WO2020192802A1

WO2020192802A1 - Autonomous grass cutter, and operating method and operating system therefor

Info

Publication number: WO2020192802A1
Application number: PCT/CN2020/091074
Authority: WO
Inventors: 吴志强
Original assignee: 宁波大业动力机械有限公司
Priority date: 2019-03-27
Filing date: 2020-05-19
Publication date: 2020-10-01
Also published as: CN111742713A

Abstract

An autonomous grass cutter, and an operating method and an operating system therefor, the operating method comprising the steps of: allowing the selection of a virtual shape (500); converting the virtual shape (500), so as to form path data representing an operation path; executing commands included in the path data in a grass cutter (100), so as to allow the grass cutter (100) to perform a grass-cutting operation on a lawn (300) according to the operation path, wherein after the grass-cutting operation is complete, a geometric shape (400) corresponding to the virtual shape (500) is formed on the lawn (300), so as to provide a personalized service.

Description

Autonomous lawn mower and its operating method and operating system

Technical field

The invention relates to a lawn mower, in particular to an autonomous lawn mower and its operating method and operating system.

Background technique

In recent years, autonomous lawn mowers have appeared, and autonomous lawn mowers can mowing the lawn without the manual operation of the user. For example, the user can designate a work area on the lawn, and the autonomous lawn mower can perform mowing operations in the designated work area according to the special scene of the designated work area. However, the existing autonomous lawn mower only supports universal operation functions, that is, the autonomous lawn mower performs mowing operations on all areas of the designated operation area, unless there is unsuitable mowing in the designated operation area For example, if there are obstacles such as lakes, rivers, rocks, numbers, and houses in the designated work area, the autonomous lawn mower can automatically avoid these obstacles. In other words, although the existing autonomous lawn mower supports identifying and avoiding areas that are not suitable for mowing within the designated operation area, its behavior is still universal and cannot Provide personalized mowing service.

Summary of the invention

An object of the present invention is to provide an autonomous lawn mower and its operating method and operating system, wherein the operating system allows a lawn mower to mow a lawn to form a geometric figure on the lawn, thereby Provide personalized mowing service.

An object of the present invention is to provide an autonomous lawn mower and its operating method and operating system, wherein the operating system can convert a selected virtual graphic into path data representing a working path, so that the mowing When the machine executes the instructions contained in the path data, the lawn mower is allowed to perform the mowing operation on the lawn, and after the mowing operation is completed, the geometric figure is formed on the lawn.

An object of the present invention is to provide an autonomous lawn mower and its operating method and operating system, wherein the operating system allows a user to select the virtual graphics on a computing device. For example, the user may select the virtual graphic by drawing on the computing device, or select the virtual graphic by calling the picture on the computing device.

An object of the present invention is to provide an autonomous lawn mower and its operating method and operating system, wherein the operating system hierarchically manages a virtual image of the lawn and the selected virtual graphics, thereby allowing the virtual The image is conveniently edited and managed to adjust the position and size of the virtual graphic relative to the virtual image.

An object of the present invention is to provide an autonomous lawn mower and its operating method and operating system, wherein the operating system allows the lawn mower and the computing device to be interconnected so as to indicate the path of the operating path. After the data is provided, the lawn mower can receive the path data, and execute the path data on the lawn mower.

According to one aspect of the present invention, the present invention provides a lawn mower operating method, wherein the operating method includes the following steps:

(a) Be allowed to choose a virtual figure;

(b) Converting the virtual graphics to form path data representing a working path; and

(c) A lawn mower executes the instructions contained in the path data to allow the lawn mower to perform mowing operations on a lawn according to the work path, wherein after the mowing operations are completed, the A geometric figure corresponding to the virtual figure.

According to an embodiment of the present invention, before the step (a), the operation method further includes the steps: (d) acquiring and displaying a virtual image of the lawn on the display screen of a computing device, and In step (a), the virtual graphics are displayed on the display screen of the computing device, so that in the step (b), the work path formed after the virtual graphics is converted corresponds to the needs of the lawn The trimmed part.

According to an embodiment of the present invention, the step (a) further includes the steps:

Detect a track being operated; and

Converting the operated track to form the virtual figure.

According to an embodiment of the present invention, in the above method, the operated trajectory of the display screen of the computing device is detected to convert the operated trajectory of the display screen of the computing device to form the virtual figure.

According to an embodiment of the present invention, in the above method, the operated track of a writing pad or drawing board is detected to convert the operated track of the writing pad or drawing board to form the virtual figure.

Detecting an operated track of the display screen of the computing device; and

The operated track of the display screen of the computing device is converted to form the virtual figure, wherein the virtual figure is displayed on the display screen of the computing device.

Programming on the computing device; and

Displaying the virtual graphics corresponding to the programming on a display screen of the computing device.

Detect the user's gestures; and

The gesture is converted to form the virtual figure.

Displaying the called picture on the display screen of the computing device;

Stroke the main part of the picture to obtain the outline of the main part of the picture; and

The outer contour of the main part of the picture is converted to form the virtual figure, wherein the picture is deleted or hidden.

According to another aspect of the present invention, the present invention further provides an operating method of a lawn mower, wherein the operating method includes the following steps:

(A) Display the acquired virtual image of a lawn on the display screen of a computing device;

(B) Select and display a virtual figure on the display screen of the computing device;

(C) Converting the virtual graphics in the computing device to form path data representing a working path; and

(D) A lawn mower executes the instructions contained in the path data to perform a mowing operation on the lawn, wherein after the mowing operation is completed, a geometric figure corresponding to the virtual figure is formed on the lawn .

According to an embodiment of the present invention, in the above method, the virtual image and the virtual graphic are managed hierarchically.

According to an embodiment of the present invention, in the step (A), when it is detected that the virtual image is acquired, a first layer is created for saving the virtual image in the first layer; and In the step (B), when it is detected that the virtual graphic is selected, a second layer is created for saving the virtual image in the second layer.

According to an embodiment of the present invention, the step (B) further includes the steps:

Detecting an operated track of the display screen of the computing device; and

Displaying the called picture on the display screen of the computing device;

According to another aspect of the present invention, the present invention further provides a lawn mower operating system, which includes a lawn mower, wherein the lawn mower further includes:

A lawn mower body, wherein the lawn mower body includes a frame and a driving mechanism, a walking mechanism, and a mowing mechanism respectively arranged on the frame, wherein the walking mechanism and the mowing mechanism The mechanisms are respectively driveably connected to the driving mechanism; and

A processor, wherein the processor is disposed on the lawn mower body, and the processor is configured to:

Receiving a path data representing a working path based on a virtual graphic; and

Execute the instructions contained in the path data to control the walking mechanism to walk on the lawn according to the work path and control the mowing mechanism to perform mowing operations on the lawn, so that after the mowing operation is completed, The lawn forms a geometric figure corresponding to the virtual figure.

According to an embodiment of the present invention, the processor is configured to:

Be allowed to select the virtual graphics; and

The virtual graphics are converted to form the path data representing the work path.

According to an embodiment of the present invention, in the step in which the processor is configured to be allowed to select the virtual graphics, further comprising:

Detect a track being operated; and

Converting the operated track to form the virtual figure.

Description of the drawings

Fig. 1A shows a perspective schematic view of a lawn mower according to a preferred embodiment of the present invention.

Fig. 1B shows an exploded schematic diagram of the lawn mower according to the above preferred embodiment of the present invention.

FIG. 2 shows a three-dimensional schematic diagram of an operating system according to a preferred embodiment of the present invention.

FIG. 3 shows a schematic block diagram of the operating system according to the above-mentioned preferred embodiment of the present invention.

Fig. 4 shows a schematic diagram of one of the operating procedures of a lawn mower according to a preferred embodiment of the present invention.

Fig. 5 shows a schematic diagram of the second operation flow of the lawn mower according to the above preferred embodiment of the present invention.

6A and 6B respectively show a schematic diagram of the third operation flow of the lawn mower according to the above preferred embodiment of the present invention.

FIG. 7 shows a schematic diagram of the fourth operation flow of the lawn mower according to the above preferred embodiment of the present invention.

Fig. 8 shows a schematic diagram of the fifth operation flow of the lawn mower according to the above preferred embodiment of the present invention.

9A and 9B respectively show a schematic diagram of the sixth operation flow of the lawn mower according to the above preferred embodiment of the present invention.

Fig. 10 shows a schematic diagram of one of the operation procedures of a lawn mower according to another preferred embodiment of the present invention.

FIG. 11 shows a schematic diagram of the second operation flow of the lawn mower according to the above-mentioned preferred embodiment of the present invention.

Fig. 12 shows a schematic diagram of the third operation flow of the lawn mower according to the above-mentioned preferred embodiment of the present invention.

Fig. 13 shows a schematic diagram of the fourth operation flow of the lawn mower according to the above preferred embodiment of the present invention.

14A and 14B respectively show a schematic diagram of the sixth operation flow of the lawn mower according to the above preferred embodiment of the present invention.

FIG. 15 shows a schematic flowchart of an operation method according to a preferred embodiment of the present invention.

Fig. 16 shows a perspective view of a lawn mower according to another preferred embodiment of the present invention.

Fig. 17 shows an exploded schematic diagram of the lawn mower according to the above-mentioned preferred embodiment of the present invention.

Fig. 18 shows a perspective schematic view of a lawn mower according to another preferred embodiment of the present invention.

detailed description

The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments in the following description are merely examples, and those skilled in the art can think of other obvious variations. The basic principles of the present invention defined in the following description can be applied to other embodiments, modifications, improvements, equivalents, and other technical solutions that do not depart from the spirit and scope of the present invention.

Those skilled in the art should understand that, in the disclosure of the present invention, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", " The orientation or positional relationship indicated by "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and The description is simplified, rather than indicating or implying that the pointed device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore the above terms should not be construed as limiting the present invention.

It can be understood that the term "a" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element may be one, while in other embodiments, The number can be multiple, and the term "one" cannot be understood as a restriction on the number.

Referring to Figures 2 and 3 of the accompanying drawings of the specification of the present invention, an operating system according to a preferred embodiment of the present invention is disclosed and explained in the following description, wherein the operating system includes a lawn mower 100 and a computing device 200, wherein the lawn mower 100 and the computing device 200 are interconnected to control the lawn mower 100 to provide personalized lawn mowing services on a lawn 300. For example, the lawn mower 100 can form a geometric figure 400 on the lawn 300 after the lawn 300 performs the mowing operation, so as to provide personalized mowing services on the lawn 300. In addition, the lawn mower 100 and the computing device 200 that are communicatively connected form an autonomous lawn mower, which can mow the lawn 300 autonomously to provide mowing services.

The interconnection manner of the lawn mower 100 and the computing device 200 is not limited in the operating system of the present invention. For example, in a preferred example of the operating system of the present invention, the lawn mower 100 and the computing device 200 are interconnected via a network, and the network interconnecting the lawn mower 100 and the computing device 200 may be But it is not limited to any network that can provide data transmission between the lawn mower 100 and the computing device 200, such as the Internet, Bluetooth, Wi-Fi, etc., refer to FIG. 2. Optionally, in another preferred example of the operating system of the present invention, the lawn mower 100 and the computing device 200 are interconnected through a physical combination, for example, the computing device 200 is installed on the lawn mower. 100 can interconnect the lawn mower 100 and the computing device 200 to realize data transmission between the lawn mower 100 and the computing device 200. Optionally, in another preferred example of the operating system of the present invention, the lawn mower 100 and the computing device 200 are integrated devices.

It is worth noting that in the drawings of the present invention, although the lawn mower 100 and the computing device 200 are interconnected through a network as an example, the purpose is to illustrate the content and features of the operating system of the present invention. , It should not be regarded as a limitation on the content and scope of the operating system of the present invention.

Continuing to refer to Figures 1A to 3 of the accompanying drawings of the specification of the present invention, in this preferred example of the operating system of the present invention, the lawn mower 100 includes a lawn mower body 101, a processor 102, A memory 103, a positioning device 104, and a communication device 105, wherein the processor 102, the memory 103, the positioning device 104, and the communication device 105 are respectively provided in the lawn mower body 101, and The lawn mower main body 101, the memory 103, the positioning device 104 and the communication device 105 are respectively connected to the processor 102.

Specifically, referring to FIG. 1A, the lawn mower body 101 provides a mowing function. For example, the lawn mower body 101 includes a frame 1011, a driving mechanism 1012 arranged on the frame 1011, A walking mechanism 1013 and a mowing mechanism 1014, wherein the walking mechanism 1013 and the mowing mechanism 1014 are respectively driveably connected to the driving mechanism 1012, and the driving mechanism 1012 is controllably connected to the The processor 102 controls the driving mechanism 1012 to drive the running mechanism 1013 and the mowing mechanism 1014 by the processor 102. When the processor 102 controls the driving mechanism 1012 to drive the walking mechanism 1013 and the mowing mechanism 1014, the walking mechanism 1013 can perform walking operations, and the mowing mechanism 1014 can perform mowing operations, To mow the lawn 300. It should be noted that the type of the driving mechanism 1012 may be, but not limited to, an electric driving mechanism, a fuel driving mechanism, and a hybrid electric driving mechanism.

The processor 102 of the lawn mower 100 may be any conventional processor, such as a commercial CPU, or a dedicated processing device, such as other hardware-based processors such as ASIC.

The memory 103 of the lawn mower 100 may be any device capable of providing data storage, such as a storage device such as a hard disk drive, a memory card, ROM, RAM, DVD, or other types of optical disks. The processor 102 of the lawn mower 100 can access and read the data stored in the memory 103 to allow the processor 102 to execute the instructions contained in the data.

The positioning device 104 of the lawn mower 100 may be a positioning device matching GPS, Beidou and other positioning systems, so as to calibrate the current position of the lawn mower 100 by providing positioning data. The processor 102 of the lawn mower 100 can obtain positioning data from the positioning device 104 to determine the current position of the lawn mower 100.

The communication device 105 of the lawn mower 100 may be a communication device such as a network card, Bluetooth, Wi-Fi, etc., for communication between the lawn mower 100 and other devices, wherein the The processor 102 can obtain data from the communication device 105 of the lawn mower 100 for executing instructions contained in the data.

Preferably, the mowing mechanism 1014 of the lawn mower main body 101 is mounted on the frame 1011 so as to allow the distance between the mowing mechanism 1014 and the ground to be adjusted. In the manner of, different areas of the geometric figure 400 formed after the lawn 1300 performs the mowing operation may have a height difference to further enhance the decorativeness of the geometric figure 400.

Correspondingly, with continued reference to FIG. 3, the computing device 200 includes a computing body 201, a processor 202, a memory 203, a display screen 204, and a communication device 205, wherein the processor 102 and the memory 203 The display screen 204 and the communication device 205 are respectively provided in the computing main body 201, and the memory 203, the display screen 204 and the communication device 205 are respectively connected to the processor 202.

Correspondingly, the types of the processor 202, the memory 203, and the communication device 205 of the computing device 200 are not limited in the operating system of the present invention. The display screen 204 of the computing device 200 may only provide display functions, or may provide display and writing functions. In the following description, the display screen 204 of the computing device 200 is used as a touch screen to provide display and writing functions as an example to continue to explain the content and features of the operating system of the present invention, but it should not It is regarded as a limitation on the content and scope of the operating system of the present invention.

It is worth mentioning that the type of the computing device 200 is not limited in the operating system of the present invention. For example, the computing device 200 may be a smart phone, a tablet computer, a notebook computer, a personal digital assistant, or a special remote control.器等。

4 and 5 respectively show an embodiment of acquiring a virtual image 301 of the lawn 300 and displaying the virtual image 301 on the display screen 204 of the computing device 200. In this preferred example of the operating system of the present invention, the virtual image 301 of the lawn 300 can be obtained by scanning the lawn 300, so as to subsequently display the virtual image 301 of the lawn 300 On the display screen 204 of the computing device 200.

For example, the virtual image 301 of the lawn 300 can be acquired through but not limited to a scanning device 206 of the computing device 200. For example, the scanning device 206 may be a photographing device, so that the virtual image 301 of the lawn 300 can be acquired by photographing the lawn 300. For another example, the scanning device 206 may include a photographing device, so that the virtual image 301 of the lawn 300 can be obtained by photographing the lawn 300. Due to the characteristics of the scanning device 206 of the computing device 200 and the limitation of the selected shooting angle, after the scanning device 206 of the computing device 200 captures the virtual image 301 of the lawn 300, the virtual The image 301 has perspective (the virtual image 301 has the characteristics of being near and far away, that is, the size of the virtual image 301 corresponding to the position of the scanning device 206 of the computing device 200 closer to the lawn 300 On the contrary, the distance of the lawn 300 from the scanning device 206 of the computing device 200, the smaller the size of the virtual image 301). Therefore, in order to ensure that the lawn 300 is subsequently formed on the lawn The effect of the geometric figure 400 of 300 requires that the virtual image 301 displayed on the display screen 204 of the computing device 200 is regular (the virtual image 301 has no perspective, that is, the lawn 300 Each position is consistent with the proportion of each position of the virtual image 301) image, as shown in FIG. 5.

It is worth mentioning that the manner of regularizing the virtual image 301 of the lawn 300 to form a regularized image is not limited in the operating system of the present invention, for example, in the scanning device of the computing device 200 206 After the virtual image 301 of the lawn 300 is captured, the virtual image 301 is regulated according to the proportional relationship between the actual size of each position of the lawn 300 and the display size of the virtual image 301. Alternatively, after the scanning device 206 of the computing device 200 captures the virtual image 301 of the lawn 300, the scanning device 206 of the computing device 200 is configured to adjust the image according to the parameters of the scanning device 206 and the selected shooting position. Virtual image 301.

The image data of the virtual image 301 of the lawn 300 can be stored in the memory 203 of the computing device 200, and subsequently, the processor 202 of the computing device 200 can access and read the stored The image data in the memory 203 of the computing device 200 can display the virtual image 301 on the display screen 204 of the computing device 200.

6A and 6B show an embodiment in which the user selects a virtual graphic 500. For example, the user can draw the virtual graphic 500 on the display screen 204 of the computing device 200 with bare hands or using a tool (such as but not limited to a writing pen), wherein the virtual graphic 500 can be displayed on the computing device 200 The display screen 204. That is, the operating system can detect the operated track of the display screen 204 of the computing device 200, and convert the operated track to form the virtual figure 500.

Optionally, in other preferred examples of the operating system of the present invention, the user can draw the virtual graphic 500 through a writing pad or a drawing board connected to the computing device 200, and the virtual graphic 500 It can be displayed on the display screen 204 of the computing device 200. In other words, the operating system can detect the operated trajectory of the writing board or drawing board, and convert the operated trajectory to form the virtual figure 500.

Optionally, in other preferred examples of the operating system of the present invention, the user can draw the virtual graphics on the computing device 200 through physical buttons (for example, physical buttons configured on the computing device 200) 500, and the virtual graphic 500 can be displayed on the display screen 204 of the computing device 200.

Optionally, in other preferred examples of the operating system of the present invention, the user can draw the virtual graphic 500 by programming the computing device 200 or another electronic device, and the virtual graphic 500 It can be displayed on the display screen 204 of the computing device 200.

Optionally, in some other preferred examples of the operating system of the present invention, the operating system can capture the user’s gestures through but not limited to the scanning device 206 of the computing device 200, so as to capture the user’s The gesture is converted into the virtual graphic 500 and then displayed on the display screen 204 of the computing device 200. For example, when the user makes the gesture on the scanning device 206 corresponding to the computing device 200, the scanning device 206 of the computing device 200 can record the trajectory of the gesture by taking photos or videos. , Thereby converting the gesture into the virtual graphic 500, which can be subsequently displayed on the display screen 204 of the computing device 200.

Specifically, in the preferred examples shown in FIGS. 6A and 6B, the virtual graphic 500 selected by the user may be "heart-shaped", but those skilled in the art should understand that FIGS. 6A and 6B and The virtual graphic 500 shown in the following figures as a "heart shape" is only an example to illustrate the content and features of the operating system of the present invention, but the shape of the virtual graphic 500 does not constitute Restrictions on the content and scope of the operating system of the present invention. That is, the operating system allows the user to select the virtual figure 500 of any shape.

Referring to FIG. 7, after the user draws the "heart-shaped" virtual graphic 500, the operating system can automatically optimize the virtual graphic 500. For example, the operating system can automatically optimize the virtual graphic 500 by This method can make the arc of the "heart-shaped" virtual graphic 500 more smooth, thereby enhancing the beauty of the virtual graphic 500.

Preferably, the operating system provides multiple optimization modes for the user to choose, and after the user selects the optimization mode, the virtual graphic 500 is optimized according to the selected optimization mode. For example, if the user selects the arcing mode provided by the operating system, the operating system can automatically perform arcing processing on the "heart-shaped" virtual figure 500 to make the "heart-shaped" The arc of the virtual image 500 is more smooth; if the user selects the pixelation mode provided by the operating system, the operating system can automatically "heart-shaped" the virtual image 500 pixelated to make the "heart-shaped" The virtual graphic 500 of "appears to be composed of a plurality of grid-shaped pixels.

Preferably, the operating system manages the virtual image 301 and the virtual graphic 500 hierarchically, so that even if the virtual image 301 and the virtual graphic 500 are simultaneously displayed on the display screen 204 of the computing device 200, The operating system may also allow the user to edit the virtual image 301 or the virtual graphic 500 individually.

Specifically, referring to FIG. 3, the operating system includes a layer management unit 10 and an image management unit 20 connected to the layer management unit 10, wherein the layer management unit 10 manages layers, The image management unit 20 manages the virtual image 301 and/or the virtual graphic 500. More specifically, when the scanning device 206 of the computing device 200 captures the virtual image 301 of the lawn 300, the layer management unit 10 creates a first layer for displaying on the lawn 300 After the virtual image 301 is acquired, the virtual image 301 of the lawn 300 can be saved in the first layer. When the user selects the virtual graphic 500, the layer management unit 10 creates a second coating so that after the virtual graphic 500 is selected, the virtual graphic 500 can be saved in the second layer . Later, the user can select the first layer to edit and re-save the virtual image 301 of the lawn 300 stored in the first layer. Accordingly, the user can select the first layer. Two layers to edit and re-save the virtual graphics 500 of the lawn 300 stored in the second layer.

Preferably, with continued reference to FIG. 3, the operating system further includes a detection unit 30 connected to the layer management unit 10, wherein the layer management unit 10 is based on the detection unit 30 Create a new layer for the detection results. For example, when the detection unit 30 detects that the scanning device 206 of the computing device 200 captures the virtual image 301 of the lawn 300, the layer management unit 10 creates the first layer to For saving the virtual image 301 in the first layer, when the detection unit 30 detects that the user selects the virtual graphic 500, the layer management unit 10 creates the second layer for saving The virtual graphic 500 is on the second layer. In a typical example of the operating system, when the detection unit 30 detects that the user draws graphics on the display screen 204 of the computing device 200 with bare hands, the layer management unit 10 creates the second Layers.

It is understandable that the layer data of the first layer and the second layer, and the graphic data of the virtual graphic 500 can all be stored in the memory 203 of the computing device 200, and in the subsequent The processor 202 of the computing device 200 can access and read the layer data and graphics data stored in the memory 203 of the computing device 200, so as to be able to display the virtual graphics 500 in the computing device. The display screen 204 of the device 200.

Referring to FIG. 8, the operating system allows the virtual graphic 500 to be edited. For example, the user can adjust the size and position of the virtual image 500 relative to the virtual image 301 of the lawn 300. It can be understood that the operating system provides a hierarchical management of the virtual image 301 and the virtual graphic 500 to facilitate editing of the virtual graphic 500.

After the virtual graphic 500 is edited, the processor 202 of the computing device 200 can convert the virtual graphic 500 into path data representing a work path, wherein the path data can be directly passed through the calculation The communication device 205 of the device 200 is sent, or the path data can be stored in the memory 203 of the computing device 200 first, and then sent through the communication device 205 of the computing device 200.

The lawn mower 100 and the computing device 200 can be interconnected to allow the communication device 105 of the lawn mower 100 and the communication device 205 of the computing device 200 to be communicably connected with each other, so that The communication device 105 of the lawn mower 100 can receive the path data. After the lawn mower 100 receives the path data, the path data can first be stored in the memory 103 of the lawn mower 100, and then be used by the processor 102 of the lawn mower 100. Execute the instructions contained in the path data; or after the lawn mower 100 receives the path data, the processor 102 of the lawn mower 100 can directly execute the instructions contained in the path data. When the processor 102 of the lawn mower 100 executes the instructions contained in the path data, the lawn mower 100 performs a mowing operation on the lawn 300 according to the operation path, wherein the mowing operation is completed After that, the geometric figure 400 corresponding to the virtual figure 500 is formed on the lawn 300, referring to FIG. 9A and FIG. 9B.

It is worth mentioning that after the processor 102 of the lawn mower 100 executes the instructions contained in the path data, the positioning device 104 of the lawn mower 100 can determine the Current position, if the current position of the lawn mower 100 is not the position where the user expects to form the geometric figure 400, the lawn mower 100 needs to first move to the position where the user expects the geometric figure 400 to be formed, and then Perform mowing operations again. It is understandable that during the mowing operation of the lawn mower body 101 of the lawn mower 100, the positioning device 104 provides the current position of the lawn mower 100 in real time to control the The posture of the lawn mower 100 (for example, the walking direction) is such that the lawn mower 100 walks along a path corresponding to the working path, so that after the mowing operation is completed, the lawn 300 is formed corresponding to the The geometric figure 400 of the virtual figure 500.

Figures 10 to 14B show another preferred embodiment of the operating system. After the virtual image 301 of the lawn 300 is displayed on the display screen 204 of the computing device 200, the operating system allows the user to call a picture 600 and display the picture 600 on the computing device 200 For the display screen 204, refer to FIG. 10. The picture 600 may be a photo, which may be stored in the memory 203 of the computing device 200 to allow the processor 202 of the computing device 200 to access the memory 203 and download from the memory 203 After reading the data of the picture 600, the picture 600 is displayed on the display screen 204 of the computing device 200. Optionally, the picture 600 is stored in the cloud, so that after the communication device 205 of the computing device 200 is interconnected with the cloud, the picture 600 is downloaded from the cloud and the picture 600 is displayed on the computing device 200. The display screen 204.

In this preferred example of the operating system, the operating system hierarchically manages the virtual image 301 and the picture 600 to allow the virtual image 301 and the picture 600 to be edited and modified respectively.

FIG. 11 and FIG. 12 respectively show a process in which the picture 600 is edited to form the virtual graphic 500. Specifically, after the picture 600 is called, the operating system can automatically recognize the outline of the main part (for example, a person) of the picture 600, and perform an analysis on the outline of the main part of the picture 600. After the stroke, the redundant part is deleted to form the virtual graphic 500. In other words, the virtual graphic 500 corresponds to the outer contour of the main part of the picture 600.

Referring to FIG. 13, the operating system allows the virtual graphics 500 to be edited. For example, the user can adjust the size and position of the virtual image 500 relative to the virtual image 301 of the lawn 300. It can be understood that the operating system provides a hierarchical management of the virtual image 301 and the virtual graphic 500 to facilitate editing of the virtual graphic 500.

Optionally, in another preferred example of the operating system of the present invention, the operating system allows editing the picture 600 first, for example, editing the virtual image 301 of the picture 600 relative to the lawn 300 The size and position of, and then transform the picture 600 to form the virtual graphic 500.

After the virtual graphic 500 is edited, the processor 202 of the computing device 200 can convert the virtual graphic 500 into the path data representing the work path, wherein the path data can directly pass through the path data. It is sent by the communication device 205 of the computing device 200, or the path data can be stored in the memory 203 of the computing device 200 first, and then sent by the communication device 205 of the computing device 200.

The lawn mower 100 and the computing device 200 can be interconnected to allow the communication device 105 of the lawn mower 100 and the communication device 205 of the computing device 200 to be communicably connected with each other, so that The communication device 105 of the lawn mower 100 can receive the path data. After the lawn mower 100 receives the path data, the path data can first be stored in the memory 103 of the lawn mower 100, and then be used by the processor 102 of the lawn mower 100. Execute the instructions contained in the path data; or after the lawn mower 100 receives the path data, the processor 102 of the lawn mower 100 can directly execute the instructions contained in the path data. When the processor 102 of the lawn mower 100 executes the instructions contained in the path data, the lawn mower 100 performs a mowing operation on the lawn 300 according to the operation path, wherein the mowing operation is completed After that, the geometric figure 400 corresponding to the virtual figure 500 is formed on the lawn 300, refer to FIG. 14A and FIG. 14B.

According to another aspect of the present invention, an operating method 1500 of the lawn mower 100 of the present invention is shown in FIG. 15.

In step 1501, the virtual image 301 of the lawn 300 is acquired. The way of acquiring the virtual image 301 of the lawn 300 may be the way of shooting by the scanning device 206 of the computing device 200 as described above. Optionally, after the virtual image 301 of the lawn 300 is captured by another scanning device, the method of allowing the computing device 200 to receive the virtual image 301 of the lawn 300 from the scanning device may also acquire the The virtual image 301 of the lawn 300.

In step 1502, the virtual image 301 of the lawn 300 is displayed on the display screen 204 of the computing device 200. In a preferred example of the operation method, after acquiring the virtual image 301 of the lawn 300, immediately display the virtual image 301 of the lawn 300 on the display screen 204 of the computing device 200 . In another preferred example of the operation method, after the virtual image 301 of the lawn 300 is acquired, image data corresponding to the virtual image 301 is stored in the memory 203 of the computing device 200, Then, the processor 202 of the computing device 200 can access the memory 203 and read image data from the memory 203 to display the virtual image 301 corresponding to the image data on all the computing devices 200.述display screen 204.

In step 1503, the virtual image 301 of the lawn 300 is regulated. The way of regularizing the virtual image 301 of the lawn 300 can eliminate the perspective effect of the virtual image 301, so that a desired lawn trimming effect can be obtained later.

Optionally, the step 1503 may also be before the step 1502, so that after the virtual image 301 of the lawn 300 is acquired, the virtual image can be regulated by modifying the image data corresponding to the virtual image 301 301, and then display the normalized virtual image 301 on the display screen 204 of the computing device 200.

In step 1504, it is allowed to select the virtual graphic 500 and display the virtual graphic 500 on the display screen 204 of the computing device 200.

In a preferred example of the operation method, the operation method allows the user to select the virtual figure 500 by drawing a figure. Specifically, the step of being allowed to select the virtual graphic 500 further includes the following steps:

Displaying the virtual image 301 of the lawn 300 on the display screen 204 of the computing device 200; and

The operation track of the user on the display screen 204 of the computing device 200 is received to form the virtual figure 500 through the operation track.

In another preferred example of the operation method, the operation method allows the user to select the virtual graphic 500 by calling the image 600. Specifically, the step of being allowed to select the virtual graphic 500 further includes the following steps:

After the edge of the main part of the called picture 600 is stroked, the picture 600 is deleted to form the virtual graphic 500 by the stroke.

In step 1505, the virtual graphic 500 is converted to form the job data representing the job path. It is understandable that once the virtual graphics 500 are converted to form the work data representing the work path, the starting position and path of the lawn 300 to be trimmed is confirmed.

In step 1506, the instructions contained in the operation data are executed on the lawn mower 100 to allow the lawn mower 100 to perform the mowing operation on the lawn 300, wherein after the mowing operation is completed, the 300 forms the geometric figure 500.

In other words, the present invention further provides the operating method of the lawn mower 100, wherein the operating method includes the following steps:

(a) Being allowed to select the virtual graphic 500;

(b) Converting the virtual graphic 500 to form the path data representing the work path; and

(c) Executing the instructions contained in the path data on the lawn mower 100 to allow the lawn mower 100 to perform mowing operations on the lawn 300 according to the working path, wherein after the mowing operations are completed, The geometric figure 400 corresponding to the virtual figure 500 is formed on the lawn 300.

In an embodiment of the working method of the present invention, before the step (a), the working method further includes the step of: (d) acquiring and displaying the virtual image 301 of the lawn 300 in the The display screen 204 of the computing device 200, and in the step (a), the virtual graphic 500 is displayed on the display screen 204 of the computing device 200, so that in the step (b), The working path formed after the virtual graphic 500 is converted corresponds to the part of the lawn 300 that needs to be trimmed.

Specifically, the step (a) further includes the steps of: detecting an operated track; and converting the operated track to form the virtual figure 500. For example, in a preferred example of the operation method, the operated track of the display screen 204 of the computing device 200 is detected to convert the operated track of the display screen 204 of the computing device 200 The virtual figure 500 is formed by operating the track. Optionally, in another preferred example of the operating method, the operated track of the writing pad or the drawing board is detected to convert the operated track of the writing board or the drawing board to form the述Virtual graphic 500.

The present invention further provides the operating method of the lawn mower 100, wherein the operating method includes the following steps:

(A) Display the acquired virtual image 301 of the lawn 300 on the display screen 204 of the computing device 200;

(B) Select and display the virtual graphic 500 on the display screen 204 of the computing device 200;

(C) Converting the virtual graphic 500 in the computing device 200 to form the path data representing the work path; and

(D) The lawn mower 100 executes the instructions contained in the path data to perform the mowing operation on the lawn 300, wherein after the mowing operation is completed, a virtual graphic corresponding to the lawn 300 is formed 500 of the geometric figure 400.

Further, in the above method, the virtual image 301 and the virtual graphic 500 are managed hierarchically. Specifically, in the step (A), when it is detected that the virtual image 301 is acquired, the first layer is created for saving the virtual image 301 in the first layer; and In the step (B), when it is detected that the virtual graphic 500 is selected, the second layer is created for saving the virtual image in the second layer.

Figures 16 and 17 show a modified embodiment of the autonomous lawn mower, which is different from the lawn mower 100 shown in Figures 1A and 1B in that it is shown in Figures 16 and 17 In this preferred example of the autonomous lawn mower, the computing device 200 is installed in the lawn mower body 101 of the lawn mower 100, and the computing device 200 is installed in all After the lawn mower body 101 of the lawn mower 100, the communication device 205 of the computing device 200 and the communication device 105 of the lawn mower 100 are interconnected. For example, the communication device 205 of the computing device 200 and the communication device 105 of the lawn mower 100 are both implemented as mutually matching ports, wherein the computing device 200 is installed in the lawn mower After the lawn mower body 101 of 100, the communication device 205 of the computing device 200 and the communication device 105 of the lawn mower 100 can be connected and interconnected.

Optionally, the communication device 205 of the computing device 200 and the communication device 105 of the lawn mower 100 may be a near field communication port, so that the computing device 200 is installed on the lawn mower. After 100, the communication device 205 of the computing device 200 and the communication device 105 of the lawn mower 100 can be connected and interconnected.

Optionally, the communication device 205 of the computing device 200 and the communication device 105 of the lawn mower 100 may be plug-in communication ports, such as but not limited to USB ports, so that the computing device 200 is After being installed on the lawn mower 100, the communication device 205 of the computing device 200 and the communication device 105 of the lawn mower 100 can be plugged into each other to be interconnected.

Continuing to refer to FIGS. 16 and 17, in this preferred example of the autonomous lawn mower, the lawn mower body 101 has a mounting groove 1010, wherein the computing device 200 is detachably mounted on the The installation groove 1010 of the lawn mower body 101 is described. Preferably, the size and shape of the mounting groove 1010 of the lawn mower body 101 match the size and shape of the computing device 200, so that the computing device 200 is installed on the lawn mower body 101. After the installation slot 1010 and during the mowing operation of the lawn mower 100, the computing device 200 will not detach from the lawn mower 100.

Furthermore, the lawn mower 100 includes a magnetic attraction element 106, wherein the magnetic attraction element 106 is arranged on the lawn mower main body 101, and the computing device is installed by attaching the computing device 200. 200 in the main body 101 of the mower. Preferably, the magnetic element 106 is located in the mounting slot 1010 of the lawn mower body 101, so that when the computing device 200 is installed in the mounting slot 1010 of the lawn mower body 101, The magnetic element 106 adsorbs the computing device 200 to ensure the reliability of the assembling relationship between the computing device 200 and the lawn mower 100.

Optionally, in another preferred example of the autonomous lawn mower of the present invention, the lawn mower 100 and the computing device 200 are integrated devices. That is, the lawn mower 100 and the computing device 200 may share the processor 102 (202), the memory 103 (203), the communication device 105 (205), etc., refer to FIG. 18. In other words, in this specific example of the autonomous lawn mower shown in FIG. 18, the lawn mower 100 includes the lawn mower main body 101 and the lawn mower main body 101. The processor 102, the memory 103, the positioning device 104, the communication device 105, and the display screen 204, wherein the lawn mower body 101, the memory 103, the positioning device 104, the communication The device 105 and the display screen 204 are connected to the processor 102 respectively.

Those skilled in the art can understand that the above embodiments are only examples, in which the features of different embodiments can be combined with each other to obtain implementations that are easily conceivable according to the disclosure of the present invention but are not clearly indicated in the drawings.

Those skilled in the art should understand that the above description and the embodiments of the present invention shown in the accompanying drawings are only examples and do not limit the present invention. The purpose of the present invention has been completely and effectively achieved. The functions and structural principles of the present invention have been shown and explained in the embodiments. Without departing from the principles, the embodiments of the present invention may have any deformation or modification.

Claims

An operation method of a lawn mower, characterized in that the operation method includes the following steps:

(a) Be allowed to choose a virtual figure;

(b) Converting the virtual graphics to form path data representing a working path; and

(c) A lawn mower executes the instructions contained in the path data to allow the lawn mower to perform mowing operations on a lawn according to the work path, wherein after the mowing operations are completed, the A geometric figure corresponding to the virtual figure.
The working method according to claim 1, wherein before the step (a), the working method further comprises the step of: (d) acquiring and displaying a virtual image of the lawn on a display screen of a computing device, and In the step (a), the virtual graphic is displayed on the display screen of the computing device, so that in the step (b), the working path formed after the virtual graphic is converted corresponds to the The part of the lawn that needs to be trimmed.
The operation method according to claim 1, wherein said step (a) further comprises the step of:

Detect a track being operated; and

Converting the operated track to form the virtual figure.
4. The operation method according to claim 3, wherein in the above method, the operated track of the display screen of the computing device is detected to convert the operated track of the display screen of the computing device to form the Virtual graphics.
The operation method according to claim 3, wherein in the above method, the operated track of a writing board or drawing board is detected to convert the operated track of the writing board or drawing board to form the virtual Graphics.
The operation method according to claim 2, wherein said step (a) further comprises the step of:

Detecting an operated track of the display screen of the computing device; and

The operated track of the display screen of the computing device is converted to form the virtual figure, wherein the virtual figure is displayed on the display screen of the computing device.
The operation method according to claim 2, wherein said step (a) further comprises the step of:

Programming on the computing device; and

Displaying the virtual graphics corresponding to the programming on a display screen of the computing device.
The operation method according to claim 1, wherein said step (a) further comprises the step of:

Detect the user's gestures; and

The gesture is converted to form the virtual figure.
The operation method according to claim 2, wherein said step (a) further comprises the step of:

Displaying the called picture on the display screen of the computing device;

Stroke the main part of the picture to obtain the outline of the main part of the picture; and

The outer contour of the main part of the picture is converted to form the virtual figure, wherein the picture is deleted or hidden.
An operation method of a lawn mower, characterized in that the operation method includes the following steps:

(A) Display the acquired virtual image of a lawn on the display screen of a computing device;

(B) Select and display a virtual figure on the display screen of the computing device;

(C) Converting the virtual graphics in the computing device to form path data representing a working path; and

(D) A lawn mower executes the instructions contained in the path data to perform a mowing operation on the lawn, wherein after the mowing operation is completed, a geometric figure corresponding to the virtual figure is formed on the lawn .
The work method according to claim 10, wherein in the above method, the virtual image and the virtual graphic are managed hierarchically.
The operation method according to claim 11, wherein in the step (A), when it is detected that the virtual image is acquired, a first layer is created for saving the virtual image in the first image Layer; and in the step (B), when it is detected that the virtual graphic is selected, a second layer is created for saving the virtual image in the second layer.
The operation method according to claim 12, wherein said step (B) further comprises the step of:

Detecting an operated track of the display screen of the computing device; and

The operated track of the display screen of the computing device is converted to form the virtual figure, wherein the virtual figure is displayed on the display screen of the computing device.
The operation method according to claim 12, wherein said step (B) further comprises the step of:

Displaying the called picture on the display screen of the computing device;

Stroke the main part of the picture to obtain the outline of the main part of the picture; and

The outer contour of the main part of the picture is converted to form the virtual figure, wherein the picture is deleted or hidden.
A lawn mower operating system is characterized by comprising a lawn mower, wherein the lawn mower further includes:

A lawn mower body, wherein the lawn mower body includes a frame and a driving mechanism, a walking mechanism, and a mowing mechanism respectively arranged on the frame, wherein the walking mechanism and the mowing mechanism The mechanisms are respectively driveably connected to the driving mechanism; and

A processor, wherein the processor is disposed on the lawn mower body, and the processor is configured to:

Receiving a path data representing a working path based on a virtual graphic; and

Execute the instructions contained in the path data to control the walking mechanism to walk on the lawn according to the work path and control the mowing mechanism to perform mowing operations on the lawn, so that after the mowing operation is completed, The lawn forms a geometric figure corresponding to the virtual figure.
The operating system of claim 15, wherein the processor is configured to:

Be allowed to select the virtual graphics; and

The virtual graphics are converted to form the path data representing the work path.
The operating system according to claim 15, wherein in the step of the processor being configured to be allowed to select the virtual graphics, further comprising:

Detect a track being operated; and

Converting the operated track to form the virtual figure.