CN210610367U - Autonomous mower - Google Patents
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- CN210610367U CN210610367U CN201920396155.XU CN201920396155U CN210610367U CN 210610367 U CN210610367 U CN 210610367U CN 201920396155 U CN201920396155 U CN 201920396155U CN 210610367 U CN210610367 U CN 210610367U
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Abstract
The utility model discloses an autonomic type lawn mower, it includes a computing device and a lawn mower, wherein the lawn mower further includes a treater and a lawn mower main part, wherein the computing device is connected in the treater, the lawn mower main part include a frame and respectively set up in a actuating mechanism, a running gear and a mowing mechanism of frame, running gear with mowing mechanism respectively by drivenly connect in actuating mechanism, wherein actuating mechanism by controllable connection in the treater.
Description
Technical Field
The utility model relates to a lawn mower, in particular to independently type lawn mower.
Background
In recent years, autonomous lawnmowers have appeared and are capable of performing grass cutting operations on lawns without departing from manual operations by users. For example, a user may specify a work area on a lawn, and the autonomous lawnmower may perform a mowing operation in the specified work area according to a particular scene of the specified work area. However, the conventional autonomous lawnmowers only support a universal work function, that is, the autonomous lawnmowers perform a mowing work on all areas of the designated work area unless there is an area unsuitable for mowing the grass in the designated work area, and for example, if there are obstacles such as lakes, rivers, rocks, numbers, houses, etc. in the designated work area, the autonomous lawnmowers can automatically avoid the obstacles. That is, although existing autonomous mowers support identifying and avoiding areas of inappropriate mowing within the designated work area, their behavior is still universal and does not provide personalized mowing services.
SUMMERY OF THE UTILITY MODEL
An object of the present invention is to provide an autonomous lawn mower, wherein the operating system allows a lawn mower to cut grass on a lawn, so that the lawn forms a geometric figure, thereby providing personalized grass cutting services.
An object of the present invention is to provide an autonomous mower, wherein the operating system can convert a selected virtual figure into a path data representing an operation path, so that the mower can execute the instruction contained in the path data, allowing the mower to perform the mowing operation on the lawn, and after the mowing operation is completed, forming the geometric figure on the lawn.
It is an object of the present invention to provide an autonomous lawn mower wherein the operating system allows the user to select the virtual graphic on a computing device. For example, the user may select the virtual graphic by drawing on the computing device or by calling up a picture on the computing device.
It is an object of the present invention to provide an autonomous lawn mower in which the operating system hierarchically manages a virtual image of the lawn and the virtual image selected, thereby allowing the virtual image to be conveniently edited and managed to adjust the position and size of the virtual image relative to the virtual image.
It is an object of the present invention to provide an autonomous lawnmower, wherein the operating system allows the lawnmower and the computing device to be interconnected, so that the lawnmower can receive the path data after the path data representing the operation path is provided, and the lawnmower can execute the path data.
According to an aspect of the utility model, the utility model provides an operation method of lawn mower, wherein the operation method includes following step:
(a) is allowed to select a virtual graphic;
(b) converting the virtual graph to form a path data representing a working path; and
(c) and executing the instructions contained in the path data on a mower to allow the mower to perform mowing operation on a lawn according to the operation path, wherein after the mowing operation is completed, a geometric figure corresponding to the virtual figure is formed on the lawn.
According to an embodiment of the present invention, before the step (a), the working method further includes the steps of: (d) acquiring and displaying a virtual image of the lawn on a display screen of a computing device, and in the step (a), displaying the virtual image on the display screen of the computing device, so that in the step (b), the operation path formed by the virtual image after being converted corresponds to the part of the lawn to be trimmed.
According to an embodiment of the present invention, the step (a) further comprises the steps of:
detecting an operated track; and
and converting the operated track to form the virtual graph.
According to an embodiment of the present invention, in the above method, the operated trajectory of the display screen of the computing device is detected to convert the operated trajectory of the display screen of the computing device to form the virtual figure.
According to an embodiment of the present invention, in the above method, the operated trajectory of a writing board or drawing board is detected to convert the operated trajectory of the writing board or drawing board to form the virtual figure.
According to an embodiment of the present invention, the step (a) further comprises the steps of:
detecting an operated track of a display screen of the computing device; and
converting the operated track of the display screen of the computing device to form the virtual graph, wherein the virtual graph is displayed on the display screen of the computing device.
According to an embodiment of the present invention, the step (a) further comprises the steps of:
programming at the computing device; and
displaying the virtual graphic corresponding to the programming on a display screen of the computing device.
According to an embodiment of the present invention, the step (a) further comprises the steps of:
detecting a gesture of a user; and
and converting the gesture to form the virtual graph.
According to an embodiment of the present invention, the step (a) further comprises the steps of:
displaying the called picture on a display screen of the computing device;
stroking the main body part of the picture to obtain the outer contour of the main body part of the picture; and
and converting the outline of the main body part of the picture to form the virtual graph, wherein the picture is deleted or hidden.
According to another aspect of the present invention, the present invention further provides a method of operating a lawn mower, wherein the method comprises the steps of:
(A) displaying a virtual image of the acquired lawn on a display screen of a computing device;
(B) selecting and displaying a virtual graph on a display screen of the computing device;
(C) converting, at the computing device, the virtual graphics to form a path data representing a job path; and
(D) executing the instructions included in the path data on a mower to perform mowing on the lawn, wherein after the mowing is completed, a geometric figure corresponding to the virtual figure is formed on the lawn.
