preset condition is associated with a first preset attribute;

the first preset condition is as follows: the signal intensity of the magnetic field of the physical boundary detected by the sensor is changed from weakening to strengthening;

the first preset attribute characterizes that the smart lawn mowing device is passing through a center of the channel.

Further, the preset conditions further include a second preset condition and a third preset condition, which are respectively associated with the second preset attribute and the third preset attribute;

the second preset condition is as follows: the magnetic field intensity of the physical boundary detected by the sensor is less than a first predetermined threshold, and the second predetermined attribute is characteristic of the intelligent mowing device approaching the channel;

the third preset condition is as follows: the detected magnetic field intensity of the physical boundary is larger than a second preset threshold value, and the third preset attribute represents that the intelligent mowing device exits the channel.

Furthermore, the electromagnetic sensor comprises a front end sensor and a rear end sensor, and the front end sensor and the rear end sensor are respectively provided with one sensor;

the two sensors are arranged on the central axis, and the central axis refers to a central line extending from the front end to the rear end of the intelligent mowing device.

Further, if the magnetic field intensity detected by the front end sensor is R1, the magnetic field intensity detected by the rear end sensor is R2;

the preset conditions comprise first preset conditions, and the first preset conditions are associated with first preset attributes;

the first preset condition includes: 0.85-R1/R2-1.15, R1 is in increasing state, and R2 is in decreasing state; the first preset attribute characterizes that the smart lawn mowing device is passing through a center of the channel.

Further, the preset conditions further include a second preset condition and a third preset condition, which are respectively associated with the second preset attribute and the third preset attribute;

the second preset condition is as follows: r1 < R2, and both R1 and R2 are in a reduced state; the second preset attribute represents that the intelligent mowing device is close to the channel;

the third preset condition is as follows: r2 < R1, and both R1 and R2 are in an increased state; the third preset attribute represents that the intelligent mowing device exits the channel.

Further, the air conditioner is provided with a fan,

the second preset condition further includes: the decrease rate of R1 is faster than the decrease rate of R2;

the third preset condition further includes: the rate of increase of R2 is faster than the rate of increase of R1.

Further, the electromagnetic sensor comprises an inner sensor and an outer sensor, the inner sensor and the outer sensor are symmetrically arranged on the intelligent mowing device relative to a central axis, and the central axis refers to a central line extending from the front end to the rear end of the intelligent mowing device;

the inner side sensor and the outer side sensor are respectively provided with two sensors, and the inner side sensor and the outer side sensor are respectively arranged along the direction parallel to the central axis.

Further, if R1 'represents the magnetic field signal strength of the outer front end sensor, R2' represents the magnetic field signal strength of the inner front end sensor; r3 'represents the magnetic field signal strength of the outer rear end sensor, R4' represents the magnetic field signal strength of the inner rear end sensor; wherein the outer side refers to a side of the intelligent mowing device away from the physical boundary, and the inner side refers to a side close to the physical boundary;

the preset condition comprises a first preset condition, and the first preset condition is associated with a first preset attribute;

the first preset condition includes: r1'/R3' is not less than 0.85 and not more than 1.15, R2'/R4' is not less than 0.85 and not more than 1.15, and (R2 '-R1')/(R4 '-R3') is not more than 0.85 and not more than 1.15; the first preset attribute characterizes that the smart lawn mowing device is passing through a center of the channel.

Further, the preset conditions further include a second preset condition and a third preset condition, which are respectively associated with the second preset attribute and the third preset attribute;

the second preset condition is as follows: r1'/R3' is not less than 0.85 and not more than 1.15, and R4 'is more than R2'; the second preset attribute characterizes that the intelligent mowing device is close to the channel;

the third preset condition is as follows: r1'/R3' is not less than 0.85 and not more than 1.15, and R2 'is more than R4'; the third preset attribute represents that the intelligent mowing device exits the channel.

Further, the intelligent mowing system further comprises a verification step for judging whether the running of the intelligent mowing equipment meets the detection condition, wherein the verification step comprises the following steps:

ensuring that the intelligent mowing device travels a predetermined distance along the physical boundary before the intelligent mowing device approaches the passageway;

and

after the intelligent mowing device exits the channel, ensuring that the intelligent mowing device travels a predetermined distance along the physical boundary.

Further, the method also comprises the step of marking the channel position on a map and storing the channel position.

The invention has the advantages that:

according to the intelligent mowing system and the channel identification method, external guide equipment is not required to be additionally arranged, identification and marking of the channel entrance can be achieved by means of the boundary identification sensor arranged on the mowing equipment, complex and complicated test methods of the structure are avoided, and the robot finds a possible narrow channel entrance in the operation process and records the position coordinates of the narrow channel entrance; the operation is simple, the reliability is high, and the cost of the equipment is effectively reduced.

Drawings

FIG. 1 is a schematic diagram of an intelligent mowing system of the present invention;

FIG. 2 is a flow chart of the operation of the intelligent mowing system of the present invention;

FIG. 3 is a schematic structural diagram of an intelligent mowing apparatus according to a first preferred embodiment of the present invention;

4-7 are flow charts of channel identification of the intelligent mowing system according to the first preferred embodiment of the invention;

FIG. 8 is a schematic structural diagram of an intelligent mowing apparatus according to a second preferred embodiment of the invention;

9-12 are flow charts of channel identification for an intelligent mowing system according to a second preferred embodiment of the present invention;

FIG. 13 is a schematic structural diagram of an intelligent mowing apparatus according to a third preferred embodiment of the invention;

fig. 14-17 are flow charts illustrating channel identification of the intelligent mowing system according to the third preferred embodiment of the invention.

Description of reference numerals:

100-physical boundary;

200-a smart mowing device; 210-a controller; 220-a positioning module; 230-channel detection module; 240-indication module; 250-a storage module; 260-a communication module;

300-the central axis;

400-driving area; 410-a work area; 420-channel.

Detailed Description

The present invention describes an intelligent mowing system, as shown in fig. 1, comprising a physical boundary 100, an intelligent mowing apparatus 200.

