WO2021078220A1 - 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
WO2021078220A1
WO2021078220A1 PCT/CN2020/123035 CN2020123035W WO2021078220A1 WO 2021078220 A1 WO2021078220 A1 WO 2021078220A1 CN 2020123035 W CN2020123035 W CN 2020123035W WO 2021078220 A1 WO2021078220 A1 WO 2021078220A1
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WIPO (PCT)
Prior art keywords
module
lawn mower
automatic lawn
cutting
user
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PCT/CN2020/123035
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English (en)
French (fr)
Inventor
安德罗·保罗
Original Assignee
苏州宝时得电动工具有限公司
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Publication of WO2021078220A1 publication Critical patent/WO2021078220A1/zh

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/835—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes
    • A01D34/84—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes for edges of lawns or fields, e.g. for mowing close to trees or walls

Definitions

  • the invention relates to an automatic lawn mower and a control method thereof.
  • self-mobile devices can automatically perform pre-set related tasks in a pre-set program, without human operation and intervention, they are used in industrial applications and household products.
  • the application is very wide.
  • Common self-moving devices can help users complete indoor ground cleaning, outdoor garden maintenance and other tasks.
  • the automatic lawn mower As smart garden equipment, the automatic lawn mower generally works on the grass, and the user sets its working area.
  • the automatic lawn mower detects the relative position relationship with the working area to keep it within the working area and prevent it from going out of the boundary.
  • the cutting mechanism of an automatic lawn mower is generally a blade and other components. During the high-speed movement of cutting grass, it may cause injury to the human body or other objects. In order to avoid such injury, the current cutting mechanism of the automatic lawn mower is compatible with the automatic cutting mechanism. There is a safe distance from the outer edge of the lawn mower. In other words, when the automatic lawn mower walks on the boundary, including the obstacle boundary, there is still a certain distance between the cutting mechanism and the actual boundary, and this distance creates an area on the grass that the automatic lawn mower cannot cut. The user is required to perform secondary processing.
  • the problem to be solved by the present invention is to provide an automatic lawn mower that can cut to the edge of the working area.
  • An automatic lawn mower which moves and works in a working area, includes: a casing; a walking module installed on the casing to drive the casing to move; a cutting module installed on the casing and the cutting The module moves between a first position and a second position, the second position is located outside the first position; the communication module is installed in the housing, communicates with the user equipment, and receives the user sent by the user equipment Control signal; a control module, installed in the housing, connected with the walking module, the cutting module, and the communication module to control the movement and operation of the automatic lawn mower; at least based on the user control signal, so The control module controls the cutting module to work in the second position.
  • the control module controls the cutting module to work at the second position.
  • the communication module includes a short-range wireless communication module.
  • control module controls the cutting module to move from the first position to the second position.
  • the automatic lawn mower includes a boundary detection module that detects the boundary of the working area, at least based on the boundary detection module detecting the boundary, and the control module controls the cutting module to The second position works.
  • control module controls the cutting module to move from the first position to the second position.
  • the control module controls the cutting module to stop working.
  • control module controls the automatic lawn mower to move to the boundary so that the second position faces the outside of the working area.
  • the automatic lawn mower includes a movable assembly that drives the cutting module to move between a first position and a second position.
  • the automatic lawn mower includes a height adjustment component, which is connected to the movable component, and the cutting module is driven to move in the height direction through the movable component.
  • the cutting module in the width direction, does not extend beyond the housing, and the distance from the outside of the housing is less than or equal to 2 cm.
  • the cutting module in the width direction, extends beyond the housing.
  • the distance between the first position and the housing is greater than or equal to 8 cm.
  • control module controls the operation or non-operation of the cutting module.
  • the control module controls the cutting module not to work.
  • a control method of an automatic lawn mower wherein the cutting module of the automatic lawn mower moves between a first position and a second position, the second position is located outside the first position; the control method includes : Determine whether a user control signal is detected; if the user control signal is not detected, prohibit the cutting device from working in the second position.
  • control method further includes: if the user control signal is detected, allowing the cutting device to work in the second position.
  • control method further includes: if the user control signal is detected, determining whether the user control signal meets a preset condition; if the preset condition is satisfied, allowing the cutting device to operate in the first Two positions work.
  • the preset condition includes that the signal strength is greater than a preset value, and/or the signal is continuously detected.
  • control method further includes: if the user control signal is not detected, prohibiting the cutting device from moving from the first position to the second position.
  • control method further includes: judging whether the border of the automatic lawn mower is detected; if the border is detected, allowing the cutting device to work in the second position; if it is not detected When the boundary is reached, the cutting device is prohibited from working in the second position.
  • control method further includes: if the user control signal is detected, controlling the automatic lawn mower to move to the boundary, so that the second position faces the automatic lawn mower. Outside of the work area.
  • a control method of an automatic lawn mower wherein the cutting module of the automatic lawn mower moves between a first position and a second position, the second position is located outside the first position; the control method includes : Determine whether the user is near the automatic lawn mower; if it is confirmed that the user is near the automatic lawn mower, allow the cutting device to work in the second position.
  • the automatic lawn mower includes an input module
  • the control method includes: if the input module detects a user operation, confirming that the user is near the automatic lawn mower.
