CN113498665B - Lawn modeling method, lawn modeling apparatus, lawn mower, and computer-readable storage medium - Google Patents
Lawn modeling method, lawn modeling apparatus, lawn mower, and computer-readable storage medium Download PDFInfo
- Publication number
- CN113498665B CN113498665B CN202110688163.3A CN202110688163A CN113498665B CN 113498665 B CN113498665 B CN 113498665B CN 202110688163 A CN202110688163 A CN 202110688163A CN 113498665 B CN113498665 B CN 113498665B
- Authority
- CN
- China
- Prior art keywords
- area
- mowing
- mowed
- magnetic field
- grassland
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/835—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G20/00—Cultivation of turf, lawn or the like; Apparatus or methods therefor
Abstract
The invention is suitable for the technical field of mowers, and provides a grassland modeling method, wherein a grassland boundary formed by enclosing cables and a second grass area to be mowed in the grassland boundary are arranged on a grassland in advance, a first grass area to be mowed is formed between the grassland boundary and the second grass area to be mowed, and the magnetic field directions of the first grass area to be mowed and the second grass area to be mowed are opposite, the method comprises the following steps: controlling the mowing robot to mow the first mowing height on the first mowing area by taking the magnetic field direction of the first mowing area as an internal signal direction; when the mowing robot is judged to finish mowing in the first area to be mowed, a control signal for reversing the direction of the magnetic field is sent to the base station; and when the detected magnetic field direction of the second grass area to be mowed is the direction of the boundary signal, controlling the mowing robot to mow the second grass area to be mowed at a second mowing height. The grassland modeling method realizes modeling of different patterns on grasslands according to the requirements of users, does not need manual intervention, and has excellent modeling effect.
Description
Technical Field
The invention belongs to the technical field of mowers, and particularly relates to a lawn modeling method and device, a mower and a computer-readable storage medium.
Background
With the improvement of the technological level, various robots begin to replace the manual work and are applied to various fields of daily life and work. For example, a mowing robot (hereinafter, simply referred to as a mower) has begun to gradually replace manual work to complete mowing with a quick and efficient feature.
At present, the requirements for mowing the lawn mower are not only required to cut the lawn flatly, but also some enterprises, municipalities and the like which can be frequently seen can shape the lawn, for example, the LOGO of the modeling company, the municipal environmental slogan and the like. However, in the process of shaping the lawn, the lawn mower in the prior art usually needs manual intervention, that is, in the process of shaping, the lawn can be shaped by manual assistance, which not only consumes labor and time cost, but also causes poor experience of users using the lawn mower.
Disclosure of Invention
The embodiment of the invention provides a lawn modeling method, and aims to solve the problem that a user feels poor when using a mower due to the fact that the mower in the prior art consumes manpower and time cost.
The embodiment of the invention is realized in such a way that a grassland modeling method is provided, wherein a grassland border enclosed by cables and a second grass cutting area to be cut in the grassland border are arranged on the grassland in advance, a first grass cutting area is formed between the grassland border and the second grass cutting area, and the magnetic field directions of the first grass cutting area and the second grass cutting area are opposite, and the method comprises the following steps:
controlling the mowing robot to mow the first mowing height on the first area to be mowed by taking the magnetic field direction of the first area to be mowed as an in-bound signal direction;
when the mowing robot is judged to finish mowing of the first area to be mowed, a control signal for reversing the direction of the magnetic field is sent to a base station;
and when the detected magnetic field direction of the second grass area to be mowed is the in-range signal direction, controlling the mowing robot to mow the second grass area at a second mowing height.
The embodiment of the invention also provides a grassland modeling method, wherein a grassland boundary formed by enclosing cables and a second grass cutting area in the grassland boundary are arranged on a grassland in advance, a first grass cutting area is formed between the grassland boundary and the second grass cutting area, and the magnetic field directions of the first grass cutting area and the second grass cutting area are opposite, the method comprises the following steps:
controlling the mowing robot to mow the first mowing height on the first area to be mowed by taking the magnetic field direction of the first area to be mowed as an internal signal direction;
when the mowing robot finishes mowing of the first area to be mowed, setting the magnetic field direction of the first area to be mowed as an out-of-range signal direction, and setting the magnetic field direction of the second area to be mowed as an in-range signal direction;
and when the detected magnetic field direction of the second grass area to be mowed is the in-range signal direction, controlling the mowing robot to mow the second grass area at a second mowing height.
The embodiment of the invention also provides a grassland modeling device, wherein a grassland boundary formed by enclosing cables and a second grass cutting area in the grassland boundary are arranged on the grassland in advance, a first grass cutting area is formed between the grassland boundary and the second grass cutting area, and the magnetic field directions of the first grass cutting area and the second grass cutting area are opposite, the device comprises:
the first mowing height mowing unit is used for controlling the mowing robot to mow the first area to be mowed at a first mowing height by taking the magnetic field direction of the first area to be mowed as an internal signal direction;
the reversing unit is used for sending a control signal for reversing the direction of the magnetic field to a base station after judging that the mowing robot finishes mowing the first area to be mowed;
and the second mowing height mowing unit is used for controlling the mowing robot to mow the second area to be mowed at a second mowing height when the detected magnetic field direction of the second area to be mowed is the boundary signal direction.