Referring to fig. 1, a physical boundary 100 is disposed around a driving zone 400 for defining the driving of the intelligent lawn mowing device, and the physical boundary 100 is typically connected end-to-end to enclose the driving zone 400. The physical boundary 100 may be a physical boundary or an electrical boundary, such as a fence, a wall, or a virtual boundary, such as an electromagnetic signal or an optical signal, from a wire, a signal emitting device, or the like.

The physical boundary 100 in the present invention is a wire, and a periodically changing alternating current is introduced into the wire, and the periodically changing alternating current causes a periodic magnetic field to be generated near the inner side and the outer side of the physical boundary 100 (wherein the inner finger is located in the area enclosed by the physical boundary 100, i.e. the driving area, and the outer finger is located outside the area enclosed by the physical boundary), the closer to the physical boundary 100, the stronger the magnetic field signal is.

Referring to fig. 1, the driving area 400 of the present invention includes a working area 410 and a tunnel 420, wherein the working area 410 includes at least one first working area and at least one second working area, and the tunnel 420 connects the first working area and the second working area; the working areas 410 in the present invention refer to areas where mowing operations can be performed, such as a front yard and a back yard, and the passageway 420 refers to a narrow passageway between two working areas 410, which is generally set up for the purpose of facilitating the intelligent mowing device 200 to travel from one working area to another, and it should be noted that the narrow passageway in the present invention refers to a passageway having a width of not more than two meters.

As shown in fig. 3, fig. 8 and fig. 13, the structure of the intelligent mowing apparatus 200 of the present invention is schematically illustrated, wherein the intelligent mowing apparatus 200 includes a control module 210, and a working module, a positioning module 220, a channel detection module 230, an indication module 240, a storage module 250, etc. connected thereto.

The smart lawn mowing device 200 includes a body housing in which a control module 210, a positioning module 220, a channel detection module 230, an indication module 240, and a storage module 250 are mounted. The control module 210 is configured to receive signals sent by the channel detection module 230 and the positioning module 220, and send a control instruction to each module, and related parameters of the intelligent mowing apparatus 200 during the working process, information returned by the positioning module 220 and the channel detection module 230, and the like are stored in the storage module 250, and of course, a control program may also be stored in the storage module 250.

Of course, a control panel may also be provided on the body of the intelligent mowing apparatus 200 for the user to input an operation instruction and the like; or, a mobile terminal for a user to input an operation instruction may be provided, and the mobile terminal is in communication connection with the intelligent mowing device 200 through the communication module 260.

The working module comprises a blade for executing mowing, a blade motor for driving the blade and the like, and the structure of the working module adopts a conventional cutter head and a driving transmission structure in the field, which are not described in detail herein. The control module 210 is used for controlling the start and stop of the working module of the intelligent mowing device 200.

The channel detection module 230 includes a number of boundary detectors disposed in the housing of the intelligent mowing device 200; the boundary detector may detect and identify the physical boundary 100, the control module 210 analyzes and obtains a judgment parameter according to a detection result of the boundary detector 232, when the judgment parameter meets a preset condition, the control module 210 controls the positioning module 220 to acquire current position information of the intelligent mowing apparatus 200, and the position of the channel 420 is acquired and marked in a map according to the position information of the intelligent mowing apparatus 200. It is understood that the above-described process may be implemented by a program preset in the storage module 250.

Wherein the positioning module 220 can receive positioning signals from any one or more of a GPS, an inertial measurement unit, and an odometer. The positioning module 220 of the present invention is used to obtain the position data of the intelligent mowing apparatus 200, where the position data refers to the position coordinates and the direction information of the intelligent mowing apparatus 200.

When the intelligent mowing device 200 works, positioning can be carried out by only utilizing a GPS positioning signal, and at the moment, real-time position data and direction data of the intelligent mowing device 200 are determined according to the GPS position signal received by the mobile station of the intelligent mowing device; of course, the position information of the intelligent mowing equipment can also be calculated and obtained by utilizing the inertial measurement component and the odometer when the GPS signal is weak; or acquiring the position information of the intelligent mowing equipment after comprehensively judging the data of the GPS, the inertia measurement assembly and the odometer. It is understood that the positioning manner may be various, as long as the coordinates and the directions of the moving parts of the intelligent mowing apparatus 200 can be obtained, and the position information is acquired and then sent to the storage module 250 for storage.

The intelligent mowing apparatus 200 of the present invention further comprises an indication module 240 disposed thereon, wherein the indication module 240 receives the signal from the control module 210 and indicates the feedback of the position relationship between the intelligent mowing apparatus 200 and the channel 420. For example: the indication module 240 is a speaker, and emits a warning sound when the intelligent mowing device 200 approaches the channel 420, the warning sound is louder or the warning frequency of the warning sound is faster as the intelligent mowing device approaches the channel 420, so that the position relationship between the intelligent mowing device 200 and the channel 420 can be embodied, and the warning sound is loudest or the warning frequency is fastest when the intelligent mowing device 200 passes through the center line of the channel 420.

Or the indication module 240 may also adopt an indication lamp, when the intelligent mowing device 200 approaches the channel 420, the indication lamp starts to flash, the flashing frequency of the indication lamp is set to be faster as the indication lamp approaches the channel 420, so as to embody the position relationship between the intelligent mowing device 200 and the channel 420, and the flashing frequency of the indication lamp is fastest when the intelligent mowing device 200 passes through the centerline of the channel 420.

In particular, the boundary detector of the present invention employs an electromagnetic sensor for sensing the magnetic field generated by the physical boundary 100. Wherein the boundary detector in the present invention may be provided with one as shown in fig. 3, two as shown in fig. 8, or four as shown in fig. 13. Different judging modes can be adopted by arranging different numbers of sensors to obtain the position information of the narrow channel.

Of course, the intelligent mowing system can also be applied to channel identification in intelligent equipment such as snow plows, dust collectors and floor sweepers.