  • the automatic lawn mower includes a human body detection module
  • the control method includes: judging whether the user is near the automatic lawn mower according to the detection result of the human body detection module.
  • the automatic lawn mower includes a communication module
  • the control method includes: judging whether the user is near the automatic lawn mower according to the signal characteristics received by the communication module.
  • the signal characteristic includes signal strength.
  • the communication module includes a short-range wireless communication module.
  • the present invention has the following beneficial effects:
  • the cutting module of the automatic lawn mower is movable between the first position and the second position.
  • the cutting module moves outward from the first position to the second position, so that the cutting The module is closer to the edge of the work area to facilitate finishing work.
  • the cutting module moves inward from the second position to the first position to ensure the working safety of the automatic lawn mower. Therefore, the automatic lawn mower of the present invention can realize cutting to the edge without adding a cutting module.
  • the distance between the casing and the cutting module is relatively short, or the cutting module extends out of the casing, which cannot provide sufficient protection. Therefore, the operation control of the cutting module at the second position is realized under the supervision of the user, which can effectively improve the safety of the cutting operation.
  • Fig. 1 is a schematic diagram of an automatic working system according to an embodiment of the present invention.
  • Fig. 2 is a schematic diagram of an automatic lawn mower according to an embodiment of the present invention.
  • Fig. 3 is a schematic diagram of an automatic lawn mower according to an embodiment of the present invention.
  • Fig. 4 is a schematic diagram of an automatic lawn mower according to an embodiment of the present invention.
  • Fig. 5 is a schematic diagram of an automatic lawn mower according to an embodiment of the present invention.
  • the automatic working system of this embodiment includes an automatic lawn mower 1, a border 3, and a docking station 5.
  • the boundary 3 is used to limit the working area of the automatic working system, the automatic lawn mower 1 walks and works in or between the boundary 3, and the docking station 5 is used for the automatic lawn mower 1 to stop, or for the automatic lawn mower 1 Replenish energy.
  • the boundary 3 is the inner boundary or the outer boundary including the working area.
  • the outer boundary is the periphery of the entire work area, usually connected end to end, enclosing the work area.
  • the inner boundary may be the boundary of the isolation area set by the user in the work area, or may be an area where the automatic lawn mower 1 cannot work such as obstacles in the work area.
  • the form of boundary 3 can be physical or electronic, and can be formed by objects in the garden such as walls, fences, railings, etc.; it can be a virtual boundary signal, such as electromagnetic signal or light signal, sent by the boundary signal generator; Relative coordinates or absolute coordinates define the boundary, or the automatic lawn mower 1 recognizes the surface of the work area, so that the automatic lawn mower 1 remains in the work area.
  • the automatic lawn mower 1 includes a walking module 20, a boundary detection module 70, an energy module (not shown), a cutting module 30, a control module 50, etc., which are installed in the housing 10.
  • the energy module is used to provide energy for various tasks of the automatic lawn mower 1, and it includes a rechargeable battery and a charging structure.
  • the charging structure is a charging electrode sheet that can be exposed outside the automatic lawn mower 1.
  • the charging structure may be other contact-type charging electrodes, or a non-contact-type induction coil.
  • the control module 50 is used to control the automatic lawn mower 1 to automatically walk and work.
  • the functions it performs include controlling the cutting module 30 to start or stop, generate a walking path, and control the walking module 20 to follow the walk and receive the environment detected by the automatic lawn mower 1 Signal, judge the power of the energy module and promptly control the automatic lawn mower 1 to return to the docking station 5 to automatically dock and charge and so on.
  • the walking module 20 is used to drive the automatic lawn mower 1 to walk in the working area, and is composed of a wheel set mounted on the housing 10 and a walking motor driving the wheel set.
  • the wheel set includes a driving wheel connected to the walking motor and an auxiliary wheel that mainly plays a role of auxiliary support.
  • the number of driving wheels is two, which are located at the rear of the housing 10, each driving wheel is connected with a walking motor, and the number of auxiliary wheels is one or two, which are located at the front of the automatic lawn mower 1.
  • the wheel set includes four driving wheels connected to the walking motor, which provide sufficient driving force for the automatic lawn mower 1 to adapt to complex terrain.
  • the boundary detection module 70 is used to detect the relative positional relationship between the automatic lawn mower 1 and the boundary 3, which may specifically include one or more of coordinates, distance, angle, and inner and outer directions of the boundary.
  • the composition and principles of the boundary detection module 70 can be various, such as infrared, ultrasonic, collision detection, magnetic induction, etc., and can also be in the form of receiving positioning signals, such as satellite positioning.
  • the control module 50 controls the automatic lawn mower 1 to move within the boundary 3 or controls the automatic lawn mower 1 to move along the boundary 3 according to the signal detected by the boundary detection module 70.
  • the cutting module 30 is used to perform cutting tasks of the automatic lawn mower 1, and includes a cutting motor 41 and a cutting assembly 43 driven by the cutting motor.
  • the cutting assembly 43 includes a cutting element 45, which generates energy for mowing when moving at a high speed.
  • the cutting module 30 includes at least two positions: a first position 11 and a second position 13.