According to an embodiment of the present invention, in the above method, the virtual image and the virtual figure are managed hierarchically.
According to an embodiment of the present invention, in the step (a), when it is detected that the virtual image is obtained, a first layer is created for saving the virtual image in the first layer; and in the step (B), when it is detected that the virtual image is selected, creating a second image layer for storing the virtual image in the second image layer.
According to an embodiment of the present invention, the step (B) further comprises the steps of:
detecting an operated track of a display screen of the computing device; and
converting the operated track of the display screen of the computing device to form the virtual graph, wherein the virtual graph is displayed on the display screen of the computing device.
According to an embodiment of the present invention, the step (B) further comprises the steps of:
displaying the called picture on a display screen of the computing device;
stroking the main body part of the picture to obtain the outer contour of the main body part of the picture; and
and converting the outline of the main body part of the picture to form the virtual graph, wherein the picture is deleted or hidden.
According to another aspect of the present invention, the utility model further provides an operating system of lawn mower, which comprises a lawn mower, wherein the lawn mower further comprises:
a mower body, wherein said mower body comprises a frame and a drive mechanism, a travel mechanism and a mowing mechanism respectively disposed on said frame, wherein said travel mechanism and said mowing mechanism are respectively drivably connected to said drive mechanism; and
a processor, wherein the processor is disposed on the mower body, wherein the processor is configured to:
receiving path data representing a job path based on a virtual graph; and
and executing instructions contained in the path data to control the walking mechanism to walk on the lawn according to the operation path and control the mowing mechanism to perform mowing operation on the lawn, so that a geometric figure corresponding to the virtual figure is formed on the lawn after the mowing operation is completed.
According to an embodiment of the invention, the processor is configured to:
is allowed to select the virtual graphic; and
converting the virtual graph to form the path data representing the job path.
According to an embodiment of the present invention, in the step that the processor is configured to be allowed to select the virtual graphics, the method further includes:
detecting an operated track; and
and converting the operated track to form the virtual graph.
According to an aspect of the utility model, the utility model provides an autonomic type lawn mower, it includes a computing device and a lawn mower, wherein the lawn mower further includes:
a processor, wherein the computing device is connected to the processor; and
a mower body, wherein said mower body comprises a frame and a drive mechanism, a travel mechanism and a mowing mechanism disposed in said frame, respectively, said travel mechanism and said mowing mechanism being drivably connected to said drive mechanism, respectively, wherein said drive mechanism is controllably connected to said processor.
According to an embodiment of the present invention, the computing device includes a display screen, the display screen is disposed in the mower main body, and the display screen is connected to the processor.
According to an embodiment of the present invention, the computing device comprises a computing body and a processor and a communication device provided to the computing body, the communication device of the computing device is connected to the processor of the computing device, wherein the lawn mower further comprises a communication device, and the communication device of the lawn mower is connected to the processor of the lawn mower, wherein the communication device of the computing device is communicably connected to the communication device of the lawn mower.
According to an embodiment of the present invention, the computing device is detachably mounted to the mower main body.
According to an embodiment of the present invention, the mower main body has a mounting groove, and the computing device is detachably mounted to the mounting groove of the mower main body.
According to an embodiment of the present invention, the lawn mower includes a magnetic element, the magnetic element is disposed in the lawn mower main body, wherein the computing device is installed in the lawn mower main body in a manner that the magnetic element is attracted.
According to an embodiment of the invention, the communication device of the lawn mower and the communication device of the computing apparatus are both near field communication devices.
According to an embodiment of the invention, the communication device of the lawn mower and the communication device of the computing apparatus are bluetooth devices or Wi-Fi devices.
According to an embodiment of the invention, the lawn mower further comprises a positioning device, wherein the positioning device is arranged in the lawn mower body and connected to the processor.
According to an embodiment of the invention, the lawn mower further comprises a positioning device, wherein the positioning device is arranged in the lawn mower body and connected to the processor.
Drawings
Fig. 1A is a perspective view of a lawn mower according to a preferred embodiment of the present invention.
Fig. 1B is an exploded view of the lawn mower according to the above preferred embodiment of the present invention.
Fig. 2 is a perspective view of an operating system according to a preferred embodiment of the present invention.
Fig. 3 is a block diagram of the operating system according to the above preferred embodiment of the present invention.
Fig. 4 is a schematic view of one of the operation flows of a lawn mower according to a preferred embodiment of the present invention.
Fig. 5 is a schematic view of a second operation flow of the lawn mower according to the above preferred embodiment of the present invention.
Fig. 6A and 6B are schematic views respectively illustrating a third operation flow of the lawn mower according to the above preferred embodiment of the present invention.
Fig. 7 is a schematic view illustrating a fourth operation flow of the lawn mower according to the above preferred embodiment of the present invention.
Fig. 8 is a schematic view illustrating a fifth operation flow of the lawn mower according to the above preferred embodiment of the present invention.
Fig. 9A and 9B are schematic views respectively illustrating a sixth operation flow of the lawn mower according to the above preferred embodiment of the present invention.
Fig. 10 is a schematic view of one of the operation flows of a lawnmower according to another preferred embodiment of the present invention.
Fig. 11 is a schematic view of a second operation flow of the lawn mower according to the above preferred embodiment of the present invention.