The intelligent mowing system can realize the identification and marking of the channel by means of the boundary identification sensor equipped on the mowing equipment without the help of external guide equipment, avoids a complicated and complicated test method of the structure, is simple to operate and high in reliability, and effectively reduces the cost of the equipment.

Referring to fig. 2, a channel identification method of the intelligent mowing system of the invention is described:

the smart lawn mowing device 200 is started.

The intelligent mowing device 200 is maintained to travel within the current working area 410 and is moved in a direction approaching the physical boundary 100, the boundary detector detects that the intelligent mowing device reaches a predetermined interval from the vicinity of the physical boundary 100, and the direction is adjusted to travel along the physical boundary 100 which is currently parallel to the front working area 410 with the predetermined interval kept from the physical boundary 100.

The boundary detector detects the physical boundary 100 and records the detection result to the storage module 250, the control module 210 processes and analyzes the detection result of the channel detection module 230 and determines whether the detection result meets the preset condition related to the channel, if the detection result meets the preset condition, the control module gives the preset attribute related to the preset condition according to the preset condition, and controls the positioning module 220 to collect the position information of the intelligent mowing device 200 when the detection result meets the preset condition. The preset attribute characterizes a positional relationship of the smart lawn mowing device 200 relative to the channel 420 of the channel.

And finally, marking the acquired position information as a channel position on a map.

According to the channel identification method, the identification and marking of the channel can be realized by means of the boundary detector of the mowing equipment, and a guide device is not required to be additionally constructed, so that a robot can find a possible narrow channel entrance in the operation process and record the position coordinate of the narrow channel entrance; the operation is simple, the reliability is high, and the cost of the equipment is effectively reduced.

The operation of the intelligent mowing system of the invention is described below with reference to different setting numbers and detection modes of the sensors.

Referring to fig. 3, in the first preferred embodiment of the present invention, 1 boundary detector is provided, wherein one of the boundary detectors in the first preferred embodiment is disposed on the central axis 300 of the main body, which may be disposed at the front end (right side in fig. 3) of the intelligent mowing device 200, the center or the rear end (rear side in fig. 3) of the intelligent mowing device, wherein the front end refers to the head of the intelligent mowing device when the intelligent mowing device normally advances, and the rear end refers to the tail of the intelligent mowing device when the intelligent mowing device normally advances.

The intelligent mowing device 200 has a horizontal central axis 300, and the central axis 300 divides the body into an inner side and an outer side, wherein when the intelligent mowing device 200 travels normally along the physical boundary 100, the side close to the physical boundary 100 is the inner side, and the side far away from the physical boundary 100 is the outer side.

In a first preferred embodiment the boundary detector is an electromagnetic sensor, the strength of the magnetic field signal detected by which is indicated by R.

The preset conditions comprise a first preset condition, a second preset condition and a third preset condition, the first preset condition is associated with a first preset attribute, the second preset condition is associated with a second preset attribute, and the third preset condition is associated with a third preset attribute.

In the first preferred embodiment of the present invention, the preset conditions and the preset attributes are set as follows:

the first preset condition is as follows: the magnetic field signal intensity R of the physical boundary detected by the boundary detector is changed from decreasing to increasing; the first predetermined attribute characterizes the smart lawn mowing device 200 as passing through the center of the channel 420.

If the result detected by the boundary detector meets the change rule, the positioning module 220 is controlled to collect the position information, collect the position information when the intelligent mowing device 200 meets the first preset condition, and send the position information to the storage module 250.

The second preset condition is as follows: the magnetic field intensity detected by the boundary detector is less than a first predetermined threshold value; the second predetermined attribute characterizes the smart lawn mowing device 200 being proximate to the channel 420.

The third preset condition is as follows: the magnetic field intensity detected by the boundary detector is greater than a second predetermined threshold value; the third preset attribute characterizes the smart lawn mowing device being driven out of the aisle 420.

In this embodiment, the change of the magnetic field strength R can be reflected by using an electromagnetic signal change rate P as a judgment parameter, where the electromagnetic signal change rate P refers to a change rate of the magnetic field strength R with time, and indicates that the magnetic field signal is enhanced if P is positive, and indicates that the magnetic field signal is weakened if P is negative; specifically, P is the second derivative of R with respect to time, then accordingly:

the first preset condition is as follows: p changes from negative to positive;

the second preset condition is as follows: p < -a < 0, a is a preset threshold value;

the third preset condition is as follows: p is more than b and more than 0, b is another preset threshold, and the values of a and b can be set by combining the magnetic field intensity generated at the periphery of the physical boundary and the distance between the intelligent mowing equipment and the physical boundary.

When P meets the first preset condition, the control module 210 sends a position detection signal to the positioning module 220, and the positioning module 220 detects and records the current position information of the intelligent mowing device 200, and feeds the current position information back to the storage module 250.

After the position information is collected, the obtained channel position information can be marked to a map.

Of course, in order to ensure the accuracy of the detection result, the first preferred embodiment further includes a verification step of determining whether the driving of the intelligent mowing device 200 meets the detection condition, wherein the verification step includes:

ensuring that the smart lawn mowing device 200 travels a predetermined distance along the physical boundary 100 before the smart lawn mowing device 200 approaches the pathway 420;

and/or ensuring that the smart lawn mowing device 200 travels a predetermined distance along the physical boundary 100 after the smart lawn mowing device 200 exits the pathway 420.

Specifically, it is determined whether the detection result of the boundary detector meets a check condition, where the check condition is that R is within a predetermined numerical range within a preset time, and if the detection result of the boundary detector meets the check condition, the intelligent mowing device 200 travels a predetermined distance along the physical boundary 100.

Once the distance between the boundary detector and the physical boundary 100 changes, the intensity of the magnetic field signal detected by the boundary detector changes, so that the accuracy of channel identification can be further improved by setting the verification step, and the occurrence of false detection caused by the position deviation of the intelligent mowing device 200 is avoided.