  • the first position 11 of the cutting module 30 is located inside the housing 10, and the distance between the edge of the housing 10 and the cutting module 30 is used for protection. Prevent people or animals from reaching in from the side and contacting the cutting module 30.
  • the second position 13 of the cutting module 30 is biased to the outside of the housing 10 relative to the first position 11.
  • the cutting module 30 can basically cut to the edge of the working area or completely to the edge of the working area, thereby reducing the user's manual trimming work.
  • the control module 50 controls the cutting module 30 to move from the first position 11 to the second position 13 based on the working state of the automatic lawn mower 1 or the received external signal.
  • the cutting module 30 is located at the first position 11, and as shown in FIG. 3, the cutting module 30 is located at the second position 13.
  • the cutting module 30 when in the second position 13, in the horizontal direction, the cutting module 30 is located in the housing 10 and is closer to the edge of the housing 10 than in the first position 11.
  • the distance between the cutting module 30 and the edge of the housing 10 is less than or equal to 2 cm.
  • the cutting module 30 in this embodiment is located in the housing 10, and the housing 10 can be used for a certain degree of safety protection, and the cutting element 45 can be prevented from directly contacting hard obstacles, thereby prolonging the service life of the cutting element 45.
  • the cutting module 30 when in the second position 13, in the horizontal direction, the cutting module 30 is at least partially located outside the housing 10.
  • the cutting module 30 can cut the grass at the edge of the boundary 3 cleanly.
  • the cutting module 30 can completely cover the grass on the edge of the obstacle and cut it cleanly. The grass on the border may fall to the outside.
  • the cutting module 30 of this embodiment can better solve this problem.
  • the control module 50 controls the cutting module 30 to be located at the first position 11.
  • the first position 11 of the cutting module 30 is located in the housing 10.
  • the distance between the cutting module 30 and the edge of the housing 10 is greater than or equal to 8 cm, ensuring that the user will not touch the cutting module 30 when reaching under the housing 10 from the side, thereby ensuring that the cutting module 30 is at the first position 11 Able to cut safely.
  • control module 50 controls the cutting module 30 to move from the first position 11 to the second position 13
  • the control module 50 controls the cutting module 30 to stop working.
  • the control module 50 controls the cutting module 30 to stop working.
  • the cutting module 30 itself is not sufficient to ensure work safety, when the cutting module 30 is located at the second position 13, the user may be in danger due to contact with the cutting element 45 of the cutting module 30. Therefore, when the cutting module is located at the second position 13, it needs to be operated under user supervision, so as to ensure that the cutting module 30 will not cause harm to humans or animals during work. In one embodiment, it is determined whether the user is in the vicinity of the automatic lawn mower 1 for monitoring by detecting the distance between the user and the automatic lawn mower 1.
  • the automatic lawn mower 1 includes a communication module 60 for receiving user control signals generated by user equipment.
  • the control module 50 controls the cutting module 30 to work at the second position 13 based on the user control signal received by the communication module 60.
  • the user equipment can be a mobile phone, a portable computer or other portable handheld devices.
  • the control module 50 controls the cutting module to work at the second position 13 at least based on the user control signal, so that the automatic lawnmower 1 can cut to the edge of the working area, and the safety can also be improved.
  • the control module 50 controls the cutting module 30 to move from the first position 11 to the second position 13 according to a user control signal.
  • control module 50 determines the distance between the automatic lawn mower 1 and the user equipment based on the strength of the user control signal, thereby determining the distance between the automatic lawn mower 1 and the user.
  • the intensity of the user control signal is greater than the preset value, it is considered that the user is near the automatic lawn mower 1, and the user control signal is allowed to control the cutting module 30 to work in the second position 13.
  • the communication module 60 when the communication module 60 receives the user control signal, that is, the intensity of the user control signal is greater than 0, it is determined that the user is near the automatic lawn mower 1.
  • the communication module 60 is a short-range wireless communication module.
  • Short-distance wireless communication refers to the realization of communication within a short-distance range through at least one wireless communication technology, and different wireless signals can achieve different communication distances.
  • the communication module 60 may be in the form of Bluetooth communication, Wi-Fi communication, infrared communication, or the like.
  • the control module 50 controls the cutting module 30 to work at the second position 13 according to continuously received user control signals. If the control signal received by the control module 50 is interrupted, the control module 50 controls the cutting module 30 to stop working.
  • the control signal interruption may specifically be that the time during which the communication module 60 cannot receive the control signal is greater than the preset interruption time. In this embodiment, the preset interruption time is less than or equal to 3 seconds. According to actual needs, the preset interruption time can be 4 seconds, 5 seconds, etc.
  • the situation where the communication module 60 cannot receive the control signal includes the user releasing the button of the user equipment, or the user equipment loses connection with the automatic lawn mower 1, or the user equipment loses power, or the communication between the user equipment and the automatic lawn mower 1 There are obstructions and so on.
  • control module 50 determines whether to allow the cutting module 30 to work in the second position 13 based on the user control signal. If the user control signal is not detected, the cutting module 30 is prohibited from working in the second position 13. In other words, detecting the user control signal is a necessary condition for the cutting module 30 to be in the second position 13.