The embodiment of the invention also provides a grassland modeling device, wherein a grassland boundary formed by enclosing cables and a second grass cutting area in the grassland boundary are arranged on the grassland in advance, a first grass cutting area is formed between the grassland boundary and the second grass cutting area, and the magnetic field directions of the first grass cutting area and the second grass cutting area are opposite, the device comprises:
the first mowing height mowing unit is used for controlling the mowing robot to mow the first mowing height on the first area to be mowed by taking the magnetic field direction of the first area to be mowed as an in-bound signal direction;
the signal setting unit is used for setting the magnetic field direction of the first area to be mowed as an out-of-range signal direction and setting the magnetic field direction of the second area to be mowed as an in-range signal direction after the mowing robot is judged to finish mowing the first area to be mowed;
a second mowing height mowing unit for controlling the mowing robot to mow the second mowing height to the second area to be mowed when the detected magnetic field direction of the second area to be mowed is the direction of the in-range signal
An embodiment of the present invention further provides a lawn mower, including:
a mower body;
the height-adjustable blade is arranged on the mower body and is used for carrying out first height modeling or second height modeling on the grassland to be modeled;
the electromagnetic signal detection device is arranged on the mower body and is used for detecting the magnetic field direction of each grass cutting area on the grassland; and
a processor disposed within the mower body, the processor comprising a grass shaping method as described above.
Embodiments of the present invention further provide a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the grass modeling method as described above.
The lawn modeling method provided by the embodiment of the invention is characterized in that a lawn boundary formed by enclosing cables and a second to-be-mowed area in the lawn boundary are preset on the lawn, a first to-be-mowed area is formed between the lawn boundary and the second to-be-mowed area, the magnetic field directions of the first to-be-mowed area and the second to-be-mowed area are opposite, the first to-mowed area is mowed by firstly controlling the mowing robot to mow at a first mowing height by taking the magnetic field direction of the first to-mowed area as an in-bound signal direction, and then after the mowing robot finishes mowing of the first to-mowed area, a control signal for reversing the magnetic field direction is sent to a base station or the magnetic field direction of the first to-mowed area is set as an out-bound signal direction, and the magnetic field direction of the second to-mowed area is set as an in-bound signal direction; and finally, when the detected magnetic field direction of the second area to be mowed is the direction of the in-bound signal, controlling the mowing robot to mow the second area to be mowed at a second mowing height. The grassland modeling method provided by the invention can realize intelligent modeling of different patterns on the grassland according to the requirements of users, does not need manual intervention, and has excellent modeling effect.
Drawings
FIG. 1 is a flow chart of an implementation of a method for modeling a lawn according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating a comparison between a first grass cutting area and a second grass cutting area in the method for modeling a lawn according to the embodiment of the present invention;
FIG. 3 is a flow chart of an implementation of a method for modeling a lawn according to a second embodiment of the present invention;
FIG. 4 is a comparison graph of a first magnetic field signal curve and a second magnetic field signal curve in a method for modeling a lawn according to an embodiment of the present invention;
FIG. 5 is a flow chart of a method for modeling a lawn according to a third embodiment of the present invention;
FIG. 6 is a flow chart of a method for modeling a lawn according to a fourth embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a lawn modeling apparatus according to a fifth embodiment of the present invention;
FIG. 8 is a schematic structural view of a grass land modeling apparatus according to a sixth embodiment of the present invention;
FIG. 9 is a schematic structural diagram of a grass modeling apparatus according to a seventh embodiment of the present invention;
fig. 10 is a schematic structural diagram of a mower according to an eighth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The lawn modeling method provided by the embodiment of the invention is characterized in that a lawn boundary formed by enclosing cables and a second to-be-mowed area in the lawn boundary are preset on the lawn, a first to-be-mowed area is formed between the lawn boundary and the second to-be-mowed area, the magnetic field directions of the first to-be-mowed area and the second to-be-mowed area are opposite, the first to-mowed area is mowed by firstly controlling the mowing robot to mow at a first mowing height by taking the magnetic field direction of the first to-mowed area as an in-bound signal direction, and then after the mowing robot finishes mowing of the first to-mowed area, a control signal for reversing the magnetic field direction is sent to a base station or the magnetic field direction of the first to-mowed area is set as an out-bound signal direction, and the magnetic field direction of the second to-mowed area is set as an in-bound signal direction; and finally, when the detected magnetic field direction of the second grass area to be mowed is the direction of the boundary signal, controlling the mowing robot to mow the second grass area to be mowed at a second mowing height. The grassland modeling method provided by the invention can realize intelligent modeling of different patterns on the grassland according to the requirements of users, does not need manual intervention, and has excellent modeling effect.
Example one
Fig. 1 shows a flow chart of an implementation of a method for modeling a lawn according to an embodiment of the present invention, in which a lawn boundary surrounded by cables and a second grass cutting area within the lawn boundary are preset on the lawn, a first grass cutting area is formed between the lawn boundary and the second grass cutting area, and the magnetic field directions of the first grass cutting area and the second grass cutting area are opposite, the method including the following steps:
in step S101, the mowing robot is controlled to mow the first mowing height on the first mowing area with the magnetic field direction of the first mowing area as an in-bound signal direction.
In the embodiment of the invention, the mowing line graph can be arranged in the mowing robot in advance (namely, the mowing map which is drawn in advance according to the actual mowing line graph and is used for driving the mowing robot), so that the mowing robot can navigate to the lawn area needing modeling conveniently. Meanwhile, the mowing robot can synchronously walk and work on a modeling line through the assistance of a preset mowing line diagram in the process of modeling the grasslands.
In the embodiment of the present invention, the magnetic field direction includes a positive magnetic field direction and a negative magnetic field direction. It is understood that the in-bound signal direction may be a positive magnetic field direction or a negative magnetic field direction, and the corresponding out-bound signal direction is opposite thereto.
Referring to fig. 2, in the embodiment of the present invention, the grass cutting area may be divided into a first grass cutting area, a second grass cutting area, a third grass cutting area, and the like according to the modeling requirement of the user; wherein different grass areas represent different grass heights, i.e. are shaped to correspond to these different grass heights.
It will be appreciated that in the present embodiment, the shaping of grass to different heights is accomplished by controlling the height-adjustable screw-type blades 2 (see also fig. 10) provided on the mowing robot.