Referring to fig. 4-7, a flow chart of channel identification of the intelligent mowing system according to the first preferred embodiment of the present invention is shown, wherein the steps are as follows:

referring to fig. 4, the intelligent mowing device 200 receives the control signal, and the channel identification process starts;

s101: approaching to a physical boundary, entering a boundary line walking recognition mode, and entering a step S102;

s102: judging whether the detection result of the boundary detector meets a check condition, wherein the check condition is as follows: the intelligent mowing device walks along the physical boundary for a preset distance at a preset interval with the physical boundary;

if yes, entering S103;

if not, returning to S101;

referring to fig. 5, S103: the intelligent mowing equipment drives at a preset interval from the physical boundary, controls the intelligent mowing equipment to keep moving straight and enters the step S104;

s104: judging whether the detection result of the boundary detector meets a second preset condition or not; wherein the second preset condition is the second preset condition described in the first preferred embodiment;

if yes, entering S105;

if not, returning to S103;

s105: the intelligent mowing equipment approaches the channel, the intelligent mowing equipment is controlled to keep moving straight, and the step S106 is carried out;

s106: judging whether the detection result meets a first preset condition, wherein the first preset condition is the first preset condition recorded in the first preferred embodiment;

if yes, entering S107;

if not, returning to S105;

referring to fig. 6, S107: the intelligent mowing equipment passes through the symmetrical center of the narrow passage, the intelligent mowing equipment is controlled to keep moving straight, and the step S108 is carried out;

s108: the control positioning module collects and records the position information of the intelligent mowing equipment, and the step S109 is carried out;

s109: judging whether the detection result meets a third preset condition or not; wherein the third predetermined condition is the third predetermined condition as described in the first preferred embodiment;

if yes, entering S110;

if not, returning to S108;

referring to fig. 7, S110: the intelligent mowing equipment is driving away from a narrow passage, the intelligent mowing equipment is kept to move straight, and the step S111 is carried out;

s111: judging whether the detection result meets the verification condition or not;

if yes, entering S112;

if not, the process returns to S110.

S112: and finishing the channel identification process after the intelligent mowing equipment drives at a preset interval away from the physical boundary.

Of course, a step of marking and storing the position of the channel 420 on the map may be further included after the step S108, thereby marking the center position of the channel.

Of course, steps S104 and S109 may also be followed by the step of recording mowing apparatus position information and marking and storing the corresponding information on a map, thereby marking the start and end positions in the width direction of the passageway. Referring to fig. 8, in the second preferred embodiment of the present invention, two boundary detectors are provided, wherein the two boundary detectors are provided on the central axis 300 of the main body, and the two boundary detectors are respectively provided at the front end and the rear end of the intelligent mowing device 200, wherein the front end refers to the head (i.e., the right side in fig. 8) of the intelligent mowing device during normal forward movement, and the rear end refers to the tail (i.e., the left side in fig. 8) of the intelligent mowing device during normal forward movement. Specifically, the mounting positions of the two boundary detectors R1, R2 are as shown in fig. 8.

The intelligent mowing device 200 has a horizontal central axis 300, and the central axis 300 divides the body into an inner side and an outer side, wherein when the intelligent mowing device 200 travels normally along the physical boundary, the side close to the physical boundary 100 is the inner side, and the side far away from the physical boundary is the outer side.

Of course, the straight line passing through the positions of the two boundary detectors may not coincide with the central axis, and the two boundary detectors are respectively arranged at the front end and the rear end and the straight lines of the two boundary detectors are parallel to the central axis.

The boundary detector in the second preferred embodiment is an electromagnetic sensor, wherein the second preferred embodiment includes two electromagnetic sensors, each being a front-end sensor (i.e., the boundary detector located on the right side in fig. 8), whose detected magnetic field signal strength is denoted by R1; and a back-end sensor (i.e., a boundary detector located on the left side in fig. 8), whose detected magnetic field signal strength is denoted by R2.

The preset conditions comprise a first preset condition, a second preset condition and a third preset condition, the first preset condition is associated with a first preset attribute, the second preset condition is associated with a second preset attribute, and the third preset condition is associated with a third preset attribute.

Then, the setting of the preset conditions and the preset attributes in the second preferred embodiment of the present invention is as follows:

the first preset condition is as follows: 0.85-R1/R2-1.15, R1 is in increasing state, and R2 is in decreasing state; the first predetermined attribute characterizes the smart lawn mowing device 200 as passing through the center of the channel 420.

The second preset condition is as follows: r1 < R2, and both R1 and R2 are in a reduced state; the second predetermined attribute characterizes the proximity of the smart lawn mowing device 200 to the area of the channel 420.

The third preset condition is as follows: r2 < R1, and both R1 and R2 are in an increased state; the third predetermined attribute characterizes the intelligent mowing device exiting the aisle 420.

If the result detected by the boundary detector meets the change rule of the first preset condition, the positioning module 220 is controlled to collect the position information, collect the position information of the intelligent mowing apparatus 200 at the moment and send the position information to the storage module 250.

In this embodiment, electromagnetic signal change rates P1 and P2 may be adopted as evaluation parameters to respectively represent changes of magnetic field strengths of the front-end sensor and the rear-end sensor, the electromagnetic signal change rates P1 and P2 respectively represent change rates of detection results R1 and R2 of the boundary detector with time, if P is positive, the magnetic field signal is enhanced, if P is negative, the magnetic field signal is weakened, the larger the absolute value of P is, the larger the change is, and specifically, P is a second derivative of R with respect to time; then:

the first preset condition is as follows: R1/R2 is more than or equal to 0.85 and less than or equal to 1.15, P1 is more than 0, and P2 is less than 0;

the second preset condition is as follows: r1 < R2, P1 < -c < P2 < 0;

the third preset condition is as follows: r2 is more than R1, P2 is more than d and more than P1 is more than 0; and c and d are positive numbers, and the numerical values of c and d can be set by combining the magnetic field intensity generated at the periphery of the physical boundary and the distance between the intelligent mowing equipment and the physical boundary.