  • the cutting module 30 if a user control signal is detected, the cutting module 30 is allowed to work in the second position 13. It is understandable that the detection of the user control signal is not necessarily a sufficient condition for the cutting module 30 to work in the second position, that is, the detection of the user control control signal does not necessarily cause the control module 50 to control the cutting module 30 in the second position. Position work.
  • An alternative way is to control the operation of the cutting module 30 at the second position 13 based only on a user control signal.
  • Another optional way is to control whether the cutting module 30 works at the second position 13 based on a user control signal and at least one other signal; other signals include, but are not limited to, a signal that the boundary detection module 70 detects a boundary.
  • the cutting module 30 is allowed to work in the second position 13.
  • the preset conditions include, but are not limited to, that the signal strength is greater than a preset value, or the control module 50 continuously detects a user control signal.
  • the structural protection ability is weak.
  • the cutting module 30 is prohibited from moving from the first position 11 to the second position.
  • the automatic lawn mower 1 includes a human body detection module for detecting whether there is a human body in the corresponding position of the automatic lawn mower 1.
  • the control module 50 judges whether the user is near the automatic lawn mower 1 through the output signal of the human body detection module. When the user is near the automatic lawn mower 1, the control module 50 allows the cutting module 30 to work in the second position 13.
  • the second position 13 of the cutting module 30 is on one side of the automatic lawn mower 1, and the human body detection module is arranged on the other side of the automatic lawn mower 1, and the second position 13 is connected to that of the human body detection module. The separation of the positions is to ensure that the user no longer cuts the same side of the module 30, so as to prevent the cutting module 30 from causing harm to the user.
  • the automatic lawn mower 1 includes an edge mode.
  • the control module 50 controls the automatic lawn mower 1 to move along a preset path.
  • the preset path includes boundary 3 or other paths set.
  • the control module 50 controls the cutting module 30 to move outward to the second position, and controls the cutting module 30 to work.
  • the cutting module 30 can cut the grass of the automatic boundary 3 cleanly.
  • the control module 50 controls the start of the edge mode based on a preset signal, and the preset signal includes a user control signal or a cutting completion signal in the work area, and so on.
  • the control module 50 simultaneously controls the operation of the cutting module 30 at the second position 13 according to two kinds of signals, specifically the user control signal and the boundary signal. If the user control signal is not detected or the boundary 3 is not detected, the cutting module 30 is prohibited from working in the second position 13.
  • the boundary detection module 70 detects the relationship between the automatic lawn mower 1 and the boundary. In this embodiment, detecting the boundary means that the distance between the automatic lawn mower 1 and the boundary 3 is less than the set distance or the automatic lawn mower 1 is located on the boundary 3. .
  • control module 50 controls the border 3 of the automatic lawn mower 1 according to a user control signal, and moves toward the border 3.
  • the automatic lawn mower 1 enters the edge-edge mode, the automatic lawn mower 1 moves along the boundary 3, and the second position 13 faces out of the working area.
  • the control module 50 when in the first position 11, automatically controls the cutting module 30 to work or not to work.
  • the automatic lawn mower 1 moves and cuts in the working area.
  • the working mode of the automatic lawn mower 1 is well known to those skilled in the art, and will not be repeated here.
  • the automatic lawn mower includes a cutting mode and a trimming mode. In the cutting mode, the control module 50 controls the cutting module 30 to move to the first position 11, and the automatic lawn mower 1 moves in the working area and controls the cutting Module 30 works; in trimming mode, the control module 50 controls the cutting module to move to the second position 13.
  • the control module 50 controls the cutting module 30 to work based on the user control signal, and controls the automatic mowing based on the detection signal of the boundary detection module 70
  • the machine 1 moves along the boundary 3 to complete the cutting of the boundary.
  • the cutting element 45 is a blade.
  • the working area of the automatic lawn mower 1 is a lawn. In many cases, one or more sides surrounding the lawn are hard surfaces, such as driveways, sidewalks, fences, etc.
  • the cutting element 45 with higher flexibility is more likely to cause fracture when working in these scenarios, while the blade has relatively high toughness and is not prone to fracture.
  • the blade is a common cutting element of the current automatic lawn mower. For the automatic lawn mower, the cutting performance of the blade is better, and the automatic cutting work can be completed efficiently.
  • the blades are installed on the cutter head in a circumferentially distributed form, and the blades are driven to rotate through the rotation of the cutter head to cut the lawn.
  • the material of the blade is metal.
  • the blade body and the blade part are made of the same material, such as high-speed steel, alloy steel and other materials.
  • the blade body 110 is made of carbon steel or steel with the same performance; the blade portion 120 is made of high-speed steel, alloy tool steel or steel with the same performance.
  • the metal material makes the blade meet the requirements of hardness and toughness, avoiding frequent replacement.
  • the automatic lawn mower 1 includes a movable assembly 70 installed under the housing 10, and the movable assembly 70 is connected with the cutting module 30.
  • the control module 50 controls the movable assembly 70 to move at least in the horizontal direction, thereby driving the cutting module 30 to move in the horizontal direction.
  • the movable assembly 70 includes a guide portion 71 and a movable portion 73.
  • the guide portion 71 is installed under the housing 10, and the movable portion 73 is coupled to the guide portion 71 and can move under the guidance of the guide portion 71.
  • the cutting module 30 is installed on the movable part 73, and the control module 50 drives the cutting module 30 to move by controlling the movable part 73.
