CN210202476U - Automatic mower - Google Patents

Abstract

The utility model provides an automatic mower, automatic mower includes: the control unit can control the automatic mower to execute a command of returning to a charging station; a first reference amount collecting unit that collects a first reference amount; a second reference amount collecting unit that collects a second reference amount; the automatic mower further comprises a comparison unit, and the comparison unit compares the first reference quantity with a second preset value; if the second reference amount reaches a first preset value in an accumulated mode and the first reference amount is not larger than the second preset value, the control unit controls the automatic mower to stop executing the command of returning to the charging station. The utility model discloses an automatic mower can accurately judge whether be in around obstacle rotation state.

Description

Automatic mower

Technical Field

The utility model relates to a ground processing utensil technical field especially relates to an automatic mower.

Background

At present, with the pace of life of people accelerating, automatic household appliances are more and more popular, can work according to preset automatic working programs, and do not need a user to operate all the time, so that the user can be free from heavy family tasks and has more time to relax. Among such automatic home appliances, an automatic lawn mower, which is mainly used for a home garden, is preferred by users because it can efficiently cut a lawn.

The automatic mower can work in the home garden by itself, and in order to prevent the automatic mower from damaging other vegetation in the home garden, a working area needs to be manually set for the automatic mower so as to work in the designated working area. In the prior art, a working area is mainly set for the automatic mower by a method of laying a wire, and the method comprises the following specific steps: the lead is laid on the ground, the area surrounded by the lead is used as a working area, the lead can send out signals to enable the automatic mower to sense the existence of the lead, the automatic mower can generate corresponding evading actions when encountering the lead, the crossing of the boundary formed by the lead is avoided, and therefore the automatic mower can be ensured to work in the working area all the time.

Automatic mowers in the market are powered primarily by electrical energy, and typically, a battery assembly is provided within the housing of the automatic mowers. When the automatic mower is in a working state, the battery assembly releases electric energy to maintain the automatic mower to work, and when the automatic mower is in a non-working state, the battery assembly can be connected with an external power supply to store the electric energy. In particular, to further enhance the user experience, when the robotic lawnmower detects that the battery assembly is low on capacity, it may seek a charging station on its own to replenish the electrical energy.

Generally, the charging station is arranged on the boundary of the work area enclosed by the wires, and the automatic mower returns to the charging station mainly by the following method: upon receiving the recharge signal, it moves in a random direction until the wire is sensed, and then moves along the wire until the charging station is reached. However, trees, ponds and the like are inevitably present in the household garden, and in order to avoid the automatic mower from colliding with the obstacles when working in the working area, generally, a wire is wound around the obstacles, and the signal sent by the wire is utilized to lead the automatic mower to sense so as to avoid collision with the obstacles. Therefore, when the robotic lawnmower executes a return-to-charging-station command, there is a possibility that the wires of the obstacle will be encountered and will be mistaken for the wires of the boundary of the work area and continuously travel along the wires, thereby falling into a dead loop, causing the grass around the obstacle to be repeatedly crushed and seriously damaged.

In order to solve the problem, the automatic mower is generally further provided with a deflection detection assembly, the deflection amount of the automatic mower is obtained through the deflection detection assembly, and is compared with a preset value, so that whether the automatic mower rotates around the obstacle is judged, but the existing deflection detection assembly cannot accurately obtain the actual deflection amount of the automatic mower, so that the automatic mower has deviation when judging whether to walk around the obstacle, and therefore, when the automatic mower works, on one hand, the automatic mower can mistakenly judge that the automatic mower is in the rotating state around the obstacle, so that the automatic mower leaves the conducting wire to re-execute a return charging seat instruction, wastes time, influences working efficiency and is more likely to fail to return to a charging station; on the other hand, the lawn may be in a state of rotating around the obstacle and not known, so that the lawn rotates around the guide wire continuously and rolls on the lawn around the obstacle for a plurality of times.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, an object of the utility model is to provide a can accurately judge whether be in around obstacle pivoted state's automatic mower.

