WO2019228461A1 - 自动割草机及其控制方法 - Google Patents

自动割草机及其控制方法 Download PDF

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Publication number
WO2019228461A1
WO2019228461A1 PCT/CN2019/089315 CN2019089315W WO2019228461A1 WO 2019228461 A1 WO2019228461 A1 WO 2019228461A1 CN 2019089315 W CN2019089315 W CN 2019089315W WO 2019228461 A1 WO2019228461 A1 WO 2019228461A1
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WO
WIPO (PCT)
Prior art keywords
module
trimming
lawn mower
cutting
area
Prior art date
Application number
PCT/CN2019/089315
Other languages
English (en)
French (fr)
Inventor
赵凤丽
查霞红
周晓青
Original Assignee
苏州宝时得电动工具有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201810540754.4A external-priority patent/CN110547088A/zh
Application filed by 苏州宝时得电动工具有限公司 filed Critical 苏州宝时得电动工具有限公司
Priority to CN201980033387.1A priority Critical patent/CN112135513B/zh
Priority to US17/058,983 priority patent/US12082524B2/en
Priority to EP19812258.2A priority patent/EP3804496A4/en
Publication of WO2019228461A1 publication Critical patent/WO2019228461A1/zh

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/416—Flexible line cutters
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
    • A01D34/64—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis mounted on a vehicle, e.g. a tractor, or drawn by an animal or a vehicle
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
    • A01D34/64—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis mounted on a vehicle, e.g. a tractor, or drawn by an animal or a vehicle
    • A01D34/66—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis mounted on a vehicle, e.g. a tractor, or drawn by an animal or a vehicle with two or more cutters
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/835—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes
    • A01D34/84—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes for edges of lawns or fields, e.g. for mowing close to trees or walls
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D43/00—Mowers combined with apparatus performing additional operations while mowing
    • A01D43/16—Mowers combined with apparatus performing additional operations while mowing with lawn edgers
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D2101/00—Lawn-mowers

Definitions

  • the invention relates to an automatic lawn mower and a control method thereof, in particular to an automatic lawn mower with a trimming function and a control method thereof.
  • the automatic lawn mower works on the grass.
  • the user sets the working area.
  • the automatic lawn mower detects the relative position relationship with the working area to keep it in the working area and prevent it from going out of the boundary.
  • the cutting module of an automatic lawn mower is generally a rigid element such as a blade.
  • a shield is usually installed around the cutting module. In order to take into account the requirements for the passability of the automatic lawn mower, the shield is maintained at a certain height, and there is a certain distance from the cutting module in the horizontal direction.
  • the problem to be solved by the present invention is to provide an automatic lawn mower capable of cutting to the edge of a work area and having a compact layout.
  • An automatic lawn mower which moves and works in a working area, includes: a housing including a longitudinal central axis; a moving module installed on the housing to drive the housing to move; a cutting module installed on the housing In the housing, the cutting module is rotated around a first rotation axis to form a cutting area, the cutting module includes a cutting element, and a trimming module is installed in the housing, and the trimming module is rotated around a second rotation axis.
  • the trimming module includes a trimming element, which is different from the cutting element; a control module, which is electrically connected to the moving module, the cutting module, and the trimming module, and controls The automatic lawn mower moves and works; the first rotating shaft and the second rotating shaft are located on both sides of the central axis, respectively.
  • the trimming area extends at least partially beyond the shell.
  • the projection of the second rotation axis in the height direction is located in the housing.
  • a distance between the first rotating shaft and the central axis is less than or equal to a distance between the second rotating shaft and the central axis.
  • a distance between the first rotation shaft and the central axis is a first distance
  • a distance between the second rotation shaft and the central axis is a second distance
  • the first distance is smaller than the first distance.
  • Two distances, the difference between the second distance and the first distance is less than or equal to the sum of the radii of the cutting area and the trimming area.
  • the automatic lawn mower includes an edge mode and an edge trim mode.
  • the control module controls the cutting module to work, and the moving module moves along the first direction in the first direction.
  • the boundary of the work area moves so that the side where the first rotation axis is located faces outside the work area; in the trimming mode, the control module controls the work of the trimming module, and the moving module is in a second direction Moving along the boundary of the working area so that the side where the second rotation axis is located faces outside the working area; the first direction is opposite to the second direction.
  • the trimming element includes a flexible cutting member.
  • An automatic lawn mower which moves and works in a working area, includes: a housing including a longitudinal central axis; a moving module installed on the housing to drive the housing to move; a cutting module installed on the housing The cutting module rotates around a first rotation axis to form a cutting area; a trimming module is mounted on the housing, and the trimming module rotates around a second rotation axis to form a trimming area, the first Two rotating shafts are located on one side of the central axis; a detection module is installed on the casing to detect the boundary of the working area; a control module is connected to the moving module, the cutting module, the trimming module, and the The detection module is electrically connected to control the movement and work of the automatic lawnmower; the automatic lawnmower includes a trimming mode, in which the control module controls the work of the trimming module, the control The module controls the mobile module to move along the boundary based on the working area boundary detected by the detection module, so that the side faces outside the working area.
  • the automatic lawnmower includes an edge mode, in which the control module controls the cutting module to work, and the moving module moves along the boundary.
  • the first rotating shaft is located on the other side of the central axis.
  • the moving direction of the moving module along the boundary is opposite to the moving direction of the trimming mode. .
  • the control module starts the edge trim mode.
  • the automatic lawnmower includes a detection module that detects a boundary of the work area, and the control module controls the movement module to move along the boundary based on the boundary detected by the detection module.
  • a distance between the first rotating shaft and the central axis is less than or equal to a distance between the second rotating shaft and the central axis.
  • a distance between the first rotation shaft and the central axis is a first distance
  • a distance between the second rotation shaft and the central axis is a second distance
  • the first distance is less than The difference between the second distance, the second distance, and the first distance is less than or equal to the sum of the radii of the cutting area and the trimming area.
  • the trimming module includes a trimming element, and the trimming element includes a flexible cutting member.
  • a control method of an automatic lawn mower moves and works in a work area, and includes a cutting module and a trimming module.
  • the automatic lawn mower includes a longitudinal center axis and the trimming module. Located on one side of the central axis, the control method of the automatic lawn mower includes:
  • control method further includes: detecting a boundary of the work area, and controlling the moving module to move along the boundary based on the boundary detected by the detection module.
  • control method further comprises: judging whether an edge start condition is satisfied, and if it is satisfied, controlling the cutting module to work, and the automatic lawnmower moves along the boundary.
  • the cutting module is located on the other side of the central axis, and the control method includes: judging whether an edge start condition is satisfied, and if so, controlling the automatic lawn mower to move along the boundary, Orient the other side outside the work area.
  • the trimming start condition includes completing the edge work.
  • the present invention has the beneficial effects that a cutting module and a trimming module are respectively provided on the automatic lawn mower, so that the automatic lawn mower can expand the trimming range, and can trim grass and other plants around the edge of the work area, or Reducing the area that cannot be trimmed along the edge of the work area greatly reduces the user's workload and improves the user's work efficiency and agricultural production efficiency.
  • FIG. 1 is a schematic diagram of an automatic lawn mower provided by an embodiment of the present invention
  • FIG. 2 is a schematic diagram of an automatic lawn mower provided by an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of an automatic lawn mower provided by an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of an automatic lawn mower provided by an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of an automatic lawn mower provided by an embodiment of the present invention.
  • FIG. 6 is a schematic diagram of an automatic lawn mower provided by an embodiment of the present invention.
  • FIG. 7 is a schematic diagram of an automatic lawn mower provided by an embodiment of the present invention.
  • FIG. 8 is a schematic diagram of an automatic lawn mower provided by an embodiment of the present invention.
  • FIG. 9 is a schematic diagram of an automatic lawn mower provided by an embodiment of the present invention.
  • FIG. 10 is a schematic diagram of an automatic lawn mower provided by an embodiment of the present invention.
  • FIG. 11 is a schematic diagram of an automatic lawn mower provided by an embodiment of the present invention.
  • FIG. 12 is a working schematic diagram of an automatic lawn mower provided by an embodiment of the present invention.
  • FIG. 13 is a working schematic diagram of an automatic lawn mower provided by an embodiment of the present invention.
  • FIG. 14 is a working schematic diagram of an automatic lawn mower provided by an embodiment of the present invention.
  • FIG. 15 is a working schematic diagram of an automatic lawn mower provided by an embodiment of the present invention.
  • FIG. 16 is an enlarged view of a portion of the automatic lawn mower shown in FIG. 15;
  • FIG. 17 is a working schematic diagram of an automatic lawn mower provided by an embodiment of the present invention.
  • FIG. 18 is an enlarged view of a portion of the automatic lawn mower shown in FIG. 17.
  • connection should be understood in a broad sense unless explicitly stated and limited otherwise.
  • they may be fixed connections or removable.