Fig. 12 is a schematic view of a third operation flow of the lawn mower according to the above preferred embodiment of the present invention.
Fig. 13 is a schematic view illustrating a fourth operation flow of the lawn mower according to the above preferred embodiment of the present invention.
Fig. 14A and 14B are schematic views respectively illustrating a sixth operation flow of the lawn mower according to the above preferred embodiment of the present invention.
Fig. 15 is a flow chart illustrating a method of operation according to a preferred embodiment of the present invention.
Fig. 16 is a perspective view of a lawn mower according to another preferred embodiment of the present invention.
Fig. 17 is an exploded view of the lawn mower according to the above preferred embodiment of the present invention.
Fig. 18 is a perspective view of a lawnmower according to another preferred embodiment of the present invention.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents and other technical solutions without departing from the spirit and scope of the invention.
It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in a generic and descriptive sense only and not for purposes of limitation, as the terms are used in the description to indicate that the referenced device or element must have the specified orientation, be constructed and operated in the specified orientation, and not for the purposes of limitation.
It is understood that the terms "a" and "an" should be interpreted as meaning that a number of one element or element is one in one embodiment, while a number of other elements is one in another embodiment, and the terms "a" and "an" should not be interpreted as limiting the number.
Referring to fig. 2 and 3 of the drawings of the present application, an operating system according to a preferred embodiment of the present invention is disclosed and described in the following description, wherein the operating system includes a lawn mower 100 and a computing device 200, and wherein the lawn mower 100 and the computing device 200 are interconnected to control the lawn mower 100 to provide personalized mowing services on a lawn 300. For example, the lawn mower 100 can form a geometric figure 400 on the lawn 300 after the lawn 300 performs a mowing operation, thereby providing a personalized mowing service on the lawn 300. Additionally, the communicatively coupled lawn mower 100 and computing device 200 form an autonomous lawn mower that is capable of autonomously mowing the lawn 300 to provide mowing services.
The way in which the lawn mower 100 and the computing device 200 are interconnected is not limited in the present invention. For example, in a preferred example of the operation system of the present invention, the lawn mower 100 and the computing device 200 are interconnected via a network, and the network interconnecting the lawn mower 100 and the computing device 200 may be, but is not limited to, any network capable of providing data transmission between the lawn mower 100 and the computing device 200, such as internet, bluetooth, Wi-Fi, and the like, and refer to fig. 2. Alternatively, in another preferred example of the working system of the present invention, the lawn mower 100 and the computing device 200 are interconnected by a physical combination, for example, the computing device 200 is installed on the lawn mower 100 to interconnect the lawn mower 100 and the computing device 200, so as to realize data transmission between the lawn mower 100 and the computing device 200. Alternatively, in another preferred example of the working system of the present invention, the lawn mower 100 and the computing device 200 are an integrated device.
It should be noted that, although the lawn mower 100 and the computing device 200 are interconnected via a network in the drawings of the present invention, the purpose thereof is to illustrate the content and features of the operating system of the present invention, and the content and scope of the operating system of the present invention should not be considered as being limited thereto.
With continuing reference to fig. 1A-3 of the drawings accompanying the present application, in this preferred example of the operating system of the present invention, the lawn mower 100 includes a mower main body 101, a processor 102, a memory 103, a positioning device 104, and a communication device 105, wherein the processor 102, the memory 103, the positioning device 104, and the communication device 105 are respectively disposed on the mower main body 101, and the mower main body 101, the memory 103, the positioning device 104, and the communication device 105 are respectively connected to the processor 102.
Specifically, referring to fig. 1A, the mower main body 101 provides a mowing function, for example, the mower main body 101 includes a frame 1011, a driving mechanism 1012 disposed on the frame 1011, a traveling mechanism 1013, and a mowing mechanism 1014, wherein the traveling mechanism 1013 and the mowing mechanism 1014 are respectively drivably connected to the driving mechanism 1012, and the driving mechanism 1012 is controllably connected to the processor 102, so as to control a state where the driving mechanism 1012 drives the traveling mechanism 1013 and the mowing mechanism 1014 by the processor 102. When the processor 102 controls the driving mechanism 1012 to drive the traveling mechanism 1013 and the grass cutting mechanism 1014, the traveling mechanism 1013 can perform a traveling work and the grass cutting mechanism 1014 can perform a grass cutting work to cut the lawn 300. The driving mechanism 1012 may be, but not limited to, an electric driving mechanism, a fuel driving mechanism, and an oil-electric hybrid driving mechanism.
The processor 102 of the lawn mower 100 may be any conventional processor, such as a commercially available CPU, or a dedicated processing device, such as an ASIC or other hardware-based processor.
The memory 103 of the lawn mower 100 may be any device capable of providing data storage capabilities, such as a hard drive, memory card, ROM, RAM, DVD, or other type of optical disk storage device. The processor 102 of the lawn mower 100 can access and read data stored in the memory 103 to allow the processor 102 to execute instructions contained in the data.
The positioning device 104 of the lawn mower 100 may be a positioning device that matches a positioning system such as GPS, beidou, etc. to calibrate the current position of the lawn mower 100 by providing positioning data. The processor 102 of the lawn mower 100 is capable of obtaining positioning data from the positioning device 104 to determine a current position of the lawn mower 100.