The utility model provides a technical scheme that the problem that prior art exists adopted is: an automatic lawnmower comprising: the control unit can control the automatic mower to execute a command of returning to a charging station; a first reference amount collecting unit that collects a first reference amount; the automatic mower also comprises a comparison unit, wherein the comparison unit compares the first reference quantity with a second preset value; if the second reference amount reaches a first preset value in an accumulated mode and the first reference amount is not larger than the second preset value, the control unit controls the automatic mower to stop executing the command of returning to the charging station.

Preferably, the first reference amount is the time for the robotic lawnmower to move along the boundary line after executing the command for returning to the charging station, and the second reference amount is the rotation amount of the robotic lawnmower.

Preferably, the robotic lawnmower further comprises a driving unit, the driving unit comprises a first driving wheel and a second driving wheel which are located on two corresponding sides of the robotic lawnmower, and the second reference amount collecting unit can obtain the rotating speeds of the first driving wheel and the second driving wheel.

Preferably, the rotation amount is an angle change amount obtained by the second reference amount collecting unit, and the first preset value is not less than 360 °.

Preferably, the rotation amount is a difference between moving distances of the first driving wheel and the second driving wheel obtained by the second reference amount collecting unit.

Preferably, the boundary line includes outer boundary line and interior boundary line, the region that the outer boundary line encloses is the work area, interior boundary line is injectd the isolation zone, automatic mower is in the work area, the work is outside the isolation zone.

Preferably, the robotic lawnmower includes a second time that is the time the robotic lawnmower travels one cycle along an outer boundary line defining the working area.

Preferably, the robotic lawnmower further comprises a third time, the third time is a time when the robotic lawnmower moves for one cycle along an inner boundary line defining a maximum isolation area, and the second preset value is not less than the third time.

Preferably, the automatic mower further comprises a third time, the third time is greater than one third of the second time and less than one half of the second time, and the second preset value is not less than the third time.

Advantageous effects

Compared with the prior art, the beneficial effects of the utility model reside in that: when the automatic mower moves along the boundary line, the rotation amount is detected on one hand, the time of the automatic mower moving along the boundary line is recorded on the other hand, and the time of the automatic mower moving along the boundary line is used for assisting in judging whether the automatic mower is in the state of rotating around the obstacle, so that the automatic mower can accurately judge whether the automatic mower is in the state of rotating around the obstacle even if the rotation amount of the automatic mower obtained by the detection unit deviates from the actual rotation amount.

Drawings

FIG. 1 is a schematic structural view of an automatic mower according to an embodiment of the present invention;

FIG. 2 is a schematic view of the automatic mower according to an embodiment of the present invention;

FIG. 3 is a control flow chart of the robotic lawnmower according to an embodiment of the present invention;

Detailed Description

The invention will be described in detail hereinafter with reference to exemplary embodiments shown in the drawings. Terms used in the exemplary embodiments are selected as general terms used as widely as possible, but in a specific case, terms arbitrarily selected by the applicant are also used, and in this case, meanings are mentioned in the corresponding detailed description section, so that the inventive concept should not be understood by literal meanings of the terms, but by given meanings of the terms.

While the concepts of the present invention are susceptible to various modifications and alternative embodiments, specific exemplary embodiments have been shown in the drawings and are described in detail in the written description. However, it is not intended to limit the inventive concept to the particular mode of practice, and it should be understood that all changes, equivalents, and substitutions that do not depart from the spirit and technical scope are intended to be embraced therein. In the description, certain details of the prior art are omitted when it is deemed that the nature of the inventive concept may be unnecessarily obscured.

Although terms such as "first", "second", etc. may be used to describe various elements, the elements are not limited to the above terms. The above terms are only used to distinguish one element from another.

In this specification, it will be understood that terms such as "comprising," "having," "including," or the like, are intended to specify the presence of stated features, integers, steps, actions, components, parts, or combinations thereof, and are not intended to preclude the presence or addition of one or more other features, integers, steps, actions, components, parts, or combinations thereof.