As an example of the present invention, the first grass height configuration may be a height of 2cm, 3cm, 4cm, 5cm, 10cm, 20cm, etc. of grass cut from the grass of the first area to be mowed, selected according to the user's needs; the first grass height can be formed by molding the grass into characters, such as 'company', letters, such as 'top', various patterns, and the like, and can be set according to the requirements of users.
In step S102, when it is determined that the mowing robot has finished mowing the first area to be mowed, a control signal for reversing the direction of the magnetic field is transmitted to the base station.
In the embodiment of the present invention, the determination that the mowing robot finishes mowing the first area to be mowed may be performed by determining whether the mowing time, the mowing travel distance, and the like of the mowing robot meet preset requirements (see embodiment three specifically).
As an embodiment of the present invention, the mowing robot and the base station communicate through a Wireless network, such as WIFI (Wireless-Fidelity), Wireless short-wave communication, etc., so that the base station transmits a control signal for reversing the direction of the magnetic field.
In step S103, when the detected magnetic field direction of the second grass cutting area is the intra-boundary signal direction, the mowing robot is controlled to mow the second grass cutting area at a second grass cutting height.
As an example of the present invention, the second grass height shape may be a height of 1cm, 2cm, 3cm, 4cm, 5cm, 10cm, etc. for cutting grass of the first grass area to be mowed, which is selected according to the user's requirements; the second grass height may be a shape of a grass as a letter, pattern, etc., or may be specifically set according to a user's needs.
It can be understood that the magnetic field directions of the first grass cutting area and the second grass cutting area are opposite, and the different magnetic field directions of the two grass cutting areas are divided by the cable. For example, as shown in fig. 2, a heart-shaped area is divided by a cable to be a second area to be mowed, other blank areas are first areas to be mowed, the direction of a magnetic field in the heart-shaped area is an in-bound signal direction, namely positive, and the direction of the magnetic field in the blank areas is an out-bound signal direction, namely negative.
As an example of the present invention, the first grass cutting area and the second grass cutting area may be divided by enclosing wires in advance, and when the mowing robot is in the first grass cutting area, in order to prevent the mowing robot from entering the second grass cutting area, the magnetic field directions, i.e. the magnetic field signal curves, in the first grass cutting area and the second grass cutting area are kept different at all times (see fig. 4 at the same time). However, when the mowing robot needs to enter the second area to be mowed for modeling, the magnetic field signals of the first mowing area and the second mowing area are inverted through the base station, so that the mowing robot can always model grass in the same magnetic field direction, the mowing robot is guaranteed to complete grass modeling in the preset modeling area, and the situation of modeling disorder in two adjacent modeling areas is avoided.
It can be understood that, the first grass area to be mowed and the second grass area to be mowed are divided by enclosing the electric wire, for example, the electric wire is used to enclose the second grass area to be mowed, the wheel of the mowing robot can press the electric wire into the enclosed area, that is, the thickness of the electric wire is the height that the wheel of the mowing robot can press.
As an embodiment of the present invention, the mowing robot may detect the magnetic field direction of each area to be mowed by the electromagnetic signal detection device 3 (see fig. 10 at the same time).
In a practical application of the present invention, a grassland area needs to be shaped with letters, the letter in the center area of the grassland is "T, O, P", the letter "T, O, P" can be enclosed by a wire to be set as a second grass cutting area, and the other areas are the first grass cutting area. The first mowing height is 5cm, mowing time of the first area to be mowed is 50 minutes, so that mowing of the first area to be mowed is completed, and the second mowing height is 20 cm; the mower can reach the lawn according to a preset mowing line diagram, the mowing robot is controlled to mow the first lawn with the height of 5cm of the first lawn in the direction of the signal within the range of the magnetic field direction of the first lawn area to be mowed, when the mowing robot finishes mowing the first lawn area to be mowed for 50 minutes, the control signal for reversing the magnetic field direction is sent to the base station, and when the detected magnetic field direction of the second lawn area to be mowed is the signal within the range of the magnetic field direction, the mowing robot is controlled to mow the second lawn with the height of 20cm of the letter "T, O, P" 3 of the second lawn area to be mowed.
The lawn modeling method provided by the embodiment of the invention is characterized in that a lawn boundary formed by enclosing cables and a second to-be-mowed area in the lawn boundary are preset on the lawn, a first to-be-mowed area is formed between the lawn boundary and the second to-be-mowed area, the magnetic field directions of the first to-be-mowed area and the second to-be-mowed area are opposite, the first to-mowed area is mowed by firstly controlling the mowing robot to mow at a first mowing height by taking the magnetic field direction of the first to-mowed area as an in-bound signal direction, and then after the mowing robot finishes mowing of the first to-mowed area, a control signal for reversing the magnetic field direction is sent to a base station or the magnetic field direction of the first to-mowed area is set as an out-bound signal direction, and the magnetic field direction of the second to-mowed area is set as an in-bound signal direction; and finally, when the detected magnetic field direction of the second grass area to be mowed is the direction of the boundary signal, controlling the mowing robot to mow the second grass area to be mowed at a second mowing height. The grassland modeling method provided by the invention can realize intelligent modeling of different patterns on the grassland according to the requirements of users, does not need manual intervention, and has excellent modeling effect.
Example two
Referring to fig. 3, the method is different from the method of the first embodiment in that the method replaces step S102 in the first embodiment with step S201, i.e., the determination manner of the direction of the inbound signal and the direction of the outbound signal is changed.
In step S201, after the mowing robot is judged to finish mowing the first area to be mowed, the magnetic field direction of the first area to be mowed is set as the out-of-bound signal direction, and the magnetic field direction of the second area to be mowed is set as the in-bound signal direction.
It can be understood that, after the mowing robot finishes mowing the first area to be mowed, the mowing robot travels to the second area to be mowed according to the preset mowing line diagram, and sets the magnetic field direction of the first area to be mowed as the out-of-bound signal direction and the magnetic field direction of the second area to be mowed as the in-bound signal direction, that is, the magnetic field directions of the first area to be mowed and the second area to be mowed are not actually changed, but the internal program judgment mode of the mowing robot is changed.