The communication device 105 of the lawn mower 100 may be a network card, bluetooth, Wi-Fi, etc. communication device for enabling communication between the lawn mower 100 and other devices, wherein the processor 102 of the lawn mower 100 is capable of obtaining data from the communication device 105 of the lawn mower 100 for executing instructions contained in the data.
Preferably, the mowing mechanism 1014 of the mower body 101 is liftably mounted to the housing 1011 to allow the distance between the mowing mechanism 1014 and the ground to be adjusted, in such a manner that different areas of the geometric figure 400 formed after the lawn 1300 has been mowed can have a height drop to further enhance the decorativeness of the geometric figure 400.
Accordingly, with continued reference to fig. 3, the computing apparatus 200 includes a computing main body 201, a processor 202, a memory 203, a display screen 204, and a communication device 205, wherein the processor 102, the memory 203, the display screen 204, and the communication device 205 are respectively disposed on the computing main body 201, and the memory 203, the display screen 204, and the communication device 205 are respectively connected to the processor 202.
Accordingly, the types of the processor 202, the memory 203, and the communication device 205 of the computing apparatus 200 are not limited in the operating system of the present invention. The display screen 204 of the computing device 200 may provide only display functionality, or may provide both display and writing functionality. In the following description, the contents and features of the operating system of the present invention will be described by taking the example that the display screen 204 of the computing device 200 provides the display and writing functions as a touch screen, but the contents and scope of the operating system of the present invention should not be construed as being limited thereto.
It is worth mentioning that the type of the computing device 200 is not limited in the operating system of the present invention, for example, the computing device 200 may be a smart phone, a tablet computer, a notebook computer, a personal digital assistant, a special remote controller, etc.
FIGS. 4 and 5 illustrate embodiments of capturing a virtual image 301 of the lawn 300 and displaying the virtual image 301 on the display screen 204 of the computing device 200, respectively. In the preferred example of the operation system of the present invention, the virtual image 301 of the lawn 300 can be obtained by scanning the lawn 300, so as to subsequently display the virtual image 301 of the lawn 300 on the display screen 204 of the computing device 200.
For example, the virtual image 301 of the lawn 300 may be acquired by, but is not limited to, a scanning device 206 of the computing apparatus 200. For example, the scanning device 206 may be a photographing device, such that the virtual image 301 of the lawn 300 may be acquired by photographing the lawn 300. As another example, the scanning device 206 may include a camera device such that the virtual image 301 of the lawn 300 may be acquired by taking the lawn 300. Due to the limitations of the characteristics of the scanning device 206 of the computing apparatus 200 and the selected shooting angle, after the scanning device 206 of the computing apparatus 200 shoots the virtual image 301 of the lawn 300, the virtual image 301 has perspective (the virtual image 301 has a near-far characteristic, that is, the size of the virtual image 301 corresponding to the position of the lawn 300 closer to the scanning device 206 of the computing apparatus 200 is larger, and conversely, the size of the virtual image 301 corresponding to the position of the lawn 300 farther from the scanning device 206 of the computing apparatus 200 is smaller), so that in order to ensure the effect of the geometric figure 400 formed on the lawn 300, the virtual image 301 displayed on the display screen 204 of the computing apparatus 200 needs to be normalized (the virtual image 301 has no perspective, i.e. the scale of the respective positions of the lawn 300 and the respective positions of the virtual image 301) image, as shown in fig. 5.
It should be noted that the manner of warping the virtual image 301 of the lawn 300 to form a warped image is not limited in the present invention, and for example, after the scanning device 206 of the computing apparatus 200 captures the virtual image 301 of the lawn 300, the virtual image 301 is warped according to a proportional relationship between an actual size of each position of the lawn 300 and a display size of the virtual image 301. Alternatively, after the scanning device 206 of the computing apparatus 200 captures the virtual image 301 of the lawn 300, the virtual image 301 is warped according to the parameters of the scanning device 206 of the computing apparatus 200 and the selected capture position.
The image data of the virtual image 301 of the lawn 300 can be stored in the memory 203 of the computing device 200, and subsequently, the processor 202 of the computing device 200 can access and read the image data stored in the memory 203 of the computing device 200 to enable display of the virtual image 301 on the display screen 204 of the computing device 200.
Fig. 6A and 6B illustrate an embodiment in which a user selects a virtual graphic 500. For example, a user may draw the virtual graphic 500 on the display screen 204 of the computing device 200, either freehand or using a tool (such as, but not limited to, a stylus), where the virtual graphic 500 may be displayed on the display screen 204 of the computing device 200. That is, the operating system may detect an operated trajectory of the display screen 204 of the computing device 200, and convert the operated trajectory to form the virtual graphic 500.
Alternatively, in other preferred examples of the operating system of the present invention, the user may draw the virtual graphic 500 through a writing board or a drawing board connected to the computing device 200, and the virtual graphic 500 may be displayed on the display screen 204 of the computing device 200. That is, the operating system may detect the operated trajectory of the writing pad or drawing pad, and convert the operated trajectory to form the virtual graphic 500.
Optionally, in other preferred examples of the operating system of the present invention, the user may draw the virtual graphic 500 on the computing device 200 through a physical key (e.g. a physical key configured on the computing device 200), and the virtual graphic 500 can be displayed on the display screen 204 of the computing device 200.