  • the guide portion 71 extends in the lateral direction, so that the movable portion 73 drives the cutting module 30 in the lateral direction. Move up to avoid contact with the walking module 20 or other structures.
  • the traveling module 20 includes three traveling wheels, that is, the front of the housing 10 includes one traveling wheel, the guide The portion 71 may extend in the transverse direction, or may extend in the transverse direction and the longitudinal direction at the same time.
  • the guide portion 71 includes a guide rail, and two ends of the guide rail are formed with fixed positions for fixing the moving part, which are located at the first position 11 and the second position 13 respectively.
  • the movable assembly 70 includes a guide motor for driving the movable part 73 to move and stop.
  • the control module 50 controls the position of the cutting module 30 by controlling the guiding motor.
  • the guide rail is a linear guide rail, and the guiding motor is specifically a linear motor, which drives the movable part 73 to move linearly along the guide rail.
  • the guide rail is an arc-shaped guide rail, and the movable portion 73 includes a swing rod, and the guide motor drives the swing rod to drive the cutting module 30 to swing along the guide rail.
  • control module 50 controls the guiding motor to drive the interactive part to move, so that the cutting module moves from the first position 11 to the second position 13.
  • the control module 30 controls the walking module 20 to walk along the boundary so that the second position 13 faces the outside of the working area.
  • the control module 50 controls the cutting module to perform cutting.
  • the user control signal may be not limited to the same type of signal, may include the same type of signal, or may include different signals.
  • the control module 50 if the control module 50 receives a continuous user control signal, it controls the cutting module 30 to perform cutting, and if the user control signal is interrupted, the control module controls the cutting module 30 to stop cutting.
  • the control module 50 controls the guiding motor to drive the movable part 73 to move, so that the cutting module 30 moves from the second position 13 to the first position 11.
  • the control module 50 controls the walking module 20 so that the automatic lawn mower 1 returns to work in the working area, or returns to the docking station 5, which is automatically controlled by the control module 50 The automatic lawn mower 1 works in the work area.
  • the automatic lawn mower 1 includes a height adjustment module for adjusting the height of the cutting module 30 from the ground.
  • the height adjustment module includes a thread adjustment mechanism or a cam adjustment mechanism or a turbine adjustment mechanism for adjusting the height of the movable assembly 70, thereby driving the adjustment of the position of the cutting module 30 in the height direction.
  • An embodiment of the present invention provides a control method of an automatic lawn mower, the control method including:
  • the cutting device is allowed to work in the second position.
  • An embodiment of the present invention provides a control method of an automatic lawn mower, the control method including:
  • the cutting device is prohibited from working in the second position.
  • An embodiment of the present invention provides a control method of an automatic lawn mower, the control method including:
  • the cutting device is prohibited from working in the second position, and the cutting device is prohibited from moving from the first position to the second position.
  • An embodiment of the present invention provides a control method of an automatic lawn mower, the control method including:
  • the cutting device is allowed to work in the second position
  • the cutting device is prohibited from working in the second position.
  • An embodiment of the present invention provides a control method of an automatic lawn mower, the control method including:
  • the automatic lawn mower is controlled to move to the boundary, so that the second position faces the outside of the working area relative to the first position.
  • An embodiment of the present invention provides a control method of an automatic lawn mower, the control method including:
  • the cutting device is prohibited from working in the second position.
  • the method of judging whether the user is near the automatic lawn mower includes at least one of the following:
  • the input module of the automatic lawn mower detects the user operation. If the input module detects the user operation, it is determined that the user is near the automatic lawn mower.
  • the automatic lawn mower includes a human body detection module, which determines whether the user is near the automatic lawn mower according to the detection result of the human body detection module.
  • the automatic lawn mower includes a communication module, which determines whether the user is near the automatic lawn mower according to the characteristics of the signal received by the communication module.
  • the signal characteristic includes signal strength.
  • the communication module includes a short-range communication module.