The lawn modeling method provided by the embodiment of the invention is characterized in that a lawn boundary formed by enclosing cables and a second to-be-mowed area in the lawn boundary are arranged on the lawn in advance, a first to-be-mowed area is formed between the lawn boundary and the second to-be-mowed area, the magnetic field directions of the first to-be-mowed area and the second to-be-mowed area are opposite, and a mowing robot is controlled to perform first mowing height on the first to-be-mowed area by taking the magnetic field direction of the first to-be-mowed area as an internal signal direction; when the mowing robot finishes mowing the first area to be mowed, setting the magnetic field direction of the first area to be mowed as an out-of-bound signal direction, and setting the magnetic field direction of the second area to be mowed as an in-bound signal direction; and finally, when the detected magnetic field direction of the second area to be mowed is the direction of the in-bound signal, controlling the mowing robot to mow the second area to be mowed at a second mowing height. The grassland modeling method provided by the invention can realize intelligent modeling of different patterns on the grassland according to the requirements of users, does not need manual intervention, and has excellent modeling effect.
EXAMPLE III
Referring to fig. 5, on the basis of the first or second embodiment, after the step S101, the method further includes:
and controlling the mowing robot to move to the boundary of the first area to be mowed and the second area to be mowed.
In the embodiment of the invention, the boundary of the first grass cutting area and the second grass cutting area is the cable.
It can be understood that after the mowing robot finishes mowing the lawn in the first area to be mowed, the mowing robot needs to be controlled to move to the boundary between the first area to be mowed and the second area to be mowed, then the signal identification rule in the processor of the mowing robot is adjusted, or signals inside and outside the magnetic field reversal boundary are sent to the base station, so that the mowing robot can not consider that the mowing robot is out of the boundary when the signals are reversed after the mowing robot finishes mowing the first area to be mowed, and the situation that the mowing robot mistakenly judges the boundary when switching the area to be mowed is prevented.
According to the lawn modeling method provided by the embodiment of the invention, after the mowing robot finishes mowing at the first mowing height of the first area to be mowed, the mowing robot is controlled to move to the boundary between the first area to be mowed and the second area to be mowed, so that the mowing robot can be prevented from moving out of the boundary in advance and reporting errors, and the mowing robot can know which boundary is in the boundary and which boundary is out of the boundary.
Example four
Referring to fig. 6, on the basis of the first embodiment, before the step S102 or the step S201, the method further includes:
in step S401, it is determined whether the first model time of mowing at the first mowing height reaches a first preset model time.
In other embodiments of the present invention, before step S102 or step S201, the method may further include:
and judging whether the first travel distance for mowing at the first mowing height reaches a first preset travel distance.
It is understood that the first model time is determined according to the specific model time of the mowing robot.
In the embodiment of the present invention, the first preset molding time may be 10 minutes, 20 minutes, 25 minutes, 30 minutes, 50 minutes, 60 minutes, 100 minutes, 120 minutes, etc., and is set according to actual conditions.
For example, the first preset shaping time is 60 minutes, when the time for the mowing robot to perform the first grass height shaping on the first area to be mowed reaches 60 minutes, the mowing robot finishes the first grass height shaping of the first area to be mowed, and can enter the next area to be mowed or finish mowing according to subsequent settings.
For example, the first preset shaping time is 150 minutes, when the time for the mowing robot to perform the first grass height shaping on the first area to be mowed reaches 150 minutes, it indicates that the mowing robot has completed the first grass height shaping of the first area to be mowed, and can enter the next area to be mowed or finish mowing according to the subsequent setting.
It is understood that the first travel distance of the lawn mower is determined according to the specific travel distance of the lawn mowing robot, which represents the sum of the distances traveled by the lawn mowing robot.
In one example of the present invention, the first preset driving distance may be 100 meters, 200 meters, 500 meters, 1000 meters, 2000 meters, 5000 meters, 10000 meters, etc., and is set according to requirements.
For example, if the first preset driving distance is 800 meters, when the driving distance of the mowing robot for performing the first lawn height modeling on the first area to be mowed reaches 800 meters, it indicates that the mowing robot completes the first lawn height modeling of the first area to be mowed, and the mowing robot can enter the next area to be mowed or complete mowing according to the subsequent setting.
For example, if the first preset driving distance is 2000 meters, when the robot lawnmower performs the first grass height modeling on the first area to be mowed for a driving distance of 2000 meters, it indicates that the robot lawnmower has completed the first grass height modeling of the first area to be mowed, and the robot lawnmower can enter the next area to be mowed or complete mowing according to the subsequent setting.
According to the grass modeling method provided by the embodiment of the invention, when the first modeling time of the mowing robot for performing the first grass height modeling in the first area to be mowed meets the first preset modeling time or whether the first traveling distance reaches the first preset traveling distance, the mowing robot is indicated to finish the first grass height modeling in the first area to be mowed, and the mowing of the next area to be mowed can be automatically performed.
EXAMPLE five
Fig. 7 is a schematic structural diagram of a grass land modeling apparatus 500 according to a fifth embodiment of the present invention, and only the parts related to the fifth embodiment of the present invention are shown for convenience of illustration. The apparatus 500 comprises:
and the first mowing height mowing unit 510 is used for controlling the mowing robot to mow the first mowing height on the first area to be mowed by taking the magnetic field direction of the first area to be mowed as an inner signal direction.
In the embodiment of the invention, the mowing line graph can be arranged in the mowing robot in advance (namely, the mowing map which is drawn in advance according to the actual mowing line graph and is used for driving the mowing robot), so that the mowing robot can navigate to the lawn area needing modeling conveniently. Meanwhile, the mowing robot can walk and work on the modeling circuit synchronously under the assistance of a preset mowing circuit diagram in the process of modeling the grasslands.