Terms such as "unit," "device," "component," "module," and the like described in the specification refer to an element for performing at least one function or operation, and may be implemented in hardware or software or a combination of hardware and software. Furthermore, a plurality of "modules" or a plurality of "units" may be integrally formed as at least one processing module except for the "modules" or "units" which must be implemented as specific hardware.

Throughout the specification, it will also be understood that when an element is referred to as being "connected to" another element, it can be directly connected to or electrically connected to the other element, and intervening elements may also be present. In addition, when a portion "includes" an element, another element may be further included without excluding the presence of the other element unless otherwise specified.

When an expression such as "at least one" precedes a list of elements, it modifies the entire list of elements without modifying the individual elements of the list.

Referring to fig. 1-3, an embodiment of the present invention provides an automatic lawn mower 1, wherein the automatic lawn mower 1 can move on the lawn according to various preset instructions to perform various tasks. Specifically, the robotic lawnmower 1 includes a driving unit 20, a comparing unit 30, a control unit 70, a second reference amount collecting unit, and a first reference amount collecting unit.

For convenience of understanding, in the present embodiment, the first reference amount collecting unit is specifically a timing unit 60, and correspondingly, the first reference amount is specifically a first time, and the first reference amount collecting unit collects the first reference amount and is specifically the timing unit 60 records the first time; the second reference amount collecting unit is specifically a detecting unit 40, and correspondingly, the second reference amount is specifically the rotation amount of the robotic lawnmower 1, and the second reference amount collecting unit is specifically the rotation amount of the robotic lawnmower 1 detected and obtained by the detecting unit 40.

As shown in fig. 1, the robotic lawnmower 1 is substantially square, the robotic lawnmower 1 includes a power unit 80, the power unit 80 is disposed in a housing of the robotic lawnmower 1, and the power unit 80 is configured to provide power required for the robotic lawnmower 1 to work, such as: the power unit 80 may provide power to the cutting assembly 10 to facilitate the operation of the robotic lawnmower 1. The power unit 80 may have different power sources, in this embodiment, the power unit 80 includes a battery pack, and the robotic lawnmower 1 is powered by the battery pack, and in other embodiments, the robotic lawnmower 1 may be powered by an internal combustion engine or other power source. When the robotic lawnmower 1 is in operation, the battery pack releases electrical energy to maintain its operation, and when the robotic lawnmower is not in operation, the battery pack can be connected to an external power source to supplement the electrical energy, and in particular, when the robotic lawnmower detects that the battery pack is out of energy, it will seek a charging station by itself to supplement the electrical energy.

The robotic lawnmower 1 further comprises a drive unit 20, wherein the drive unit 20 comprises a drive wheel, a motor for driving the drive wheel to rotate, and a transmission device for connecting the drive wheel and the motor. Specifically, in the present embodiment, the driving unit 20 includes a first driving wheel 21 and a second driving wheel 22 located at two corresponding sides of the robotic lawnmower 1, and the first driving wheel 21 and the second driving wheel 22 are symmetrically disposed with respect to the central axis X of the robotic lawnmower 1. The first driving wheel 21 is connected to a first motor 23 and the second driving wheel 22 is connected to a second motor 24, although in other embodiments the first driving wheel and the second driving wheel may be driven by the same motor. In this embodiment, there are 2 driving wheels, and in other embodiments, there may be only one driving wheel. In another embodiment, there are 4 drive wheels, two of which are located to the left of the central axis X and two of which are located to the right of the central axis X.

Further, the first drive wheel 21 and the second drive wheel 22 have the same radius. When the rotation speeds of the first driving wheel 21 and the second driving wheel 22 are the same, the robotic lawnmower 1 moves along a straight line because the first driving wheel 21 and the second driving wheel 22 are symmetrically arranged relative to the central axis X of the robotic lawnmower 1. Further, the greater the rotational speeds of the first and second drive wheels 21, 22, the greater the speed of the robotic lawnmower 1. When the rotation speeds of the first driving wheel 21 and the second driving wheel 22 are different, the automatic mower 1 deflects to one side and does not keep moving linearly. Specifically, if the rotation speed of the first driving wheel 21 is greater than the rotation speed of the second driving wheel 22, the robotic lawnmower 1 will turn to the side where the rotation speed is small, i.e., to the right of the central axis X where the second driving wheel 22 is located. If the rotation speed of the second driving wheel 22 is greater than the rotation speed of the first driving wheel 21, the robotic lawnmower 1 will turn to the side where the rotation speed is small, i.e., to the left of the central axis X where the first driving wheel 21 is located. The greater the difference between the rotational speeds of the first drive wheel 21 and the second drive wheel 22, the greater the turning angle of the robotic lawnmower 1. In this embodiment, the robotic lawnmower 1 can control the rotational speeds of the first and second drive wheels 21 and 22 to achieve rotation of the robotic lawnmower 1.