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  • Environmental Sciences (AREA)
  • Harvester Elements (AREA)
  • Guiding Agricultural Machines (AREA)

Abstract

一种自动割草机（1），包括：壳体（10）；行走模块（20）；切割模块（30），在第一位置（11）和第二位置（13）之间移动，第二位置位于第一位置的外侧；通信模块（60），与用户设备通信，接收用户设备发送的用户控制信号；控制模块（50），控制自动割草机移动和工作；至少基于用户控制信号，控制模块控制切割模块在第二位置工作。自动割草机在不增加切割模块的基础上实现切割到边。

Description

自动割草机及其控制方法
本申请要求了申请日为2019年10月23日，申请号为201911011054.7的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及自动割草机及其控制方法。
背景技术
随着科学技术的发展，智能的自移动设备为人们所熟知，由于自移动设备可以自动预先设置的程序执行预先设置的相关任务，无须人为的操作与干预，因此在工业应用及家居产品上的应用非常广泛。常见的自移动设备可以帮助用户完成室内地面清洁、室外花园维护等工作。
作为智能花园设备，自动割草机一般在草地上工作，由用户设定其工作区域，自动割草机检测与工作区域的相对位置关系，使其保持在工作区域内，防止走出边界。自动割草机的切割机构一般为刀片等元件，在其高速运动割草的过程中，可能会对人体或其他物体造成伤害，为了避免这种伤害，目前自动割草机的切割机构与自动割草机的外边缘存在一段安全距离。也就是说，当自动割草机行走在边界上，包括障碍物边界，切割机构与实际边界之间仍然存在一段距离，而这段距离造成了草地上存在自动割草机无法切割到的区域，需要用户进行二次处理。
发明内容
为克服现有技术的缺陷，本发明所要解决的问题是提供一种能够切割到工作区域边缘的自动割草机。
本发明解决现有技术问题所采用的一种技术方案是：
一种自动割草机，在工作区域内移动和工作，包括：壳体；行走模块，安装于所述壳体，带动所述壳体移动；切割模块，安装于所述壳体，所述切割模块在第一位置和第二位置之间移动，所述第二位置位于所述第一位置的外侧；通信模块，安装于所述壳体，与用户设备通信，接收所述用户设备发送的用户控制信号；控制模块，安装于所述壳体，与所述行走模块、所述切割模块和所述通信模块连接，控制所述自动割草机移动和工作；至少基于所述用户控制信号，所述控制模块控制所述切割模块在第二位置工作。
在一种实施方式中，至少基于所述用户控制信号的强度大于预设值，所述控制模块控制所述切割模块在第二位置工作。
在一种实施方式中，所述通信模块包括短距离无线通信模块。
在一种实施方式中，至少基于所述用户控制信号，所述控制模块控制所述切割模块从所述第一位置移动至所述第二位置。
在一种实施方式中，所述自动割草机包括边界侦测模块，检测所述工作区域的边界，至少基于所述边界检测模块检测到所述边界，所述控制模块控制所述切割模块在所述第二位置工作。
在一种实施方式中，至少基于所述边界侦测模块检测到所述边界，所述控制模块控制所述切割模块从所述第一位置移动至所述第二位置。
在一种实施方式中，在所述第二位置，基于所述通信模块接收的所述用户控制信号中断，所述控制模块控制所述切割模块停止工作。
在一种实施方式中，至少基于所述用户控制信号，所述控制模块控制所述自动割草机向所述边界移动，使所述第二位置朝向所述工作区域外侧。
在一种实施方式中，所述自动割草机包括活动组件，带动所述切割模块在第一位置和第二位置之间移动。
在一种实施方式中，所述自动割草机包括调高组件，与所述活动组件连接，通过所述活动组件带动所述切割模块在高度方向上移动。
在一种实施方式中，宽度方向上，所述切割模块不超出所述壳体，且与壳体外侧的距离小于等于2厘米。
在一种实施方式中，宽度方向上，所述切割模块超出所述壳体。
在一种实施方式中，宽度方向上，所述第一位置与所述壳体的距离大于等于8厘米。
在一种实施方式中，在所述第一位置，所述控制模块控制所述切割模块工作或不工作。
在一种实施方式中，在所述切割模块移动过程中，所述控制模块控制所述切割模块不工作。
本发明解决现有技术问题所采用的另一种技术方案是：
一种自动割草机的控制方法，所述自动割草机的切割模块在第一位置和第二位置之间移动，所述第二位置位于所述第一位置的外侧；所述控制方法包括：判断是否检测到用户控制信号；若未检测到所述用户控制信号，禁止所述切割 装置在所述第二位置工作。
在一种实施方式中，所述控制方法还包括：若检测到所述用户控制信号，允许所述切割装置在所述第二位置工作。
在一种实施方式中，所述控制方法还包括：若检测到所述用户控制信号，判断所述用户控制信号是否满足预设条件；若满足预设条件，允许所述切割装置在所述第二位置工作。
在一种实施方式中，所述预设条件包括信号强度大于预设值，和/或，持续检测到信号。
在一种实施方式中，所述控制方法还包括：若未检测到所述用户控制信号，禁止所述切割装置在从所述第一位置移动至所述第二位置。
在一种实施方式中，所述控制方法还包括：判断是否检测到所述自动割草机的边界；若检测到所述边界，允许所述切割装置在所述第二位置工作；若未检测到所述边界，禁止所述切割装置在所述第二位置工作。