When the first preset condition is met, the control module sends a position detection signal to the positioning module 220, and the positioning module 220 detects and records the current position information of the intelligent mowing device 200 and feeds the current position information back to the storage module 250.

After the detection is finished, the acquired position information of the narrow channel can be marked in a map.

Of course, in order to ensure the accuracy of the detection result, the method further includes a step of determining whether the intelligent mowing device 200 is running according with the boundary line walking condition, including:

ensuring that the smart lawn mowing device 200 travels a predetermined distance along the physical boundary 100 before the smart lawn mowing device 200 approaches the pathway 420;

and ensuring that the smart lawn mowing device 200 travels a predetermined distance along the physical boundary 100 after exiting the pathway 420.

Specifically, whether the detection result of the boundary detector meets the check condition can be judged, the specific check condition is that R1 and R2 are in a preset range within the preset driving time, and if the check condition is met, the intelligent mowing device 200 drives for a certain distance along the boundary.

Once the distance between the boundary detector and the physical boundary 100 changes, the intensity of the magnetic field signal detected by the boundary detector changes, so that the accuracy of narrow channel identification can be further improved by setting the verification step, and the occurrence of false detection caused by the position deviation of the intelligent mowing device 200 is avoided.

The embodiment further includes a fourth preset condition and a fifth preset condition, and a fourth preset attribute and a fifth preset attribute respectively associated with the fourth preset condition and the fifth preset condition.

The fourth preset condition is as follows: r1 < R2, and P2 < P1 < 0; the fourth preset attribute represents that the intelligent mowing equipment is located in the narrow passage and drives towards the center of the approach passage;

the fifth preset condition is as follows: r2 < R1, and 0< P2 < P1; the fifth preset attribute characterizes that the intelligent mowing device is located in the narrow passageway and is driven away from the center of the passageway.

Certainly, as an alternative embodiment, when the first to fifth preset conditions are met, the positioning module 220 may also be configured to collect and record the current position information of the intelligent mowing device 200, and not only the center position of the passageway may be marked, but also the entering position and exiting position of the opening of the passageway may be perfected through the above operations, so as to perfect the information of the position, width, and the like of the passageway.

Referring to fig. 9-12, a flow chart of channel identification of an intelligent mowing system according to a second preferred embodiment of the present invention is shown, wherein the steps are as follows:

the intelligent mowing equipment receives the control signal, and a channel identification process starts;

referring to fig. 9, S201: approaching to a physical boundary, entering a boundary line walking recognition mode, and entering a step S202;

s202: judging whether the detection result of the boundary detector meets a check condition, wherein the check condition is as follows: the intelligent mowing device walks along the physical boundary for a preset distance at a preset interval with the physical boundary;

if yes, entering S203;

if not, returning to S201;

referring to fig. 10, S203: the intelligent mowing equipment drives at a preset interval from the physical boundary, controls the intelligent mowing equipment to keep moving straight and enters the step S204;

s204: judging whether the detection result meets a second preset condition or not; wherein the second predetermined condition is the second predetermined condition as described in the second preferred embodiment;

if yes, entering S205;

if not, returning to S203;

s205: the intelligent mowing equipment approaches the channel area, the intelligent mowing equipment is controlled to keep moving straight, and the step S206 is carried out;

s206: judging whether the detection result meets a fourth preset condition or not; wherein the fourth preset condition is the fourth preset condition as described in the second preferred embodiment;

if yes, entering S207;

if not, returning to S205;

referring to fig. 11, S207: the intelligent mowing equipment enters a narrow passage and runs towards the center of the passage, the mowing equipment is controlled to keep running straight, and the step S208 is carried out;

s208: judging whether the detection result meets a first preset condition or not; wherein the first predetermined condition is the first predetermined condition as described in the second preferred embodiment;

if yes, the process goes to S209;

if not, returning to S207;

s209: the intelligent mowing equipment passes through the symmetrical center of the narrow passage, the intelligent mowing equipment is controlled to keep moving straight, and the step S210 is carried out;

s210: the control positioning module collects and records the position information of the intelligent mowing equipment, and the step S211 is executed;

s211: judging whether the detection result meets a fifth preset condition, wherein the fifth preset condition is the fifth preset condition described in the second preferred embodiment;

if yes, go to S212;

if not, returning to S209;

referring to fig. 12, S212: the intelligent mowing equipment drives in the direction far away from the center of the channel, the intelligent mowing equipment is controlled to keep moving straight, and the step S213 is carried out;

s213: judging whether the detection result meets a third preset condition, wherein the third preset condition is the third preset condition described in the second preferred embodiment;

if yes, go to S214;

if not, returning to S212;

s214: the intelligent mowing equipment is driving away from the narrow passage, the intelligent mowing equipment is controlled to keep moving straight, and the step S215 is carried out;

s215: judging whether the detection result meets a verification condition, wherein the verification condition is as follows: the intelligent mowing device walks along the physical boundary for a preset distance at a preset interval with the physical boundary; (ii) a

If yes, go to S216;

if not, the process returns to S214.

S216: the intelligent mowing equipment finishes the channel identification process after driving at a preset interval from the physical boundary;

of course, a step of marking and storing the position of the channel 420 on a map may be further included after the step S210, thereby marking the center position of the channel.

Of course, steps S204 and S213 may also be followed by the step of recording mowing apparatus position information and marking and storing the corresponding information on a map, thereby marking the starting and ending positions in the width direction of the passageway.

Of course, as an alternative embodiment, step S206 and step S211 may not be included.

Referring to fig. 13, in the third preferred embodiment of the present invention, four boundary detectors are provided, and the intelligent mowing apparatus 200 has a horizontal central axis 300, and the central axis 300 divides the main body into an inner side and an outer side, wherein when the intelligent mowing apparatus 200 travels forward along the physical boundary, the side close to the physical boundary 100 is the inner side (i.e., the lower side of the mowing apparatus 200 in fig. 1 is the inner side), and the side far from the physical boundary is the outer side (i.e., the upper side of the mowing apparatus 200 in fig. 1 is the outer side).