Optionally, in other preferred examples of the operating system of the present invention, the user may draw the virtual graphic 500 by programming on the computing device 200 or another electronic device, and the virtual graphic 500 can be displayed on the display screen 204 of the computing device 200.
Optionally, in other preferred examples of the operating system of the present invention, the operating system can shoot the gesture of the user through, but not limited to, the scanning device 206 of the computing device 200, so as to display the gesture of the user on the display screen 204 of the computing device 200 after converting the gesture of the user into the virtual graph 500. For example, when a user makes the gesture at the scanning device 206 corresponding to the computing device 200, the scanning device 206 of the computing device 200 can record the trajectory of the gesture by taking a picture or video, thereby converting the gesture into the virtual graphic 500 and subsequently being able to be displayed on the display screen 204 of the computing device 200.
Specifically, in the preferred example shown in fig. 6A and 6B, the virtual graphic 500 selected by the user may be "heart-shaped", but it should be understood by those skilled in the art that the virtual graphic 500 shown in fig. 6A and 6B and the following figures is "heart-shaped" only as an example for illustrating the contents and features of the operating system of the present invention, but the shape of the virtual graphic 500 does not constitute a limitation to the contents and scope of the operating system of the present invention. That is, the operating system allows a user to select the virtual graphic 500 in any shape.
Referring to fig. 7, after the user draws the virtual graphic 500 of the "heart shape", the operating system can automatically optimize the virtual graphic 500, for example, the operating system can make the arc of the virtual graphic 500 of the "heart shape" more rounded by automatically optimizing the virtual graphic 500, thereby enhancing the aesthetic sense of the virtual graphic 500.
Preferably, the operating system provides a plurality of optimization modes for the user to select, and optimizes the virtual graphic 500 according to the selected optimization mode after the user selects the optimization mode. For example, if the user selects the arc mode provided by the operating system, the operating system can automatically perform arc processing on the virtual graph 500 in the shape of a heart, so as to make the arc of the virtual graph 500 in the shape of a heart smoother; if the user selects the pixelation mode provided by the operating system, the operating system can automatically pixelate the virtual image 500 of the "heart" such that the virtual image 500 of the "heart" appears to be made up of a plurality of checkered pixels.
Preferably, the operating system hierarchically manages the virtual image 301 and the virtual graphic 500, so that the operating system can allow a user to edit the virtual image 301 alone or the virtual graphic 500 alone even if the virtual image 301 and the virtual graphic 500 are simultaneously displayed on the display screen 204 of the computing device 200.
Specifically, referring to fig. 3, the operating system includes a layer management unit 10 and an image management unit 20 connected to the layer management unit 10, where the layer management unit 10 manages layers, and the image management unit 20 manages the virtual image 301 and/or the virtual image 500. More specifically, when the scanning device 206 of the computing apparatus 200 captures the virtual image 301 of the lawn 300, the layer management unit 10 creates a first layer so that the virtual image 301 of the lawn 300 can be saved in the first layer after the virtual image 301 of the lawn 300 is acquired. When the user selects the virtual graphic 500, the layer management unit 10 creates a second coating so that the virtual graphic 500 can be stored in the second layer after the virtual graphic 500 is selected. Subsequently, the user may select the first layer to edit and restore the virtual image 301 of the lawn 300 stored in the first layer, and correspondingly, the user may select the second layer to edit and restore the virtual image 500 of the lawn 300 stored in the second layer.
Preferably, with reference to fig. 3 continuously, the operating system further includes a detection unit 30, the detection unit 30 is connected to the layer management unit 10, wherein the layer management unit 10 creates a new layer according to the detection result of the detection unit 30. For example, when the detection unit 30 detects that the scanning device 206 of the computing apparatus 200 captures the virtual image 301 of the lawn 300, the layer management unit 10 creates the first layer for saving the virtual image 301 in the first layer, and when the detection unit 30 detects that the user selects the virtual image 500, the layer management unit 10 creates the second layer for saving the virtual image 500 in the second layer. In a typical example of the operating system, when the detection unit 30 detects that a user draws a graphic on the display screen 204 of the computing device 200 by hands, the layer management unit 10 creates the second layer.
It is understood that the layer data of the first layer and the second layer and the graphic data of the virtual graphic 500 can be stored in the memory 203 of the computing device 200, and subsequently, the processor 202 of the computing device 200 can access and read the layer data and the graphic data stored in the memory 203 of the computing device 200 to display the virtual graphic 500 on the display screen 204 of the computing device 200.
Referring to fig. 8, the operating system allows the virtual graphic 500 to be edited. For example, a user may adjust the size and position of the virtual graphic 500 relative to the virtual image 301 of the lawn 300. It will be appreciated that the manner in which the operating system provides hierarchical management of the virtual image 301 and the virtual graphic 500 facilitates editing of the virtual graphic 500.
After the virtual graphic 500 is edited, the processor 202 of the computing device 200 may convert the virtual graphic 500 into a path data representing a job path, wherein the path data can be transmitted directly through the communication device 205 of the computing device 200, or the path data can be first stored in the memory 203 of the computing device 200 and then transmitted through the communication device 205 of the computing device 200.