在一种实施方式中，所述控制方法还包括：若检测到所述用户控制信号，控制所述自动割草机向所述边界移动，使所述第二位置朝向所述自动割草机的工作区域的外侧。
本发明解决现有技术问题所采用的另一种技术方案是：
一种自动割草机的控制方法，所述自动割草机的切割模块在第一位置和第二位置之间移动，所述第二位置位于所述第一位置的外侧；所述控制方法包括：判断用户是否在所述自动割草机附近；若确认用户在所述自动割草机附近，允许所述切割装置在所述第二位置工作。
在一种实施方式中，若确认用户不在所述自动割草机附近，禁止所述切割装置在所述第二位置工作。
在一种实施方式中，所述自动割草机包括输入模块，所述控制方法包括：若所述输入模块检测到用户操作，则确认用户在所述自动割草机附近。
在一种实施方式中，所述自动割草机包括人体检测模块，所述控制方法包括：根据人体检测模块的检测结果，判断用户是否在所述自动割草机附近。
在一种实施方式中，所述自动割草机包括通信模块，所述控制方法包括：根据所述通信模块接收的信号特征，判断用户是否在所述自动割草机附近。
在一种实施方式中，所述信号特征包括信号强度。
在一种实施方式中，所述通信模块包括短距离无线通信模块。
与现有技术相比，本发明的有益效果：
自动割草机的切割模块在第一位置和第二位置之间可移动，当自动割草机需要切割工作区域边缘的草坪时，切割模块从第一位置向外移动至第二位置，使得切割模块更靠近工作区域边缘，以便于完成修边工作。当自动割草机完成工作区域边缘的切割时，切割模块从第二位置向内移动至第一位置，以保证自动割草机的工作安全。因此，本发明的自动割草机能够在不增加切割模块的基础上实现切割到边。当切割模块位于第二位置时，壳体与切割模块之间的距离较近，或者切割模块延伸出壳体，无法起到充分的防护作用。因此，在用户的监控下实现切割模块在第二位置的操作控制，能够有效地提高切割操作的安全性。
附图说明
以上所述的本发明的目的、技术方案以及有益效果可以通过下面附图实现：
图1是本发明的一个实施例的自动工作系统示意图。
图2是本发明的一个实施例的自动割草机示意图。
图3是本发明的一个实施例的自动割草机示意图。
图4是本发明的一个实施例的自动割草机示意图。
图5是本发明的一个实施例的自动割草机示意图。
具体实施方式
如图1所示，本实施方式的自动工作系统包括自动割草机1、边界3和停靠站5。其中边界3用于限制自动工作系统的工作区域，自动割草机1在边界3之中或之间行走并工作，停靠站5用于供自动割草机1停靠，或供自动割草机1补充能量。
边界3是包括工作区域的内边界或外边界。外边界是整个工作区域的外围，通常首尾相连，将工作区域封闭。内边界可以是用户在工作区域内设置的隔离区域边界，也可以是工作区域内的障碍等自动割草机1无法工作的区域。边界3的形式可以是实体的也可以是电子的，可以由墙壁、篱笆、栏杆等花园内的物体形成边界；可以由边界信号发生装置发出虚拟边界信号，如电磁信号或光信号；也可以由相对坐标或绝对坐标定义边界，或者由自动割草机1识别工作区域的表面，使得自动割草机1保持在工作区域内。
如图2所示，自动割草机1包括行走模块20、边界侦测模块70、能量模块(图未示)、切割模块30、控制模块50等，安装于壳体10。
能量模块用于为自动割草机1的各项工作提供能量，其包括可充电电池和充电结构，本实施例中，充电结构为可露出于自动割草机1外的充电电极片。在其他实施例中，充电结构可以是其他接触式的充电电极，也可以是非接触式的感应线圈等。
控制模块50用于控制自动割草机1自动行走和工作，它执行的功能包括控制切割模块30启动工作或停止，生成行走路径并控制行走模块20依照行走，接收自动割草机1检测的环境信号，判断能量模块的电量并及时控制自动割草机1返回停靠站5自动对接充电等等。
行走模块20用于带动自动割草机1在工作区域内行走，由安装在壳体10的轮组和驱动轮组的行走马达组成。本实施例中，轮组包括连接行走马达的驱动轮和主要起辅助支撑作用的辅助轮。驱动轮的数量为两个，位于壳体10的后部，每个驱动轮连接有一个行走马达，辅助轮的数量为一个或两个，位于自动割草机1的前部。在其他实施例中，轮组包括四个连接行走马达的驱动轮，为自动割草机1适应复杂地形提供足够的驱动力。
边界侦测模块70用于侦测自动割草机1和边界3的相对位置关系，具体可能包括坐标、距离、角度、边界内外方位中的一种或几种。边界侦测模块70的组成和原理可以为多种，如可以为红外线式、超声波式、碰撞检测式，磁感应式等等，还可以为接收定位信号的形式，如卫星定位。本实施例中，控制模块50根据边界侦测模块70检测的信号控制自动割草机1在边界3内移动，或控制自动割草机1沿着边界3移动。
切割模块30用于执行自动割草机1的切割任务，包括切割马达41以及由切割马达驱动的切割组件43等。切割组件43包括切割元件45，在高速运动时产生能量割草。本实施例中，切割模块30至少包括两个位置：第一位置11和第二位置13。为了防止人或动物在切割模块30工作过程中接触到切割元件45造成伤害，切割模块30的第一位置11位于壳体10内部，利用壳体10边缘与切割模块30之间的距离实现防护，防止人或动物从侧面伸入，接触到切割模块30。切割模块30的第二位置13相对于第一位置11偏向壳体10的外侧。在第二位置13工作时，切割模块30能够基本切割到工作区域边缘或完全切割到工作区域边缘，从而减少用户的手动修边工作。控制模块50基于自动割草机1的工作状态或接收的外部信号等控制切割模块30从第一位置11移动到第二位置13。