  • Connection, or integral connection it can be mechanical or electrical connection; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements.
  • connection, or integral connection it can be mechanical or electrical connection; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements.
  • the automatic lawn mower includes a casing 100, a mobile module, a cutting module 300, a trimming module 200, and a detection module installed in the casing 100.
  • the mobile module includes a driving wheel 110 and a
  • the driven motor 120 drives the driven wheel 120, and the detection module is used to detect the boundary of the working area.
  • the automatic lawn mower also includes a control module for controlling a moving module, a cutting module or a trimming module to control the automatic lawn mower to move and work.
  • the cutting module 300 includes a cutting driving portion and a cutting portion.
  • the cutting driving portion drives and connects the cutting portion, and the cutting portion includes a cutting element.
  • the trimming module 200 includes a trimming driving portion and a trimming portion.
  • the trimming driving portion drives the trimming portion to include a trimming element.
  • the trimming portion works to form a trimming area, and the trimming area extends beyond the casing 100.
  • at least one characteristic of the trimming element is different from that of the cutting element, such as different materials, different sharpness, different weights, different sizes, and so on.
  • the automatic lawn mower can expand the trimming range, be able to trim grass and other plants around the edge of the work area, or reduce the area where the grass and other plants around the edge of the work area are not trimmed, greatly reducing The user's workload is increased, and the user's work efficiency and agricultural production efficiency are improved.
  • the automatic lawn mower provided in this embodiment further includes a detection module, a communication module, or a positioning module, etc., and is used to help the automatic lawn mower maintain the work in the work area set by the user and implement functions such as obstacle avoidance.
  • the work area can be an entire area or an area with obstacles such as rockery, lakes, etc .; the work area can be terrain such as lawns, fields, gardens.
  • the automatic lawnmower may receive signals sent by a remote device through a communication module.
  • the remote device may include a server, user equipment, etc.
  • the control module may control the automatic lawnmower to perform corresponding actions according to the signals received by the communication module. .
  • the longitudinal direction of the casing 100 is the walking direction of the casing; the lateral direction of the casing 100 is perpendicular to the walking direction and the height direction of the casing.
  • the cutting module 300 includes a cutter head and a cutting element mounted on the cutter head, and the trimming module 200 includes a weeding head and a weeding rope installed with the weeding head.
  • the first rotation axis is rotated to form a cutting area.
  • the cutting area is specifically an area formed by the rotation of a cutting element.
  • the trimming module 200 is rotated by a second rotation axis to form a trimming area.
  • the trimming area is specifically an area formed by a straw rope.
  • the cutting module 300 may be disposed at any position on the bottom of the casing 100; optionally, the cutting module 300 is disposed away from the longitudinal center axis of the casing 100, and the trimming module 200 and the cutting module 300 are respectively disposed at Both sides of the central axis of the casing 100, so that the cutting module 300 cooperates with the trimming module 200 can better trim grass and other plants in the work area and its edges to make the structure of the automatic lawn mower more compact.
  • the casing 100 can accommodate the trimming module 200 and the cutting module 300 at the same time, thereby avoiding a substantial increase in the length or width of the automatic lawn mower.
  • the projection of the trimming driving portion is fixed with respect to the casing 100 along the height direction of the casing 100.
  • the projection of the second rotation axis in the height direction is located inside the casing 100. Further, the main part of the trimming module 200 is located on the casing 100. Therefore, under normal working conditions, the automatic lawn mower can maintain the original movement and working mode to the maximum without being affected by the trimming module 200.
  • At least part of the trimming area extends beyond the casing 100, and when the automatic lawnmower is walking along a wall or other obstacle, the trimming region beyond the casing 100 can achieve complete cutting of the edge of the obstacle.
  • the trimming module 200 includes a flexible trimming element 210 for trimming plants, and the flexible trimming element 210 includes a straw rope, a flexible plastic blade or a flexible rubber blade, or other structures; optionally, the flexible trimming element 210 Deformation can occur when touching the human body, fence, wall, etc., or the flexible trimming element 210 retracts a blade such as a flexible plastic blade or flexible rubber blade when touching the body, fence, wall, etc., reducing the impact on the human body, Damage to fences, walls, etc., especially to reduce or avoid damage to the human body; when the flexible trimming element 210 encounters grass or grass-like plants, there is basically no deformation to ensure that the flexible trimming element 210 can trim grass or similar On grass.
  • the cutting module 300 includes a rigid cutting element, such as a rigid blade, for trimming plants. Therefore, the cutting module 300 is relatively more damaged when it comes into contact with a human body, a fence, a wall, or the like. Therefore, in the lateral direction, The distance between the cutting module 300 and the edge of the casing 100 is relatively large to protect the casing 100. In order to achieve cutting to the edge, the trimming area generated by the trimming module 200 extends beyond the casing 100. If the distance between the second rotation axis and the central axis is greater than or equal to the distance between the first rotation axis and the central axis, the radius of the trimming area is greater than the radius of the cutting area.
  • a rigid cutting element such as a rigid blade
  • the trimming module 200 repeats the work in the area where the cutting module 300 works, improving Energy consumption of the trimming module 200. Therefore, in this embodiment, the distance between the first rotation axis and the central axis is taken as the first distance, the distance between the second rotation axis and the central axis is taken as the second distance, and the first distance is smaller than the second distance.
  • the maximum overlap between the walking track of the trimming area of the trimming module 200 and the walking track of the cutting area of the cutting module 300 is not less than 5 mm; to avoid cutting of the trimming area of the trimming module 200 and the cutting module 300 There are blind spots between the areas, so that plants such as grass near the edge of the work area cannot be trimmed.
  • the maximum overlapping size of the walking track of the trimming area of the trimming module 200 and the walking track of the cutting area of the cutting module 300 is 5mm, 6mm, 8mm, 10.5mm, or 20mm.
  • the size of the overlapping area can be automatically cut according to The structure or working scene of the lawnmower is determined without specific restrictions.
  • the overlapping of the walking track of the trimming area of the trimming module 200 and the walking track of the cutting area of the cutting module 300 includes the manner in which the trimming area of the trimming module 200 overlaps or does not overlap with the cutting area of the cutting module 300.
  • the projection of the trimming area of the trimming module 200 and the cutting area of the cutting module 300 in the height direction of the housing 100 has an overlapping portion; for another example, the trimming area of the trimming module 200 and the cutting area of the cutting module 300 are in the housing
  • the projection interval of the height direction is set at 100, but the projection of the trimming area of the trimming module 200 and the cutting area of the cutting module 300 in the lateral direction of the housing has an overlapping portion; or another arrangement manner.
  • the distance from the first axis to the center axis is taken as the first distance
  • the distance from the second axis to the center axis is taken as the second distance.
  • the difference between the second distance and the first distance is less than or equal to the main cutting area and Sum of the radius of the auxiliary cutting area.
  • the area after the cutting module 300 works is about the area a whose width is equal to the diameter of the main cutting area
  • the area after the working of the trimming module 200 is about the area b whose width is equal to the diameter of the auxiliary cutting area.
  • the control module controls the relative distance between the mobile module and the boundary of the work area to walk along the boundary of the work area again, so as to achieve cutting of the uncut area. This working method not only increases the load of the control module, but also reduces the working efficiency of the automatic lawn mower.
  • the area a and the area b are tangent or intersected in the lateral direction to ensure the cutting module 300 and the trimming module 200 A complete cut has been achieved around the obstacle after work.
  • the working area boundary may be a boundary line or other signal generating device arranged by a user near or near the edge of the working area, or may be a physical boundary formed by a fence, a flower bed, or the like in the working area, or may be Automatic lawn mowers identify working surfaces or position-defined boundaries.
  • the detection module may include a sensor that detects a boundary signal, a sensor that detects a physical boundary, a sensor that detects a working surface or a positioning sensor, and the like.
  • the projection of the trimming area of the trimming module 200 and the cutting area of the cutting module 300 in the height direction of the housing 100 does not overlap. If there is overlap between the trimming area and the cutting area, when the trimming module 200 and the cutting module 300 are at the same height, the trimming module 200 and the cutting module 300 start at the same time will cause mutual interference, causing the cutting element and the trimming element to contact during work. And cause damage. Therefore, non-overlapping of the trimming area and the cutting area can increase the service life of the trimming element and / or the cutting element, thereby reducing the number of user interventions.
  • control module is configured to control the moving module to cause the automatic lawnmower to walk along the boundary of the working area in the first direction, control the cutting driving unit to drive the cutting module 300 to work and / or control the trimming driving unit to drive
  • the trimming module 200 works.
  • the control module is also used to control the moving module to cause the automatic lawnmower to walk along the boundary of the work area, control the trimming driving section to drive the trimming module 200 to work and / or control the cutting driving section to drive the cutting module 300 to work ; Wherein the second direction is opposite to the first direction.