In an embodiment of the present invention, the magnetic field direction includes a positive magnetic field direction and a negative magnetic field direction. It is understood that the in-bound signal direction may be a positive magnetic field direction or a negative magnetic field direction, and the corresponding out-bound signal direction is opposite thereto.
Referring to fig. 2, in the embodiment of the present invention, the grass cutting area may be divided into a first grass cutting area, a second grass cutting area, a third grass cutting area, and the like according to the modeling requirement of the user; wherein different grass areas represent different grass heights, i.e. are shaped to correspond to these different grass heights.
It will be appreciated that in the present embodiment, the shaping of grass to different heights is accomplished by controlling the height-adjustable screw-type blades 2 (see also fig. 10) provided on the mowing robot.
As an example of the present invention, the first grass height configuration may be a height of 2cm, 3cm, 4cm, 5cm, 10cm, 20cm, etc. of grass cut from the grass of the first area to be mowed, selected according to the user's needs; the first grass height can be formed by molding the grass into characters, such as 'company', letters, such as 'top', various patterns, and the like, and can be set according to the requirements of users.
And a reversing unit 520, configured to send a control signal for reversing the direction of the magnetic field to the base station after determining that the mowing robot finishes mowing the first area to be mowed.
In the embodiment of the present invention, the determination that the mowing robot finishes mowing the first area to be mowed may be performed by determining whether mowing time, mowing travel distance, and the like of the mowing robot meet preset requirements (see, for example, the seventh embodiment).
As an embodiment of the present invention, the mowing robot and the base station communicate through a Wireless network, such as WIFI (Wireless-Fidelity), Wireless short-wave communication, etc., so that the base station transmits a control signal for reversing the direction of the magnetic field.
And the second mowing height mowing unit 530 is used for controlling the mowing robot to mow the second mowing height on the second area to be mowed when the detected magnetic field direction of the second area to be mowed is the direction of the in-bound signal.
As an example of the present invention, the second grass height configuration may be a height of 1cm, 2cm, 3cm, 4cm, 5cm, 10cm, etc. of grass cut from the first grass area to be mowed, selected according to the user's needs; the second grass height can be a shape of a grass as a letter, pattern, or the like, and can be specifically set according to user requirements.
It can be understood that the magnetic field directions of the first grass cutting area and the second grass cutting area are opposite, and the different magnetic field directions of the two grass cutting areas are divided by the cable. For example, as shown in fig. 2, a heart-shaped area is divided by a cable to be a second area to be mowed, other blank areas are first areas to be mowed, the direction of a magnetic field in the heart-shaped area is an in-bound signal direction, namely positive, and the direction of the magnetic field in the blank areas is an out-bound signal direction, namely negative.
As an example of the present invention, the first grass cutting area and the second grass cutting area may be divided by enclosing wires in advance, and when the mowing robot is in the first grass cutting area, in order to prevent the mowing robot from entering the second grass cutting area, the magnetic field directions, i.e. the magnetic field signal curves, in the first grass cutting area and the second grass cutting area are kept different at all times (see fig. 4 at the same time). However, when the mowing robot needs to enter the second area to be mowed for modeling, the magnetic field signals of the first mowing area and the second mowing area are reversed through the base station, so that the mowing robot can always model grasslands in the same magnetic field direction, the mowing robot is guaranteed to complete the grasslands in the preset modeling area, and the situation that modeling is disordered in two adjacent modeling areas is avoided.
It can be understood that, the first grass cutting area and the second grass cutting area which are divided by enclosing the electric wire are used for enclosing the second grass cutting area to be shaped, for example, the electric wire is used for enclosing the second grass cutting area to be shaped, wheels of the mowing robot can be pressed through the electric wire to enter the enclosed area, namely, the thickness of the electric wire is the height which can be pressed by the wheels of the mowing robot.
As an embodiment of the present invention, the mowing robot may detect the magnetic field direction of each area to be mowed by the electromagnetic signal detection device 3 (see fig. 10 at the same time).
In a practical application of the present invention, a lawn area needs to be shaped by letters, and the letter in the center area of the lawn is "T, O, P", so that the letter "T, O, P" can be enclosed by a wire to be set as a second grass cutting area, and the other areas are the first grass cutting area. The first mowing height is 5cm, mowing time of the first area to be mowed is 50 minutes, so that mowing of the first area to be mowed is completed, and the second mowing height is 20 cm; the mower can reach the lawn according to a preset mowing line diagram, the mowing robot is controlled to mow the first lawn with the height of 5cm of the first lawn in the direction of the signal within the range of the magnetic field direction of the first lawn area to be mowed, when the mowing robot finishes mowing the first lawn area to be mowed for 50 minutes, the control signal for reversing the magnetic field direction is sent to the base station, and when the detected magnetic field direction of the second lawn area to be mowed is the signal within the range of the magnetic field direction, the mowing robot is controlled to mow the second lawn with the height of 20cm of the letter "T, O, P" 3 of the second lawn area to be mowed.
The lawn modeling device provided by the embodiment of the invention is characterized in that a lawn boundary formed by enclosing cables and a second to-be-mowed area in the lawn boundary are arranged on the lawn in advance, a first to-be-mowed area is formed between the lawn boundary and the second to-be-mowed area, the magnetic field directions of the first to-be-mowed area and the second to-be-mowed area are opposite, the first to-mowed area is mowed by firstly controlling the mowing robot to take the magnetic field direction of the first to-mowed area as an in-bound signal direction to mow the first to-mowed area at a first mowing height, and then after the mowing robot finishes mowing of the first to-mowed area, a control signal for reversing the magnetic field direction is sent to a base station, or the magnetic field direction of the first to-mowed area is set as an out-bound signal direction, and the magnetic field direction of the second to-mowed area is set as an in-bound signal direction; and finally, when the detected magnetic field direction of the second grass area to be mowed is the direction of the boundary signal, controlling the mowing robot to mow the second grass area to be mowed at a second mowing height. The grassland modeling device provided by the invention can realize intelligent modeling of different patterns on grasslands according to the requirements of users, does not need manual intervention, and has excellent modeling effect.