The lawn mower 100 and the computing apparatus 200 are interconnectable to allow the communication device 105 of the lawn mower 100 and the communication device 205 of the computing apparatus 200 to be communicatively connected to each other so that the communication device 105 of the lawn mower 100 can receive the path data. After the lawn mower 100 receives the path data, the path data can be firstly stored in the memory 103 of the lawn mower 100 and secondly executed by the processor 102 of the lawn mower 100 to execute the instructions contained in the path data; or the processor 102 of the lawn mower 100 can directly execute the instructions contained in the path data after the lawn mower 100 receives the path data. When the processor 102 of the lawn mower 100 executes the instructions included in the path data, the lawn mower 100 performs a mowing operation on the lawn 300 according to the working path, wherein after the mowing operation is completed, the geometric figure 400 corresponding to the virtual figure 500 is formed on the lawn 300, referring to fig. 9A and 9B.
It should be noted that after the processor 102 of the lawn mower 100 executes the instructions included in the path data, the positioning device 104 of the lawn mower 100 can determine the current position of the lawn mower 100, and if the current position of the lawn mower 100 is not the position where the user expects to form the geometric figure 400, the lawn mower 100 needs to first move to the position where the user expects to form the geometric figure 400, and then perform the lawn mowing operation. It is understood that, during the mowing operation of the mower body 101 of the lawn mower 100, the positioning device 104 provides the current position of the lawn mower 100 in real time to cause the lawn mower 100 to walk along a path corresponding to the operation path by controlling the posture (e.g., the walking direction) of the lawn mower 100, so that the geometric figure 400 corresponding to the virtual figure 500 is formed on the lawn 300 after the mowing operation is completed.
Fig. 10-14B illustrate another preferred embodiment of the operating system. After the virtual image 301 of the lawn 300 is displayed on the display screen 204 of the computing device 200, the operating system allows the user to call up a picture 600 and display the picture 600 on the display screen 204 of the computing device 200, as shown in FIG. 10. The picture 600 may be a photograph, which may be stored in the memory 203 of the computing device 200 to allow the processor 202 of the computing device 200 to display the picture 600 on the display screen 204 of the computing device 200 after accessing the memory 203 and reading the data of the picture 600 from the memory 203. Optionally, the picture 600 is stored in a cloud, so that after the communication device 205 of the computing device 200 is connected with the cloud, the picture 600 is downloaded from the cloud and the picture 600 is displayed on the display screen 204 of the computing device 200.
In this preferred example of the operating system, the operating system manages the virtual image 301 and the picture 600 hierarchically to allow the virtual image 301 and the picture 600 to be edited and modified, respectively.
Fig. 11 and 12 respectively show a process in which the picture 600 is edited to form the virtual graphic 500. Specifically, after the picture 600 is called, the operating system can automatically recognize the outer contour of the main portion (e.g., a character) of the picture 600 and delete the redundant portion after the outer contour of the main portion of the picture 600 is stroked to form the virtual graphic 500. That is, the virtual graphic 500 corresponds to the outer contour of the body portion of the picture 600.
Referring to fig. 13, the operating system allows the virtual graphic 500 to be edited. For example, a user may adjust the size and position of the virtual graphic 500 relative to the virtual image 301 of the lawn 300. It will be appreciated that the manner in which the operating system provides hierarchical management of the virtual image 301 and the virtual graphic 500 facilitates editing of the virtual graphic 500.
Optionally, in a further preferred example of the working system of the present invention, the working system allows to first edit the picture 600, for example to edit the size and position of the picture 600 with respect to the virtual image 301 of the lawn 300, and secondly to convert the picture 600 to form the virtual graphic 500.
After the virtual graphic 500 is edited, the processor 202 of the computing apparatus 200 may convert the virtual graphic 500 into the path data representing the job path, wherein the path data may be transmitted directly through the communication device 205 of the computing apparatus 200, or the path data may be first stored in the memory 203 of the computing apparatus 200 and then transmitted through the communication device 205 of the computing apparatus 200.
The lawn mower 100 and the computing apparatus 200 are interconnectable to allow the communication device 105 of the lawn mower 100 and the communication device 205 of the computing apparatus 200 to be communicatively connected to each other so that the communication device 105 of the lawn mower 100 can receive the path data. After the lawn mower 100 receives the path data, the path data can be firstly stored in the memory 103 of the lawn mower 100 and secondly executed by the processor 102 of the lawn mower 100 to execute the instructions contained in the path data; or the processor 102 of the lawn mower 100 can directly execute the instructions contained in the path data after the lawn mower 100 receives the path data. When the processor 102 of the lawn mower 100 executes the instructions included in the path data, the lawn mower 100 performs a mowing operation on the lawn 300 according to the working path, wherein after the mowing operation is completed, the geometric figure 400 corresponding to the virtual figure 500 is formed on the lawn 300, referring to fig. 14A and 14B.
In accordance with another aspect of the present invention, a method 1500 of operating the mower 100 of the present invention is shown in fig. 15.
At step 1501, the virtual image 301 of the lawn 300 is acquired. The virtual image 301 of the lawn 300 may be acquired in the manner described above as captured by the scanning device 206 of the computing apparatus 200. Optionally, the virtual image 301 of the lawn 300 may also be acquired in a manner that allows the computing apparatus 200 to receive the virtual image 301 of the lawn 300 from another scanning device after the virtual image 301 of the lawn 300 is captured by the scanning device.