The robotic lawnmower 1 further comprises a control unit 70, wherein the control unit 70 can receive various control signals to control the walking and working of the robotic lawnmower 1, such as: the control unit 70 may generate control commands to the motor driving the drive wheels to control the rotational speed of the drive wheels, the control unit 70 may also generate control commands to control the robotic lawnmower to execute a return to charging station command, and the like. In this embodiment, the control unit 70 may include an integrated chip, and a plurality of functional modules included in the control unit may be integrated on the chip.

The automatic mower 1 further comprises a detection unit 40, and the detection unit 40 is used for detecting the rotation amount of the automatic mower 1. When the robotic lawnmower 1 is performing work, the driving unit 20 can drive the robotic lawnmower 1 to move, and when the rotation speeds of the first driving wheel 21 and the second driving wheel 22 change, the robotic lawnmower 1 deflects, and the detecting unit 40 can detect the amount of rotation of the robotic lawnmower 1 that deflects and feed back the amount of rotation to the control unit 70. The control unit 70 can analyze the rotation amount detected by the detecting unit 40, so as to control the robotic lawnmower 1 accordingly. In this embodiment, the rotation amount is an angle variation, and after the control unit 70 obtains the angle variation, the angle variation obtained multiple times is accumulated. Of course, in other embodiments, the rotation amount may be a difference between the moving distances of the first driving wheel 21 and the second driving wheel 22.

Further, in the embodiment, the detecting unit 40 includes a hall sensor, and the hall sensor can obtain the rotating speeds of the rotating shafts of the first motor 23 and the second motor 24, and thus obtain the rotating speeds of the first driving wheel 21 and the second driving wheel 22, so that the detecting unit 40 can calculate and obtain the angle variation of the robotic lawnmower 1. Of course, in other embodiments, the detecting unit 40 is not limited to the hall sensor, and other detecting components capable of obtaining the rotation speed of the driving wheel are possible, such as: the detection unit 40 may include a photoelectric sensing device, or may include a magnetic sensing device other than a hall sensor. Meanwhile, in other embodiments, the detecting unit 40 may also include a gyroscope or other components that can directly obtain the angle variation of the robotic lawnmower 1.

Referring to fig. 2, the working area of the robotic lawnmower is determined by a boundary line 11, in this embodiment, the boundary line 11 includes an electrical conducting wire, but in other embodiments, the working area of the robotic lawnmower may be determined by a magnetic stripe or the like. Specifically, in the present embodiment, the boundary line 11 includes an outer boundary line 111 and an inner boundary line 112, the outer boundary line 111 is laid on the outer boundary of the working area, and the area surrounded by the outer boundary line 111 is the working area 13. The robotic lawnmower 1 travels in a path within the work area 13, and during travel, the cutting unit 10 operates to cut grass along the path. In order to ensure that the robotic lawnmower 1 is always located within the working area 13, the outer boundary line 111 emits a guidance signal, which is received by a receiving device provided on the robotic lawnmower 1. When the robotic lawnmower 1 approaches or crosses the outer boundary 111, the received guidance signal changes accordingly, and the robotic lawnmower 1 can reconfirm the traveling direction according to the change of the guidance signal, thereby avoiding the traveling out of the working area 13.