EXAMPLE six
Referring to fig. 8, in the device 600, in addition to the fifth embodiment, the unit 520 in the device 500 is replaced by a signal setting unit 610, which is used to set the magnetic field direction of the first zone to be mowed as the out-of-range signal direction and the magnetic field direction of the second zone to be mowed as the in-range signal direction after the robot lawnmower is judged to finish mowing the first zone to be mowed.
It can be understood that, after the mowing robot finishes mowing the first area to be mowed, the mowing robot travels to the second area to be mowed according to the preset mowing line diagram, and sets the magnetic field direction of the first area to be mowed as the out-of-bound signal direction and the magnetic field direction of the second area to be mowed as the in-bound signal direction, that is, the magnetic field directions of the first area to be mowed and the second area to be mowed are not actually changed, but the internal program judgment mode of the mowing robot is changed.
The lawn modeling device provided by the embodiment of the invention is characterized in that a lawn boundary formed by enclosing cables and a second to-be-mowed area in the lawn boundary are arranged on the lawn in advance, a first to-be-mowed area is formed between the lawn boundary and the second to-be-mowed area, the magnetic field directions of the first to-be-mowed area and the second to-be-mowed area are opposite, and a mowing robot is controlled to perform first mowing height on the first to-be-mowed area by taking the magnetic field direction of the first to-be-mowed area as an internal signal direction; when the mowing robot finishes mowing the first area to be mowed, setting the magnetic field direction of the first area to be mowed as an out-of-bound signal direction, and setting the magnetic field direction of the second area to be mowed as an in-bound signal direction; and finally, when the detected magnetic field direction of the second area to be mowed is the direction of the in-bound signal, controlling the mowing robot to mow the second area to be mowed at a second mowing height. The grassland modeling device provided by the invention can realize intelligent modeling of different patterns on grasslands according to the requirements of users, does not need manual intervention, and has excellent modeling effect.
EXAMPLE seven
Fig. 9 is a schematic structural diagram of a grass modeling apparatus 700 according to a seventh embodiment of the present invention, and only the relevant portions of the seventh embodiment of the present invention are shown for convenience of illustration. It is different from the apparatus 500 or 600 shown in fig. 7 in that the apparatus 700 further includes:
and the operation control unit is used for controlling the mowing robot to operate to the boundary of the first area to be mowed and the second area to be mowed.
In the embodiment of the invention, the boundary of the first grass cutting area and the second grass cutting area is the cable.
It can be understood that after the mowing robot finishes mowing the lawn in the first area to be mowed, the mowing robot needs to be controlled to move to the boundary between the first area to be mowed and the second area to be mowed, then the signal identification rule in the processor of the mowing robot is adjusted, or signals inside and outside the magnetic field reversal boundary are sent to the base station, so that the mowing robot can not consider that the mowing robot is out of the boundary when the signals are reversed after the mowing robot finishes mowing the first area to be mowed, and the situation that the mowing robot mistakenly judges the boundary when switching the area to be mowed is prevented.
According to the lawn modeling method provided by the embodiment of the invention, after the mowing robot finishes mowing at the first mowing height of the first area to be mowed, the mowing robot is controlled to move to the boundary between the first area to be mowed and the second area to be mowed, so that the mowing robot can be prevented from moving out of the boundary in advance and reporting errors, and the mowing robot can know which boundary is in the boundary and which boundary is out of the boundary.
Example eight
On the basis of the fifth or sixth embodiment, the apparatus 500 or 600 further includes:
the first judging unit is used for judging whether the first modeling time for mowing at the first mowing height reaches a first preset modeling time or not; alternatively, the first and second electrodes may be,
and the second judging unit is used for judging whether the first travel distance for mowing at the first mowing height reaches a first preset travel distance.
It is understood that the first model time is determined according to the specific model time of the mowing robot.
In the embodiment of the present invention, the first preset molding time may be 10 minutes, 20 minutes, 25 minutes, 30 minutes, 50 minutes, 60 minutes, 100 minutes, 120 minutes, etc., and is set according to actual conditions.
For example, the first preset shaping time is 60 minutes, when the time for the mowing robot to perform the first grass height shaping on the first area to be mowed reaches 60 minutes, the mowing robot finishes the first grass height shaping of the first area to be mowed, and can enter the next area to be mowed or finish mowing according to subsequent settings.
For example, the first preset shaping time is 150 minutes, when the time for the mowing robot to perform the first grass height shaping on the first area to be mowed reaches 150 minutes, it indicates that the mowing robot has completed the first grass height shaping of the first area to be mowed, and can enter the next area to be mowed or finish mowing according to the subsequent setting.
It is understood that the first travel distance of the lawn mower is determined according to the specific travel distance of the lawn mowing robot, which represents the sum of the distances traveled by the lawn mowing robot.
In one example of the present invention, the first preset driving distance may be 100 meters, 200 meters, 500 meters, 1000 meters, 2000 meters, 5000 meters, 10000 meters, etc., and is set according to requirements.
For example, if the first preset driving distance is 800 meters, when the driving distance of the mowing robot for performing the first lawn height modeling on the first area to be mowed reaches 800 meters, it indicates that the mowing robot completes the first lawn height modeling of the first area to be mowed, and the mowing robot can enter the next area to be mowed or complete mowing according to the subsequent setting.
For example, if the first preset driving distance is 2000 meters, when the robot lawnmower performs the first grass height modeling on the first area to be mowed for a driving distance of 2000 meters, it indicates that the robot lawnmower has completed the first grass height modeling of the first area to be mowed, and the robot lawnmower can enter the next area to be mowed or complete mowing according to the subsequent setting.