In step 1502, the virtual image 301 of the lawn 300 is displayed on the display screen 204 of the computing device 200. In a preferred example of the working method, the virtual image 301 of the lawn 300 is displayed on the display screen 204 of the computing device 200 immediately after the virtual image 301 of the lawn 300 is acquired. In another preferred example of the working method, after acquiring the virtual image 301 of the lawn 300, image data corresponding to the virtual image 301 is stored in the memory 203 of the computing device 200, and then the processor 202 of the computing device 200 can access the memory 203 and read image data from the memory 203 to display the virtual image 301 corresponding to image data on the display screen 204 of the computing device 200.
At step 1503, the virtual image 301 of the lawn 300 is warped. The perspective effect of the virtual image 301 can be eliminated by warping the virtual image 301 of the lawn 300, so that a desired lawn trimming effect can be obtained subsequently.
Alternatively, the step 1503 may be performed before the step 1502, so that after the virtual image 301 of the lawn 300 is acquired, the virtual image 301 can be warped by modifying the image data corresponding to the virtual image 301, and then the warped virtual image 301 is displayed on the display screen 204 of the computing device 200.
At step 1504, the virtual graphic 500 is allowed to be selected and displayed on the display screen 204 of the computing device 200.
In a preferred example of the job method, the job method allows a user to select the virtual graphic 500 by drawing a graphic. Specifically, in the step of allowing the virtual graphic 500 to be selected, the method further comprises the steps of:
displaying the virtual image 301 of the lawn 300 on the display screen 204 of the computing device 200; and
receiving an operation track of a user on the display screen 204 of the computing device 200, so as to form the virtual graph 500 by the operation track.
In another preferred example of the job method, the job method allows the user to select the virtual graphic 500 by calling the picture 600. Specifically, in the step of allowing the virtual graphic 500 to be selected, the method further comprises the steps of:
displaying the virtual image 301 of the lawn 300 on the display screen 204 of the computing device 200; and
after the border of the called main part of the picture 600 is stroked, the picture 600 is deleted to form the virtual graphic 500 by the stroking.
At step 1505, the virtual graphic 500 is transformed to form the job data representing the job path. It will be appreciated that once the virtual graphic 500 is transformed to form the job data representing the job path, the start position and path of the lawn 300 being mowed is confirmed.
At step 1506, the mower 100 executes the instructions included in the job data to allow the mower 100 to perform a mowing job on the lawn 300, wherein the geometric figure 500 is formed on the lawn 300 after the mowing job is completed.
In other words, the present invention further provides the operation method of the lawn mower 100, wherein the operation method comprises the steps of:
(a) is allowed to select the virtual graphic 500;
(b) converting the virtual graphic 500 to form the path data representing the job path; and
(c) the path data includes instructions that, when executed by the lawn mower 100, allow the lawn mower 100 to mow the lawn 300 according to the working path, wherein the geometric figure 400 corresponding to the virtual figure 500 is formed on the lawn 300 after the mowing operation is completed.
In an embodiment of the working method of the present invention, before the step (a), the working method further includes the steps of: (d) acquiring and displaying the virtual image 301 of the lawn 300 on the display screen 204 of the computing device 200, and in the step (a), displaying the virtual graphic 500 on the display screen 204 of the computing device 200, so that in the step (b), the working path formed by the virtual graphic 500 after being converted corresponds to the portion of the lawn 300 that needs to be trimmed.
Specifically, the step (a) further comprises the steps of: detecting an operated track; and converting the operated trajectory to form the virtual figure 500. For example, in a preferred example of the job method, the operated trajectory of the display screen 204 of the computing apparatus 200 is detected to convert the operated trajectory of the display screen 204 of the computing apparatus 200 to form the virtual graphic 500. Alternatively, in another preferred example of the working method, the operated trajectory of the writing or drawing board is detected to convert the operated trajectory of the writing or drawing board to form the virtual figure 500.
The utility model discloses further provide lawn mower 100 the operation method, wherein the operation method includes following step:
(A) displaying the captured virtual image 301 of the lawn 300 on the display screen 204 of the computing device 200;
(B) selecting and displaying the virtual graphic 500 on the display screen 204 of the computing device 200;
(C) transforming, at the computing device 200, the virtual graphic 500 to form the path data representing the job path; and
(D) the path data includes instructions that are executed by the lawn mower 100 to perform a mowing operation on the lawn 300, wherein the geometric figure 400 corresponding to the virtual figure 500 is formed on the lawn 300 after the mowing operation is completed.
Further, in the above method, the virtual image 301 and the virtual graphic 500 are hierarchically managed. Specifically, in the step (a), when it is detected that the virtual image 301 is acquired, creating the first layer for saving the virtual image 301 in the first layer; and in the step (B), when it is detected that the virtual image 500 is selected, creating the second image layer for saving the virtual image in the second image layer.
Fig. 16 and 17 show a modified embodiment of the autonomous lawnmower, different from the lawnmower 100 shown in fig. 1A and 1B, in the preferred example of the autonomous lawnmower shown in fig. 16 and 17, the computing device 200 is mounted to the mower body 101 of the lawnmower 100, and the communication device 205 of the computing device 200 and the communication device 105 of the lawnmower 100 are interconnected after the computing device 200 is mounted to the mower body 101 of the lawnmower 100. For example, the communication device 205 of the computing device 200 and the communication device 105 of the lawn mower 100 are each implemented as a mating port, wherein the communication device 205 of the computing device 200 and the communication device 105 of the lawn mower 100 can be connected to interconnect after the computing device 200 is mounted to the lawn mower body 101 of the lawn mower 100.
