WO2020063822A1 - 自动割草机及其操作控制方法、装置和电子设备 - Google Patents

自动割草机及其操作控制方法、装置和电子设备 Download PDF

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Publication number
WO2020063822A1
WO2020063822A1 PCT/CN2019/108416 CN2019108416W WO2020063822A1 WO 2020063822 A1 WO2020063822 A1 WO 2020063822A1 CN 2019108416 W CN2019108416 W CN 2019108416W WO 2020063822 A1 WO2020063822 A1 WO 2020063822A1
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WO
WIPO (PCT)
Prior art keywords
lawn mower
cutting unit
automatic lawn
auxiliary cutting
specific object
Prior art date
Application number
PCT/CN2019/108416
Other languages
English (en)
French (fr)
Inventor
赵凤丽
查亚红
焦石平
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
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 EP19865310.7A priority Critical patent/EP3858128B1/en
Priority to EP24198068.9A priority patent/EP4449846A2/en
Priority to US17/280,627 priority patent/US20210345545A1/en
Publication of WO2020063822A1 publication Critical patent/WO2020063822A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • 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
    • 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
    • A01D34/835—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
    • A01D75/00—Accessories for harvesters or mowers
    • A01D75/18—Safety devices for parts of the machines
    • A01D75/185—Avoiding collisions with obstacles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
    • 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, in particular to an operation control method and an operation control device of the automatic lawn mower, and an automatic lawn mower and an electronic device including the operation control device.
  • Automatic lawn mowers can automatically complete tasks such as lawn maintenance, which are becoming increasingly popular with consumers. Automatic lawn mowers are restricted from moving within the work area enclosed by the boundary during work.
  • the existing automatic lawn mower is provided with one or more cutter heads at the bottom of the machine body, metal cutters are installed on the cutter heads, and the cutter heads are rotated to form a cutting area. Because the speed of the blades on the lawn mower is very high, it may cause harm to people. Therefore, a high level of protection is required. As a result, the blades have a large protection distance and cannot cut the grass near the boundary, that is, they cannot be completely trimmed.
  • a technical problem existing in the existing automatic lawnmowers is how to realize the complete trimming of the border while ensuring the safety of the lawnmowers.
  • a problem to be solved by the present invention is to achieve complete trimming of the border while ensuring the safety of the lawnmower.
  • An operation control method for an automatic lawn mower includes a main cutting unit and an auxiliary cutting unit, and the cutting range of the auxiliary cutting unit extends at least to be flush with the casing of the automatic lawn mower,
  • the method includes: detecting a specific object in a normal working mode of the auxiliary cutting unit; determining whether a specific object is detected; switching to an obstacle working mode based at least on detecting the specific object; and based on at least undetected To the specific object, the normal working mode of the auxiliary cutting unit is maintained.
  • determining whether a specific object is detected includes: determining whether the detection object is a living body; and determining that the specific object is detected in response to the detection object being a living body.
  • determining whether a specific object is detected further includes: detecting a distance between the living body and the automatic lawn mower; and switching to an obstacle work mode based on at least the detection of the specific object
  • the method includes: in response to the distance being less than a preset distance threshold, switching the normal working mode to an obstacle working mode.
  • determining whether a specific object is detected includes: detecting a relative speed between the living body and the automatic lawn mower; and switching to an obstacle based on at least the detection of the specific object
  • the working mode includes: in response to the relative speed being greater than a preset speed threshold, switching the normal working mode to an obstacle working mode.
  • the automatic lawnmower performs at least one of the following: changing the working state of the auxiliary cutting unit; changing the automatic lawnmower Movement of the machine; warning.
  • changing the working state of the auxiliary cutting unit includes at least one of the following: controlling the auxiliary cutting unit not to work; and reducing the working speed of the auxiliary cutting unit.
  • changing the moving mode of the automatic lawn mower includes at least one of the following: controlling the automatic lawn mower not to move; controlling the automatic lawn mower to move backward and turn away from the specific object.
  • the automatic lawn mower further comprising: detecting a specific object in the obstacle working mode; determining whether a specific object is detected; and maintaining the obstacle working mode based at least on detecting the specific object. And, at least based on not detecting the specific object, restoring the normal working mode of the auxiliary cutting unit.
  • restoring the normal working mode of the auxiliary cutting unit includes: restoring the normal working mode of the auxiliary cutting unit based on at least the working speed of the auxiliary cutting unit is not 0; And / or detecting whether the holding time of the obstacle working mode exceeds a preset safety time, and at least based on the holding time not exceeding the preset safety time, recovering the normal working mode of the auxiliary cutting unit.
  • detection of a specific object is performed by at least one of the following: infrared induction, image recognition, ultrasonic / radar ranging, and depth imaging.
  • the automatic lawnmower further comprising: detecting an ambient light level of the automatic lawnmower; and controlling the auxiliary cutting unit to enter a normal working mode in response to the ambient light level being less than a threshold of the light level.
  • An operation control device for an automatic lawn mower includes a main cutting unit and an auxiliary cutting unit, and the cutting range of the auxiliary cutting unit extends at least to be flush with the casing of the automatic lawn mower,
  • the device includes: a detection unit for detecting a specific object in a normal working mode of the auxiliary cutting unit; a determination unit for determining whether a specific object is detected; a switching unit for at least based on detecting the detection The specific object is switched to the obstacle working mode; and a holding unit is configured to maintain the normal working mode of the auxiliary cutting unit based on at least the specific object is not detected.
  • restoring the normal working mode of the auxiliary cutting unit includes: restoring the normal working mode of the auxiliary cutting unit based on at least the working speed of the auxiliary cutting unit is not 0; And / or detecting whether the holding time of the obstacle working mode exceeds a preset safety time, and at least based on the holding time not exceeding the preset safety time, recovering the normal working mode of the auxiliary cutting unit.
  • the determination unit is configured to: determine whether a detection object is a living body; and determine that the specific object is detected in response to the detection object being a living body.
  • the determination unit is further configured to detect a distance between the living body and the automatic lawnmower; and the switching unit is further configured to respond to the distance being smaller than The preset distance threshold switches the normal working mode to the obstacle working mode.
  • the determination unit is further configured to detect a relative speed between the living body and the automatic lawnmower; and the switching unit is further configured to respond to the relative speed The speed is greater than a preset speed threshold, and the normal working mode is switched to an obstacle working mode.
  • the automatic lawnmower performs at least one of the following: changing the working state of the auxiliary cutting unit; changing the automatic lawnmower Movement of the machine; warning.
  • changing the working state of the auxiliary cutting unit includes at least one of the following: controlling the auxiliary cutting unit not to work; and reducing the working speed of the auxiliary cutting unit.
  • changing the moving mode of the automatic lawn mower includes at least one of the following: controlling the automatic lawn mower not to move; controlling the automatic lawn mower to move backward and turn away from the specific object.
  • the detection unit is further configured to detect a specific object in the obstacle working mode; the determination unit is further configured to determine whether a specific object is detected; and the holding unit It is further configured to maintain the obstacle working mode based on at least the specific object is detected; and the switching unit is further configured to restore the normal working mode of the auxiliary cutting unit based on at least the specific object is not detected.
  • detection of a specific object is performed by at least one of the following: infrared induction, image recognition, ultrasonic / radar ranging, and depth imaging.
  • the detection unit is further configured to detect an ambient temperature of the automatic lawnmower; and the holding unit is further configured to respond to the ambient temperature within a preset temperature range. Within, the work of the auxiliary cutting unit is allowed.
  • the detection unit is further configured to detect the ambient light level of the automatic lawnmower; and the switching unit is further configured to control in response to the ambient light level being less than a threshold of the light level.
  • the auxiliary cutting unit enters a normal working mode.
  • An automatic lawn mower comprising: a casing; a main cutting unit; an auxiliary cutting unit whose cutting range extends at least to be flush with the casing of the automatic lawn mower; and as described above
  • the operation control device is used for controlling the normal working mode or the obstacle working mode of the auxiliary cutting unit.
  • An electronic device includes: a memory for storing computer-executable instructions; and a processor for executing the computer-executable instructions stored in the memory to perform the operation control method of the automatic lawnmower as described above.
  • a computer-readable storage medium has computer program instructions stored thereon. When the computer program instructions are executed by a computing device, the computer program instructions are operable to perform the operation control method for an automatic lawnmower as described above.
  • the present invention has the beneficial effect that by controlling whether or not a specific object is detected to control the operation of the automatic lawnmower provided with an auxiliary cutting unit, the border of the lawnmower can be ensured while ensuring the safety of the lawnmower. Completely trimming.
  • FIG. 1 is a schematic diagram of an automatic working system according to a first embodiment of the present invention.
  • FIG. 2 is a schematic structural diagram of an automatic lawn mower according to the first embodiment of the present invention.
  • FIG. 3 is a schematic diagram of a first arrangement example of a main cutting unit and an auxiliary cutting unit of the automatic lawn mower of the present invention.
  • FIG. 4 is a schematic diagram of a second arrangement example of the main cutting unit and the auxiliary cutting unit of the automatic lawn mower of the present invention.
  • FIG. 5 is a schematic diagram of a third arrangement example of the main cutting unit and the auxiliary cutting unit of the automatic lawn mower of the present invention.
  • FIG. 6 is a schematic flowchart of an operation control method for an automatic lawn mower according to the present invention.
  • FIG. 7 is a schematic diagram of a sensor setting of the automatic lawn mower of the present invention.
  • FIG. 8 is a schematic block diagram of an operation control device for an automatic lawn mower according to the present invention.
  • FIG. 9 is a schematic block diagram of an electronic device according to the present invention.
  • FIG. 1 is a schematic diagram of an automatic working system 100 according to a first embodiment of the present invention.
  • the automatic work system 100 includes an automatic lawn mower 1.
  • the above-mentioned automatic working system 100 further includes a charging station 2 for supplying electric power to the automatic lawn mower 1.
  • the automatic lawn mower 1 is used to work in a predetermined work area.
  • the structure of the automatic lawn mower 1 in this embodiment is shown in FIG. 2.
  • the automatic lawn mower 1 includes a housing 3, a mobile module, a task execution module, an energy module, a control module, and the like.
  • the moving module includes a wheel set 5 driven by a driving motor to drive the automatic lawn mower 1 to move.
  • the task execution module includes a cutting assembly 7 to perform mowing work.
  • the energy module includes a battery pack (not shown), and provides power for the movement and work of the automatic lawn mower 1.
  • the control module is electrically connected with the mobile module, the task execution module and the energy module, controls the mobile module to drive the automatic lawnmower 1 to move, and controls the task execution module to perform work tasks.
  • the automatic lawnmower of the present invention further includes an auxiliary cutting unit for trimming.
  • the cutting range of the auxiliary cutting unit extends at least to be flush with the casing of the automatic lawn mower, such as the casing 3 shown in FIG. 2.
  • the auxiliary cutting unit of the automatic lawnmower of the present invention may be a mowing head, including a winder, a mowing rope provided around the winder, and a driving motor for driving the winder to rotate.
  • the cutting element of the auxiliary cutting unit may be a flexible material, such as a straw rope, or a non-blade metal material.
  • the cutting energy of the auxiliary cutting unit is preferably less than 2 Joules.
  • the auxiliary cutting unit may also be a pruning shear or the like.
  • the auxiliary cutting unit When the auxiliary cutting unit is actually set, because the auxiliary cutting unit is used for trimming, it is usually disposed at the edge position of the housing, and there can be multiple instances of its positional relationship with respect to the main cutting unit.
  • Fig. 3 is a schematic diagram of a first arrangement example of a main cutting unit and an auxiliary cutting unit of the automatic lawn mower of the present invention.
  • the main cutting unit 7 is arranged in the middle of the whole machine of the automatic lawn mower, and the auxiliary cutting unit 17 is arranged on the side of the middle of the automatic lawn mower.
  • the auxiliary cutting area of the auxiliary cutting unit 17 and the main cutting area of the main cutting unit 7 are in the width direction of the automatic lawn mower (that is, a direction perpendicular to the traveling direction of the automatic lawn mower). Cut or overlap to prevent missing cuts.
  • a universal wheel 19 is provided on the front side of the automatic lawn mower. In order not to hinder the work of the auxiliary cutting unit, the gap between the cutting area of the auxiliary cutting unit 17 and the moving area of the universal wheel 19 More than 5mm.
  • FIG. 4 is a schematic diagram of a second arrangement example of the main cutting unit and the auxiliary cutting unit of the automatic lawn mower of the present invention.
  • the auxiliary cutting unit 17 is arranged on the front side of the automatic lawn mower on the same side as the main cutting unit 7.
  • the auxiliary cutting unit The auxiliary cutting area of the auxiliary cutting unit is tangent or overlaps with the main cutting area of the main cutting unit in the width direction of the automatic lawn mower (that is, a direction perpendicular to the traveling direction of the automatic lawn mower).
  • the gap between the cutting area and the moving area of the universal wheel 19 of the automatic lawn mower is greater than 5 mm.
  • FIG. 5 is a schematic diagram of a third arrangement example of the main cutting unit and the auxiliary cutting unit of the automatic lawn mower of the present invention.
  • the auxiliary cutting unit 17 is arranged on the front side of the automatic lawn mower opposite to the main cutting unit 7.
  • the boundary moves clockwise to form a first movement path, and moves along the boundary of the work area counterclockwise to form a second movement path.
  • the main cutting area of the main cutting unit is tangent or overlapped in the width direction of the automatic lawnmower.
  • the gap between the cutting area of the auxiliary cutting unit 17 and the moving area of the universal wheel 19 of the automatic lawn mower is greater than 5 mm.
  • auxiliary cutting unit As described above, in the automatic lawnmower of the present invention, although an auxiliary cutting unit is used for trimming, it is preferable to limit the cutting energy of the auxiliary cutting unit to avoid causing damage to other objects or the human body. However, these injuries cannot be completely avoided, especially for the human body, and the auxiliary cutting unit should be avoided from touching the human body as much as possible. In addition, if the auxiliary cutting unit encounters other hard objects during cutting, it may also cause damage to the auxiliary cutting unit itself.
  • the present invention further proposes an operation control method for the above-mentioned automatic lawnmower provided with an auxiliary cutting unit.
  • FIG. 6 is a schematic flowchart of an operation control method for an automatic lawn mower according to the present invention.
  • the automatic lawn mower includes a main cutting unit and an auxiliary cutting unit for trimming, and the cutting range of the auxiliary cutting unit extends at least to be flush with the casing of the automatic lawn mower. , Or beyond the case.
  • the operation control method of the automatic lawnmower includes: S510, detecting a specific object in a normal working mode of the auxiliary cutting unit; S520, determining whether a specific object is detected; S530, at least based on When the specific object is detected, switch to the obstacle work mode; and S540, at least based on that the specific object is not detected, maintain the normal working mode of the auxiliary cutting unit.
  • step S510 detection of a specific object is performed in a normal working mode of the auxiliary cutting unit.
  • the normal working mode of the auxiliary cutting unit refers to a working mode in which the auxiliary cutting unit normally performs a trimming operation.
  • the cutting range of the auxiliary cutting unit extends at least to be flush with the casing of the automatic lawn mower, so it is necessary to detect a specific object to prevent the auxiliary cutting unit from The subject caused damage, or the auxiliary cutting unit was damaged by the specific subject.
  • the specific object may be a living body, such as a person, an animal, or the like, or may be moving and may affect the operation of the automatic lawn mower.
  • Other objects such as objects that move faster than a predetermined threshold.
  • living body in the embodiments of the present invention not only refers to living objects, but also other moving objects, in order to communicate with fixed obstacles in the working environment of the automatic lawn mower, etc. distinguish.
  • step S520 it is determined whether a specific object is detected.
  • determining whether a specific object is detected includes: determining whether the detection object is a living body; and, in response to the detection object being a living body, determining whether all the Describing specific objects.
  • the distance between the living body and the automatic lawn mower may be further determined based on the object being a living body, so as to further determine whether the living body will interact with the automatic lawn mower to reduce the automatic Lawn Mower Misoperation.
  • determining whether a specific object is detected further includes: detecting a distance between the living body and the automatic lawn mower; and, based at least on the detection
  • Switching to the specific object to the obstacle work mode includes: in response to the distance being less than a preset distance threshold, switching the normal work mode to the obstacle work mode.
  • determining whether a specific object is detected includes: detecting a relative speed between the living body and the automatic lawn mower; and based at least on detecting the
  • the switching of the specific object to the obstacle work mode includes: in response to the relative speed being greater than a preset speed threshold, switching the normal work mode to the obstacle work mode.
  • step S530 at least based on detecting that the specific object is switched to the obstacle work mode.
  • the automatic lawnmower performs at least one of the following: changing the working state of the auxiliary cutting unit ; Change the moving mode of the automatic lawn mower; warning.
  • changing the working state of the auxiliary cutting unit includes at least one of the following: controlling the auxiliary cutting unit not to work; and reducing the working speed of the auxiliary cutting unit.
  • controlling the auxiliary cutting unit not to work is to control the auxiliary cutting unit to stop working.
  • the working speed is large and may cause damage to certain objects.
  • the current working speed of the auxiliary cutting unit is less than a preset safety threshold. The current working speed will not cause harm to the specific object, so as to ensure the safety in the work of the auxiliary cutting unit.
  • changing the moving mode of the automatic lawn mower includes at least one of the following: controlling the automatic lawn mower to not work; controlling the automatic lawn mower to move back away from the specific object; controlling the automatic The lawnmower turns away from the specific object.
  • the automatic lawn mower is controlled to retreat away from the specific object, or the automatic lawn mower is controlled to be steered away from the specific object, or the automatic lawn mower is controlled to retreat and steered away from the specific object. Describing specific objects.
  • controlling the automatic lawn mower not to work or controlling the automatic lawn mower to be away from the specific object it is possible to effectively prevent the automatic lawn mower from damaging the specific object, thereby improving the safety of the automatic lawn mower operation.
  • the automatic lawn mower may stop the work of the auxiliary cutting unit or reduce the Cutting speed, or reducing the cutting energy of the auxiliary cutting unit.
  • the automatic lawn mower may adopt a moving manner such as turning and avoiding to avoid damage.
  • the automatic lawn mower can use a warning mode to alert the user of an unexpected situation, such as sending an alarm signal on the machine or sending a warning message to the user's mobile phone.
  • step S540 at least based on that the specific object is not detected, the normal working mode of the auxiliary cutting unit is maintained. That is, in a case where the specific object is not detected, there is no possibility that the main cutting unit may cause damage to or damage by an external object, and thus the working state of the auxiliary cutting unit may continue to be maintained.
  • the operation control method of the automatic lawn mower further comprising: detecting a specific object in the obstacle working mode; determining whether a specific object is detected; or at least based on detecting the specific object , Maintaining the obstacle working mode; and restoring the normal working mode of the auxiliary cutting unit based on at least the specific object not being detected.
  • the obstacle work mode it can continue to detect whether there is the specific object that affects the work of the auxiliary cutting unit, and if the specific object still exists, the obstacle work mode is maintained, and if the If a specific object does not exist, the normal work of the auxiliary cutting unit can be resumed.
  • restoring the normal working mode of the auxiliary cutting unit based on at least the specific object is not detected includes: at least based on that the working speed of the auxiliary cutting unit is not 0, restoring the Normal working mode of the auxiliary cutting unit; and / or, detecting whether the holding time of the obstacle working mode exceeds a preset safety time, and at least based on the holding time not exceeding the preset safety time, recovering the normal working of the auxiliary cutting unit mode.
  • the obstacle work mode if the working speed of the auxiliary cutting unit is always less than a preset safety threshold, and the working speed of the auxiliary cutting unit is not zero, when the specific object does not exist The intelligent lawn mower can automatically resume the normal work of the auxiliary cutting unit.
  • the preset safety threshold is a value set according to safety regulations. Specifically, in the obstacle work mode, if the working speed of the auxiliary cutting unit is zero, that is, the auxiliary cutting unit stops working and continuously detects the existence of the specific object, and when the existence of the specific object is not detected, Determine the time that the auxiliary cutting unit is in the obstacle working mode. If the time that the auxiliary cutting unit is in the obstacle working mode is greater than a preset time threshold, the automatic lawn mower can receive a user's instruction to restore the normal working mode. Specifically, all The preset time threshold is set according to safety regulations. Preferably, the preset time threshold is 10s. Specifically, the automatic lawn mower receives a user's instruction to restore the normal working mode.
  • the user restarts the intelligent lawn mower to make the auxiliary
  • the cutting unit resumes the normal working mode, or the user remotely operates through a mobile phone, an Ipad, or other device to restore the normal cutting mode of the auxiliary cutting unit.
  • the auxiliary cutting unit if the auxiliary cutting unit is in the obstacle working mode for less than a preset time threshold, that is, when the auxiliary cutting unit detects that a specific object enters the obstacle working mode, the auxiliary cutting unit continuously detects the existence of the specific object, and when detecting When the specific object does not exist, determine whether the time from when the auxiliary cutting unit enters the obstacle working mode to when the specific object does not exist is less than a preset time threshold. When it is determined that the time is less than the preset time threshold, the auxiliary cutting unit may The normal working mode is restored by itself.
  • the preset time threshold is set according to safety regulations.
  • the preset time threshold is 10s.
  • detection of a specific object is performed by at least one of the following: infrared induction, image recognition, ultrasonic / radar ranging, and depth imaging.
  • an infrared sensor can be used to identify whether a person is approaching the automatic lawn mower, thereby switching the auxiliary cutting unit from a normal working mode to an obstacle working mode within a certain range of the distance from the machine.
  • the auxiliary cutting unit is changed from normal The work mode is switched to the obstacle work mode.
  • the moving object can be described when the moving object is at a certain distance and a certain approaching speed.
  • the auxiliary cutting unit switches from the normal working mode to the obstacle working mode.
  • depth imaging technology can be used to three-dimensionally image the surrounding environment to identify the human body or a part of the human body, and when the human body or a part of the human body is recognized near the machine, the human body or a part of the human body is distanced from the machine In a certain range, the auxiliary cutting unit is switched from the normal working mode to the obstacle working mode.
  • the operation control method of the automatic lawn mower according to the embodiment of the present invention can also comprehensively utilize the above two or more technologies, by identifying a person or a moving object and the automatic lawn mower.
  • the degree of proximity includes, for example, a proximity distance and a proximity speed to control the working state of the automatic lawn mower.
  • FIG. 7 is a schematic diagram of a sensor setting of the automatic lawn mower of the present invention.
  • two or more sensors 21 for example, the above-mentioned for infrared sensing, image recognition, ultrasonic / radar ranging, etc.
  • Depth imaging sensor may be provided on the side of the arrangement of the auxiliary cutting unit of the automatic lawnmower. Depth imaging sensor.
  • FIG. 8 by providing sensors with more than two channels, it is possible to ensure that the sensors do not miss the test.
  • the automatic lawnmower may be provided with a temperature sensor, so as to be set to switch the working mode of the auxiliary cutting unit when the ambient temperature is close to the temperature of the human body to prevent misjudgment.
  • the automatic lawnmower may be provided with a light sensor, so as to set the auxiliary cutting unit of the automatic lawnmower to work normally when the light is less than a set value, for example, to start the normal working mode at night, To prevent light from affecting the accuracy of other sensors, such as infrared sensors.
  • the operation control method of the automatic lawnmower further comprising: detecting an environmental temperature of the automatic lawnmower; and, in response to the environmental temperature being within a preset temperature range, allowing all The operation of the auxiliary cutting unit is described.
  • an automatic lawnmower further comprising: detecting an ambient light level of the automatic lawnmower; and controlling the auxiliary cutting in response to the ambient light level being less than a threshold of the light level
  • the unit enters normal operating mode.
  • FIG. 8 is a schematic block diagram of an operation control device for an automatic lawn mower according to the present invention.
  • the operation control device 600 shown in FIG. 8 is applied to the automatic lawn mower having the main cutting unit and the auxiliary cutting unit for trimming as described above, and the cutting range of the auxiliary cutting unit extends at least to It is flush with the casing of the automatic lawn mower.
  • the operation control device 600 includes a detection unit 610 for detecting a specific object in a normal working mode of the auxiliary cutting unit, and a determination unit 620 for determining whether a specific object is detected. An object; a switching unit 630 for switching to an obstacle work mode based on at least the specific object is detected; and a holding unit 640 for maintaining the normal operation of the auxiliary cutting unit based on at least the specific object is not detected mode.
  • the determination unit 620 is configured to: determine whether a detection target is a living body; and, in response to the detection target being a living body, determine that the specific is detected Object.
  • the determination unit 620 is further configured to detect a distance between the living body and the automatic lawnmower; and the switching unit 630 further In response to the distance being less than a preset distance threshold, switching the normal working mode to an obstacle working mode.
  • the determination unit 620 is further configured to detect a relative speed between the living body and the automatic lawnmower; and the switching unit 630 It is further configured to switch the normal working mode to an obstacle working mode in response to the relative speed being greater than a preset speed threshold.
  • the automatic lawnmower in the obstacle work mode, performs at least one of the following: stopping the work of the auxiliary cutting unit; changing The moving mode of the automatic lawn mower.
  • the detection unit 610 is further configured to detect a specific object in the obstacle working mode; the determination unit 620 is further configured to determine whether to detect To a specific object; the holding unit 640 is further configured to maintain the obstacle working mode based at least on the detection of the specific object; and the switching unit 630 is further configured to restore all information based on at least the specific object not detected.
  • the normal working mode of the auxiliary cutting unit is described.
  • detection of a specific object is performed by at least one of the following: infrared sensing, image recognition, ultrasonic / radar ranging, and depth imaging.
  • the detection unit 610 is further configured to detect an ambient temperature of the automatic lawnmower; and the holding unit 640 is further configured to respond to all The ambient temperature is within a preset temperature range, allowing the auxiliary cutting unit to work.
  • the detection unit 610 is further configured to detect the ambient light intensity of the automatic lawnmower; and the switching unit 630 is further configured to respond to all The ambient light level is less than the light level threshold, and the auxiliary cutting unit is controlled to enter a normal working mode.
  • the invention further relates to an automatic lawn mower, comprising: a housing; a main cutting unit; an auxiliary cutting unit for trimming, and a cutting range of the auxiliary cutting unit extending at least to the shell of the automatic lawn mower
  • the body is flush; and the operation control device as described above is used to control a normal working mode or an obstacle working mode of the auxiliary cutting unit.
  • the present invention has the beneficial effect of controlling the operation of the automatic lawnmower provided with an auxiliary cutting unit for trimming by detecting whether a specific object is detected, while ensuring the safety of the lawnmower Achieve complete trimming of the border.
  • the electronic device may be an electronic device integrated in a mobile station of the automatic lawn mower, or a stand-alone device independent of the mobile station, and the single device may communicate with the mobile station to implement the automatic lawn mower according to the present invention Method of operation control.
  • FIG. 9 is a schematic block diagram of an electronic device according to the present invention.
  • the electronic device 700 includes one or more processors 710 and a memory 720.
  • the processor 710 may be a central processing unit (CPU) or other form of processing unit having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 700 to perform a desired function.
  • CPU central processing unit
  • the processor 710 may be a central processing unit (CPU) or other form of processing unit having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 700 to perform a desired function.
  • the memory 720 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory.
  • the volatile memory may include, for example, a random access memory (RAM) and / or a cache memory.
  • the non-volatile memory may include, for example, a read-only memory (ROM), a hard disk, a flash memory, and the like.
  • One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 710 may run the program instructions to implement the operation control of the automatic lawn mower according to the embodiments of the present invention described above. Methods and / or other desired functions.
  • Various contents such as detection results of specific objects, working mode data, and the like can also be stored in the computer-readable storage medium.
  • the electronic device 700 may further include an input device 730 and an output device 740, and these components are interconnected through a bus system and / or other forms of connection mechanisms (not shown).
  • the input device 730 may be used to receive user input.
  • the output device 740 can directly output various information to the outside, or control the mobile station to send signals.
  • the electronic device 700 may also include any other appropriate components.
  • embodiments of the present application may also be computer program products that include computer program instructions that, when executed by a processor, cause the processor to perform the above-mentioned "exemplary operation control" of this specification.
  • the computer program product may write program code for performing the operations of the embodiments of the present application in any combination of one or more programming languages.
  • the programming language includes an object-oriented programming language, such as Java, C ++, and the like.
  • object-oriented programming language such as Java, C ++, and the like.
  • conventional procedural programming languages such as "C” or similar programming languages.
  • the program code may be executed entirely on the user computing device, partly on the user device, as an independent software package, partly on the user computing device, partly on the remote computing device, or entirely on the remote computing device or server On.
  • the embodiment of the present application may also be a computer-readable storage medium on which computer program instructions are stored, and the computer program instructions, when executed by a processor, cause the processor to execute the foregoing “exemplary operation control method of this specification” The steps in the method of controlling operation of an automatic lawn mower according to various embodiments of the present invention described in the section "".
  • the computer-readable storage medium may adopt any combination of one or more readable media.
  • the readable medium may be a readable signal medium or a readable storage medium.
  • the readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: electrical connections with one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable Programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the foregoing.
  • each component or each step can be disassembled and / or recombined.

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Abstract

一种自动割草机的操作控制方法，自动割草机（1）包括主切割单元（7）和用于修边的辅助切割单元（17），辅助切割单元（17）的切割范围至少延伸到与自动割草机（1）的壳体（3）齐平，所述方法包括：在所述辅助切割单元（17）的正常工作模式下进行特定对象的检测；判定是否检测到特定对象；至少基于检测到所述特定对象，切换为障碍工作模式；以及，至少基于未检测到所述特定对象，保持所述辅助切割单元（17）的正常工作模式。

Description

自动割草机及其操作控制方法、装置和电子设备
本申请要求了申请日为2018年09月27日，申请号为201811132158.9，发明名称为“自动割草机及其操作控制方法、装置和电子设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及自动割草机，尤其的，涉及一种自动割草机的操作控制方法，操作控制装置，包括该操作控制装置的自动割草机和电子设备。
背景技术
自动割草机能够自动完成维护草坪等任务，日渐受到消费者的欢迎。自动割草机在工作时，被限制在边界围成的工作区域内活动。现有的自动割草机在机体底部设置一个或多个刀盘，刀盘上安装有金属刀片，刀盘旋转形成切割区域。因为割草刀盘上的刀片的转速很高，可能会对人造成伤害，因此需要高等级的防护，导致刀片防护距离大，无法切割到边界附近的草，即无法完全修边。
因此，现有的自动割草机存在的一个技术问题是：如何在保证割草机的安全性的同时实现对边界的完全修边。
发明内容
为克服现有技术的缺陷，本发明所要解决的一个问题是，在保证割草机的安全性的同时实现对边界的完全修边。
本发明解决现有技术问题所采用的技术方案是：
一种自动割草机的操作控制方法，所述自动割草机包括主切割单元和辅 助切割单元，所述辅助切割单元的切割范围至少延伸到与所述自动割草机的壳体齐平，所述方法包括：在所述辅助切割单元的正常工作模式下进行特定对象的检测；判定是否检测到特定对象；至少基于检测到所述特定对象，切换为障碍工作模式；以及，至少基于未检测到所述特定对象，保持所述辅助切割单元的正常工作模式。
在上述自动割草机的操作控制方法中，判定是否检测到特定对象包括：判定检测对象是否是活体；以及，响应于所述检测对象是活体，判定检测到所述特定对象。
在上述自动割草机的操作控制方法中，判定是否检测到特定对象进一步包括：检测所述活体与所述自动割草机之间的距离；至少基于检测到所述特定对象切换为障碍工作模式包括：响应于所述距离小于预设距离阈值，将所述正常工作模式切换为障碍工作模式。
在上述自动割草机的操作控制方法中，判定是否检测到特定对象包括：检测所述活体与所述自动割草机之间的相对速度；以及，至少基于检测到所述特定对象切换为障碍工作模式包括：响应于所述相对速度大于预设速度阈值，将所述正常工作模式切换为障碍工作模式。
在上述自动割草机的操作控制方法中，在所述障碍工作模式下，所述自动割草机执行以下的至少其中之一：改变所述辅助切割单元的工作状态；改变所述自动割草机的移动方式；警示。
进一步的，改变所述辅助切割单元的工作状态包括以下的至少其中之一：控制所述辅助切割单元不工作；减小所述辅助切割单元的工作速度。
进一步的，改变所述自动割草机的移动方式包括以下的至少其中之一：控制所述自动割草机不移动；控制所述自动割草机后退和转向以远离所述特定对象。
在上述自动割草机的操作控制方法中，进一步包括：在所述障碍工作模式下进行特定对象的检测；判定是否检测到特定对象；至少基于检测到所述特定对象，保持所述障碍工作模式；以及，至少基于未检测到所述特定对象，恢复所述辅助切割单元的正常工作模式。
进一步的，至少基于未检测到所述特定对象，恢复所述辅助切割单元的 正常工作模式包括：至少基于所述辅助切割单元的工作速度不为0，恢复所述辅助切割单元的正常工作模式；和/或，检测障碍工作模式的保持时间是否超出预设安全时间，至少基于所述保持时间未超出所述预设安全时间，恢复所述辅助切割单元的正常工作模式。
在上述自动割草机的操作控制方法中，通过以下的至少其中之一进行特定对象的检测：红外感应，图像识别，超声波/雷达测距，深度成像。
在上述自动割草机的操作控制方法中，进一步包括：检测所述自动割草机的环境温度；以及，响应于所述环境温度在预设温度范围内，允许所述辅助切割单元的工作。
在上述自动割草机的操作控制方法中，进一步包括：检测所述自动割草机的环境光照度；以及，响应于所述环境光照度小于光照度阈值，控制所述辅助切割单元进入正常工作模式。
一种自动割草机的操作控制装置，所述自动割草机包括主切割单元和辅助切割单元，所述辅助切割单元的切割范围至少延伸到与所述自动割草机的壳体齐平，所述装置包括：检测单元，用于在所述辅助切割单元的正常工作模式下进行特定对象的检测；判定单元，用于判定是否检测到特定对象；切换单元，用于至少基于检测到所述特定对象，切换为障碍工作模式；以及，保持单元，用于至少基于未检测到所述特定对象，保持所述辅助切割单元的正常工作模式。
进一步的，至少基于未检测到所述特定对象，恢复所述辅助切割单元的正常工作模式包括：至少基于所述辅助切割单元的工作速度不为0，恢复所述辅助切割单元的正常工作模式；和/或，检测障碍工作模式的保持时间是否超出预设安全时间，至少基于所述保持时间未超出所述预设安全时间，恢复所述辅助切割单元的正常工作模式。
在上述自动割草机的操作控制装置中，所述判定单元用于：判定检测对象是否是活体；以及，响应于所述检测对象是活体，判定检测到所述特定对象。
在上述自动割草机的操作控制装置中，所述判定单元进一步用于检测所 述活体与所述自动割草机之间的距离；以及，所述切换单元进一步用于响应于所述距离小于预设距离阈值，将所述正常工作模式切换为障碍工作模式。
在上述自动割草机的操作控制装置中，所述判定单元进一步用于检测所述活体与所述自动割草机之间的相对速度；以及，所述切换单元进一步用于响应于所述相对速度大于预设速度阈值，将所述正常工作模式切换为障碍工作模式。
在上述自动割草机的操作控制装置中，在所述障碍工作模式下，所述自动割草机执行以下的至少其中之一：改变所述辅助切割单元的工作状态；改变所述自动割草机的移动方式；警示。
进一步的，改变所述辅助切割单元的工作状态包括以下的至少其中之一：控制所述辅助切割单元不工作；减小所述辅助切割单元的工作速度。
进一步的，改变所述自动割草机的移动方式包括以下的至少其中之一：控制所述自动割草机不移动；控制所述自动割草机后退和转向以远离所述特定对象。
在上述自动割草机的操作控制方法中，所述检测单元进一步用于在所述障碍工作模式下进行特定对象的检测；所述判定单元进一步用于判定是否检测到特定对象；所述保持单元进一步用于至少基于检测到所述特定对象，保持所述障碍工作模式；以及，所述切换单元进一步用于至少基于未检测到所述特定对象，恢复所述辅助切割单元的正常工作模式。
在上述自动割草机的操作控制装置中，通过以下的至少其中之一进行特定对象的检测：红外感应，图像识别，超声波/雷达测距，深度成像。
在上述自动割草机的操作控制装置中，所述检测单元进一步用于检测所述自动割草机的环境温度；以及，所述保持单元进一步用于响应于所述环境温度在预设温度范围内，允许所述辅助切割单元的工作。
在上述自动割草机的操作控制装置中，所述检测单元进一步用于检测所述自动割草机的环境光照度；以及，所述切换单元进一步用于响应于所述环境光照度小于光照度阈值，控制所述辅助切割单元进入正常工作模式。
一种自动割草机，包括：壳体；主切割单元；辅助切割单元，所述辅助切割单元的切割范围至少延伸到与所述自动割草机的壳体齐平；以及，如上 所述的操作控制装置，用于控制辅助切割单元的正常工作模式或者障碍工作模式。
一种电子设备，包括：存储器，用于存储计算机可执行指令；和，处理器，用于执行所述存储器存储的计算机可执行指令，以执行如上所述的自动割草机的操作控制方法。
一种计算机可读存储介质，其上存储有计算机程序指令，当所述计算机程序指令被计算装置执行时，可操作来执行如上所述的自动割草机的操作控制方法。
与现有技术相此，本发明的有益效果是：通过是否检测到特定对象来控制设置有辅助切割单元的自动割草机的工作，可以在保证割草机的安全性的同时实现对边界的完全修边。
附图说明
从下面结合附图对本发明实施例的详细描述中，本发明的这些和/或其它方面和优点将变得更加清楚并更容易理解，其中：
图1为本发明的第一实施例的自动工作系统示意图。
图2为本发明的第一实施例的自动割草机结构示意图。
图3为本发明的自动割草机的主切割单元和辅助切割单元的第一布置实例的示意图。
图4为本发明的自动割草机的主切割单元和辅助切割单元的第二布置实例的示意图。
图5为本发明的自动割草机的主切割单元和辅助切割单元的第三布置实例的示意图。
图6为本发明的自动割草机的操作控制方法的示意性流程图。
图7为本发明的自动割草机的传感器设置的示意图。
图8为本发明的自动割草机的操作控制装置的示意性框图。
图9为本发明的电子设备的示意性框图。
具体实施方式
下面，将参考附图详细地描述根据本申请的示例实施例。显然，所描述 的实施例仅仅是本申请的一部分实施例，而不是本申请的全部实施例，应理解，本申请不受这里描述的示例实施例的限制。
自动割草机概述
图1为本发明的第一实施例的自动工作系统100示意图。本实施例中，自动工作系统100包括自动割草机1。另外，上述自动工作系统100还包括充电站2，用于为自动割草机1补给电能。
如图1所示，自动割草机1用于在预定的工作区域内工作。
本实施例中的自动割草机1的结构如图2所示。自动割草机1包括壳体3，移动模块，任务执行模块，能源模块，控制模块等。其中，移动模块包括轮组5，由驱动马达驱动以带动自动割草机1移动。任务执行模块包括切割组件7，执行割草工作。能源模块包括电池包(图未示)，为自动割草机1的移动和工作提供电能。控制模块与移动模块、任务执行模块和能源模块电连接，控制移动模块带动自动割草机1移动，并控制任务执行模块执行工作任务。
示意性操作控制方法
为了实现修边的目的，本发明的自动割草机除了如图2所示的切割组件7中的主切割单元以外，进一步包括用于修边的辅助切割单元。并且，为了对边界完全修边，所述辅助切割单元的切割范围至少延伸到与所述自动割草机的壳体，例如如图2所示的壳体3齐平。
在一个示例中，本发明的自动割草机的辅助切割单元可以是打草头，包括绕线器，绕设于绕线器的打草绳，以及驱动绕线器转动的驱动马达。辅助切割单元的切割元件可以是柔性材料，例如打草绳，也可以是非开刃口的金属材料。并且，所述辅助切割单元的切割能量优选地小于2焦耳。在其他实施例中，辅助切割单元也可以是修枝剪等。
在实际设置辅助切割单元时，因为所述辅助切割单元用于修边，因此通常设置在所述壳体的边缘位置，其相对于主切割单元的位置关系可以有多个实例。
图3为本发明的自动割草机的主切割单元和辅助切割单元的第一布置实 例的示意图。如图3所示，主切割单元7布置在自动割草机的整机中部，且所述辅助切割单元17布置在所述自动割草机的中部侧边。在进行切割时，所述辅助切割单元17的辅助切割区域与所述主切割单元7的主切割区域在自动割草机的宽度方向上(即垂直于自动割草机的行进方向的方向)相切或者重叠，以防止漏切割。本实施例中，自动割草机的前侧设置万向轮19，为了不妨碍所述辅助切割单元的工作，所述辅助切割单元17的切割区域与所述万向轮19的运动区域的间隙大于5mm。
图4为本发明的自动割草机的主切割单元和辅助切割单元的第二布置实例的示意图。如图4所示，在该实例中，所述辅助切割单元17布置在所述自动割草机的前端与所述主切割单元7的同侧，同样地，在切割时，所述辅助切割单元的辅助切割区域与所述主切割单元的主切割区域在自动割草机的宽度方向上(即垂直于自动割草机的行进方向的方向)相切或重叠，且所述辅助切割单元17的切割区域与所述自动割草机的万向轮19的运动区域的间隙大于5mm。
图5为本发明的自动割草机的主切割单元和辅助切割单元的第三布置实例的示意图。如图5所示，在该实例中，所述辅助切割单元17布置在所述自动割草机的前端与所述主切割单元7的相对侧，在切割时，自动割草机沿工作区域的边界顺时针移动形成第一移动路径，沿工作区域的边界逆时针移动形成第二移动路径，所述自动割草机沿第一移动路径移动时所述辅助切割单元的的辅助切割区域，与所述自动割草机沿第二移动路径移动时所述主切割单元的主切割区域，在自动割草机的宽度方向上相切或重叠。并且，所述辅助切割单元17的切割区域与所述自动割草机的万向轮19的运动区域的间隙大于5mm。
如上所述，在本发明的自动割草机中，虽然采用辅助切割单元用于修边，且优选地限制所述辅助切割单元的切割能量以避免对其它物体，或者人体造成伤害。但是这些伤害仍然无法完全避免，尤其是针对人体，更需要尽可能完全避免辅助切割单元触碰到人体。另外，如果在切割时辅助切割单元碰到其它硬物，也可能对辅助切割单元本身造成损害。
基于此，本发明进一步提出用于上述设置有辅助切割单元的自动割草机的操作控制方法。
图6为本发明的自动割草机的操作控制方法的示意性流程图。这里，如上所述，所述自动割草机包括主切割单元和用于修边的辅助切割单元，且所述辅助切割单元的切割范围至少延伸到与所述自动割草机的壳体齐平，或超出壳体。
如图6所示，所述自动割草机的操作控制方法包括：S510，在所述辅助切割单元的正常工作模式下进行特定对象的检测；S520，判定是否检测到特定对象；S530，至少基于检测到所述特定对象，切换为障碍工作模式；以及，S540，至少基于未检测到所述特定对象，保持所述辅助切割单元的正常工作模式。
在步骤S510中，在所述辅助切割单元的正常工作模式下进行特定对象的检测。
这里，所述辅助切割单元的正常工作模式指的是所述辅助切割单元正常进行修边操作的工作模式。并且，由于在进行修边操作时，所述辅助切割单元的切割范围至少延伸到与所述自动割草机的壳体齐平，因此需要检测特定对象，以免所述辅助切割单元对所述特定对象造成损伤，或者所述辅助切割单元被所述特定对象损伤。
在根据本发明实施例的自动割草机的操作控制方法中，所述特定对象可以是活体，诸如人、动物之类的，或者是正在移动的、可能影响到所述自动割草机的工作的其它物体，例如移动速度大于某预定阈值的物体。本领域技术人员可以理解，本发明实施例中的术语“活体”不仅指有生命的物体，还可以指其它移动的物体，以与所述自动割草机的工作环境内的固定的障碍物等区分。
在步骤S520中，判定是否检测到特定对象。具体地，在根据本申请实施例的自动割草机的操作控制方法中，判定是否检测到特定对象包括：判定检测对象是否是活体；以及，响应于所述检测对象是活体，判定检测到所述特定对象。
另外，可以基于所述对象是活体来进一步确定所述活体与所述自动割草机之间的距离，从而进一步确定所述活体是否会与所述自动割草机互相影响，以降低所述自动割草机的误操作率。
也就是，在根据本申请实施例的自动割草机的操作控制方法中，判定是 否检测到特定对象进一步包括：检测所述活体与所述自动割草机之间的距离；以及，至少基于检测到所述特定对象切换为障碍工作模式包括：响应于所述距离小于预设距离阈值，将所述正常工作模式切换为障碍工作模式。
此外，在根据本申请实施例的自动割草机的操作控制方法中，判定是否检测到特定对象包括：检测所述活体与所述自动割草机之间的相对速度；以及至少基于检测到所述特定对象切换为障碍工作模式包括：响应于所述相对速度大于预设速度阈值，将所述正常工作模式切换为障碍工作模式。
在步骤S530中，至少基于检测到所述特定对象切换为障碍工作模式。
也就是说，在检测到可能对所述自动割草机的切割工作造成影响的特定对象之后，为了所述自动割草机使用的安全性的考虑，需要改变所述辅助切割单元的工作模式。在根据本发明实施例的自动割草机的操作控制方法中，在所述辅助切割单元的障碍工作模式下，所述自动割草机执行以下的至少其中之一：改变辅助切割单元的工作状态；改变所述自动割草机的移动方式；警示。
具体的，改变所述辅助切割单元的工作状态包括以下的至少其中之一：控制所述辅助切割单元不工作；减小所述辅助切割单元的工作速度。具体的，控制所述辅助切割单元不工作为，控制辅助切割单元停止工作。具体的，所述辅助切割单元处于正常工作状态时，工作速度较大，可能会对特定对象造成伤害，通过减小其工作速度，使得辅助切割单元的当前工作速度小于一预设安全阈值，则当前工作速度对所述特定对象不会造成伤害，以保证辅助切割单元工作中的安全性。
具体的，改变所述自动割草机的移动方式包括以下的至少其中之一：控制所述自动割草机不工作；控制所述自动割草机后退以远离所述特定对象；控制所述自动割草机转向以远离所述特定对象。具体的，控制所述自动割草机后退以远离所述特定对象，或者，控制所述自动割草机转向以远离所述特定对象，或者，控制所述自动割草机后退并转向以远离所述特定对象。通过控制自动割草机不工作或者控制自动割草机远离所述特定对象，能够有效防止自动割草机对特定对象的伤害，以提升自动割草机工作的安全性。
具体地，所述自动割草机为了避免对所述特定对象造成损害，或者避免所述特定对象对所述辅助切割单元的损坏，可以停止所述辅助切割单元的工 作，或者降低辅助切割单元的切割速度，或者减弱辅助切割单元的切割能量。此外，所述自动割草机可以采用转向、避让等移动方式，从而避免损害情况的发生。此外自动割草机可以采用警示方式，提示用户意外情况的发生，例如机器上发出报警信号，或者发送警示信息至用户手机。
在步骤S540中，至少基于未检测到所述特定对象，保持所述辅助切割单元的正常工作模式。也就是说，在未检测到所述特定对象的情况下，不存在所述主切割单元对外部物体造成损害或者由外部物体损坏的可能性，因此可以继续保持所述辅助切割单元的工作状态。
此外，在根据本发明实施例的自动割草机的操作控制方法中，进一步包括：在所述障碍工作模式下进行特定对象的检测；判定是否检测到特定对象；至少基于检测到所述特定对象，保持所述障碍工作模式；以及，至少基于未检测到所述特定对象，恢复所述辅助切割单元的正常工作模式。
也就是说，在所述障碍工作模式下，可以继续检测是否存在影响所述辅助切割单元工作的所述特定对象，如果所述特定对象仍然存在，则保持所述障碍工作模式，而如果所述特定对象不存在，则可以恢复所述辅助切割单元的正常工作。
具体的，在所述障碍工作模式下，至少基于未检测到所述特定对象，恢复所述辅助切割单元的正常工作模式包括：至少基于所述辅助切割单元的工作速度不为0，恢复所述辅助切割单元的正常工作模式；和/或，检测障碍工作模式的保持时间是否超出预设安全时间，至少基于所述保持时间未超出所述预设安全时间，恢复所述辅助切割单元的正常工作模式。具体的，在所述障碍工作模式下，如果所述辅助切割单元的工作速度一直小于预设安全阈值，并且所述辅助切割单元的工作速度不为零时，则当所述特定对象不存在时，智能割草机可以自动恢复所述辅助切割单元的正常工作，具体的，所述预设安全阈值为根据安规设定的值。具体的，在所述障碍工作模式下，如果所述辅助切割单元的工作速度为零，即所述辅助切割单元停止工作，持续检测所述特定对象的存在，在未检测到特定对象存在时，判断所述辅助切割单元处于障碍工作模式下的时间，若辅助切割单元处于障碍工作模式下的时间大于预设时间阈值，自动割草机能够接收用户的指令以恢复正常工作模式，具体的，所述预设时间阈值根据安规设定，优选的，所述预设时间阈值为10s，具 体的，自动割草机接收用户的指令以恢复正常工作模式包括，用户通过重启智能割草机使得辅助切割单元恢复正常工作模式，或者，用户通过手机，Ipad等设备远程操作以恢复所述辅助切割单元的正常工作模式。具体的，若辅助切割单元处于障碍工作模式下的时间小于预设时间阈值，也就是说，当辅助切割单元检测到特定对象进入障碍工作模式时，辅助切割单元持续检测特定对象的存在，当检测到特定对象不存在时，判断辅助切割单元从进入障碍工作模式到检测到特定对象不存在的时间是否小于预设时间阈值，当判断为该时间小于预设时间阈值时，所述辅助切割单元可自行恢复正常工作模式，具体的，所述预设时间阈值根据安规设定，优选的，所述预设时间阈值为10s。
在根据本发明实施例的自动割草机的操作控制方法中，通过以下的至少其中之一进行特定对象的检测：红外感应，图像识别，超声波/雷达测距，深度成像。
例如，采用红外人体感应技术，可以通过红外传感器识别人是否靠近所述自动割草机，从而在人距离机器一定范围内，将所述辅助切割单元从正常工作模式切换到障碍工作模式。
又例如，利用图像识别技术，可以识别到人或人体的一部分是否靠近所述自动割草机，在人或人体的一部分距离所述自动割草机一定范围时，将所述辅助切割单元从正常工作模式切换到障碍工作模式。
根据另一示例中，利用超生波/雷达测距技术，通过识别移动物体(包含人或物体)与设备的距离及接近速度，可以在移动物体在一定距离及一定的接近速度时，将所述辅助切割单元从正常工作模式切换到障碍工作模式。
根据又一示例，可以利用深度成像技术(TOF或其它技术)对周围环境三维成像，识别人体或人体的一部分，并且，当识别到人或人体的一部分靠近机器，在人或人体的一部分距离机器一定范围时，将所述辅助切割单元从正常工作模式切换到障碍工作模式。
当然，本领域技术人员可以理解，根据本发明实施例的自动割草机的操作控制方法也可以综合利用以上两种或两种以上技术，通过识别人或移动物体与自动割草机之间的接近程度，例如包括接近距离和接近速度，来控制所述自动割草机的工作状态。
图7为本发明的自动割草机的传感器设置的示意图。如图7所示，可以 在所述自动割草机的辅助切割单元的布置一侧，设置两个或两个以上的传感器21(例如上述用于红外感应，图像识别，超声波/雷达测距，深度成像的传感器)。并且，如图8所示，通过设置双通道以上的传感器，可以保证传感器不漏测。
另外，所述自动割草机可以设置有温度传感器，从而设定为当检测到环境温度与人体温度相近时，切换所述辅助切割单元的工作模式，以防止误判。
并且，所述自动割草机可以设置有光照传感器，从而设定为当光照小于设定值后，启动所述自动割草机的辅助切割单元正常工作，例如在夜间启动所述正常工作模式，以防止光照影响其他传感器，如红外传感器的检测精度。
因此，在根据本发明实施例的自动割草机的操作控制方法中，进一步包括：检测所述自动割草机的环境温度；以及，响应于所述环境温度在预设温度范围内，允许所述辅助切割单元的工作。
并且，在根据本发明实施例的自动割草机的操作控制方法中，进一步包括：检测所述自动割草机的环境光照度；以及，响应于所述环境光照度小于光照度阈值，控制所述辅助切割单元进入正常工作模式。
示意性操作控制装置和自动割草机
图8为本发明的自动割草机的操作控制装置的示意性框图。
这里，如图8所示的操作控制装置600应用于如上所述的具有主切割单元和用于修边的辅助切割单元的自动割草机，且所述述辅助切割单元的切割范围至少延伸到与所述自动割草机的壳体齐平。
并且，如图8所示，所述操作控制装置600包括：检测单元610，用于在所述辅助切割单元的正常工作模式下进行特定对象的检测；判定单元620，用于判定是否检测到特定对象；切换单元630，用于至少基于检测到所述特定对象，切换为障碍工作模式；以及，保持单元640，用于至少基于未检测到所述特定对象，保持所述辅助切割单元的正常工作模式。
在一个示例中，在上述自动割草机的操作控制装置600中，所述判定单元620用于：判定检测对象是否是活体；以及，响应于所述检测对象是活体，判定检测到所述特定对象。
在一个示例中，在上述自动割草机的操作控制装置600中，所述判定单 元620进一步用于检测所述活体与所述自动割草机之间的距离；以及，所述切换单元630进一步用于响应于所述距离小于预设距离阈值，将所述正常工作模式切换为障碍工作模式。
在一个示例中，在上述自动割草机的操作控制装置600中，所述判定单元620进一步用于检测所述活体与所述自动割草机之间的相对速度；以及，所述切换单元630进一步用于响应于所述相对速度大于预设速度阈值，将所述正常工作模式切换为障碍工作模式。
在一个示例中，在上述自动割草机的操作控制装置600中，在所述障碍工作模式下，所述自动割草机执行以下的至少其中之一：停止所述辅助切割单元的工作；改变所述自动割草机的移动方式。
在一个示例中，在上述自动割草机的操作控制方法600中，所述检测单元610进一步用于在所述障碍工作模式下进行特定对象的检测；所述判定单元620进一步用于判定是否检测到特定对象；所述保持单元640进一步用于至少基于检测到所述特定对象，保持所述障碍工作模式；以及，所述切换单元630进一步用于至少基于未检测到所述特定对象，恢复所述辅助切割单元的正常工作模式。
在一个示例中，在上述自动割草机的操作控制装置600中，通过以下的至少其中之一进行特定对象的检测：红外感应，图像识别，超声波/雷达测距，深度成像。
在一个示例中，在上述自动割草机的操作控制装置600中，所述检测单元610进一步用于检测所述自动割草机的环境温度；以及，所述保持单元640进一步用于响应于所述环境温度在预设温度范围内，允许所述辅助切割单元的工作。
在一个示例中，在上述自动割草机的操作控制装置600中，所述检测单元610进一步用于检测所述自动割草机的环境光照度；以及，所述切换单元630进一步用于响应于所述环境光照度小于光照度阈值，控制所述辅助切割单元进入正常工作模式。
这里，本领域技术人员可以理解，本发明的自动割草机的操作控制装置的其它细节与之前描述的本发明的自动割草机的操作控制方法中的相应细节完全相同，这里为了避免冗余便不再赘述。
本发明进一步涉及一种自动割草机，包括：壳体；主切割单元；辅助切割单元，用于修边，且所述辅助切割单元的切割范围至少延伸到与所述自动割草机的壳体齐平；以及，如上所述的操作控制装置，用于控制所述辅助切割单元的正常工作模式或者障碍工作模式。
与现有技术相此，本发明的有益效果是：通过是否检测到特定对象来控制设置有用于修边的辅助切割单元的自动割草机的工作，可以在保证割草机的安全性的同时实现对边界的完全修边。
示例性电子设备
下面，参考图9来描述根据本发明的电子设备。该电子设备可以是在自动割草机的移动站中集成的电子设备，或者与该移动站独立的单机设备，该单机设备可以与移动站进行通信，以实现根据本发明的自动割草机的操作控制方法。
图9为本发明的电子设备的示意性框图。
如图9所示，电子设备700包括一个或多个处理器710和存储器720。
处理器710可以是中央处理单元(CPU)或者具有数据处理能力和/或指令执行能力的其他形式的处理单元，并且可以控制电子设备700中的其他组件以执行期望的功能。
存储器720可以包括一个或多个计算机程序产品，所述计算机程序产品可以包括各种形式的计算机可读存储介质，例如易失性存储器和/或非易失性存储器。所述易失性存储器例如可以包括随机存取存储器(RAM)和/或高速缓冲存储器(cache)等。所述非易失性存储器例如可以包括只读存储器(ROM)、硬盘、闪存等。在所述计算机可读存储介质上可以存储一个或多个计算机程序指令，处理器710可以运行所述程序指令，以实现上文所述的本发明的各个实施例的自动割草机的操作控制方法以及/或者其他期望的功能。在所述计算机可读存储介质中还可以存储诸如特定对象的检测结果，工作模式数据等各种内容。
在一个示例中，电子设备700还可以包括：输入装置730和输出装置740，这些组件通过总线系统和/或其他形式的连接机构(未示出)互连。
例如，该输入装置730可以是用于接收用户输入。
该输出装置740可以直接向外部输出各种信息，或者控制移动站发送信号。
当然，为了简化，图9中仅示出了该电子设备700中与本申请有关的组件中的一些，省略了诸如总线、输入/输出接口等等的组件。除此之外，根据具体应用情况，电子设备700还可以包括任何其他适当的组件。
示例性计算机程序产品和计算机可读存储介质
除了上述方法和设备以外，本申请的实施例还可以是计算机程序产品，其包括计算机程序指令，所述计算机程序指令在被处理器运行时使得所述处理器执行本说明书上述“示例性操作控制方法”部分中描述的根据本发明各种实施例的自动割草机的操作控制方法中的步骤。
所述计算机程序产品可以以一种或多种程序设计语言的任意组合来编写用于执行本申请实施例操作的程序代码，所述程序设计语言包括面向对象的程序设计语言，诸如Java、C++等，还包括常规的过程式程序设计语言，诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算设备上执行、部分地在用户设备上执行、作为一个独立的软件包执行、部分在用户计算设备上部分在远程计算设备上执行、或者完全在远程计算设备或服务器上执行。
此外，本申请的实施例还可以是计算机可读存储介质，其上存储有计算机程序指令，所述计算机程序指令在被处理器运行时使得所述处理器执行本说明书上述“示例性操作控制方法”部分中描述的根据本发明各种实施例的自动割草机的操作控制方法中的步骤。
所述计算机可读存储介质可以采用一个或多个可读介质的任意组合。可读介质可以是可读信号介质或者可读存储介质。可读存储介质例如可以包括但不限于电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。可读存储介质的更具体的例子(非穷举的列表)包括：具有一个或多个导线的电连接、便携式盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携式紧凑盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。
以上结合具体实施例描述了本申请的基本原理，但是，需要指出的是，在本申请中提及的优点、优势、效果等仅是示例而非限制，不能认为这些优点、优势、效果等是本申请的各个实施例必须具备的。另外，上述公开的具体细节仅是为了示例的作用和便于理解的作用，而非限制，上述细节并不限制本申请为必须采用上述具体的细节来实现。
本申请中涉及的器件、装置、设备、系统的方框图仅作为例示性的例子并且不意图要求或暗示必须按照方框图示出的方式进行连接、布置、配置。如本领域技术人员将认识到的，可以按任意方式连接、布置、配置这些器件、装置、设备、系统。诸如“包括”、“包含”、“具有”等等的词语是开放性词汇，指“包括但不限于”，且可与其互换使用。这里所使用的词汇“或”和“和”指词汇“和/或”，且可与其互换使用，除非上下文明确指示不是如此。这里所使用的词汇“诸如”指词组“诸如但不限于”，且可与其互换使用。
还需要指出的是，在本申请的装置、设备和方法中，各部件或各步骤是可以分解和/或重新组合的。这些分解和/或重新组合应视为本申请的等效方案。
提供所公开的方面的以上描述以使本领域的任何技术人员能够做出或者使用本申请。对这些方面的各种修改对于本领域技术人员而言是非常显而易见的，并且在此定义的一般原理可以应用于其他方面而不脱离本申请的范围。因此，本申请不意图被限制到在此示出的方面，而是按照与在此公开的原理和新颖的特征一致的最宽范围。
为了例示和描述的目的已经给出了以上描述。此外，此描述不意图将本申请的实施例限制到在此公开的形式。尽管以上已经讨论了多个示例方面和实施例，但是本领域技术人员将认识到其某些变型、修改、改变、添加和子组合。

Claims (27)

  1. 一种自动割草机的操作控制方法，所述自动割草机包括主切割单元和辅助切割单元，所述辅助切割单元的切割范围至少延伸到与所述自动割草机的壳体齐平，其特征在于，所述方法包括：
    在所述辅助切割单元的正常工作模式下进行特定对象的检测；
    判定是否检测到特定对象；
    至少基于检测到所述特定对象，切换为障碍工作模式；以及
    至少基于未检测到所述特定对象，保持所述辅助切割单元的正常工作模式。
  2. 如权利要求1所述的自动割草机的操作控制方法，其特征在于，判定是否检测到特定对象包括：
    判定检测对象是否是活体；以及
    响应于所述检测对象是活体，判定检测到所述特定对象。
  3. 如权利要求2所述的自动割草机的操作控制方法，其特征在于，
    判定是否检测到特定对象进一步包括：
    检测所述活体与所述自动割草机之间的距离；以及
    至少基于检测到所述特定对象切换为障碍工作模式包括：
    响应于所述距离小于预设距离阈值，将所述正常工作模式切换为障碍工作模式。
  4. 如权利要求2所述的自动割草机的操作控制方法，其特征在于，
    判定是否检测到特定对象包括：
    检测所述活体与所述自动割草机之间的相对速度；以及
    至少基于检测到所述特定对象切换为障碍工作模式包括：
    响应于所述相对速度大于预设速度阈值，将所述正常工作模式切换为障碍工作模式。
  5. 如权利要求1所述的自动割草机的操作控制方法，其特征在于，在所述障碍工作模式下，所述自动割草机执行以下的至少其中之一：
    改变所述辅助切割单元的工作状态；
    改变所述自动割草机的移动方式；
    警示。
  6. 如权利要求5所述的自动割草机的操作控制方法，其特征在于，改变所述辅助切割单元的工作状态包括以下的至少其中之一：
    控制所述辅助切割单元不工作；
    减小所述辅助切割单元的工作速度。
  7. 如权利要求5所述的自动割草机的操作控制方法，其特征在于，改变所述自动割草机的移动方式包括以下的至少其中之一：
    控制所述自动割草机不移动；
    控制所述自动割草机后退以远离所述特定对象
    控制所述自动割草机转向以远离所述特定对象。
  8. 如权利要求1所述的自动割草机的操作控制方法，其特征在于，进一步包括：
    在所述障碍工作模式下进行特定对象的检测；
    判定是否检测到特定对象；
    至少基于检测到所述特定对象，保持所述障碍工作模式；以及
    至少基于未检测到所述特定对象，恢复所述辅助切割单元的正常工作模式。
  9. 如权利要求8所述的自动割草机的操作控制方法，其特征在于，至少基于未检测到所述特定对象，恢复所述辅助切割单元的正常工作模式包括：
    至少基于所述辅助切割单元的工作速度不为0，恢复所述辅助切割单元的正常工作模式；
    和/或，检测障碍工作模式的保持时间是否超出预设安全时间，至少基于所述保持时间未超出所述预设安全时间，恢复所述辅助切割单元的正常工作模式。
  10. 如权利要求1所述的自动割草机的操作控制方法，其特征在于，通过以下的至少其中之一进行特定对象的检测：红外感应，图像识别，超声波/雷达测距，深度成像。
  11. 如权利要求1所述的自动割草机的操作控制方法，其特征在于，进一步包括：
    检测所述自动割草机的环境温度；
    响应于所述环境温度在预设温度范围内，允许所述辅助切割单元的工作。
  12. 如权利要求1所述的自动割草机的操作控制方法，其特征在于，进一步包括：
    检测所述自动割草机的环境光照度；
    响应于所述环境光照度小于光照度阈值，控制所述辅助切割单元进入正常工作模式。
  13. 一种自动割草机的操作控制装置，所述自动割草机包括主切割单元和辅助切割单元，所述辅助切割单元的切割范围至少延伸到与所述自动割草机的壳体齐平，其特征在于，所述装置包括：
    检测单元，用于在所述辅助切割单元的正常工作模式下进行特定对象的检测；
    判定单元，用于判定是否检测到特定对象；
    切换单元，用于至少基于检测到所述特定对象，切换为障碍工作模式；以及
    保持单元，用于至少基于未检测到所述特定对象，保持所述辅助切割单元的正常工作模式。
  14. 如权利要求13所述的自动割草机的操作控制装置，其特征在于，所述判定单元用于：
    判定检测对象是否是活体；以及
    响应于所述检测对象是活体，判定检测到所述特定对象。
  15. 如权利要求14所述的自动割草机的操作控制装置，其特征在于，
    所述判定单元进一步用于检测所述活体与所述自动割草机之间的距离；以及
    所述切换单元进一步用于响应于所述距离小于预设距离阈值，将所述正常工作模式切换为障碍工作模式。
  16. 如权利要求13所述的自动割草机的操作控制装置，其特征在于，
    所述判定单元进一步用于检测所述活体与所述自动割草机之间的相对速度；以及
    所述切换单元进一步用于响应于所述相对速度大于预设速度阈值，将所述正常工作模式切换为障碍工作模式。
  17. 如权利要求13所述的自动割草机的操作控制装置，其特征在于，在所述障碍工作模式下，所述自动割草机执行以下的至少其中之一：
    改变所述辅助切割单元的工作状态；
    改变所述自动割草机的移动方式；
    警示。
  18. 如权利要求13所述的自动割草机的操作控制装置，其特征在于，改变所述辅助切割单元的工作状态包括以下的至少其中之一：
    控制所述辅助切割单元不工作；
    减小所述辅助切割单元的工作速度。
  19. 如权利要求13所述的自动割草机的操作控制装置，其特征在于，改变所述自动割草机的移动方式包括以下的至少其中之一：
    控制所述自动割草机不移动；
    控制所述自动割草机后退以远离所述特定对象
    控制所述自动割草机转向以远离所述特定对象。
  20. 如权利要求13所述的自动割草机的操作控制装置，其特征在于，
    所述检测单元进一步用于在所述障碍工作模式下进行特定对象的检测；
    所述判定单元进一步用于判定是否检测到特定对象；
    所述保持单元进一步用于至少基于检测到所述特定对象，保持所述障碍工作模式；以及
    所述切换单元进一步用于至少基于未检测到所述特定对象，恢复所述辅助切割单元的正常工作模式。
  21. 如权利要求20所述的自动割草机的操作控制装置，其特征在于，至少基于未检测到所述特定对象，恢复所述辅助切割单元的正常工作模式包括：
    至少基于所述辅助切割单元的工作速度不为0，恢复所述辅助切割单元的正常工作模式；
    和/或，检测障碍工作模式的保持时间是否超出预设安全时间，至少基于所述保持时间未超出所述预设安全时间，恢复所述辅助切割单元的正常工作模式。
  22. 如权利要求13所述的自动割草机的操作控制装置，其特征在于，通过以下的至少其中之一进行特定对象的检测：红外感应，图像识别，超声波/雷达测距，深度成像。
  23. 如权利要求13所述的自动割草机的操作控制装置，其特征在于，
    所述检测单元进一步用于检测所述自动割草机的环境温度；以及
    所述保持单元进一步用于响应于所述环境温度在预设温度范围内，允许所述辅助切割单元的工作。
  24. 如权利要求13所述的自动割草机的操作控制装置，其特征在于，
    所述检测单元进一步用于检测所述自动割草机的环境光照度；以及
    所述切换单元进一步用于响应于所述环境光照度小于光照度阈值，控制所述辅助切割单元进入正常工作模式。
  25. 一种自动割草机，包括：
    壳体；
    主切割单元；
    辅助切割单元，所述辅助切割单元的切割范围至少延伸到与所述自动割草机的壳体齐平；以及
    如权利要求13到23中任意一项所述的操作控制装置，用于控制所述辅助切割单元的正常工作模式或者障碍工作模式。
  26. 一种电子设备，包括：
    存储器，用于存储计算机可执行指令；和
    处理器，用于执行所述存储器存储的计算机可执行指令，以执行如权利要求1到12中任意一项所述的自动割草机的操作控制方法。
  27. [根据细则26改正23.10.2019]　
    一种计算机可读存储介质，其上存储有计算机程序指令，当所述计算机程序指令被计算装置执行时，可操作来执行如权利要求1到11中任意一项所述的自动割草机的操作控制方法。
PCT/CN2019/108416 2018-09-27 2019-09-27 自动割草机及其操作控制方法、装置和电子设备 WO2020063822A1 (zh)

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