According to the lawn modeling device provided by the embodiment of the invention, when the first modeling time for the robot to perform the first lawn height modeling in the first area to be mowed meets the first preset modeling time or whether the first traveling distance reaches the first preset traveling distance, the robot to mow is indicated to finish the first lawn height modeling in the first area to be mowed, and the next area to mowed can be automatically mowed.
Example eight
Fig. 8 is a schematic structural diagram of a mower according to an eighth embodiment of the present invention, and for convenience of description, only the parts related to the embodiment of the present invention are shown. This lawn mower includes:
a mower body 1;
the height-adjustable blade 2 is arranged on the mower body 1 and is used for carrying out first height modeling or second height modeling on a grassland to be modeled;
the electromagnetic signal detection device 3 is arranged on the mower body 1 and is used for detecting the magnetic field direction of each grass cutting area of the grassland; and
a processor (not shown) disposed within the mower body 1, the processor including the grass modeling method described above.
Embodiments of the present invention provide that the lawn mower further comprises a memory. Illustratively, a computer program can be partitioned into one or more modules, which are stored in memory and executed by a processor to implement the present invention. One or more of the modules may be a series of computer program instruction segments capable of performing specific functions, the instruction segments being used to describe the execution of a computer program in the lawn mower.
Those skilled in the art will appreciate that the above description of a lawnmower is by way of example only and is not intended to be limiting, and that it may include more or less components than those described, or some components may be combined, or different components may include, for example, input and output devices, network access devices, buses, etc.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Micro Control Unit (MCU), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like that is the control center for the lawnmower described above, with various interfaces and wiring connecting the various parts of the overall lawnmower.
The memory may be used to store the computer programs and/or modules, and the processor may implement the various functions of the lawn mower by running or executing the computer programs and/or modules stored in the memory, and invoking the data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
The above mower integrated module/unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the functions of the units in the system according to the above embodiments may be implemented by a computer program, which may be stored in a computer-readable storage medium and used by a processor to implement the functions of the above embodiments of the method. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (8)
1. A grassland modeling method is characterized in that a grassland boundary which is formed by enclosing cables and a second grass cutting area to be cut in the grassland boundary are preset on the grassland, a first grass cutting area is formed between the grassland boundary and the second grass cutting area, and the magnetic field direction of the first grass cutting area is opposite to that of the second grass cutting area, and the method comprises the following steps:
controlling the mowing robot to mow the first mowing height on the first area to be mowed by taking the magnetic field direction of the first area to be mowed as an internal signal direction;
when the mowing robot finishes mowing the first area to be mowed, controlling the mowing robot to move to the boundary of the first area to be mowed and the second area to be mowed, and sending a control signal for reversing the direction of the magnetic field to a base station;
and when the detected magnetic field direction of the second grass area to be mowed is the in-range signal direction, controlling the mowing robot to mow the second grass area at a second mowing height.
2. A grassland modeling method is characterized in that a grassland boundary formed by enclosing cables and a second grass cutting area to be cut in the grassland boundary are arranged on a grassland in advance, a first grass cutting area is formed between the grassland boundary and the second grass cutting area, and the magnetic field directions of the first grass cutting area and the second grass cutting area are opposite, and the method comprises the following steps:
controlling the mowing robot to mow the first mowing height on the first area to be mowed by taking the magnetic field direction of the first area to be mowed as an internal signal direction;
when the mowing robot finishes mowing the first area to be mowed, controlling the mowing robot to move to the boundary of the first area to be mowed and the second area to be mowed, setting the magnetic field direction of the first area to be mowed as an out-boundary signal direction, and setting the magnetic field direction of the second area to be mowed as an in-boundary signal direction;
and when the detected magnetic field direction of the second grass area to be mowed is the in-range signal direction, controlling the mowing robot to mow the second grass area at a second mowing height.
3. The method of claim 1 or 2, further comprising, after said determining that said mowing robot has finished mowing said first area to be mowed:
judging whether the first modeling time of mowing at the first mowing height reaches a first preset modeling time or not; or
And judging whether the first travel distance for mowing at the first mowing height reaches a first preset travel distance.
4. A grassland modeling device is characterized in that a grassland boundary surrounded by cables and a second grass cutting area in the grassland boundary are preset on the grassland, a first grass cutting area is formed between the grassland boundary and the second grass cutting area, and the magnetic field directions of the first grass cutting area and the second grass cutting area are opposite, and the device comprises:
the first mowing height mowing unit is used for controlling the mowing robot to mow the first area to be mowed at a first mowing height by taking the magnetic field direction of the first area to be mowed as an internal signal direction;
the reversing unit is used for sending a control signal for reversing the direction of the magnetic field to a base station after judging that the mowing robot finishes mowing the first area to be mowed;
the second mowing height mowing unit is used for controlling the mowing robot to mow the second area to be mowed at a second mowing height when the detected magnetic field direction of the second area to be mowed is the intra-boundary signal direction;
and the operation control unit is used for controlling the mowing robot to operate to the boundary of the first area to be mowed and the second area to be mowed.
5. A grassland modeling device is characterized in that a grassland boundary surrounded by cables and a second grass cutting area in the grassland boundary are preset on the grassland, a first grass cutting area is formed between the grassland boundary and the second grass cutting area, and the magnetic field directions of the first grass cutting area and the second grass cutting area are opposite, and the device comprises:
the first mowing height mowing unit is used for controlling the mowing robot to mow the first area to be mowed at a first mowing height by taking the magnetic field direction of the first area to be mowed as an internal signal direction;
the signal setting unit is used for setting the magnetic field direction of the first area to be mowed as an out-of-range signal direction and setting the magnetic field direction of the second area to be mowed as an in-range signal direction after the mowing robot is judged to finish mowing the first area to be mowed;
the second mowing height mowing unit is used for controlling the mowing robot to mow the second mowing height in the second area to be mowed when the detected magnetic field direction of the second area to be mowed is the in-range signal direction;
and the operation control unit is used for controlling the mowing robot to operate to the boundary of the first area to be mowed and the second area to be mowed.