  • the trimming module 200 and the cutting module 300 cooperate to better trim the grass and other plants in the work area and the edge of the work area.
  • control module is configured to control the moving module to cause the automatic lawnmower to walk along the boundary of the working area in the first direction, and control the cutting driving unit to drive the cutting module 300 to work.
  • the control module is used to control the moving module so that when the automatic lawnmower walks along the boundary of the work area in the second direction, the trimming driving unit is controlled to drive the trimming module 200 to work.
  • the cutting module 300 works when walking in the first direction
  • the trimming module 200 works when walking in the second direction, so as to reduce the actual cutting width of the trimming module 200, make the trimming effect better, and reduce the Wear makes the trimming module 200 more durable.
  • the trimming module 200 is disposed on the left or right side of the cutting module 300 along the lateral direction of the casing 100.
  • the trimming module 200 is disposed on the front side of the cutting module 300 in the longitudinal direction of the housing 100.
  • the front side in this embodiment refers to the direction near the head of the automatic lawn mower, and the rear side refers to the direction near the tail of the automatic lawn mower.
  • the number of the trimming module 200 is one, and the trimming module 200 is disposed in front of the cutting module 300, front side, rear side, rear, left side, or right side; or, the number of the trimming module 200
  • the trimming module 200 is disposed at the front or side of the cutting module 300 side, and the two trimming modules 200 are symmetrically disposed along the axis of the housing 100 in the direction of travel.
  • the cutting module 300 is disposed on the axis of the housing 100 in the walking direction; wherein, FIG. 5 and FIG. 6 respectively show that the trimming module 200 is disposed on the left side or the right side of the cutting module 300.
  • FIG. 7 shows two trimming modules 200 disposed symmetrically on the sides of the cutting module 300;
  • FIG. 8 and FIG. 9 show the trimming module 200 disposed in front of the left or right side of the cutting module 300, and
  • FIG. 10 illustrates two trimming modules 300
  • the edge module 200 is disposed symmetrically in front of the side of the cutting module 300;
  • FIG. 11 shows that a trimming module 200 is disposed in the rear of the side of the cutting module 300.
  • the two driving wheels 110 of the automatic lawnmower of FIG. 11 are at the head and the driven wheels 120 are at the tail.
  • a schematic diagram of one driven wheel 120 is shown in the figure.
  • the cutting module 300 is disposed away from the axis in which the housing 100 travels; at least one trimming module 200 is disposed at one or more of the front, side front, side rear, rear, and side edges of the cutting module 300.
  • the number of the cutting module 300 is one; the number of the trimming module 200 is one, and the trimming module 200 is disposed in front of the cutting module 300, front side, rear side, left side, or right side.
  • the number of the trimming modules 200 is two, and the two trimming modules 200 are symmetrically disposed in front of the cutting module 300 side along the axis of the walking direction of the housing 100; or, one trimming module 200 is disposed in front of the cutting module 300, and the other A trimming module 200 is disposed on the side of the cutting module 300.
  • a trimming module 200 is provided at one or more of the head, the middle, and the tail of the bottom of the housing 100.
  • the number of the trimming module 200 may be one or more, for example, one, two, three, five, etc .;
  • the plurality of trimming modules 200 may be evenly distributed around the bottom of the housing 100, or according to a preset position. It is disposed on the bottom of the casing 100.
  • the number of the trimming module 200 may be determined according to the volume of the automatic lawn mower, the structure of the automatic lawn mower, and other factors.
  • the number of the cutting modules 300 may be one or more, such as one, two, three, five, and so on; the plurality of cutting modules 300 may be disposed along the height direction of the housing 100, It is disposed perpendicular to the height direction of the casing 100.
  • the number of cutting modules 300 may be determined according to the volume of the automatic lawn mower, the structure of the trimming module 200, the size of the cutting module 300, and other factors.
  • a cutting module 300 is disposed away from the axis of the housing 100 in the running direction; of which, FIG. 1 shows that the trimming module 200 is disposed in front of the cutting module 300; and FIG. 2 and FIG. 4 show the trimming module 200.
  • the trimming module 300 and the cutting module 300 are disposed on both sides of the cutting module 300, and the trimming module 200 and the cutting module 300 are disposed on both sides of the axis of the housing 100 in the direction of travel;
  • FIG. 3 shows that a trimming module 200 is disposed in front of the cutting module 300.
  • a trimming module 200 is disposed on the side of the cutting module 300.
  • the two driving wheels 110 of the automatic lawn mower of FIGS. 1-4 are at the tail and the driven wheels 120 are at the head; of which, there are two driven wheels 120 of FIG. There is one moving wheel 120.
  • the driving wheel 110 of the automatic lawn mower may be at the tail of the machine, and the driven wheel 120 may be at the nose, or the driving wheel 110 may be at the machine head, and the driven wheel 120 may be at the tail.
  • the number of driving wheels 110 of the automatic lawnmower may be one, and the number of driven wheels 120 may be two; alternatively, the number of driving wheels 110 may be two, and the number of driven wheels 120 may be one or two, or other setting methods.
  • the specific number and setting position of the trimming module 200 and the cutting module 300 can be based on the arrangement of the driving wheels 110 and the driven wheels 120, the volume of the automatic lawn mower, the structure of the trimming module 200 and the cutting module 300, and the structure of the automatic lawn mower. , Cost and other factors.
  • the mowing rope is, for example, a nylon mowing rope, a mowing rope using nylon inside the wire and an outer sheathing nylon, etc., or a mowing rope made of metal or a mowing rope made of other plastics.
  • the cutting module 300 includes a rigid cutting element for cutting a plant.
  • Rigid cutting elements include metal or stone cutting blades, or other materials. The effect of trimming plants such as grass by the rigid cutting element is better than that of the flexible trimming element 210.
  • the trimming module 200 includes a flexible trimming element 210 and the cutting module 300 includes a rigid cutting element.
  • the trimming module 200 including the flexible trimming element 210 and the cutting module 300 including the rigid cutting element are cooperated to better trim grasses and other plants in the work area and the edge of the work area.
  • the trimming module 200 is located on one side of the central axis.
  • being located on the central axis side does not mean that the entire trimming module 200 is on the central axis side, but the second rotation axis is on one side of the central axis.
  • the automatic lawnmower includes a trimming mode.
  • the control module receives the detection signal of the detection module, so that the position of the casing relative to the boundary of the working area. Based on this, the automatic lawnmower is controlled to move along the boundary of the working area. Make the side where the second rotating shaft is located facing outside the working area.
  • the control module controls the work of the trimming module, so that the automatic lawnmower trims along the boundary of the work area.
  • the cutting module 300 is located on the central axis or one side of the central axis.
  • the control module controls the cutting module 300 and the trimming module to work simultaneously, or the control module controls The cutting module does not work.
  • An embodiment of the present invention provides the above-mentioned control method of an automatic lawn mower, including the following steps:
  • the trimming module 200 is controlled to work, and the moving module moves along the boundary of the work area so that the side where the trimming module 200 is located faces outside the work area.
  • the automatic lawnmower includes an edge mode and a trimming mode.
  • the control module controls the cutting module 300 to work and controls the automatic lawnmower to move along the boundary of the work area.
  • the control module controls the trimming module 200 to work and controls the automatic lawnmower to move along the boundary of the work area.
  • the trimming module 200 is located on one side of the central axis.
  • the control module controls the automatic lawn mower to move along the boundary of the work area, so that the side where the trimming module 200 is located faces outside the work area. .
  • the automatic lawnmower moves clockwise along the boundary of the work area. If the trimming module 200 is located on the right side of the center axis, in the trimming mode, the automatic lawnmower moves counterclockwise along the boundary of the work area.
  • the cutting module 300 is located on the central axis or on one side of the central axis. If the cutting module 300 is located on the central axis, in the edge mode, the control module controls the automatic lawn mower to move clockwise along the boundary Or move counterclockwise. If the cutting module 300 is located on the same side of the trimming module 200, the control module controls the automatic lawnmower to move along the boundary, and the moving direction is the same as the trimming mode. If the cutting module 300 is located on different sides of the trimming module 200, the control module controls the automatic lawnmower to move along the boundary, and the moving direction is opposite to the trimming mode.
  • An embodiment of the present invention provides the above-mentioned control method of an automatic lawn mower, including the following steps:
  • the trimming module 200 is controlled to work, and the mobile module is moved along the boundary of the work area so that the side where the trimming module 200 is located faces outside the work area.
  • the edge start condition includes a control module receiving a edge start signal, a work area cutting completion signal, a return signal, and the like.
  • the trimming start conditions include the edge completion signal received by the control module, and may also include a trimming start signal, a work area cutting completion signal, and a return signal. It can be understood that, in this embodiment, the edge work is completed before the edge work is started, but it is not limited whether the edge work and the edge work are performed continuously.
  • the trimming module 200 is located on one side of the central axis and the cutting module 300 is located on the other side of the central axis.