As shown in fig. 13, four of the boundary detectors include an inside sensor and an outside sensor, which are symmetrically arranged on the intelligent mowing device 200 with respect to a central axis 300, the central axis 300 referring to a center line extending from a front end of the intelligent mowing device in a rear direction; the two inner sensors and the two outer sensors are respectively arranged, the straight line where the two inner sensors are located is parallel to the central axis 300, and the two inner sensors are respectively arranged at the front end (the right side of the mowing equipment 200 in fig. 1 is the front end) and the rear end (the left side of the mowing equipment 200 in fig. 1 is the rear end) of the intelligent mowing equipment; likewise, the two outer sensors are also arranged in a line parallel to the central axis 300, and are also respectively arranged at the front end and the rear end of the intelligent mowing device 200.

In the third preferred embodiment, the boundary detector is an electromagnetic sensor, the strength of the detected magnetic field signal is represented by R, specifically, R1 'represents the strength of the magnetic field signal of the outer front end sensor (i.e. the electromagnetic sensor at the upper right corner in fig. 13), and R2' represents the strength of the magnetic field signal of the inner front end sensor (i.e. the electromagnetic sensor at the lower right corner in fig. 13); r3 'represents the magnetic field signal strength of the outboard rear end sensor (i.e., the electromagnetic sensor in the upper left corner of fig. 13), and R4' represents the magnetic field signal strength of the inboard rear end sensor (i.e., the electromagnetic sensor in the lower left corner of fig. 13).

The preset conditions comprise a first preset condition, a second preset condition and a third preset condition, the first preset condition is associated with a first preset attribute, the second preset condition is associated with a second preset attribute, and the third preset condition is associated with a third preset attribute.

In a third preferred embodiment of the present invention, the preset conditions and the preset attributes are set as follows:

the first preset condition is as follows: r1 '/R3'. ltoreq.1.15,. ltoreq.0.85R 2 '/R4'. ltoreq.1.15 and. ltoreq.0.85 (R2 '-R1')/(R4 '-R3'). ltoreq.1.15, where R2'-R1' > 0 and R4'-R3' > 0; the first preset attribute characterizes the smart lawn mowing device 200 is passing through the center of the narrow channel 420. If the result detected by the boundary detector conforms to the change rule, the positioning module 220 is controlled to collect the position information, and the position information of the intelligent mowing apparatus 200 at the moment is collected and sent to the storage module 250.

The second preset condition is as follows: r1'/R3' is not less than 0.85 and not more than 1.15, and R4 'is more than R2'; the second predetermined attribute characterizes the proximity of the smart lawn mowing device 200 to the area of the channel 420.

The third preset condition is as follows: r1'/R3' is not less than 0.85 and not more than 1.15, and R2 'is more than R4'; the third predetermined attribute characterizes the intelligent mowing device exiting the aisle 420.

Of course, as an alternative embodiment, to further improve the accuracy of the determination;

the second preset condition may also be: 0.85 < R1'/R3' < 1.15, R4 '> R2', and 0< (R2'-R1') < (R4 '-R3'); the second predetermined attribute characterizes the proximity of the smart lawn mowing device 200 to the area of the channel 420.

The third preset condition may also be: 0.85 < R1'/R3' < 1.15, R2 '> R4', and 0< (R4'-R3') < (R2 '-R1'); the third predetermined attribute characterizes the intelligent mowing device exiting the aisle 420.

When the first preset condition is met, the control module sends a position detection signal to the positioning module 220, and the positioning module 220 detects and records the current position information of the intelligent mowing device 200 and feeds the current position information back to the storage module 250.

After the detection is finished, the acquired position information of the narrow channel can be marked in a map.

Of course, in order to ensure the accuracy of the detection result, the method further includes a step of determining whether the driving of the intelligent mowing device 200 meets the detection condition, including:

ensuring that the smart lawn mowing device 200 travels a predetermined distance along the physical boundary 100 before the smart lawn mowing device 200 approaches the pathway 420;

and ensuring that the smart lawn mowing device 200 travels a predetermined distance along the physical boundary 100 after exiting the pathway 420.

Specifically, whether the detection result of the boundary detector meets the check condition or not can be judged, the specific check condition is that R is in a preset range within preset time, and if the detection result meets the check condition, the intelligent mowing device travels a distance along the boundary.

Once the distance between the boundary detector and the physical boundary 100 changes, the intensity of the magnetic field signal detected by the boundary detector changes, so that the accuracy of narrow channel identification can be further improved by setting the verification step, and the occurrence of false detection caused by the position deviation of the intelligent mowing device 200 is avoided.

The embodiment further includes a fourth preset condition and a fifth preset condition, and a fourth preset attribute and a fifth preset attribute respectively associated with the fourth preset condition and the fifth preset condition.

The fourth preset condition is as follows: r1'/R3' is not less than 0.85 and not more than 1.15, and R4 'is more than R2'; the fourth preset attribute represents that the intelligent mowing equipment is located in the narrow passage and drives towards the center of the approach passage;

the fifth preset condition is as follows: r1'/R3' is not less than 0.85 and not more than 1.15, and R2 'is more than R4'; the fifth preset attribute characterizes that the intelligent mowing device is located in the narrow passageway and is driven away from the center of the passageway.

As an alternative, the fourth preset condition may also be: 0.85R 1'/R3' ≦ 1.15, R4 '> R2', and 0< (R2'-R1') < (R4 '-R3'); the fourth preset attribute represents that the intelligent mowing equipment is located in the narrow passage and drives towards the center of the approach passage;

as an alternative, the fifth preset condition may also be: 0.85 < R1'/R3' < 1.15, R2 '> R4', and 0< (R4'-R3') < (R2 '-R1'); the fifth preset attribute characterizes that the intelligent mowing device is located in the narrow passageway and is driven away from the center of the passageway.

Of course, it may also be set that when the first to fifth preset conditions are met, the positioning module 220 collects and records the current position information of the intelligent mowing device 200, and through the above operations, not only the center position of the passageway can be marked, but also the entrance position and exit position of the opening of the passageway can be perfected, so as to perfect the information of the position, width and the like of the passageway.