Further, according to the actual working environment, the working area is usually a lawn in the garden, and inevitably, there are obstacles such as ponds, trees, etc. on the lawn. In order to avoid the robotic lawnmower 1 from hitting these obstacles, it is common to wrap the boundary line 11 around these obstacles. The borderline 11 surrounds the obstacle, i.e. the area around which the isolation area 14 is located. The robotic lawnmower 1 operates within the work area 13 and outside the isolation area 14. In this embodiment, the inner boundary line 112 defines the isolation zone 14, and the inner boundary line 112 surrounding the isolation zone 14 also sends out a guide signal, so that when the robotic lawnmower 1 moves and senses the inner boundary line 112, the robotic lawnmower will also turn to move, thereby avoiding a collision. In the present embodiment, the isolation region 14 is circular, and the area of the isolation region 14 is much smaller than the area of the working region 13. In general, there are very likely to be several obstacles in the lawn, i.e. several isolated zones 14, the area of the largest isolated zone should be less than half the area of the working zone 13 in order to increase the working efficiency of the robotic lawnmower 1.

Furthermore, a charging station 12 is connected to the boundary line 11 surrounding the working area 13, the charging station 12 includes a charging module for charging the robotic lawnmower 1 and a signal generating module for loading the guidance signal on the boundary line 11. In the embodiment, the automatic mower 1 is driven by electric energy, and the situation of insufficient electric quantity often occurs in work. The robotic lawnmower 1 further comprises a power detection unit (not shown) which, when detecting that the power is insufficient, sends a return-to-charging-station command to the control unit 70, so that the control unit 70 can control the robotic lawnmower 1 to execute the return-to-charging-station command. Specifically, when the robotic lawnmower 1 works in the working area 13, if the electric quantity detection unit detects that the current electric quantity meets a certain condition, for example, when the electric quantity detection unit detects that the current remaining electric quantity is lower than 10% of the full electric quantity, the robotic lawnmower 1 stops working at any working point in the working area 13, and executes a charging station returning instruction, where the charging station returning instruction specifically includes: the boundary line 11 is sought and moved along the boundary line 11 until the charging station 12 is reached. In a preferred embodiment, the search for the boundary line 11 is performed in a first direction until a signal is sensed from the boundary line 11, and the first direction may be any direction or may be set by a user.

While the robotic lawnmower 1 is executing the return-to-charging-stand command, it may encounter various obstacles and fail to smoothly return to the charging stand 12. Referring specifically to fig. 2, the outer boundary line 111 surrounding the working area 13 is connected in series with the inner boundary line 112 surrounding the isolation area 14, so that when the robotic lawnmower 1 executes the return-to-charging-station command to search for the boundary line 11, the inner boundary line 112 surrounding the isolation area 14 may be found, and thus may move around the isolation area 14, and may no longer return to the charging station 12. Therefore, it is necessary for the automatic mower 1 to be able to accurately determine whether or not it is in a state of rotating around the obstacle.

In this embodiment, the robotic lawnmower further comprises a timing unit 60 and a comparing unit 30, wherein the timing unit 60 records a first time, which is a time when the robotic lawnmower 1 moves along the boundary line 11 when executing the command to return to the charging station; the comparing unit 30 is configured to compare a first time measured in real time with a second preset value, if the first time is not greater than the second preset value, the comparing unit 30 outputs a first comparison signal, and if the first time is greater than the second preset value, the comparing unit 30 outputs a second comparison signal. The control unit 70 may obtain the first comparison signal or the second comparison signal and control the robotic lawnmower 1 according to the obtained signals.

Further, referring to fig. 3, the method for accurately determining whether the robotic lawnmower 1 of the present embodiment is in a state of rotating around an obstacle is as follows: s1: the automatic mower receives a command of returning to the charging station; s2: the robotic lawnmower 1 executes a return to charging station command, and S2 specifically includes: s21: finding the boundary line 11, S22 moving along the boundary line 11, S3: while the robotic lawnmower 1 is moving along the boundary line 11, the detection unit 40 detects the rotation amount, the timing unit 60 records the first time, and S4: the comparison unit 30 compares the first time with a second preset value; and if the accumulated rotation amount reaches a first preset value and the first time is not greater than a second preset value, stopping executing the command of returning to the charging station by the automatic mower 1.

Further, after "the robotic lawnmower terminates the execution of the return to charging station command", the robotic lawnmower 1 leaves the boundary line 11 and resumes the execution of the return to charging station command.

Referring to fig. 2, the robotic lawnmower 1 receives a command to return to a charging station at the first position shown in the figure, and searches for a boundary line with the direction a as the operating direction; in the second position, the robotic lawnmower 2 has sought the inner boundary line 112 and moved along the inner boundary line 112; at the third position, when the accumulated rotation amount obtained by the detection of the detection unit 40 reaches the first preset value and the first time is not more than the second preset value, the automatic mower 3 judges that the automatic mower is in the rotation state around the obstacle, and stops executing the command of returning to the charging station; the automatic mower 3 leaves the inner boundary 112 and starts to execute the command of returning to the charging station again, and the automatic mower 3 searches the boundary again by taking the direction b as the running direction; in the fourth position, the robotic lawnmower 4 seeks the outer boundary line 111 and moves along the outer boundary line 111 until it returns to the charging station 12.

When the automatic mower 1 works on the lawn, the automatic mower is inevitably affected by the working environment, so that a certain deviation exists between the rotating speed of the driving wheel measured by the detection unit 40 and the actual rotating speed of the driving wheel, a certain deviation also exists between the rotating quantity obtained by the detection unit 40 and the actual rotating quantity of the automatic mower 1, and finally, the automatic mower 1 is judged to have an error when walking around the obstacle. In the present embodiment, the robotic lawnmower 1 obtains the rotation amount through the detection unit 40, and also obtains the time for which the robotic lawnmower 1 moves along the boundary line 11 through the timing unit 60. Specifically, when the detecting unit 40 detects that the accumulated rotation amount reaches the first preset value, the comparing unit 30 compares the first time obtained by the timing unit with the second preset value, and if the first time is not greater than the second preset value, it is determined that the robotic lawnmower 1 is rotating around the obstacle even if the rotation amount obtained by the detecting unit 40 deviates from the actual rotation amount. Generally, the timing unit 60 further includes a timer, and the accuracy of the data of the first time obtained by the timer is high, whereby the robotic lawnmower 1 can more accurately determine whether or not it is in a state of rotating around an obstacle.

Further, when the robotic lawnmower 1 executes the return-to-charging-station command and starts moving along the boundary line 11, the detection unit 40 starts detecting the rotation amount of the robotic lawnmower 1. The cumulative rotation of the robotic lawnmower 1 around the obstacle is about 360 °, whereby the first preset value is greater than 360 °, and in this embodiment, the first preset value is preferably 400 °.

In this embodiment, when the accumulated rotation amount obtained by the detecting unit reaches the first preset value, the comparing unit 30 may further compare the first time with the second preset value, and only when the first time is not greater than the second preset value, the robotic lawnmower 1 may determine that the robotic lawnmower is rotating around the obstacle. If the first time is greater than the second preset value, the automatic mower 1 keeps the original walking route to continue executing the command of returning to the charging station.

The second preset value can be obtained by the following method. The robotic lawnmower 1 also includes a third time for the robotic lawnmower to move one cycle along the boundary line 11 defining the maximum isolation zone. Specifically, referring to fig. 2, in this embodiment, with the isolation area 14 as the maximum isolation area, a user may issue a command to the robotic lawnmower 1 to control the robotic lawnmower 1 to move around the maximum isolation area for one period, and the robotic lawnmower 1 may record the time and set the third time, where the one period is specifically a circle of movement of the robotic lawnmower 1 around the circular area defined by the boundary line 11. The second preset value is not less than the third time, and in a preferred embodiment, the second preset value is substantially equal to the third time. If the accumulated rotation amount detected by the detecting unit 40 reaches the first preset value, and the time for the robotic lawnmower 1 to move along the boundary line 11 is not longer than the third time, it indicates that the robotic lawnmower 1 is necessarily in a state of rotating around the obstacle.