Alternatively, the communication device 205 of the computing device 200 and the communication device 105 of the lawn mower 100 may be near field communication ports such that the communication device 205 of the computing device 200 and the communication device 105 of the lawn mower 100 can be connected to interconnect after the computing device 200 is installed in the lawn mower 100.
Alternatively, the communication device 205 of the computing apparatus 200 and the communication device 105 of the lawn mower 100 may be docking communication ports, such as, but not limited to, USB ports, such that the communication device 205 of the computing apparatus 200 and the communication device 105 of the lawn mower 100 can be docked and interconnected with each other after the computing apparatus 200 is installed in the lawn mower 100.
With continued reference to fig. 16 and 17, in this preferred example of the autonomous mower, the mower body 101 has a mounting slot 1010, wherein the computing device 200 is removably mounted to the mounting slot 1010 of the mower body 101. Preferably, the size and shape of the mounting groove 1010 of the mower body 101 and the size and shape of the computing device 200 are matched with each other, so that the computing device 200 does not detach from the mower 100 after the computing device 200 is mounted in the mounting groove 1010 of the mower body 101 and during the mowing operation of the mower 100.
Further, the lawn mower 100 comprises a magnetic element 106, wherein the magnetic element 106 is disposed on the lawn mower body 101 for attaching the computing device 200 to the lawn mower body 101 by sucking the computing device 200. Preferably, the magnetic attraction element 106 is located in the mounting groove 1010 of the mower body 101, so that when the computing device 200 is mounted in the mounting groove 1010 of the mower body 101, the magnetic attraction element 106 attracts the computing device 200 to ensure reliability of the assembly relationship between the computing device 200 and the mower 100.
Alternatively, in another preferred example of the autonomous lawn mower of the present invention, the lawn mower 100 and the computing device 200 are an integral device. That is, the lawn mower 100 and the computing device 200 may share the processor 102(202), the memory 103(203), the communication device 105(205), and the like, with reference to fig. 18. In other words, in this specific example of the autonomous lawnmower shown in fig. 18, the lawnmower 100 includes the mower main body 101, and the processor 102, the memory 103, the positioning device 104, the communication device 105, and the display screen 204 provided to the mower main body 101, wherein the mower main body 101, the memory 103, the positioning device 104, the communication device 105, and the display screen 204 are connected to the processor 102, respectively.
It will be appreciated by persons skilled in the art that the above embodiments are only examples, wherein features of different embodiments may be combined with each other to obtain embodiments which are easily imaginable in accordance with the disclosure of the invention, but which are not explicitly indicated in the drawings.
It will be understood by those skilled in the art that the embodiments of the present invention as described above and shown in the drawings are given by way of example only and are not limiting of the present invention. The objects of the present invention have been fully and effectively accomplished. The functional and structural principles of the present invention have been shown and described in the embodiments without departing from the principles, embodiments of the present invention may have any deformation or modification.
Claims (10)
1. An autonomous lawnmower, comprising:
a computing device; and
a lawn mower, wherein the lawn mower further comprises:
a processor, wherein the computing device is connected to the processor; and
a mower body, wherein said mower body comprises a frame and a drive mechanism, a travel mechanism and a mowing mechanism disposed in said frame, respectively, said travel mechanism and said mowing mechanism being drivably connected to said drive mechanism, respectively, wherein said drive mechanism is controllably connected to said processor.
2. The autonomous lawn mower of claim 1, wherein the computing device comprises a display screen disposed on the mower body and coupled to the processor.
3. The autonomous lawn mower of claim 1, wherein the computing device comprises a computing entity and a processor and a communication device disposed on the computing entity, the communication device of the computing device being connected to the processor of the computing device, wherein the lawn mower further comprises a communication device, and the communication device of the lawn mower is connected to the processor of the lawn mower, wherein the communication device of the computing device is communicatively connected to the communication device of the lawn mower.
4. The autonomous lawn mower of claim 3, wherein the computing device is removably mounted to the mower body.
5. The autonomous lawn mower of claim 4, wherein the mower body has a mounting slot, the computing device being removably mounted to the mounting slot of the mower body.
6. The autonomous lawnmower of claim 4, wherein the lawnmower comprises a magnetically attractive element disposed on the mower body, wherein the computing device is mounted to the mower body in a manner that is attracted to the magnetically attractive element.
7. The autonomous lawn mower of any of claims 3-6, wherein the communication device of the lawn mower and the communication device of the computing apparatus are both near field communication devices.
8. The autonomous lawn mower of claim 7, wherein the communication device of the lawn mower and the communication device of the computing apparatus are bluetooth devices or Wi-Fi devices.
9. The autonomous lawn mower of any of claims 1-6, wherein the lawn mower further comprises a positioning device, wherein the positioning device is disposed on the mower body and connected to the processor.
10. The autonomous lawn mower of claim 7, wherein the lawn mower further comprises a positioning device, wherein the positioning device is disposed on the mower body and connected to the processor.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2020192802A1 (en) * | 2019-03-27 | 2020-10-01 | 宁波大业动力机械有限公司 | Autonomous grass cutter, and operating method and operating system therefor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2020192802A1 (en) * | 2019-03-27 | 2020-10-01 | 宁波大业动力机械有限公司 | Autonomous grass cutter, and operating method and operating system therefor |
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