6. Grass-modelling device as claimed in claim 4 or 5, further comprising:
the first judging unit is used for judging whether the first modeling time for mowing at the first mowing height reaches a first preset modeling time or not; or
And the second judging unit is used for judging whether the first travel distance for mowing at the first mowing height reaches a first preset travel distance.
7. A lawnmower, characterized in that it comprises:
a mower body;
the blade is arranged on the mower body, can adjust the height and is used for carrying out first height modeling or second height modeling on the grassland to be modeled;
the electromagnetic signal detection device is arranged on the mower body and used for detecting the magnetic field direction of each grass cutting area of the grassland; and
a processor disposed within the mower body, the processor comprising the method of grass molding of any of claims 1-3.
8. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when being executed by a processor, carries out the method of grass modelling according to any one of claims 1-3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110688163.3A CN113498665B (en) | 2021-06-21 | 2021-06-21 | Lawn modeling method, lawn modeling apparatus, lawn mower, and computer-readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110688163.3A CN113498665B (en) | 2021-06-21 | 2021-06-21 | Lawn modeling method, lawn modeling apparatus, lawn mower, and computer-readable storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113498665A CN113498665A (en) | 2021-10-15 |
| CN113498665B true CN113498665B (en) | 2022-09-30 |
Family
ID=78010511
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110688163.3A Active CN113498665B (en) | 2021-06-21 | 2021-06-21 | Lawn modeling method, lawn modeling apparatus, lawn mower, and computer-readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113498665B (en) |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE69615789T2 (en) * | 1995-11-07 | 2002-07-04 | Friendly Robotics Ltd | System for determining boundary lines for an automated robot |
| KR101188891B1 (en) * | 2010-12-16 | 2012-10-09 | (주)마이크로인피니티 | Lawn mower for drawing images |
| CN202632105U (en) * | 2012-05-30 | 2012-12-26 | 宁波市德霖机械有限公司 | Working area definition and guidance system of automatic equipment |
| SE541842C2 (en) * | 2017-03-28 | 2019-12-27 | Husqvarna Ab | Improved perimeter marking for a robotic working tool |
| EP3412130B1 (en) * | 2017-06-09 | 2020-08-12 | Andreas Stihl AG & Co. KG | Method for operating an autonomous mobile mower robot and mowing system |
| CN112147886A (en) * | 2019-06-27 | 2020-12-29 | 深圳拓邦股份有限公司 | Self-adaptive method for boundary signal of mower system and mower system |
| CN112230637A (en) * | 2019-06-27 | 2021-01-15 | 深圳拓邦股份有限公司 | Method for self-adapting to power supply current direction of mower system and mower system |
| CN112230636A (en) * | 2019-06-27 | 2021-01-15 | 深圳拓邦股份有限公司 | Self-adaptive method for boundary signal of mower system and mower system |
| CN110268858A (en) * | 2019-08-05 | 2019-09-24 | 兰州石化职业技术学院 | A kind of turf-mown and pattern modelling robot and its control system and control method |
| CN110754204B (en) * | 2019-09-27 | 2020-10-27 | 西安交通大学 | Lawn three-dimensional pattern trimming robot system and method |
| CN112824993B (en) * | 2019-11-15 | 2024-04-30 | 南京泉峰科技有限公司 | Intelligent mowing system |
-
2021
- 2021-06-21 CN CN202110688163.3A patent/CN113498665B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN113498665A (en) | 2021-10-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20200206921A1 (en) | Robot movement control method, apparatus and robot using the same | |
| DE102016102617A1 (en) | Method and device for dynamic position indicator data determination | |
| US10838424B2 (en) | Charging station identifying method and robot | |
| CN105172716A (en) | Automatic regulating device and method for in-vehicle environmental parameters | |
| US11262210B2 (en) | Map data storage method and device | |
| CN112306050B (en) | Autonomous robot, walking path planning method and device thereof and storage medium | |
| CN113498665B (en) | Lawn modeling method, lawn modeling apparatus, lawn mower, and computer-readable storage medium | |
| CN113126607B (en) | Robot and motion control method and device thereof | |
| CN109240300B (en) | Unmanned vehicle, speed control method and device thereof, electronic equipment and storage medium | |
| DE102019113828A1 (en) | PROCESS AND EQUIPMENT FOR ADAPTABLE GEOFENCES COOPERATING WITH VEHICLES | |
| CN112686690B (en) | Data processing method, device, electronic equipment and computer readable storage medium | |
| CN106327236A (en) | Method and device for determining user action track | |
| CN116382306B (en) | Track tracking control method, device, equipment and medium for full-coverage operation agricultural machinery | |
| CN103065306B (en) | The disposal route of graph data and device | |
| CN113112488B (en) | Road center line extraction method and device, storage medium and terminal equipment | |
| CN112506178B (en) | Robot control method, device, terminal and medium | |
| CN114494513A (en) | Agricultural machinery working area obtaining method and device, terminal equipment and storage medium | |
| US20210291695A1 (en) | Network-based control of induction charging of electrical vehicles | |
| CN113806377B (en) | Map updating method, device and storage medium | |
| US20230180649A1 (en) | Path planning system and method for defining a harvest path for harvesting a crop material from a field | |
| CN115834672B (en) | Internet of vehicles information processing method and system based on locator | |
| CN109398479B (en) | Server, intelligent vehicle steering control method, device, medium and intelligent vehicle | |
| CN117472244A (en) | Interconnecting virtual reality environments and robotic garden tools | |
| CN113465606A (en) | Terminal station positioning method and device and electronic equipment | |
| CN116430859A (en) | Path planning method, path planning device, path planning medium and self-mobile equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |