WO2020220652A1 - 自动割草机及其控制方法 - Google Patents

自动割草机及其控制方法 Download PDF

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Publication number
WO2020220652A1
WO2020220652A1 PCT/CN2019/119643 CN2019119643W WO2020220652A1 WO 2020220652 A1 WO2020220652 A1 WO 2020220652A1 CN 2019119643 W CN2019119643 W CN 2019119643W WO 2020220652 A1 WO2020220652 A1 WO 2020220652A1
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WO
WIPO (PCT)
Prior art keywords
lawn mower
automatic lawn
time
boundary line
automatic
Prior art date
Application number
PCT/CN2019/119643
Other languages
English (en)
French (fr)
Inventor
魏娟
聂恒安
王聪
Original Assignee
苏州科瓴精密机械科技有限公司
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Publication of WO2020220652A1 publication Critical patent/WO2020220652A1/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
    • G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • 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
    • 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

Definitions

  • the invention relates to the technical field of ground processing appliances, in particular to an automatic lawn mower and a control method thereof.
  • automated household appliances are becoming more and more popular. They can work in accordance with pre-set automatic working procedures without the user having to operate all the time, so that the user can be free from heavy household tasks Come out and have more time for leisure.
  • automatic household appliances automatic lawn mowers, which are mainly used in home gardens, are favored by users because they can efficiently trim lawns.
  • the automatic lawn mower can work on its own in the home garden. In order to prevent it from damaging other vegetation in the home garden, it needs to be artificially set with a working area so that it can work in the designated working area.
  • the current technology mainly sets up the working area for the automatic lawn mower by laying wires. The details are as follows: Lay wires on the ground and use the area enclosed by the wires as the working area. The wires can send out signals to make the automatic lawn mowers Detecting the presence of the wire, the automatic lawn mower can produce corresponding evasive actions when encountering the wire to avoid crossing the boundary formed by the wire, which can ensure that the automatic lawn mower always works in the working area.
  • the automatic lawn mowers on the market mainly use electric energy to provide power.
  • the housing of the automatic lawn mower is provided with a battery assembly.
  • the battery assembly releases electric energy to maintain its operation.
  • the battery assembly can be connected to an external power source to store electric energy.
  • the automatic lawn mower detects that the power of the battery assembly is insufficient, it can find a charging station to supplement the power by itself.
  • the charging station is set on the boundary of the working area enclosed by the wire, and the automatic lawn mower returns to the charging station mainly through the following method: after receiving the recharge signal, it moves in a random direction until it senses the wire, and then moves along Move along the wire until it reaches the charging station.
  • the wires are surrounded around the obstacles and the signals sent by the wires are used to make The automatic lawn mower senses it to avoid collision with obstacles.
  • the automatic lawn mower executes the command to return to the charging station, it may encounter the wire of the obstacle and mistake the wire of the obstacle as the wire of the boundary of the working area and continue to walk along the wire, thus falling into an endless loop , Causing the grass around the obstacle to be repeatedly crushed and seriously damaged.
  • the automatic lawn mower is usually equipped with a deflection detection component.
  • the deflection detection component obtains the deflection of the automatic lawn mower and compares the deflection with the preset value to determine whether the automatic lawn mower is winding.
  • the obstacle rotates, but the existing deflection detection assembly cannot accurately obtain the actual deflection of the automatic lawn mower, so that the automatic lawn mower has a deviation when judging whether to walk around the obstacle.
  • the object of the present invention is to provide an automatic lawn mower that can accurately determine whether it is in a state of rotating around an obstacle.
  • Another object of the present invention is to provide a control method of an automatic lawn mower, by which the automatic lawn mower can accurately determine whether it is in a state of rotating around an obstacle.
  • an automatic lawn mower including: a control unit, which can control the automatic lawn mower to execute a return instruction to the charging station; and a first reference quantity collection unit, which collects A first reference quantity; a second reference quantity collecting unit that collects a second reference quantity, characterized in that: the automatic lawn mower further includes a comparison unit, and the comparison unit compares the first reference quantity with a second preset value To compare; if the second reference quantity accumulates to a first preset value, and the first reference quantity is not greater than the second preset value, the control unit controls the automatic lawnmower to terminate the execution of the return charging Station instructions.
  • the first reference quantity is the time for the automatic lawn mower to move along the boundary line after executing the instruction of returning to the charging station
  • the second reference quantity is the rotation amount of the automatic lawn mower
  • the automatic lawn mower further includes a drive unit, the drive unit includes a first drive wheel and a second drive wheel located on two sides corresponding to the automatic lawn mower, and the second reference quantity collection unit The rotational speeds of the first driving wheel and the second driving wheel can be obtained.
  • the rotation amount is an angle change amount obtained by the second reference amount collecting unit, and the first preset value is not less than 360°.
  • the rotation amount is the difference between the moving distances of the first driving wheel and the second driving wheel obtained by the second reference amount collecting unit.
  • the boundary line includes an outer boundary line and an inner boundary line, the area enclosed by the outer boundary line is a working area, the inner boundary line defines an isolated area, and the automatic lawn mower is in the working area, Work outside the isolated area.
  • the automatic lawn mower includes a second time, and the second time is the time for the automatic lawn mower to move for one cycle along the outer boundary line defining the working area.
  • the automatic lawn mower further includes a third time, and the third time is the time for the automatic lawn mower to move for one cycle along the inner boundary line that defines the largest isolation area, and the second predetermined time The set value is not less than the third time.
  • the automatic lawn mower further includes a third time, the third time being greater than one-third of the second time, less than one-half of the second time, and the second preset value is not less than The third time.
  • a control method of an automatic lawn mower includes: the automatic lawn mower receives an instruction to return to the charging station; The lawn mower executes the instruction to return to the charging station.
  • the second reference quantity collection unit collects the second reference quantity
  • the first reference quantity collection unit collects the first reference quantity
  • the comparison unit compares the The first reference quantity is compared with the second preset value; if the second reference quantity cumulatively reaches the first preset value and the first reference quantity is not greater than the second preset value, the automatic lawn mower Terminate execution and return to the charging station command.
  • the step "the automatic lawn mower executes the instruction to return to the charging station” includes: the automatic lawn mower searches for a boundary line and moves along the boundary line.
  • the automatic lawn mower leaves the boundary line and restarts to execute the returning to the charging station instruction.
  • the present invention has the beneficial effects that when the automatic lawn mower moves along the boundary line, it detects the amount of rotation on the one hand, and on the other hand, it records the time of movement along the boundary line, which is assisted by the time of movement along the boundary line. Determine whether the automatic lawn mower is in a state of rotating around obstacles. In this way, even if the amount of rotation of the automatic lawn mower obtained by the detection unit deviates from the actual amount of rotation, the automatic lawn mower can still accurately determine whether it is rotating around the obstacle. The state of rotation.
  • Fig. 1 is a schematic structural diagram of an automatic lawn mower according to an embodiment of the present invention
  • Fig. 2 is a working schematic diagram of an automatic lawn mower according to an embodiment of the present invention.
  • Figure 3 is a control flow chart of an automatic lawn mower according to an embodiment of the present invention.
  • unit refers to an element for performing at least one function or operation, and can be implemented in hardware or software or a combination of hardware and software.
  • module in addition to “modules” or “units” that must be implemented as specific hardware, multiple “modules” or multiple “units” may be integrally formed as at least one processing module.
  • an embodiment of the present invention provides an automatic lawn mower 1, which can automatically move on the grass to perform various tasks according to various preset instructions.
  • the automatic lawn mower 1 includes a driving unit 20, a comparison unit 30, a control unit 70, a second reference quantity collection unit, and a first reference quantity collection unit.
  • the first reference quantity collection unit is specifically the timing unit 60.
  • the first reference quantity is specifically the first time, and the first reference quantity collection unit collects
  • the first reference quantity is specifically the timing unit 60 recording the first time;
  • the second reference quantity collection unit is specifically the detection unit 40, and correspondingly, the second reference quantity is specifically the automatic mowing
  • the amount of rotation of the machine 1, and the second reference amount collected by the second reference amount collecting unit is specifically the amount of rotation of the automatic lawnmower 1 detected by the detection unit 40.
  • the automatic lawn mower 1 is roughly square.
  • the automatic lawn mower 1 includes a power unit 80 disposed in the housing of the automatic lawn mower 1, and the power unit 80 It is used to provide the power required by the automatic lawn mower 1 to work.
  • the power unit 80 can provide power to the cutting assembly 10 to enable the automatic lawn mower 1 to successfully complete the work.
  • the power unit 80 may have different power sources.
  • the power unit 80 includes a battery pack, and the automatic lawn mower 1 is powered by the battery pack.
  • the automatic mower The grass machine 1 can also be powered by an internal combustion engine or other energy supply modes can be selected.
  • the battery pack releases electric energy to maintain its operation.
  • the battery pack can be connected to an external power source to supplement electric energy.
  • the automatic lawn mower detects When the battery pack's energy is insufficient, it will find a charging station to supplement the electricity.
  • the automatic lawn mower 1 further includes a drive unit 20, which includes a drive wheel, a motor that drives the drive wheel to rotate, and a transmission device that connects the drive wheel and the motor.
  • the drive unit 20 includes a first drive wheel 21 and a second drive wheel 22 located on two sides corresponding to the automatic lawn mower 1, and the first drive wheel 21 and The second driving wheel 22 is symmetrically arranged with respect to the central axis X of the automatic lawn mower 1.
  • the first driving wheel 21 is connected to the first motor 23, and the second driving wheel 22 is connected to the second motor 24.
  • the first driving wheel and the second driving wheel are also It can be driven by the same motor.
  • there are four driving wheels two of which are located on the left side of the central axis X, and two are located on the right side of the central axis X.
  • the radius of the first driving wheel 21 and the second driving wheel 22 are the same.
  • the rotation speeds of the first driving wheel 21 and the second driving wheel 22 are the same, since the first driving wheel 21 and the second driving wheel 22 are symmetrically arranged with respect to the central axis X of the automatic lawn mower 1, the automatic lawn mower 1 moves along a straight line .
  • the automatic lawn mower 1 will deflect to one side and no longer maintain a linear motion.
  • the automatic lawn mower 1 will turn to the side with the lower rotation speed, that is, to the right of the central axis X where the second driving wheel 22 is located. . If the rotation speed of the second driving wheel 22 is greater than the rotation speed of the first driving wheel 21, the automatic lawn mower 1 will turn to the side with the lower rotation speed, that is, to the left of the central axis X where the first driving wheel 21 is located. Among them, the greater the difference between the rotational speeds of the first driving wheel 21 and the second driving wheel 22, the greater the turning angle of the automatic lawn mower 1. In this embodiment, the automatic lawn mower 1 can control the rotation speed of the first driving wheel 21 and the second driving wheel 22 to realize the rotation of the automatic lawn mower 1.
  • the automatic lawn mower 1 further includes a control unit 70, which can receive various control signals to control the walking and work of the automatic lawn mower 1, for example: the control unit 70 can generate control commands to drive The motor of the driving wheel is used to control the rotation speed of the driving wheel, and the control unit 70 may also generate a control instruction to control the automatic lawn mower to execute the instruction of returning to the charging station.
  • the control unit 70 may include an integrated chip, and multiple functional modules included in the control unit may be integrated on the chip.
  • the automatic lawn mower 1 further includes a detection unit 40 for detecting the amount of rotation of the automatic lawn mower 1.
  • the driving unit 20 can drive the automatic lawn mower 1 to move.
  • the detection unit 40 can detect the amount of rotation of the automatic lawn mower 1 and feed it back to the control unit 70.
  • the control unit 70 can analyze the rotation amount detected by the detection unit 40 to control the automatic lawnmower 1 accordingly.
  • the rotation amount is the angle change amount. After the control unit 70 obtains the angle change amount, it will accumulate the angle change amount obtained multiple times.
  • the rotation amount may also be the difference between the moving distances of the first driving wheel 21 and the second driving wheel 22.
  • the detection unit 40 includes a Hall sensor, and the Hall sensor can obtain the rotational speed of the rotating shafts of the first motor 23 and the second motor 24, and obtain the first The rotation speed of the driving wheel 21 and the second driving wheel 22, so that the detection unit 40 can calculate the angle change of the automatic lawn mower 1.
  • the detection unit 40 is not limited to the above-mentioned Hall sensor, and other detection components that can obtain the rotational speed of the driving wheel are possible.
  • the detection unit 40 may include a photoelectric sensor device or Other magnetic sensing devices other than Hall sensors can be included.
  • the detection unit 40 may also include a gyroscope or other parts that can directly obtain the angle change of the automatic lawnmower 1.
  • the working area of the automatic lawn mower is determined by the boundary line 11.
  • the boundary line 11 includes energized wires.
  • the working area of the automatic lawn mower It can also be determined by a magnetic strip.
  • the boundary line 11 includes an outer boundary line 111 and an inner boundary line 112.
  • the outer boundary line 111 is laid on the outer boundary of the work area, and the area enclosed by the outer boundary line 111 is the work area 13.
  • the automatic lawn mower 1 walks on a certain route in the working area 13. During the walking, the cutting unit 10 works and cuts the grass on the route.
  • the outer boundary line 111 will send out a guidance signal, and the automatic lawn mower 1 is provided with a receiving device to receive the guidance signal.
  • the guidance signal it receives will change accordingly.
  • the automatic lawn mower 1 can reconfirm the walking direction according to the change in the guidance signal, so as to avoid going out. ⁇ Working area 13.
  • the working area is usually a piece of grass in the garden.
  • there will be obstacles such as ponds and trees on the grass.
  • the upper boundary line 11 is usually surrounded by these obstacles.
  • the boundary line 11 surrounds the obstacle, and the surrounding area is the isolation area 14.
  • the automatic lawn mower 1 works in the working area 13 and outside the isolation area 14.
  • the inner boundary line 112 defines the isolation area 14.
  • the inner boundary line 112 surrounding the isolation area 14 also sends out a guide signal. Therefore, when the automatic lawn mower 1 moves, it senses When the boundary line 112 is reached, it will also turn to move, thus avoiding collision.
  • the isolation area 14 is circular, and the area of the isolation area 14 is much smaller than the area of the working area 13. Generally, there are many obstacles in the grass, that is, there are multiple isolation areas 14. In order to improve the working efficiency of the automatic lawn mower 1, the area of the largest isolation area should be less than half of the area of the working area 13.
  • a charging station 12 is connected to the boundary line 11 surrounding the working area 13.
  • the charging station 12 includes a charging module and a signal generating module.
  • the charging module is used to charge the automatic lawn mower 1.
  • the signal generating module It is used to load the guide signal on the boundary line 11.
  • the automatic lawn mower 1 is driven by electric energy, and the electric power is often insufficient during operation.
  • the automatic lawn mower 1 also includes a power detection unit (not shown). When the power detection unit detects that the power is insufficient, it will issue a return instruction to the charging station to the control unit 70, so that the control unit 70 The automatic lawn mower 1 can be controlled to execute the instruction of returning to the charging station.
  • the automatic lawn mower 1 when the automatic lawn mower 1 is working in the working area 13, if the power detection unit detects that the current power meets certain conditions, for example, when the power detection unit detects that the current remaining power is less than 10% of the full power , The automatic lawn mower 1 will stop working at any working point in the working area 13, and execute the returning to the charging station instruction.
  • the returning to the charging station instruction specifically includes: looking for the boundary line 11 and moving along the boundary line 11 until it reaches Charging station 12.
  • the search for the boundary line 11 is specifically to proceed in a first direction until the signal sent by the boundary line 11 is sensed, and the first direction may be any direction, or may be set by the user.
  • the outer boundary line 111 surrounding the working area 13 is connected in series with the inner boundary line 112 surrounding the isolated area 14. Therefore, when the automatic lawn mower 1 executes the instruction to return to the charging station, it is possible to find the boundary line 11 The inner boundary line 112 that goes around the isolation area 14 will be found, so that it will move around the isolation area 14 and may not be able to return to the charging station 12. Therefore, it is necessary for the automatic lawn mower 1 to accurately determine whether it is in a state of rotating around an obstacle.
  • the automatic lawn mower further includes a timing unit 60 and a comparison unit 30.
  • the timing unit 60 records a first time, and the first time is when the automatic lawn mower 1 executes a return to the charging station instruction Time, the time moving along the boundary line 11;
  • the comparing unit 30 is used to compare the first time measured in real time with the second preset value, if the first time is not greater than the second preset value, so
  • the comparison unit 30 outputs a first comparison signal, and if the first time is greater than the second preset value, the comparison unit 30 outputs a second comparison signal.
  • the control unit 70 can obtain the first comparison signal or the second comparison signal, and control the automatic lawn mower 1 according to the obtained signal.
  • the method for the automatic lawn mower 1 of this embodiment to accurately determine whether it is in a state of rotating around an obstacle is: S1: the automatic lawn mower receives an instruction to return to the charging station; S2: so The automatic lawn mower 1 executes the instruction to return to the charging station, and the S2 specifically includes: S21: searching for the boundary line 11, S22: moving along the boundary line 11, S3: when the automatic lawn mower 1 moves along the boundary line 11,
  • the detection unit 40 detects the amount of rotation, the timing unit 60 records the first time, S4: the comparison unit 30 compares the first time with a second preset value; if the cumulative amount of rotation reaches the first A preset value and the first time is not greater than the second preset value, the automatic lawn mower 1 terminates the execution of the instruction to return to the charging station.
  • the automatic lawn mower 1 leaves the boundary line 11 and restarts to execute the returning to the charging station instruction.
  • the automatic lawn mower 1 receives the instruction to return to the charging station at the first position shown in the figure, and uses the a direction as the running direction to find the boundary line; in the second position, the automatic lawn mower 2 finds It reaches the inner boundary line 112 and moves along the inner boundary line 112; in the third position, when the amount of rotation obtained by the detection unit 40 reaches the first preset value, and the first time is not greater than the second preset value Set the value, at this time the automatic lawn mower 3 judges that it is rotating around the obstacle, and terminates the execution of the return to charging station instruction; the automatic lawn mower 3 leaves the inner boundary line 112 and restarts to perform the return charging According to the station instruction, the automatic lawn mower 3 takes the direction b as the running direction to find the boundary line again; in the fourth position, the automatic lawn mower 4 finds the outer boundary line 111 and moves along the outer boundary line 111 until Return to charging station 12.
  • the automatic lawn mower 1 When the automatic lawn mower 1 is working on the grass, it will inevitably be affected by the working environment. Therefore, the rotation speed of the driving wheel measured by the detection unit 40 has a certain deviation from the actual rotation speed of the driving wheel. Therefore, the rotation amount obtained by the detection unit 40 and the actual rotation amount of the automatic lawn mower 1 also have a certain deviation, and finally the automatic lawn mower 1 has an error in determining whether to walk around an obstacle. In this embodiment, while the automatic lawn mower 1 obtains the amount of rotation through the detection unit 40, it also obtains the time for the automatic lawn mower 1 to move along the boundary line 11 through the timing unit 60.
  • the comparison unit 30 compares the first time obtained by the timing unit with the second preset value, if the first time If the time is not greater than the second preset value, even if the amount of rotation obtained by the detection unit 40 deviates from the actual amount of rotation, it can be determined that the automatic lawn mower 1 is rotating around an obstacle.
  • the timing unit 60 also includes a timer, and the accuracy of the first time data obtained by the timer is relatively high, so that the automatic lawn mower 1 can more accurately determine whether it is in a state of rotating around an obstacle.
  • the detection unit 40 starts to detect the amount of rotation of the automatic lawn mower 1.
  • the cumulative amount of rotation of the automatic lawn mower 1 rotating around the obstacle is about 360°. Therefore, the first preset value should be greater than 360°. In this embodiment, the first preset value is preferably Is 400°.
  • the comparison unit 30 when the cumulative amount of rotation obtained by the detection unit reaches the first preset value, the comparison unit 30 will also compare the first time with the second preset value, and only when the When the first time is not greater than the second preset value, the automatic lawn mower 1 will determine that it is in a state of rotating around an obstacle. If the first time is greater than the second preset value, the automatic lawn mower 1 will keep its original walking route and continue to execute the instruction to return to the charging station.
  • the second preset value can be obtained by the following method.
  • the automatic lawn mower 1 further includes a third time, which is the time for the automatic lawn mower to move for one cycle along the boundary line 11 that defines the largest isolation area.
  • a third time which is the time for the automatic lawn mower to move for one cycle along the boundary line 11 that defines the largest isolation area.
  • the user can issue a command to the automatic lawn mower 1 to control the automatic lawn mower 1 to move around.
  • the largest isolation area moves for one cycle, and the automatic lawn mower 1 can record this time and set it as the third time, wherein the one cycle is specifically defined by the automatic lawn mower 1 around the boundary line 11
  • the circular area that comes out moves one circle.
  • the second preset value is not less than the third time. In a preferred embodiment, the second preset value is substantially equal to the third time.
  • the automatic lawn mower 1 If the amount of rotation detected by the detection unit 40 has accumulated to the first preset value, and the time for the automatic lawn mower 1 to move along the boundary line 11 is not greater than the third time, then the automatic lawn mower 1 is described. It must be in a state of rotating around obstacles.
  • the second preset value may also be obtained by the following method in other embodiments.
  • the automatic lawn mower 1 includes a second time, and the second time is the time for the automatic lawn mower 1 to move along the boundary line 11 defining the working area 13 for one cycle. Specifically, after the working area 13 is set up, the user can send a command to the automatic lawn mower 1 to control the automatic lawn mower 1 to move along the boundary line 11 surrounding the work area 13 for a period. The lawn mower 1 can record this time and set it as the second time, wherein the one period is specifically that the automatic lawn mower 1 moves one circle around the working area.
  • the automatic lawn mower further includes a third time, the third time is greater than one-third of the second time, and less than one-half of the second time, and the second preset value is not less than the third time. Time.
  • the second preset value is substantially equal to the third time. It should be noted that the third time may also be set by the user according to specific circumstances.
  • the automatic lawn mower 1 further includes a storage unit 50, which can store data used in the operation of the automatic lawn mower 1, and some input by the user according to actual working conditions can help the automatic lawn mower 1 better Reference data for work.
  • the storage unit 50 may store a first preset value related to the rotation amount, a second preset value related to the first time, and so on.
  • the timing unit 60 can also generate a detection period signal and transmit it to the detection unit 40. Specifically, an important factor that affects the amount of rotation is the length of the interval for detecting the amount of rotation of the automatic lawn mower 1, so the timing unit 60 can also generate a detection period signal so that the control unit 70 controls the detection unit 40 to follow a certain period.
  • the frequency detects the amount of rotation.

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Abstract

一种自动割草机（1），包括：控制单元（70），可控制自动割草机（1）执行返回充电站（12）指令；第一参考量收集单元（60），收集第一参考量；第二参考量收集单元（40），收集第二参考量；自动割草机（1）还包含比较单元（30），比较单元（30）将第一参考量与第二预设值进行比较；若第二参考量累计到达第一预设值，且第一参考量不大于第二预设值，控制单元（70）控制自动割草机终止执行返回充电站（12）指令。该自动割草机能够准确判定是否处于绕障碍物转动状态。还提供一种自动割草机控制方法。

Description

自动割草机及其控制方法 技术领域
本发明涉及地面加工器具技术领域，尤其涉及一种自动割草机及其控制方法。
背景技术
目前，随着人们生活节奏的加快，自动化的家用器具越来越受到欢迎，其可按照预先设置好的自动工作程序而进行工作，无需用户一直进行操作，从而用户可从繁重的家庭任务中解脱出来，拥有更多的时间进行休闲。在这种自动化的家用器具中，主要用于家庭花园的自动割草机由于其可以高效地进行草坪的修剪而受到用户的青睐。
自动割草机可以在家庭花园中自行工作，为了防止其损坏家庭花园中的其他植被，需要人为的给它设置工作区域，以便使其在指定的工作区域内工作。目前的技术中主要是通过铺设导线的方法来为自动割草机设置工作区域，具体如下：在地面上铺设导线，并将导线围成的区域作为工作区域，导线可发出信号使得自动割草机感应到导线的存在，自动割草机遇到导线时可以产生相应的规避动作，避免越过导线形成的界限，这样可确保自动割草机始终在工作区域内工作。
市场上的自动割草机主要是利用电能提供动力，通常，自动割草机的壳体内设有电池组件。当自动割草机处于工作状态时，电池组件释放电能以维持其工作，处于非工作状态时，电池组件可连接外部电源以存储电能。特别地，为了进一步提高用户体验，当自动割草机探 测到电池组件的电量不足时，其可以自行寻找充电站进行电能的补充。
通常，充电站设置于导线围成的工作区域的边界上，自动割草机返回充电站主要通过如下方法：在接收到回充信号后，其沿一随机方向运动直到感应到导线，之后便沿着导线运动，直到抵达充电站。但是，家庭花园中不可避免的会存在树木、池塘等，为了避免自动割草机在工作区域内工作时撞到这些障碍物，通常，会在障碍物的四周围绕导线，利用导线发出的信号使自动割草机感应到从而避免与障碍物碰撞。因此，当自动割草机执行返回充电站命令时，有可能会遇到障碍物的导线，并将障碍物的导线误认为是工作区域边界的导线而持续地沿导线行走，从而陷入了死循环，导致障碍物周边的草地被反复碾压，损坏严重。
为了解决该问题，自动割草机通常还设有偏转探测组件，通过偏转探测组件获得自动割草机的偏转量，并将偏转量与预设值进行比较，从而判断自动割草机是否在绕障碍物转动，但是现有的偏转探测组件不能够准确的获得自动割草机的实际偏转量，从而使得自动割草机在判断是否绕障碍物行走时存在偏差，以此，在自动割草机工作时，一方面可能错误地判定自己正处于绕障碍物转动状态，从而离开所述导线重新执行返回充电座指令，浪费时间，影响工作效率，更有可能无法返回充电站；另一方面可能已处于绕障碍物转动状态而不知，从而绕该导线继续转动，对障碍物周边的草地多次碾压。
发明内容
为了解决上述技术问题，本发明的目的在于提供一种能够准确判 定是否处于绕障碍物转动状态的自动割草机。
本发明的另一个目的在于提供一种自动割草机的控制方法，通过该方法，自动割草机能够准确判定是否处于绕障碍物转动状态。
本发明解决现有技术存在的问题所采用的技术方案是：一种自动割草机，包括：控制单元，可控制所述自动割草机执行返回充电站指令；第一参考量收集单元，收集第一参考量；第二参考量收集单元，收集第二参考量，其特征在于:所述自动割草机还包含比较单元，所述比较单元将所述第一参考量与第二预设值进行比较；若所述第二参考量累计到达第一预设值，且所述第一参考量不大于所述第二预设值，所述控制单元控制所述自动割草机终止执行返回充电站指令。
优选地，所述第一参考量为所述自动割草机执行返回充电站指令后，沿边界线移动的时间，所述第二参考量为所述自动割草机的转动量。
优选地，所述自动割草机还包含驱动单元，所述驱动单元包含位于所述自动割草机相对应的两侧的第一驱动轮及第二驱动轮，所述第二参考量收集单元可获得所述第一驱动轮及所述第二驱动轮的转速。
优选地，所述转动量为所述第二参考量收集单元获得的角度变化量，且所述第一预设值不小于360°。
优选地，所述转动量为所述第二参考量收集单元获得的第一驱动轮和所述第二驱动轮的移动距离之差。
优选地，所述边界线包含外边界线及内边界线，所述外边界线围成的区域为工作区域，所述内边界线限定出隔离区域，所述自动割草 机在所述工作区域内、所述隔离区域外工作。
优选地，所述自动割草机包含第二时间，所述第二时间为所述自动割草机沿限定出所述工作区域的外边界线移动一个周期的时间。
优选地，所述自动割草机还包含第三时间，所述第三时间为所述自动割草机沿限定出最大的隔离区域的内边界线移动一个周期的时间，且所述第二预设值不小于所述第三时间。
优选地，所述自动割草机还包含第三时间，所述第三时间大于三分之一的第二时间，小于二分之一的第二时间，且所述第二预设值不小于所述第三时间。
本发明解决现有技术存在的问题所采用的另一个技术方案是：一种自动割草机的控制方法，所述控制方法包括：所述自动割草机收到返回充电站指令；所述自动割草机执行返回充电站指令，在所述自动割草机沿边界线移动时，第二参考量收集单元收集第二参考量，第一参考量收集单元收集第一参考量，比较单元将所述第一参考量与第二预设值进行比较；若所述第二参考量累计到达第一预设值且所述第一参考量不大于所述第二预设值，所述自动割草机终止执行返回充电站指令。
优选地，步骤“所述自动割草机执行返回充电站指令”包含：所述自动割草机寻找边界线，并沿着所述边界线移动。
优选地，步骤“所述自动割草机终止执行返回充电站指令”之后，所述自动割草机离开所述边界线，并重新开始执行返回充电站指令。
有益效果
与现有技术相比，本发明的有益效果在于：在自动割草机沿边界线移动时其一方面会检测转动量，另一方面会记录沿边界线移动的时间，通过沿边界线移动的时间来辅助判断自动割草机是否处于绕障碍物转动的状态，以此，即便检测单元获得的自动割草机的转动量与实际转动量有所偏差，自动割草机仍可以准确地判定是否处于绕障碍物转动状态。
附图说明
图1为本发明一实施例的自动割草机的结构示意图；
图2为本发明一实施例的自动割草机的工作示意图；
图3为本发明一实施例的自动割草机的控制流程图；
具体实施方式
以下将结合附图中示例性实施例对本发明进行详细描述。在示例性实施例中使用的术语被选择为尽可能广泛地使用的一般术语，但是在特定情况下，也使用申请人任意选择的术语，并且在这种情况下，在相应的详细描述部分中提及含义，因此本发明概念不应由术语的字面含义理解，而应由术语的给定含义来理解。
由于本发明的概念允许各种变化和许多示例性实施例，特定示例性实施例将在附图中示出并在书面描述中详细描述。然而，这并不旨在将本发明的概念限制到特定的实践模式，并且应当理解，不脱离精神和技术范围的所有改变、等同物和替代物都包含在本发明的概念中。在说明书中，当认为可能不必要地模糊本发明概念的本质时，省略对 现有技术的某些详细说明。
虽然诸如“第一”、“第二”等术语可以用于描述各种元素，但是这些元素不能限于上述术语。上述术语仅用于将一个元素与另一个元素区分开。
在本说明书中，应当理解，诸如“包括”、“具有”、“包含”等术语旨在表示特征、数字、步骤、动作、组件、部分或其组合存在本说明书中，并不意图排除可能存在或可以添加一个或多个其他特征、数字、步骤、动作、组件、部分或其组合的可能性。
说明书中描述的诸如“单元”、“器”、“组件”、“模块”等术语是指用于执行至少一个功能或操作的元件，并且可以在硬件或软件或硬件和软件的组合中实现。此外，除了必须实现为特定硬件的“模块”或“单元”之外，可以将多个“模块”或多个“单元”整体地形成为至少一个处理模块。
在整个说明书中，还将理解，当元件被称为“连接到”另一元件时，其可以直接连接到另一元件或者电连接到另一元件，而中间元件也可以存在。此外，当部分“包括”元素时，可以进一步包括另一元素而不是排除另一元素的存在，除非另有说明。
当诸如“至少一个”的表达方式位于一个元素列表之前时，其修饰整个元素列表而不修饰列表的各个元素。
请参考图1-图3，本发明一实施例提供了一种自动割草机1，所述自动割草机1可以根据预先设置的各种指令自行地在草地上移动以执行各项工作。具体地，所述自动割草机1包含驱动单元20、比 较单元30、控制单元70、第二参考量收集单元、第一参考量收集单元。
为了便于理解，在本实施例中，所述第一参考量收集单元具体为计时单元60，对应地，所述第一参考量具体为第一时间，且所述第一参考量收集单元收集所述第一参考量则具体为所述计时单元60记录所述第一时间；所述第二参考量收集单元具体为检测单元40，对应地，所述第二参考量具体为所述自动割草机1的转动量，所述第二参考量收集单元收集所述第二参考量则具体为所述检测单元40检测获得所述自动割草机1的转动量。
如图1所示，自动割草机1大致呈方形，所述自动割草机1包含动力单元80，所述动力单元80设于所述自动割草机1的壳体内，所述动力单元80用于提供所述自动割草机1工作所需的动力，例如：所述动力单元80可以为切割组件10提供动力以使得自动割草机1顺利地完成作业。所述动力单元80可以具有不同的动力源，在本实施例中，所述动力单元80包含电池包，所述自动割草机1通过电池包供能，在其他实施例中，所述自动割草机1也可以是通过内燃机供能或选择其他的供能方式。在自动割草机1工作时，电池包释放电能以维持其工作，当自动割草机不工作时，电池包可以连接到外部电源以补充电能，特别地，当所述自动割草机探测到电池包能源不足时，其会自行寻找充电站进行电能补充。
自动割草机1还包含驱动单元20，所述驱动单元20包含驱动轮、驱动所述驱动轮转动的马达及连接所述驱动轮及所述马达的传动装 置。具体地，在本实施例中，所述驱动单元20包含位于所述自动割草机1相对应的两侧的第一驱动轮21及第二驱动轮22，并且所述第一驱动轮21及所述第二驱动轮22相对于所述自动割草机1的中轴线X对称设置。所述第一驱动轮21与第一马达23相连，所述第二驱动轮22与第二马达24相连，当然，在其他实施例中，所述第一驱动轮及所述第二驱动轮也可以是由同一个马达驱动。在本实施例中，所述驱动轮为2个，在其他实施例中，所述驱动轮也可以是仅有一个。在另外的实施例中，驱动轮为4个，其中两个位于中轴线X的左侧，两个位于中轴线X的右侧。
进一步地，所述第一驱动轮21和所述第二驱动轮22的半径相同。当第一驱动轮21和第二驱动轮22的转速相同时，由于第一驱动轮21与第二驱动轮22相对自动割草机1的中轴线X对称设置，自动割草机1沿直线运动。而且，第一驱动轮21和第二驱动轮22的转速越大，自动割草机1的速度也就越大。当第一驱动轮21和第二驱动轮22的转速不相同时，自动割草机1会向一侧发生偏转，不再保持直线运动。具体地，若第一驱动轮21的转速大于第二驱动轮22的转速，自动割草机1会向转速小的一侧，即向第二驱动轮22所处的中轴线X的右侧转弯。若第二驱动轮22的转速大于第一驱动轮21的转速，自动割草机1会向转速小的一侧，即向第一驱动轮21所处的中轴线X的左侧转弯。其中，第一驱动轮21和第二驱动轮22的转速之差越大，则自动割草机1的转弯角度则越大。在本实施例中，所述自动割草机1可控制所述第一驱动轮21及所述第二驱动轮22的转速以实现 所述自动割草机1的转动。
所述自动割草机1还包含控制单元70，所述控制单元70可接收到各种控制信号以控制自动割草机1的行走与工作，例如：所述控制单元70可产生控制指令给驱动所述驱动轮的马达以控制驱动轮的转速、所述控制单元70还可以产生控制指令以控制自动割草机执行返回充电站指令等。在本实施例中，所述控制单元70可以包含一集成的芯片，所述控制单元包含的多个功能模块可以集成于该芯片上。
所述自动割草机1还包含检测单元40，所述检测单元40用于检测所述自动割草机1的转动量。所述自动割草机1执行作业时，驱动单元20可驱动所述自动割草机1移动，当所述第一驱动轮21及所述第二驱动轮22的转速发生变化时，所述自动割草机1会发生偏转，所述检测单元40可以对自动割草机1发生偏转的转动量进行检测并反馈给控制单元70。所述控制单元70可将所述检测单元40探测到的转动量进行分析，从而对所述自动割草机1进行相应的控制。在本实施例中，所述转动量为角度变化量，在所述控制单元70获得所述角度变化量后，其会对多次获得的所述角度变化量进行累加。当然，在其他实施例中，所述转动量也可以是所述第一驱动轮21和所述第二驱动轮22的移动距离之差。
进一步地，在本实施例中，所述检测单元40包含霍尔传感器，所述霍尔传感器可获得所述第一马达23及所述第二马达24的转轴的转速，并以此获得第一驱动轮21及第二驱动轮22的转速，从而所述检测单元40可计算获得所述自动割草机1的角度变化量。当然，在 其他实施例中，所述检测单元40并不限于上述的霍尔传感器，其他可获得驱动轮的转速的探测组件都是可以的，比如：检测单元40可以包含光电传感装置、也可以包含霍尔传感器以外的其他磁性传感装置。同时，在其他实施例中，所述检测单元40也可以是包含陀螺仪或其他可以直接获得所述自动割草机1角度变化量的零件。
请参考图2，自动割草机的工作区域由边界线11确定，在本实施例中，所述边界线11包含通电导线，当然，在其他实施例中，所述自动割草机的工作区域也可以是由磁条等确定。具体地，在本实施例中，所述边界线11包含外边界线111及内边界线112，在工作区域的外边界上铺设外边界线111，外边界线111围成的区域即为工作区域13。自动割草机1在所述工作区域13内，以一定的路线行走，在行走的过程中，切割单元10工作并将位于该路线上的草进行切割。为了确保自动割草机1始终位于工作区域13内，外边界线111会发出引导信号，自动割草机1上设有接收装置接收该引导信号。当自动割草机1接近或者横跨外边界线111时，其接收到的引导信号会发生相应的变化，自动割草机1可根据该引导信号的变化重新确认行走方向，以此，避免走出所述工作区域13。
进一步地，根据实际的工作环境，工作区域通常是花园中的一块草地，不可避免地，草地上会有池塘、树木等障碍物。为了避免自动割草机1撞上这些障碍物，通常会在这些障碍物的周围绕上边界线11。所述边界线11环绕障碍物，环绕的区域即为隔离区域14。所述自动割草机1在所述工作区域13内、所述隔离区域14外工作。在本 实施例中，所述内边界线112限定出所述隔离区域14，围绕出所述隔离区域14的所述内边界线112同样发出引导信号，故当自动割草机1移动感应到内边界线112时，也会转向移动，从而避免了碰撞。在本实施例中，隔离区域14为圆形，且隔离区域14的面积远小于所述工作区域13的面积。通常，草地中很有可能存在多个障碍物，即存在多个隔离区域14，为了提高自动割草机1的工作效率，最大的隔离区域的面积应小于所述工作区域13面积的一半。
进一步地，围绕出工作区域13的边界线11连接有充电站12，所述充电站12包含充电模块及信号发生模块，所述充电模块用于为自动割草机1充电，所述信号发生模块用于在所述边界线11上加载所述引导信号。在本实施例中，所述自动割草机1采用电能驱动，在工作中经常会出现电量不足的情况。所述自动割草机1还包含电量检测单元(未图示)，当所述电量检测单元检测到电量不足时，其会向所述控制单元70发出返回充电站指令，从而所述控制单元70可控制所述自动割草机1执行返回充电站指令。具体地，所述自动割草机1在工作区域13内工作时，若电量检测单元检测到当前电量符合一定条件时，如:电量检测单元检测到当前剩余电量已低于满电量的10％时，自动割草机1会在工作区域13内的任何一个工作点停止工作，执行返回充电站指令，所述返回充电站指令具体包含：寻找边界线11，并沿着边界线11移动，直至抵达充电站12。在优选的实施例中，所述寻找边界线11具体为沿第一方向前进直至感应到边界线11所发出的信号，所述第一方向可以是任一方向，也可以是由用户设置。
所述自动割草机1执行返回充电座指令的过程中，可能会遇到各种障碍物而无法顺利地返回充电站12。请具体参考图2，围绕出工作区域13的外边界线111与围绕出隔离区域14的内边界线112串联，故当自动割草机1执行返回充电站指令，在寻找边界线11时，有可能会寻找到绕出隔离区域14的内边界线112，从而会绕着隔离区域14运动，可能会无法再回到充电站12。因此，有必要使得自动割草机1能够准确判断是否处于绕障碍物转动的状态。
在本实施例中，所述自动割草机还包含计时单元60及比较单元30，所述计时单元60记录第一时间，所述第一时间为所述自动割草机1执行返回充电站指令时，沿边界线11移动的时间；所述比较单元30用于将实时测得的第一时间与第二预设值进行对比，若所述第一时间不大于所述第二预设值，所述比较单元30输出第一比较信号，若所述第一时间大于所述第二预设值，所述比较单元30输出第二比较信号。所述控制单元70可获得所述第一比较信号或所述第二比较信号，并根据获得的信号对自动割草机1进行控制。
进一步地，请参考图3，本实施例的自动割草机1能够准确判断是否处于绕障碍物转动的状态的方法是：S1：所述自动割草机收到返回充电站指令；S2：所述自动割草机1执行返回充电站指令，所述S2具体包含：S21：寻找边界线11，S22:沿着边界线11移动,S3：在所述自动割草机1沿边界线11移动时，所述检测单元40检测转动量，所述计时单元60记录第一时间，S4：所述比较单元30将所述第一时间与第二预设值进行比较；若所述转动量累计到达第一预设值、且所 述第一时间不大于所述第二预设值，所述自动割草机1终止执行返回充电站指令。
进一步地，“所述自动割草机终止执行返回充电站指令”之后，所述自动割草机1离开所述边界线11，并重新开始执行返回充电站指令。
请具体参考图2，所述自动割草机1在图示第一位置收到返回充电站指令，并以a方向为运行方向寻找边界线；在第二位置，所述自动割草机2寻找到了内边界线112，并沿着内边界线112移动；在第三位置，所述检测单元40检测获得的转动量累计达到第一预设值时，且所述第一时间不大于第二预设值，此时所述自动割草机3判断正处于绕障碍物转动状态，并终止执行返回充电站指令；所述自动割草机3离开所述内边界线112，并重新开始执行返回充电站指令，所述自动割草机3以b方向为运行方向再次寻找边界线；在第四位置，所述自动割草机4寻找到外边界线111，并沿着所述外边界线111移动，直至返回充电站12。
所述自动割草机1在草地上工作时，其不可避免地会受到工作环境的影响，以此，通过所述检测单元40测得的驱动轮的转速与驱动轮实际的转速存在一定偏差，从而利用检测单元40获得的转动量与自动割草机1实际的转动量亦存在一定的偏差，并最终使得自动割草机1在判断是否绕障碍物行走时存在误差。在本实施例中，所述自动割草机1通过检测单元40获得转动量的同时，还通过计时单元60获得自动割草机1沿所述边界线11移动的时间。具体来说，当检测单 元40检测到转动量已累计达到第一预设值时，所述比较单元30将所述计时单元获得的第一时间与第二预设值进行比较，若所述第一时间不大于所述第二预设值，则即便所述检测单元40获得的转动量与实际的转动量有所偏差，也可以判定所述自动割草机1正处于绕障碍物转动的状态。通常，计时单元60还包含计时器，通过计时器获得的所述第一时间的数据准确度较高，以此，自动割草机1可以更为准确地判定是否处于绕障碍物转动的状态。
进一步地，在自动割草机1执行返回充电站指令，并开始沿所述边界线11移动时，所述检测单元40开始检测所述自动割草机1的转动量。所述自动割草机1绕障碍物转动一周的累计转动量大约为360°，以此，所述第一预设值应大于360°，在本实施例中，所述第一预设值优选为400°。
在本实施例中，当检测单元获得的转动量累计到达所述第一预设值时，所述比较单元30还会比较所述第一时间与所述第二预设值，只有当所述第一时间不大于所述第二预设值时，所述自动割草机1才会判定正处于绕障碍物转动的状态。若所述第一时间已大于所述第二预设值，则所述自动割草机1会保持其原来的行走路线继续执行返回充电站指令。
所述第二预设值可通过下面的方法获得。所述自动割草机1还包含第三时间，所述第三时间为所述自动割草机沿限定出最大的隔离区域的边界线11移动一个周期的时间。具体地，请结合参考图2，在本实施例中，以所述隔离区域14为所述最大隔离区域，用户可向所 述自动割草机1发出命令以控制所述自动割草机1绕所述最大的隔离区域运动一个周期，所述自动割草机1可记录该时间，并设置为所述第三时间，其中所述一个周期具体为所述自动割草机1绕边界线11限定出的圆形区域移动一圈。所述第二预设值不小于所述第三时间，在优选的实施例中，所述第二预设值基本等于所述第三时间。若所述检测单元40检测到的转动量已累计达到第一预设值，此时自动割草机1沿边界线11移动的时间不大于所述第三时间，则说明所述自动割草机1必然正处于绕障碍物转动的状态。
当然，所述第二预设值在其他实施例中也可以是通过下面的方法获得。所述自动割草机1包含第二时间，所述第二时间为所述自动割草机1沿限定出工作区域13的边界线11移动一个周期的时间。具体地，在设置完成工作区域13后，用户可向所述自动割草机1发出命令以控制所述自动割草机1沿围成工作区域13的边界线11移动一个周期，所述自动割草机1可记录该时间，并设置为所述第二时间，其中所述一个周期具体为所述自动割草机1绕工作区域移动一圈。所述自动割草机还包含第三时间，所述第三时间大于三分之一的第二时间，小于二分之一的第二时间，所述第二预设值不小于所述第三时间，在优选的实施例中，所述第二预设值基本等于所述第三时间。需要注意的是，所述第三时间也可以是由用户根据具体情况自行设置。
所述自动割草机1还包含存储单元50，所述存储单元50可存储自动割草机1运算中使用的数据、用户根据实际的工作情况输入的一些可以帮助自动割草机1更好的工作的参考数据。在本实施例中，所 述存储单元50可以存储于所述转动量相关的第一预设值，及与所述第一时间相关的第二预设值等。
所述计时单元60还可以产生检测周期信号，并传递给所述检测单元40。具体地，影响转动量大小的一个重要因素是检测自动割草机1的转动量的间隔长短，故计时单元60还可以产生检测周期信号以使得所述控制单元70控制检测单元40按照一定的周期频率对所述转动量进行检测。
应当理解，虽然本说明书按照实施方式加以描述，但并非每个实施方式仅包含一个独立的技术方案，说明书的这种叙述方式仅仅是为清楚起见，本领域技术人员应当将说明书作为一个整体，各实施方式中的技术方案也可以经适当组合，形成本领域技术人员可以理解的其他实施方式。
上文所列出的一系列的详细说明仅仅是针对本发明的可行性实施方式的具体说明，它们并非用以限制本发明的保护范围，凡未脱离本发明技艺精神所作的等效实施方式或变更均应包含在本发明的保护范围之内。
最后应说明的是：以上实施方式仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施方式对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施方式所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施方式技术方案的精神和范围。

Claims (12)

  1. 一种自动割草机，包括：
    控制单元，可控制所述自动割草机执行返回充电站指令；
    第一参考量收集单元，收集第一参考量；
    第二参考量收集单元，收集第二参考量，
    其特征在于:所述自动割草机还包含比较单元，所述比较单元将所述第一参考量与第二预设值进行比较；若所述第二参考量累计到达第一预设值，且所述第一参考量不大于所述第二预设值，所述控制单元控制所述自动割草机终止执行返回充电站指令。
  2. 根据权利要求1所述的自动割草机，其特征在于：所述第一参考量为所述自动割草机执行返回充电站指令后，沿边界线移动的时间，所述第二参考量为所述自动割草机的转动量。
  3. 根据权利要求2所述的自动割草机，其特征在于：所述自动割草机还包含驱动单元，所述驱动单元包含位于所述自动割草机相对应的两侧的第一驱动轮及第二驱动轮，所述第二参考量收集单元可获得所述第一驱动轮及所述第二驱动轮的转速。
  4. 根据权利要求2所述的自动割草机，其特征在于：所述转动量为所述第二参考量收集单元获得的角度变化量，且所述第一预设值不小于360°。
  5. 根据权利要求3所述的自动割草机，其特征在于：所述转动量为所述第二参考量收集单元获得的第一驱动轮和所述第二驱动轮的移动距离之差。
  6. 根据权利要求2所述的自动割草机，其特征在于：所述边界线包 含外边界线及内边界线，所述外边界线围成的区域为工作区域，所述内边界线限定出隔离区域，所述自动割草机在所述工作区域内、所述隔离区域外工作。
  7. 根据权利要求6所述的自动割草机，其特征在于：所述自动割草机包含第二时间，所述第二时间为所述自动割草机沿限定出所述工作区域的外边界线移动一个周期的时间。
  8. 根据权利要求6所述的自动割草机，其特征在于：所述自动割草机还包含第三时间，所述第三时间为所述自动割草机沿限定出最大的隔离区域的内边界线移动一个周期的时间，且所述第二预设值不小于所述第三时间。
  9. 根据权利要求7所述的自动割草机，其特征在于：所述自动割草机还包含第三时间，所述第三时间大于三分之一的第二时间，小于二分之一的第二时间，且所述第二预设值不小于所述第三时间。
  10. 一种自动割草机的控制方法，其特征在于，所述控制方法包括：如权利要求1-9中任一项所述自动割草机收到返回充电站指令；所述自动割草机执行返回充电站指令，在所述自动割草机沿边界线移动时，第二参考量收集单元收集第二参考量，第一参考量收集单元收集第一参考量，比较单元将所述第一参考量与第二预设值进行比较；若所述第二参考量累计到达第一预设值且所述第一参考量不大于所述第二预设值，所述自动割草机终止执行返回充电站指令。
  11. 根据权利要求9所述的自动割草机的控制方法，其特征在于，步 骤“所述自动割草机执行返回充电站指令”包含：所述自动割草机寻找边界线，并沿着所述边界线移动。
  12. 根据权利要求9所述的自动割草机的控制方法，其特征在于，步骤“所述自动割草机终止执行返回充电站指令”之后，所述自动割草机离开所述边界线，并重新开始执行返回充电站指令。
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