  • the control module controls the automatic lawn mower to move along the boundary of the work area. So that the other side where the cutting module 300 is located faces outside the working area.
  • the control module controls the cutting module 300 to work, and the automatic lawnmower walks along the boundary of the working area in the first direction, so that the side where the cutting module 300 is facing outside the working area, so the cutting module 300 can cut to the maximum extent. Work area boundary.
  • the control module controls the work of the trimming module 200, and the automatic lawnmower walks along the boundary of the work area in the second direction, so that the side where the trimming module 200 is located is outside the work area, so the trimming module 200 can cut To an area not reachable by the cutting module 300.
  • the control module controls the edge mode to start before the edge trim mode. After the edge mode is completed, the trimming mode can be started.
  • the control module can control the automatic lawn mower to perform the trimming mode after the edge mode is completed, and complete the trimming work of the automatic lawn mower.
  • the control module can also control the automatic lawn mower to enter other modes after the trimming mode is completed, and enter the trimming mode after receiving the trimming mode start signal.
  • An embodiment of the present invention provides the above-mentioned control method of an automatic lawn mower, including the following steps:
  • the trimming module 200 is controlled to work, and the mobile module is moved along the boundary of the work area so that the side where the trimming module 200 is located faces outside the work area. Take this direction as the second direction. Since the cutting module 300 and the trimming module 200 are respectively located on two sides of the central axis, the first direction and the second direction are opposite directions.
  • control module may control the automatic lawnmower to move clockwise along the boundary of the work area, or Move counterclockwise.
  • a method for controlling an automatic lawn mower includes the following steps:
  • the cutting module 300 and the trimming module 200 are controlled to work, and the moving module moves along the boundary of the work area, so that the trimming module 200 faces outside the work area. In this embodiment, when the moving module moves along the boundary of the work area, the cutting module 300 and the trimming module 200 work simultaneously.
  • the first rotating shaft is located on the central axis.
  • An embodiment of the present invention provides a method for controlling an automatic lawn mower, including the following steps:
  • the automatic lawn mower walks along the working area boundary in the first direction, the trimming module 200 works and / or the cutting module 300 works; optionally, the working area boundary can be circular, straight, curved, irregular Shape or other shapes.
  • the trimming mode is activated, the automatic lawnmower walks along the boundary of the working area in the second direction, the cutting module 300 works and / or the trimming module 200 works; wherein the second direction is the opposite direction of the first direction, that is, The automatic lawn mower walks in the opposite direction of the working area boundary.
  • the automatic lawn mower can walk along the boundary of the working area in the first direction, the trimming module 200 works to trim the plants, and the cutting module 300 stops working. Walking the boundary of the working area in the second direction, the cutting module 300 works to trim the cutting plants, and the trimming module 200 stops working;
  • the automatic lawn mower can walk along the boundary of the working area in the first direction, the cutting module 300 works to trim and cut the plants, and the edge trim module 200 stops working; after that, the edge trim mode is started and the automatic lawn mower Walking along the boundary of the working area in the second direction, the trimming module 200 works to trim the plants, and the cutting module 300 stops working.
  • the automatic lawn mower can walk along the boundary of the work area in the first direction, and both the edge trimming module 200 and the cutting module 300 work to trim and cut plants; after that, the edge trimming mode is activated and the automatic lawn mower follows Walking along the boundary of the working area in the second direction, both the trimming module 200 and the cutting module 300 work to trim and cut plants.
  • An embodiment of the present invention provides a method for controlling an automatic lawn mower, including the following steps:
  • the automatic lawnmower walks along the boundary of the working area in the second direction, the cutting module 300 works and / or the trimming module 200 works;
  • the edge mode is activated, the automatic lawn mower walks along the boundary of the working area in the first direction, and the trimming module 200 works and / or the cutting module 300 works; wherein the second direction is the opposite direction of the first direction, that is, automatic cutting The lawnmower walks in the opposite direction of the working area boundary.
  • the boundary of the working area may be circular, straight, curved, irregular, or other shapes.
  • the automatic lawn mower walks along the boundary of the working area in the first direction, and can walk all or part of the working area boundary, or it can walk the boundary of the working area one or more times; for example, when the working area boundary is circular, the automatic lawn mower Walk a full circle, multiple circles, or half circles in the first direction.
  • the automatic lawn mower walks along the boundary of the working area in the second direction, and can walk all or part of the working area boundary, or it can walk one or more working area boundaries; for example, when the working area boundary is circular, the automatic lawn mower Walk a full circle, multiple circles, or half circles in the second direction.
  • the automatic lawn mower walks along the boundary of the work area in the first direction, the cutting module 300 works, and the trimming module 200 stops working; as shown in FIG. 15 and FIG. 16, when the cutting module 300 is in operation, the cutting module 300 cannot be completely trimmed to the side.
  • the trimming mode is activated, the automatic lawnmower walks along the boundary of the working area in the second direction, the trimming module 200 works and trims the plants outside the boundary of the working area, and the cutting module 300 stops working; as shown in FIG. 17 and FIG.
  • the edge trim module 200 can be completely trimmed to the side.
  • the cutting module 300 including the rigid cutting element By cutting the cutting module 300 including the rigid cutting element to perform the trimming work, and then the trimming module 200 of the flexible trimming element 210 to perform the trimming work, the actual cutting width of the flexible trimming element 210 is reduced, the trimming effect is better, and The wear of the flexible trimming element 210 is made, and the flexible trimming element 210 is more durable.
  • this embodiment provides a set of examples of an automatic lawnmower walking along the boundary of a work area with a right-angled turn to trim grass and other plants around its edges.
  • the trimming module 200 is respectively disposed at three positions of the casing 100 near the machine head, near the machine, and near the tail.
  • the trimming diameter of the trimming module 200 is the same. Referring to FIG. 12, the trimming module 200 is arranged as far as possible on the front side of the housing 100, that is, close to the head; referring to FIG. 13, the trimming module 200 is arranged as much as possible in the middle of the housing 100, that is, close to the machine head. Position in the machine; referring to FIG. 14, the trimming module 200 is arranged on the rear side of the casing 100 as much as possible, that is, near the tail of the machine.
  • the trimming module 200 is arranged at different positions of the housing 100, and the corner uncut area is different; among them, the uncut area of the trimming module 200 near the machine head is smaller than the trimming module near the machine. 200 uncut area; the uncut area of the trimming module 200 near the machine is smaller than the uncut area of the trimming module 200 near the tail of the machine. Therefore, the trimming module 200 is arranged as far as possible on the front side of the housing 100, that is, the position near the machine head, and the corner uncut area is small when turning.
  • this embodiment further provides a mowing system, which includes a power supply station 400 and the above-mentioned automatic lawn mower;
  • the power supply station 400 is used to provide electric power to the lawn mower.
  • the power supply station 400 can supply power to the lawnmower by a wired or wireless manner.
  • the lawnmower system includes the above-mentioned automatic lawnmower; the technical features of the above-mentioned automatic lawnmower are also applicable to the lawnmower system, and the disclosed technical features of the automatic lawnmower will not be described repeatedly.
  • the mowing system has the advantages of the automatic lawn mower, and the advantages disclosed by the automatic lawn mower are not described repeatedly here.

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Abstract

一种自动割草机，该自动割草机在工作区域内移动和工作，其包括：壳体（100），包括纵向上的中轴线；移动模块，带动壳体移动；切割模块（300），以第一转轴为中心旋转形成切割区域，包括切割元件；修边模块（200），以第二转轴为中心旋转形成修边区域，包括修边元件，其中修边元件与切割元件不同；控制模块，控制自动割草机移动和工作；所述第一转轴和所述第二转轴分别位于所述中轴线的两侧，上述技术方案的有益效果是：自动割草机能够切割到边，且布局紧凑。另外，还涉及上述自动割草机的控制方法。

Description

自动割草机及其控制方法
交叉参考相关引用
本申请要求2018年5月30日提交的申请号为201810540754.4和2018年9月12日提交的申请号为201811064195.0的中国专利申请的优先权，上述申请参考并入本文。
技术领域
本发明涉及自动割草机及其控制方法，特别是一种具有修边功能的自动割草机及其控制方法。
背景技术
随着科学技术的发展，智能的自移动设备为人们所熟知，由于自移动设备可以自动预先设置的程序执行预先设置的相关任务，无须人为的操作与干预，因此在工业应用及家居产品上的应用非常广泛。
以自动割草机为例，自动割草机一般在草地上工作，由用户设定其工作区域，自动割草机检测与工作区域的相对位置关系，使其保持在工作区域内，防止走出边界。自动割草机的切割模块一般为刀片等刚性元件，在其高速运动割草的过程中，容易对人体或其他物体造成伤害，为了避免这种伤害，切割模块周围通常安装有护罩。而为了兼顾自动割草机的通过性要求，护罩保持在一定的高度，且水平方向上与切割模块存在一定距离。也就是说，当自动割草机行走在工作区域边界上，包括障碍物边界，切割模块与实际边界之间仍然存在一段距离，而这段距离造成了草地上存在自动割草机无法切割到的区域，需要用户进行二次处理。
发明内容
为克服现有技术的缺陷，本发明所要解决的问题是提供一种能够切割到工作区域边缘，且布局紧凑的自动割草机。
本发明解决现有技术问题所采用的技术方案是：
一种自动割草机，在工作区域内移动和工作，包括：壳体，包括纵向上的中轴线；移动模块，安装于所述壳体，带动所述壳体移动；切割模块，安 装于所述壳体，所述切割模块以第一转轴为中心旋转形成切割区域，所述切割模块包括切割元件；修边模块，安装于所述壳体，所述修边模块以第二转轴为中心旋转形成修边区域，所述修边模块包括修边元件，所述修边元件与所述切割元件不同；控制模块，与所述移动模块、所述切割模块和所述修边模块电连接，控制所述自动割草机移动和工作；所述第一转轴和所述第二转轴分别位于所述中轴线的两侧。
在其中一个实施例中，所述修边区域至少部分超出所述壳体。
在其中一个实施例中，所述第二转轴在高度方向上的投影位于所述壳体内。
在其中一个实施例中，所述第一转轴与所述中轴线的距离小于等于所述第二转轴与所述中轴线的距离。
在其中一个实施例中，以所述第一转轴与所述中轴线的距离为第一距离，以所述第二转轴与中轴线的距离为第二距离，所述第一距离小于所述第二距离，所述第二距离与第一距离的差值小于等于所述切割区域与所述修边区域的半径之和。
在其中一个实施例中，所述自动割草机包括沿边模式和修边模式，在所述沿边模式中，所述控制模块控制所述切割模块工作，所述移动模块以第一方向沿所述工作区域边界移动，使所述第一转轴所在的一侧朝向所述工作区域外；在所述修边模式中，所述控制模块控制所述修边模块工作，所述移动模块以第二方向沿所述工作区域边界移动，使所述第二转轴所在的一侧朝向所述工作区域外；所述第一方向与所述第二方向相反。
在其中一个实施例中，所述修边元件包括柔性切割件。
本发明解决现有技术问题所采用的一个技术方案是：
一种自动割草机，在工作区域内移动和工作，包括：壳体，包括纵向上的中轴线；移动模块，安装于所述壳体，带动所述壳体移动；切割模块，安装于所述壳体，所述切割模块以第一转轴为中心旋转形成切割区域；修边模块，安装于所述壳体，所述修边模块以第二转轴为中心旋转形成修边区域，所述第二转轴位于所述中轴线的一侧；检测模块，安装于所述壳体，检测所述工作区域边界；控制模块，与所述移动模块、所述切割模块、所述修边模块和所述检测模块电连接，控制所述自动割草机移动和工作；所述自动割草 机包括修边模式，在所述修边模式中，所述控制模块控制所述修边模块工作，所述控制模块基于所述检测模块检测的所述工作区域边界控制所述移动模块沿所述边界移动，使所述一侧朝向所述工作区域外。
在其中一个实施例中，所述自动割草机包括沿边模式，在所述沿边模式中，所述控制模块控制所述切割模块工作，且所述移动模块沿所述边界移动。
在其中一个实施例中，所述第一转轴位于所述中轴线的另一侧，在所述沿边模式中，所述移动模块沿所述边界移动的方向与所述修边模式的移动方向相反。
在其中一个实施例中，当所述沿边模式完成后，所述控制模块启动所述修边模式。
在其中一个实施例中，所述自动割草机包括检测模块，检测所述工作区域边界，所述控制模块基于所述检测模块检测的所述边界控制所述移动模块沿所述边界移动。
在其中一个实施例中，所述第一转轴与所述中轴线的距离小于等于所述第二转轴与所述中轴线的距离。
在其中一个实施例中，以所述第一转轴与所述中轴线的距离为第一距离，以所述第二转轴与所述中轴线的距离为第二距离，所述第一距离小于所述第二距离所述第二距离与第一距离的差值小于等于所述切割区域与所述修边区域的半径之和。
在其中一个实施例中，所述修边模块包括修边元件，所述修边元件包括柔性切割件。
本发明解决现有技术问题所采用的另一种技术方案是：
一种自动割草机的控制方法，所述自动割草机在工作区域内移动和工作，包括切割模块和修边模块，所述自动割草机包括纵向上的中轴线，所述修边模块位于所述中轴线的一侧，所述自动割草机的控制方法包括：
判断是否满足修边启动条件，若满足，控制所述修边模块工作，所述自动割草机沿所述工作区域边界移动，使所述一侧朝向所述工作区域外。
在其中一个实施例中，所述控制方法还包括：检测所述工作区域边界,基于所述检测模块检测的所述边界控制所述移动模块沿所述边界移动。
在其中一个实施例中，所述控制方法还包括：判断是否满足沿边启动条 件，若满足，控制所述切割模块工作，所述自动割草机沿所述边界移动。
在其中一个实施例中，所述切割模块位于所述中轴线的另一侧，所述控制方法包括：判断是否满足沿边启动条件，若满足，控制所述自动割草机沿所述边界移动，使所述另一侧朝向所述工作区域外。
在其中一个实施例中，所述修边启动条件包括完成所述沿边工作。
与现有技术相比，本发明的有益效果：在自动割草机分别设置切割模块和修边模块，以使自动割草机可以扩大修剪范围，能够修剪工作区域边缘一带的草等植物，或者减少工作区域边缘一带无法修剪的范围，极大降低了用户的工作量，提高了用户工作效率和农业生产效率。
附图说明
为了更清楚地说明本发明具体实施方式或现有技术中的技术方案，下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明一个实施例提供的自动割草机示意图；
图2为本发明一个实施例提供的自动割草机示意图；
图3为本发明一个实施例提供的自动割草机示意图；
图4为本发明一个实施例提供的自动割草机示意图；
图5为本发明一个实施例提供的自动割草机示意图；
图6为本发明一个实施例提供的自动割草机示意图；
图7为本发明一个实施例提供的自动割草机示意图；
图8为本发明一个实施例提供的自动割草机示意图；
图9为本发明一个实施例提供的自动割草机示意图；
图10为本发明一个实施例提供的自动割草机示意图；
图11为本发明一个实施例提供的自动割草机示意图；
图12为本发明一个实施例提供的自动割草机工作示意图；
图13为本发明一个实施例提供的自动割草机工作示意图；
图14为本发明一个实施例提供的自动割草机工作示意图；
图15为本发明一个实施例提供的自动割草机工作示意图；
图16为图15所示自动割草机部分的放大图；
图17为本发明一个实施例提供的自动割草机工作示意图；
图18为图17所示自动割草机部分的放大图。
具体实施方式
下面将结合附图对本发明的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
在本发明的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性。
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。
参考图1-图11，自动割草机包括壳体100，安装于壳体100的移动模块、切割模块300、修边模块200、检测模块，移动模块包括由驱动马达的驱动轮110和不受驱动马达驱动的从动轮120，检测模块用于检测工作区域边界。自动割草机还包括控制模块，用于控制移动模块、切割模块或修边模块，从而控制自动割草机移动和工作。切割模块300包括切割驱动部和切割部，切割驱动部驱动连接切割部，切割部包括切割元件。修边模块200包括修边驱动部和修边部，修边驱动部驱动连接修边部包括修边元件，修边部工作形成修边区域，修边区域超出壳体100。本实施例中，修边元件的至少一 个特性不同于切割元件，如材质不同，锋利程度不同，重量不同、大小不同等等。
通过修边模块200和切割模块300配合，自动割草机可以扩大修剪范围，能够修剪工作区域边缘一带的草等植物，或者减少工作区域边缘一带的草等植物没有被修剪的范围，极大降低了用户的工作量，提高了用户工作效率和农业生产效率。
可以理解的是，本实施例提供的自动割草机还包括检测模块、通信模块或定位模块等，用于帮助自动割草机维持在用户设定的工作区域内工作，并实现避障等功能。工作区域可以为整块区域或中间具有假山、湖泊等障碍物的区域；工作区域可以为草坪、田地、花园等地形。在一些实施例中，自动割草机可以通过通信模块接收远程设备的发送的信号，远程设备可以包括服务器、用户设备等，控制模块可以根据通信模块接收的信号控制自动割草机进行相应的动作。
本实施例中，壳体100的纵向为壳体的行走方向；壳体100的横向为垂直于壳体的行走方向和高度方向。
如图2所示，在一个实施例中，切割模块300包括刀盘和安装于刀盘的切割元件，修边模块200包括打草头及安装与打草头的打草绳，切割模块300以第一转轴旋转形成切割区域，切割区域具体为由切割元件旋转形成的区域，修边模块200以第二转轴旋转形成修边区域，修边区域具体为由打草绳旋转形成的区域。
在一个实施例中，切割模块300可以设置在壳体100底部的任意位置；可选地，切割模块300偏离壳体100的纵向的中轴线设置，且修边模块200与切割模块300分别设置在壳体100的中轴线的两侧，以使该切割模块300与修边模块200配合可以更好的修剪工作区域内及其边缘一带的草等植物，以使自动割草机的结构更加紧凑，使得壳体100能够同时容纳修边模块200和切割模块300，而避免大幅度增加自动割草机的长度或宽度。
在一个实施例中，沿壳体100高度方向，修边驱动部的投影相对于壳体100位置固定。通过令修边驱动部的投影相对于壳体100位置固定，以简化修边模块200的结构，进而简化自动割草机的结构。
如图2所示，在一个实施例中，沿壳体100高度方向，第二转轴在高度 方向上的投影位于壳体100内部，进一步的，修边模块200的主体部分位于壳体100。因此，在正常工作情况下，自动割草机可以最大限度地保持原有的移动和工作方式，而不受修边模块200的影响。
在一个实施例中，修边区域的至少部分超出壳体100，当自动割草机沿墙或其他障碍物行走时，超出壳体100的修边区域能够实现对障碍物边缘的完全切割。
在一个实施例中，修边模块200包括用于修剪植物的柔性修剪元件210，柔性修剪元件210包括打草绳、柔性塑料刀片或柔性橡胶刀片，或者其他结构；可选地，柔性修剪元件210在碰到人体、篱笆、墙体等物时可以发生形变，或者柔性修剪元件210在碰到人体、篱笆、墙体等物时缩回柔性塑料刀片或柔性橡胶刀片等刀片，而减少对人体、篱笆、墙体等物的损坏，尤其是减少或者避免人体的损伤；柔性修剪元件210在碰到草或者类似于草的植物时，基本不发生形变，以确保柔性修剪元件210可以修剪草或者类似于草的植物。
在一个实施例中，切割模块300包括用于修剪植物的刚性切割元件，如刚性刀片等结构，因此切割模块300接触人体、篱笆、墙体等物时损坏相对更大，因此，在横向上，切割模块300距离壳体100边缘的距离相对较大，以利用壳体100进行防护。而为了实现切割到边，修边模块200产生的修边区域超出壳体100。若第二转轴与中轴线的距离大于等于第一转轴与中轴线的距离，则导致修边区域的半径大于切割区域的半径，修边模块200会对在切割模块300工作的区域重复工作，提高修边模块200的能耗。因此，本实施例中，以第一转轴与中轴线的距离为第一距离，以第二转轴与中轴线的距离为第二距离，第一距离小于第二距离。
在一个实施例中，修边模块200的修边区域的行走轨迹与切割模块300的切割区域的行走轨迹的重叠最大尺寸不小于5mm；以避免修边模块200的修剪区域与切割模块300的切割区域之间存在盲区，进而避免靠近工作区域的边缘一带的草等植物不能被修剪。
可选地，修边模块200的修边区域的行走轨迹与切割模块300的切割区域的行走轨迹的重叠最大尺寸为5mm、6mm、8mm、10.5mm或者20mm等，重叠区域的大小可以根据自动割草机的结构或工作场景等进行确定，不作具体 限制。
本实施例中修边模块200的修边区域的行走轨迹与切割模块300的切割区域的行走轨迹的重叠，包括修边模块200的修边区域与切割模块300的切割区域重叠或者不重叠的方式。例如，修边模块200的修边区域与切割模块300的切割区域在壳体100高度方向的投影具有重叠部分；又如，修边模块200的修边区域与切割模块300的切割区域在壳体100高度方向的投影间隔设置，但是修边模块200的修边区域与切割模块300的切割区域在壳体的横向的投影具有重叠部分；又或其他设置方式。
在一个实施例中，以第一转轴到中轴线的距离为第一距离，以第二转轴到中轴线的距离为第二距离，第二距离与第一距离的差值小于等于主切割区域与辅助切割区域的半径之和。在移动过程中，切割模块300工作后的区域约为宽度等于主切割区域直径的区域a，修边模块200工作后的区域约为宽度等于辅助切割区域直径的区域b。若区域a和区域b在横向上存在间隙，即第二距离与第一距离的差值大于主切割区域与辅助切割区域的半径之和，就导致切割模块300和修边模块200工作后在障碍物周围仍然留有未切割区域。这样，控制模块控制移动模块与工作区域边界之间的相对距离再次沿着工作区域边界行走，从而实现对未切割区域的切割。这种工作方式不仅增加了控制模块的负荷，也降低了自动割草机的工作效率。因此，当第二距离与第一距离的差值小于等于主切割区域与辅助切割区域的半径之和时，区域a和区域b在横向上相切或相交，确保切割模块300和修边模块200工作后障碍物周围已经实现完全切割。
在一个实施例中，工作区域边界可以是由用户布置在工作区域边缘或边缘附近的边界线或其他信号发生装置，也可以是由工作区域中篱笆、花坛等形成的物理边界，也可以是由自动割草机识别工作表面或定位等方式确定的界限。相应的，检测模块可以包括检测边界信号的传感器，检测物理边界的传感器，检测工作表面的传感器或定位传感器等。
在一个实施例中，修边模块200的修边区域与切割模块300的切割区域在壳体100高度方向上的投影不重叠。若修边区域和切割区域存在重叠，当修边模块200和切割模块300在同一高度，修边模块200和切割模块300同时启动会造成相互干扰，导致切割元件和修边元件在工作过程中接触而造成 损坏。因此，修边区域与切割区域不重叠能够提高修边元件和/或切割元件的使用寿命，从而减少用户干预次数。
在一个实施例中，控制模块用于控制移动模块以使自动割草机沿着第一方向行走工作区域边界时，控制切割驱动部以驱动切割模块300工作和/或控制修边驱动部以驱动修边模块200工作。控制模块还用于控制移动模块以使自动割草机沿着第二方向行走工作区域边界时，控制修边驱动部以驱动修边模块200工作和/或控制切割驱动部以驱动切割模块300工作；其中，第二方向为第一方向的反方向。通过修边模块200和切割模块300配合，以更好的修剪工作区域内以及工作区域边缘一带的草等植物。
在一个实施例中，控制模块用于控制移动模块以使自动割草机沿着第一方向行走工作区域边界时，控制切割驱动部以驱动切割模块300工作。控制模块用于控制移动模块以使自动割草机沿着第二方向行走工作区域边界时，控制修边驱动部以驱动修边模块200工作。通过沿第一方向行走时切割模块300工作，沿第二方向行走时修边模块200工作，以减少修边模块200的实际切割宽度，使切边效果更好，还减少了修边模块200的磨损，使修边模块200更耐用。
在一个实施例中，沿壳体100的横向，修边模块200设置在切割模块300的左侧或者右侧。
在一个实施例中，沿壳体100的纵向，修边模块200设置在切割模块300的前侧。本实施例所述的前侧是指靠近自动割草机机头的方向，后侧是指靠近自动割草机机尾的方向。
在一个实施例中，修边模块200的数量为一个，修边模块200设置在切割模块300前方、侧前方、侧后方、后方、左侧边或右侧边；或者，修边模块200的数量为两个，修边模块200设置在切割模块300侧前方或侧边，且两个修边模块200以壳体100行走方向的轴线对称设置。
参见图5-图11所示，切割模块300设置在壳体100行走方向的轴线上；其中，图5和图6分别为修边模块200设置在切割模块300的左侧边或右侧边，图7为两个修边模块200对称设置在切割模块300的侧边；图8和图9分别为修边模块200设置在切割模块300的左侧前方或右侧前方，图10为两个修边模块200对称设置在切割模块300的侧前方；图11为一个修边模 块200设置在切割模块300的侧后方。需要说明的是，图5-图10的自动割草机的两个驱动轮110在机尾，从动轮120在机头；其中图5-图7的从动轮120为两个，图8-图10的从动轮120为一个。图11的自动割草机的两个驱动轮110在机头，从动轮120在机尾，图中示出了一个从动轮120的示意图。
可选地，切割模块300偏离壳体100行走方向的轴线设置；至少一个修边模块200设置在切割模块300的前方、侧前方、侧后方、后方和侧边中的一处或者多处。
可选地，切割模块300的数量为一个；修边模块200的数量为一个，修边模块200设置在切割模块300前方、侧前方、后方、左侧边或右侧边。或者，修边模块200的数量为两个，两个修边模块200以壳体100行走方向的轴线对称设置在切割模块300侧前方；或，一个修边模块200设置在切割模块300前方，另一个修边模块200设置在切割模块300侧边。
在一个实施例中，可选的，壳体100底部的机头、机中和机尾中的一处或者多处设置有修边模块200。修边模块200的数量可以为一个或者多个，例如一个、两个、三个、五个等等；多个修边模块200可均布在壳体100底部的周边，也可按照预设位置设置在壳体100的底部。修边模块200的数量可依据自动割草机的体积、自动割草机的结构等因素而定。
在一个实施例中，切割模块300的数量可以为一个或者多个，例如一个、两个、三个、五个等等；多个切割模块300可沿壳体100的高度方向设置，也可沿垂直于壳体100的高度方向设置。切割模块300的数量可依据自动割草机的体积、修边模块200的结构、切割模块300的大小等因素而定。
参见图1-图4所示，一个切割模块300偏离壳体100行走方向的轴线设置；其中，图1为修边模块200设置在切割模块300的前方；图2和图4为修边模块200设置在切割模块300的侧边或者侧前边，且修边模块200和切割模块300设置在壳体100行走方向的轴线的两侧；图3为一个修边模块200设置在切割模块300前方，另一个修边模块200设置在切割模块300侧边。需要说明的是，图1-图4的自动割草机的两个驱动轮110在机尾，从动轮120在机头；其中图4的从动轮120为两个，图1-图3的从动轮120为一个。
本实施例中自动割草机的驱动轮110可以在机尾、从动轮120可以在机头，也可以驱动轮110可以在机头、从动轮120可以在机尾。自动割草机驱动轮110的数量可以为1个，从动轮120数量为2个；或者，驱动轮110的数量可以为2个，从动轮120数量为1个或者2个，或者其他设置方式。修边模块200和切割模块300的具体数量及设置位置可以依据驱动轮110及从动轮120的布置、自动割草机的体积、修边模块200及切割模块300的结构、自动割草机的结构、成本等因素而定。
可选地，打草绳例如为尼龙割草绳、内部采用钢丝外部套用尼龙的割草绳等等，也可为金属材质的割草绳或者其他塑料材质的割草绳。
可选地，切割模块300包括用于切割植物的刚性切割元件。刚性切割元件包括金属切割刀片或石质切割刀片，或者其他材质。刚性切割元件的修剪草等植物的效果优于柔性修剪元件210。
可选地，修边模块200包括柔性修剪元件210，切割模块300包括刚性切割元件。通过包括柔性修剪元件210的修边模块200和包括刚性切割元件的切割模块300配合，以更好的修剪工作区域内以及工作区域边缘一带的草等植物。
在一个实施例中，修边模块200位于中轴线的一侧，这里，位于中轴线一侧并不特指整个修边模块200位于中轴线一侧，而是第二转轴位于中轴线的一侧。自动割草机包括修边模式，在修边模式中，控制模块接收检测模块的检测信号，从而壳体相对于工作区域边界的位置，基于此，控制自动割草机沿着工作区域边界移动，使得第二转轴所在的一侧朝向工作区域外。同时，控制模块控制修边模块工作，使得自动割草机沿着工作区域边界进行修边。
本实施例中，可选的，切割模块300位于中轴线或中轴线的某一侧，在修边模式中，可选的，控制模块控制切割模块300与修边模块同时工作，或控制模块控制切割模块不工作。
本发明的一个实施例提供上述自动割草机的控制方法，包括如下步骤：
检测工作区域边界；
判断是否满足修边启动条件，则控制修边模块200工作，移动模块沿工作区域边界移动，使修边模块200所在的一侧朝向所述工作区域外。
在一个实施例中，自动割草机包括沿边模式和修边模式，在沿边模式中， 控制模块控制切割模块300工作，并控制自动割草机沿工作区域边界移动。在修边模式中，控制模块控制修边模块200工作，并控制自动割草机沿工作区域边界移动。参考图18，本实施例中，修边模块200位于中轴线的一侧在修边模式中，控制模块控制自动割草机沿工作区域边界移动，使得修边模块200所在一侧朝向工作区域外。也就是说，若修边模块200位于中轴线的左侧，在修边模式中，自动割草机沿工作区域边界以顺时针方向移动。若修边模块200位于中轴线的右侧，在修边模式中，自动割草机沿工作区域边界以逆时针方向移动。
本实施例中，可选的，切割模块300位于中轴线或位于中轴线的某一侧，若切割模块300位于中轴线上，在沿边模式中，控制模块控制自动割草机沿边界顺时针移动或逆时针移动皆可。若切割模块300位于修边模块200的同一侧，控制模块控制自动割草机沿边界移动，且移动方向与修边模式相同。若切割模块300位于修边模块200的不同侧，控制模块控制自动割草机沿边界移动，且移动方向与修边模式相反。
本发明的一个实施例提供上述自动割草机的控制方法，包括如下步骤：
判断是否满足沿边启动条件，若满足，则控制切割模块300工作，移动模块沿工作区域边界移动；
判断是否满足修边启动条件，若满足，则控制修边模块200工作，移动模块沿工作区域边界移动，使修边模块200所在的一侧朝向所述工作区域外。
在一个实施例中，沿边启动条件包括控制模块接收到沿边启动信号，工作区域切割完成信号，回归信号等。修边启动条件包括控制模块接收到沿边完成信号，还可以包括修边启动信号，工作区域切割完成信号，回归信号等。可以理解的是，本实施例中，沿边工作在修边工作开始前完成，但不限制沿边工作与修边工作是否连续进行。
继续参考图18，在一个实施例中，修边模块200位于中轴线的一侧，切割模块300位于中轴线的另一侧，在沿边模式中，控制模块控制自动割草机沿工作区域边界移动，使得切割模块300所在的所述另一侧朝向工作区域外。在沿边模式中，控制模块控制切割模块300工作，自动割草机以第一方向沿工作区域边界行走，使得切割模块300所在的一侧朝向工作区域外，因 而切割模块300能够最大限度地切割到工作区域边界。在修边模式中，控制模块控制修边模块200工作，自动割草机以第二方向沿工作区域边界行走，使得修边模块200所在的一侧朝向工作区域外，因而修边模块200能切割到切割模块300无法达到的区域。本实施例中，控制模块控制沿边模式先于修边模式启动。当沿边模式完成后，方可启动修边模式。可选的，在修边模式中，自动割草机沿工作区域边界移动的距离或时间满足预设值，则判断沿边模式完成。可选的，控制模块可以控制自动割草机在沿边模式完成后即进行修边模式，完成自动割草机的修边工作。控制模块也可以控制自动割草机在修边模式完成后进入其他模式，待接收到修边模式启动信号后进入修边模式。
本发明的一个实施例提供上述自动割草机的控制方法，包括如下步骤：
判断是否满足沿边启动条件，若满足，则控制切割模块300工作，移动模块以第一方向沿工作区域边界移动，使切割模块300朝向工作区域外。
判断是否满足修边启动条件，若满足，则控制修边模块200工作，移动模块沿工作区域边界移动，使修边模块200所在的一侧朝向所述工作区域外。以该方向为第二方向。由于切割模块300和修边模块200分别位于中轴线两侧，第一方向和第二方向为相反方向。
在其他所实施例中，参考图5，可选的，若切割模块300位于所述中轴线上，在沿边模式中，控制模块可控制自动割草机沿工作区域边界以顺时针方向移动，或以逆时针方向移动。
在一个实施例中，自动割草机的控制方法，包括如下步骤：
检测是否满足修边启动条件，若满足，则控制切割模块300和修边模块200工作，移动模块沿工作区域边界移动，使修边模块200朝向工作区域外。本实施例中，当移动模块沿工作区域边界移动，切割模块300和修边模块200同时工作。可选的，第一转轴位于中轴线上。
本发明的一个实施例提供一种自动割草机的控制方法，包括如下步骤：
启动沿边模式，自动割草机沿着第一方向行走工作区域边界，修边模块200工作和/或切割模块300工作；可选地，工作区域边界可以为环形、直线形、曲线形、不规则形或者其它形状。
之后，启动修边模式，自动割草机沿着第二方向行走该工作区域边界， 切割模块300工作和/或修边模块200工作；其中，第二方向为第一方向的反方向，也即自动割草机沿着该工作区域边界反方向行走。
也就是说，启动沿边模式后，自动割草机可以沿着第一方向行走工作区域边界，修边模块200工作修剪植物，切割模块300停止工作；之后，启动修边模式，自动割草机沿着第二方向行走该工作区域边界，切割模块300工作修剪切割植物，修边模块200停止工作；
也可以为，启动沿边模式后，自动割草机可以沿着第一方向行走工作区域边界，切割模块300工作修剪切割植物，修边模块200停止工作；之后，启动修边模式，自动割草机沿着第二方向行走该工作区域边界，修边模块200工作修剪植物，切割模块300停止工作。
还可以为，启动沿边模式后，自动割草机可以沿着第一方向行走工作区域边界，修边模块200和切割模块300均工作修剪切割植物；之后，启动修边模式，自动割草机沿着第二方向行走该工作区域边界，修边模块200和切割模块300均工作修剪切割植物。
本发明的一个实施例提供一种自动割草机的控制方法，包括如下步骤：
启动修边模式，自动割草机沿着第二方向行走该工作区域边界，切割模块300工作和/或修边模块200工作；
之后，启动沿边模式，自动割草机沿着第一方向行走工作区域边界，修边模块200工作和/或切割模块300工作；其中，第二方向为第一方向的反方向，也即自动割草机沿着该工作区域边界反方向行走。
可选地，工作区域边界可以为环形、直线形、曲线形、不规则形或者其它形状。
可选地，自动割草机沿着第一方向行走工作区域边界，可以行走全部或者部分工作区域边界，也可以行走一次或者多次工作区域边界；例如工作区域边界为环形时，自动割草机沿着第一方向行走一整圈、多圈或者半圈。
可选地，自动割草机沿着第二方向行走工作区域边界，可以行走全部或者部分工作区域边界，也可以行走一次或者多次工作区域边界；例如工作区域边界为环形时，自动割草机沿着第二方向行走一整圈、多圈或者半圈。
参见图15-图18所示，本实施例的可选方案中，在沿边模式，自动割草机沿着第一方向行走工作区域边界，切割模块300工作，修边模块200停 止工作；如图15和图16，切割模块300工作时，切割模块300未能完全修剪到边。
之后，启动修边模式，自动割草机沿着第二方向行走工作区域边界，修边模块200工作并修剪工作区域边界之外的植物，切割模块300停止工作；如图17和图18，修边模块200工作时，修边模块200可以完全修剪到边。
通过先令包括刚性切割元件的切割模块300进行修剪工作，再令柔性修剪元件210的修边模块200进行修剪工作，以减少柔性修剪元件210的实际切割宽度，使切边效果更好，还减少了柔性修剪元件210的磨损，使柔性修剪元件210更耐用。
针对修边模块200的位置布置，本实施例提供了一组自动割草机行走具有直角转弯的工作区域边界修剪其边缘一带的草等植物示例。参见图12-图14所示，修边模块200分别设置在壳体100靠近机头、靠近机中、靠近机尾三个位置，修边模块200的修剪直径相同。参见图12所示，修边模块200尽可能布置在壳体100前侧，也即靠近机头的位置；参见图13所示，修边模块200尽可能布置在壳体100中间，也即靠近机中的位置；参见图14所示，修边模块200尽可能布置在壳体100后侧，也即靠近机尾的位置。
参见图12-图14所示，修边模块200布置在壳体100不同位置，其转角未切割面积不同；其中，靠近机头的修边模块200未切割面积，小于靠近机中的修边模块200未切割面积；靠近机中的修边模块200未切割面积，小于靠近机尾的修边模块200未切割面积。因此，修边模块200尽可能布置在壳体100前侧，也即靠近机头的位置，转弯时转角未切割面积较小。
结合图15和图17所示，本实施例还提供一种割草系统，包括供电站400和上述的自动割草机；
供电站400用于提供电能给自动割草机。供电站400可以通过有线或者无线的方式供电给自动割草机。
所述割草系统包括上述的自动割草机；上述自动割草机的技术特征也适用于该割草系统，自动割草机已公开的技术特征不再重复描述。所述割草系统具有所述自动割草机的优点，自动割草机所公开的优点在此不再重复描述。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对 其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (20)

  1. 一种自动割草机，在工作区域内移动和工作，包括：
    壳体，包括纵向上的中轴线；
    移动模块，安装于所述壳体，带动所述壳体移动；
    切割模块，安装于所述壳体，所述切割模块以第一转轴为中心旋转形成切割区域，所述切割模块包括切割元件；
    修边模块，安装于所述壳体，所述修边模块以第二转轴为中心旋转形成修边区域，所述修边模块包括修边元件，所述修边元件与所述切割元件不同；
    控制模块，与所述移动模块、所述切割模块和所述修边模块电连接，控制所述自动割草机移动和工作；
    其特征在于，
    所述第一转轴和所述第二转轴分别位于所述中轴线的两侧。
  2. 根据权利要求1所述的自动割草机，其特征在于，所述修边区域在高度方向上的投影至少部分超出所述壳体。
  3. 根据权利要求1所述的自动割草机，其特征在于，所述第二转轴在高度方向上的投影位于所述壳体内。
  4. 根据权利要求1所述的自动割草机，其特征在于，所述第一转轴与所述中轴线的距离小于等于所述第二转轴与所述中轴线的距离。
  5. 根据权利要求1所述的自动割草机，其特征在于，以所述第一转轴与所述中轴线的距离为第一距离，以所述第二转轴与中轴线的距离为第二距离，所述第一距离小于所述第二距离，所述第二距离与第一距离的差值小于等于所述切割区域与所述修边区域的半径之和。
  6. 根据权利要求1所述的自动割草机，其特征在于，所述自动割草机包括沿边模式和修边模式，在所述沿边模式中，所述控制模块控制所述切割模块工作，所述移动模块以第一方向沿所述工作区域边界移动，使所述第一转轴所在的一侧朝向所述工作区域外；在所述修边模式中，所述控制模块控制所述修边模块工作，所述移动模块以第二方向沿所述工作区域边界移动，使所述第二转轴所在的一侧朝向所述工作区域外；所述第一方向与所述第二方向相反。
  7. 根据权利要求1所述的自动割草机，其特征在于，所述修边元件包括柔性切割件。
  8. 一种自动割草机，在工作区域内移动和工作，包括：
    壳体，包括纵向上的中轴线；
    移动模块，安装于所述壳体，带动所述壳体移动；
    切割模块，安装于所述壳体，所述切割模块以第一转轴为中心旋转形成切割区域；
    修边模块，安装于所述壳体，所述修边模块以第二转轴为中心旋转形成修边区域，所述第二转轴位于所述中轴线的一侧；
    控制模块，与所述移动模块、所述切割模块和所述修边模块电连接，控制所述自动割草机移动和工作；
    其特征在于，
    所述自动割草机包括修边模式，在所述修边模式中，所述控制模块控制所述修边模块工作，所述移动模块沿所述工作区域边界移动，使所述一侧朝向所述工作区域外。
  9. 根据权利要求8所述的自动割草机，其特征在于，所述自动割草机包括沿边模式，在所述沿边模式中，所述控制模块控制所述切割模块工作，且所述移动模块沿所述边界移动。
  10. 根据权利要求9所述的自动割草机，其特征在于，所述第一转轴位于所述中轴线的另一侧，在所述沿边模式中，所述移动模块沿所述边界移动的方向与所述修边模式的移动方向相反。
  11. 根据权利要求9所述的自动割草机，其特征在于，当所述沿边模式完成后，所述控制模块启动所述修边模式。
  12. 根据权利要求8所述的自动割草机，其特征在于，所述自动割草机包括检测模块，检测所述工作区域边界，所述控制模块基于所述检测模块检测的所述边界控制所述移动模块沿所述边界移动。
  13. 根据权利要求8所述的自动割草机，其特征在于，所述第一转轴与所述中轴线的距离小于等于所述第二转轴与所述中轴线的距离。
  14. 根据权利要求8所述的自动割草机，其特征在于，以所述第一转轴与所述中轴线的距离为第一距离，以所述第二转轴与所述中轴线的距离为 第二距离，所述第一距离小于所述第二距离所述第二距离与第一距离的差值小于等于所述切割区域与所述修边区域的半径之和。
  15. 根据权利要求8所述的自动割草机，其特征在于，所述修边模块包括修边元件，所述修边元件包括柔性切割件。
  16. 一种自动割草机的控制方法，所述自动割草机在工作区域内移动和工作，包括切割模块和修边模块，所述自动割草机包括纵向上的中轴线，所述修边模块位于所述中轴线的一侧，其特征在于，所述自动割草机的控制方法包括：
    判断是否满足修边启动条件，若满足，控制所述修边模块工作，所述自动割草机沿所述工作区域边界移动，使所述一侧朝向所述工作区域外。
  17. 根据权利要求16所述的控制方法，其特征在于，所述控制方法包括：检测所述工作区域边界,基于对所述边界的检测，控制所述自动割草机沿所述边界移动。
  18. 根据权利要求16所述的控制方法，其特征在于，所述控制方法还包括：
    判断是否满足沿边启动条件，若满足，控制所述切割模块工作，所述自动割草机沿所述边界移动。
  19. 根据权利要求18所述的控制方法，其特征在于，所述切割模块位于所述中轴线的另一侧，所述控制方法包括：
    判断是否满足沿边启动条件，若满足，控制所述自动割草机沿所述边界移动，使所述另一侧朝向所述工作区域外。
  20. 根据权利要求18所述的控制方法，其特征在于，所述修边启动条件包括完成所述沿边工作。
PCT/CN2019/089315 2018-05-30 2019-05-30 自动割草机及其控制方法 WO2019228461A1 (zh)

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