Of course, the second preset value may be obtained by the following method in other embodiments. The robotic lawnmower 1 includes a second time for the robotic lawnmower 1 to travel a cycle along the boundary line 11 defining the working area 13. Specifically, after the working area 13 is set, the user may send a command to the robotic lawnmower 1 to control the robotic lawnmower 1 to move along the boundary line 11 enclosing the working area 13 for one period, and the robotic lawnmower 1 may record the time and set the second time, where the one period is specifically the robotic lawnmower 1 moves around the working area for one turn. The automatic mower further comprises a third time, the third time is greater than one third of the second time and less than one half of the second time, the second preset value is not less than the third time, and in a preferred embodiment, the second preset value is substantially equal to the third time. It should be noted that the third time may also be set by the user according to the specific situation.

The robotic lawnmower 1 further comprises a storage unit 50, wherein the storage unit 50 can store data used in the operation of the robotic lawnmower 1 and some reference data which are input by a user according to the actual working condition and can help the robotic lawnmower 1 to work better. In this embodiment, the storage unit 50 may store a first preset value related to the rotation amount, a second preset value related to the first time, and the like.

The timing unit 60 may also generate a detection period signal and transmit it to the detection unit 40. Specifically, an important factor influencing the magnitude of the rotation amount is the length of the interval for detecting the rotation amount of the robotic lawnmower 1, so the timing unit 60 can also generate a detection period signal to cause the control unit 70 to control the detection unit 40 to detect the rotation amount at a certain period frequency.

It should be understood that although the present description refers to embodiments, not every embodiment contains only a single technical solution, and such description is for clarity only, and those skilled in the art should make the description as a whole, and the technical solutions in the embodiments can also be combined appropriately to form other embodiments understood by those skilled in the art.

The above list of details is only for the practical implementation of the present invention, and they are not intended to limit the scope of the present invention, and all equivalent implementations or modifications that do not depart from the technical spirit of the present invention should be included in the scope of the present invention.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may be modified or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present application.

Claims (9)

1. An automatic lawnmower comprising:

the control unit can control the automatic mower to execute a command of returning to a charging station;

a first reference amount collecting unit that collects a first reference amount;

a second reference amount collecting unit for collecting a second reference amount,

the automatic mower is characterized by also comprising a comparison unit, wherein the comparison unit compares the first reference quantity with a second preset value; if the second reference amount reaches a first preset value in an accumulated mode and the first reference amount is not larger than the second preset value, the control unit controls the automatic mower to stop executing the command of returning to the charging station.

2. The robotic lawnmower of claim 1, wherein: the first reference amount is the time for the robotic lawnmower to move along the boundary line after executing the command of returning to the charging station, and the second reference amount is the rotation amount of the robotic lawnmower.

3. The robotic lawnmower of claim 2, wherein: the automatic mower further comprises a driving unit, the driving unit comprises a first driving wheel and a second driving wheel which are positioned on two corresponding sides of the automatic mower, and the second reference quantity collecting unit can obtain the rotating speeds of the first driving wheel and the second driving wheel.

4. The robotic lawnmower of claim 2, wherein: the rotation amount is an angle variation amount obtained by the second reference amount collecting unit, and the first preset value is not less than 360 °.

5. The robotic lawnmower of claim 3, wherein: the rotation amount is a difference between moving distances of the first driving wheel and the second driving wheel obtained by the second reference amount collecting unit.

6. The robotic lawnmower of claim 2, wherein: the boundary line contains outer boundary line and interior boundary line, the region that the outer boundary line encloses is the work area, the isolation zone is injectd to interior boundary line, automatic mower is in the work area, the work is outside the isolation zone.

7. The robotic lawnmower of claim 6, wherein: the robotic lawnmower includes a second time that is a time for the robotic lawnmower to move one cycle along an outer boundary line defining the work area.

8. The robotic lawnmower of claim 6, wherein: the automatic mower further comprises a third time, the third time is the time when the automatic mower moves for one period along the inner boundary line defining the largest isolation area, and the second preset value is not less than the third time.

9. The robotic lawnmower of claim 7, wherein: the automatic mower further comprises a third time, wherein the third time is more than one third of the second time and less than one half of the second time, and the second preset value is not less than the third time.

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