Referring to fig. 14-17, a flow chart of channel identification of the intelligent mowing system according to the third preferred embodiment of the present invention is shown, wherein the steps are as follows:

the intelligent mowing equipment receives the control signal, and a channel identification process starts;

referring to fig. 14, S301: approaching to a physical boundary, entering a boundary line walking recognition mode, and entering a step S302;

s302: judging whether the detection result of the boundary detector meets a check condition, wherein the check condition is as follows: the intelligent mowing device walks along the physical boundary for a preset distance at a preset interval with the physical boundary;

if yes, entering S303;

if not, returning to S301;

referring to fig. 15, S303: the intelligent mowing equipment drives at a preset interval from the physical boundary, controls the intelligent mowing equipment to keep moving straight and enters step S304;

s304: judging whether the detection result meets a second preset condition or not; wherein the second predetermined condition is the second predetermined condition as described in the third preferred embodiment;

if yes, go to S305;

if not, returning to S303;

s305: the intelligent mowing device approaches the channel area, the intelligent mowing device is controlled to keep moving straight, and the step S306 is carried out;

s306: judging whether the detection result meets a fourth preset condition or not; wherein the fourth preset condition is the fourth preset condition as described in the third preferred embodiment;

if yes, entering S307;

if not, returning to S305;

referring to fig. 16, S307: the intelligent mowing equipment enters a narrow passage and runs towards the center of the passage, the mowing equipment is controlled to keep running straight, and the step S308 is carried out;

s308: judging whether the detection result meets a first preset condition or not; wherein the first predetermined condition is the first predetermined condition as described in the third preferred embodiment;

if yes, entering S309;

if not, returning to S307;

s309: the intelligent mowing equipment passes through the symmetrical center of the narrow passage, the intelligent mowing equipment is controlled to keep moving straight, and the step S310 is carried out;

s310: the control positioning module collects and records the position information of the intelligent mowing equipment, and the step S311 is carried out;

s311: judging whether the detection result meets a fifth preset condition, wherein the fifth preset condition is the fifth preset condition recorded in the third preferred embodiment;

if yes, go to S312;

if not, returning to S309;

referring to fig. 17, S312: the intelligent mowing equipment drives in the direction far away from the center of the channel, the intelligent mowing equipment is controlled to keep moving straight, and the step S313 is carried out;

s313: judging whether the detection result meets a third preset condition, wherein the third preset condition is the third preset condition recorded in the third preferred embodiment;

if yes, go to S314;

if not, returning to S312;

s314: the intelligent mowing equipment is driven out of the narrow passage, the intelligent mowing equipment is controlled to keep moving straight, and the step S315 is carried out;

s315: judging whether the detection result meets a verification condition, wherein the verification condition is as follows: the intelligent mowing device walks along the physical boundary for a preset distance at a preset interval with the physical boundary; (ii) a

If yes, go to S316;

if not, the process returns to S314.

S316: the intelligent mowing equipment finishes the channel identification process after driving at a preset interval from the physical boundary;

of course, a step of marking and storing the position of the channel 420 on the map may be further included after the step S310, thereby marking the center position of the channel.

Of course, steps S304 and S313 may also be followed by steps of recording mowing apparatus position information and marking and storing the corresponding information on a map, thereby marking the starting and ending positions in the width direction of the passageway.

Of course, as an alternative embodiment, step S306 and step S311 may not be included.

According to the channel identification method, the identification and marking of the channel can be realized by means of the boundary detector of the mowing equipment, and a guide device is not required to be additionally constructed, so that a robot can find a possible narrow channel entrance in the operation process and record the position coordinate of the narrow channel entrance; the operation is simple, the reliability is high, and the cost of the equipment is effectively reduced.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It should be understood by those skilled in the art that the above embodiments do not limit the present invention in any way, and all technical solutions obtained by using equivalent alternatives or equivalent variations fall within the scope of the present invention.

Claims (21)

1. An intelligent mowing system comprises a physical boundary, wherein the physical boundary is arranged around a driving area, and the driving area comprises at least one first working area, a second working area and a channel for connecting the first working area and the second working area; and

intelligent mowing equipment, include:

a control module;

the positioning module is connected with the control module, and the control module controls the positioning module to acquire the position information of the intelligent mowing equipment; and

and the channel detection module is connected with the control module and comprises a plurality of boundary detectors, the boundary detectors are used for detecting the physical boundary and are set to construct the position information meeting the preset conditions as the channel position information when the detection result meets the preset conditions related to the channel.

2. The intelligent mowing system according to claim 1, wherein: the physical boundary is a lead, alternating current is introduced into the lead, and the boundary detector is an electromagnetic sensor.

3. The intelligent mowing system according to claim 2, wherein: the positioning module receives positioning signals from any one or more of a GPS, an inertial measurement unit and a speedometer.

4. The intelligent mowing system according to claim 2, wherein: the intelligent mowing machine is characterized in that one electromagnetic sensor is arranged and is installed on the intelligent mowing equipment.

5. The intelligent mowing system according to claim 2, wherein: the electromagnetic sensor comprises a front end sensor and a rear end sensor, and the front end sensor and the rear end sensor are respectively provided with one sensor;

the two sensors are arranged on a central axis, and the central axis refers to a central line extending from the front end to the rear end of the intelligent mowing device.

6. The intelligent mowing system according to claim 2, wherein: the electromagnetic sensor comprises an inner sensor and an outer sensor, the inner sensor and the outer sensor are symmetrically arranged on the intelligent mowing device relative to a central axis, and the central axis refers to a central line extending from the front end to the rear end of the intelligent mowing device;

the inner side sensor and the outer side sensor are respectively provided with two sensors, and the inner side sensor and the outer side sensor are respectively arranged along the direction parallel to the central axis.

7. The intelligent mowing system according to any one of claims 1 to 6, wherein: the intelligent mowing system is characterized by further comprising an indicating module arranged on the intelligent mowing equipment, wherein the indicating module indicates and feeds back the position relation between the intelligent mowing equipment and the channel.

8. The intelligent mowing system according to claim 7, wherein: the indicating module is a loudspeaker or an indicating lamp.

9. A channel identification method of an intelligent mowing system, the intelligent mowing system comprising: the intelligent lawn mowing system comprises a physical boundary and intelligent mowing equipment, wherein the physical boundary is arranged around a driving area, and the driving area comprises at least one first working area, a second working area and a channel for connecting the first working area and the second working area; the intelligent mowing equipment comprises a control module, a positioning module and a channel detection module, wherein the channel detection module comprises a plurality of boundary detectors;

the channel identification method comprises the following steps:

controlling the smart lawn mowing device to move along the physical boundary in the work area;

the boundary detector detects the physical boundary;

if the detection result meets the preset condition related to the channel, controlling the positioning module to acquire the position information when the intelligent mowing meets the preset condition, and constructing the position information as channel position information; wherein the preset conditions are associated with respective preset attributes characterizing a positional relationship of the intelligent mowing device relative to the channel.

10. The identification method according to claim 9, characterized in that: the physical boundary is a lead, alternating current is introduced into the lead, and the boundary detector is an electromagnetic sensor.

11. The identification method according to claim 10, characterized in that: the number of the electromagnetic sensors is one, the preset condition comprises a first preset condition, and the first preset condition is associated with a first preset attribute;

the first preset condition is as follows: the signal intensity of the magnetic field of the physical boundary detected by the sensor is changed from weakening to strengthening;

the first preset attribute characterizes that the smart lawn mowing device is passing through a center of the channel.

12. The identification method according to claim 11, characterized in that: the preset conditions further comprise a second preset condition and a third preset condition which are respectively associated with a second preset attribute and a third preset attribute;

the second preset condition is as follows: the magnetic field intensity of the physical boundary detected by the sensor is less than a first predetermined threshold, and the second predetermined attribute is characteristic of the intelligent mowing device approaching the channel;

the third preset condition is as follows: the detected magnetic field intensity of the physical boundary is larger than a second preset threshold value, and the third preset attribute represents that the intelligent mowing device exits the channel.

13. The identification method according to claim 10, characterized in that: the electromagnetic sensor comprises a front end sensor and a rear end sensor, and the front end sensor and the rear end sensor are respectively provided with one sensor;

the two sensors are arranged on the central axis, and the central axis refers to a central line extending from the front end to the rear end of the intelligent mowing device.

14. The identification method according to claim 13, characterized in that: if the magnetic field intensity detected by the front end sensor is R1, the magnetic field intensity detected by the rear end sensor is R2;

the preset conditions comprise first preset conditions, and the first preset conditions are associated with first preset attributes;

the first preset condition includes: 0.85-R1/R2-1.15, R1 is in increasing state, and R2 is in decreasing state; the first preset attribute characterizes that the smart lawn mowing device is passing through a center of the channel.

15. The identification method according to claim 14, characterized in that: the preset conditions further comprise a second preset condition and a third preset condition which are respectively associated with a second preset attribute and a third preset attribute;

the second preset condition is as follows: r1 < R2, and both R1 and R2 are in a reduced state; the second preset attribute represents that the intelligent mowing device is close to the channel;

the third preset condition is as follows: r2 < R1, and both R1 and R2 are in an increased state; the third preset attribute represents that the intelligent mowing device exits the channel.

16. The identification method according to claim 15, characterized in that:

the second preset condition further includes: the decrease rate of R1 is faster than the decrease rate of R2;

the third preset condition further includes: the rate of increase of R2 is faster than the rate of increase of R1.

17. The identification method according to claim 10, characterized in that: the electromagnetic sensor comprises an inner sensor and an outer sensor, the inner sensor and the outer sensor are symmetrically arranged on the intelligent mowing device relative to a central axis, and the central axis refers to a central line extending from the front end to the rear end of the intelligent mowing device;

the inner side sensor and the outer side sensor are respectively provided with two sensors, and the inner side sensor and the outer side sensor are respectively arranged along the direction parallel to the central axis.

18. The identification method according to claim 17, characterized in that: if R1 'represents the magnetic field signal strength of the outer front sensor, R2' represents the magnetic field signal strength of the inner front sensor; r3 'represents the magnetic field signal strength of the outer rear end sensor, R4' represents the magnetic field signal strength of the inner rear end sensor; wherein the outer side refers to a side of the intelligent mowing device away from the physical boundary, and the inner side refers to a side close to the physical boundary;

the preset condition comprises a first preset condition, and the first preset condition is associated with a first preset attribute;

the first preset condition includes: r1'/R3' is not less than 0.85 and not more than 1.15, R2'/R4' is not less than 0.85 and not more than 1.15, and (R2 '-R1')/(R4 '-R3') is not more than 0.85 and not more than 1.15; the first preset attribute characterizes that the smart lawn mowing device is passing through a center of the channel.

19. The identification method according to claim 18, characterized in that: the preset conditions further comprise a second preset condition and a third preset condition which are respectively associated with a second preset attribute and a third preset attribute;

the second preset condition is as follows: r1'/R3' is not less than 0.85 and not more than 1.15, and R4 'is more than R2'; the second preset attribute characterizes that the intelligent mowing device is close to the channel;

the third preset condition is as follows: r1'/R3' is not less than 0.85 and not more than 1.15, and R2 'is more than R4'; the third preset attribute represents that the intelligent mowing device exits the channel.

20. The identification method according to any one of claims 10 to 19, further comprising a verification step of judging whether the driving of the intelligent mowing device meets a detection condition, wherein the verification step comprises:

ensuring that the intelligent mowing device travels a predetermined distance along the physical boundary before the intelligent mowing device approaches the passageway;

and

after the intelligent mowing device exits the channel, ensuring that the intelligent mowing device travels a predetermined distance along the physical boundary.

21. The identification method of claim 20, further comprising the step of marking and storing the passageway location on a map.

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