如图2所示，切割模块30位于第一位置11，如图3所示，切割模块30位于第二位置13。在一个实施例中，当位于第二位置13，水平方向上，切割模块30位于壳体10内，与第一位置11相比更靠近壳体10边缘。具体的，切割模块30与壳体10边缘的距离小于等于2厘米。本实施例中的切割模块30位于壳体10内，能够利用壳体10进行一定程度的安全防护，并能够防止切割元件45直接接触硬质障碍，从而延长切割元件45的使用寿命。
在一个实施例中，当位于第二位置13，水平方向上，切割模块30至少部分位于壳体10外。当自动割草机1沿着边界3移动，且切割模块30朝向工作区域外侧时，切割模块30能将边界3边缘的草切割干净。特别的，当自动割草机1沿着障碍边缘移动，若壳体10最大限度地向障碍边缘靠近，切割模块30就能完全覆盖到障碍边缘的草，并将其切割干净。边界的草可能存在向外侧倒伏的问题，本实施例的切割模块30能够较好地解决此问题。
在一个实施例中，正常工作状态下，控制模块50控制切割模块30位于第一位置11。为了保证切割模块30的工作安全，切割模块30的第一位置11位于壳体10内。在宽度方向上，切割模块30与壳体10边缘的距离大于等于8厘米，确保用户从侧面伸入壳体10下方时不会接触到切割模块30，从而保证切割模块30在第一位置11时能够安全切割。
在一个实施例中，为了保证切割模块30的工作安全，当控制模块50控制切割模块30从第一位置11向第二位置13移动时，控制模块50控制切割模块30停止工作。同样的，当切割模块30从第二位置13向第一位置11移动时，控制模块50控制切割模块30停止工作。
若切割模块30的结构本身不足以保证工作安全，那么当切割模块30位于第二位置13时，用户可能会因为接触到切割模块30的切割元件45而产生危险。因此，当切割模块位于第二位置13时，需要在用户监控下进行操作，从而保证切割模块30不会在工作中造成对人或动物的伤害。在一个实施例中，通过检测用户与自动割草机1的距离判断用户是否在自动割草机1的附近进行监控。
如图2所示，在一个实施例中，自动割草机1包括通信模块60，用于接收用户设备产生的用户控制信号。本实施例中，控制模块50基于通信模块60接收的用户控制信号控制切割模块30在第二位置13工作。用户设备可以是手机、便携式电脑或其他便携式手持设备。当接收到用户设备发出的用户控制信号时，自动割草机1与用户的距离在预设范围内，可以确保自动割草机1在安全状态 下。因此，控制模块50至少基于用户控制信号控制切割模块在第二位置13工作，能够实现自动割草机1切割到工作区域边缘，还能够提高安全性。在一个实施例中，控制模块50根据用户控制信号控制切割模块30从第一位置11移动到第二位置13。
在一个实施例中，控制模块50通过用户控制信号的强度判断自动割草机1与用户设备的距离，从而判断自动割草机1与用户的距离。当用户控制信号的强度大于预设值，认为用户在自动割草机1附近，允许用户控制信号控制切割模块30在第二位置13工作。
在一个实施例中，当通信模块60接收到用户控制信号，即用户控制信号强度大于0，判断用户在自动割草机1附近。本实施例中，通信模块60为短距离无线通信模块。短距离无线通信是指通过至少一种无线通信技术在短距离范围内实现通信，不同无线信号能够实现的通信距离不同。具体的，通信模块60可以是蓝牙通信、Wi-Fi通信、红外通信等形式。
在一个实施例中，控制模块50根据持续接收到的用户控制信号控制切割模块30在第二位置13工作，若控制模块50接收的控制信号中断，控制模块50控制切割模块30停止工作。控制信号中断具体可以为通信模块60无法接收到控制信号的时间大于预设中断时间。本实施例中，预设中断时间小于等于3秒。根据实际需要，预设中断时间可以为4秒、5秒等。这里，通信模块60无法接收到控制信号的情况包括用户松开用户设备的按键，或用户设备与自动割草机1失去连接，或用户设备失电，或用户设备与自动割草机1之间存在障碍物遮挡等等。
在一个实施例中，控制模块50基于用户控制信号来确定是否允许切割模块30在第二位置13工作。若未检测到用户控制信号，则禁止切割模块30在第二位置13工作。也就是说，检测到用户控制信号是切割模块30在第二位置13的必要条件。
在一个实施例中，若检测到用户控制信号，则允许切割模块30在第二位置13工作。可以理解的是，检测到用户控制信号并不一定是切割模块30在第二位置工作的充分条件，也就是说，检测到用户控制控制信号并不必然引起控制模块50控制切割模块30在第二位置工作。一种可选的方式为，仅仅基于用户控制信号控制切割模块30在第二位置13的工作与否。另一种可选的方式，基于用户控制信号及至少一种其他信号控制切割模块30在第二位置13的工作与 否；其他信号包括但不限于边界侦测模块70检测到边界的信号。
在一个实施例中，若检测到满足条件的用户控制信号，则允许切割模块30在第二位置13工作。这里的预设条件包括但不限于信号强度大于预设值，或，控制模块50持续检测到用户控制信号。
当切割模块30位于第二位置13时，结构防护能力较弱。为了进一步提高安全性，防止切割模块在第二位置13时被动物或人体接触到，在一个实施例中，若未检测到用户控制信号，则禁止切割模块30从第一位置11移动到第二位置13。
在一个实施例中，自动割草机1包括人体检测模块，用于检测自动割草机1的相应位置是否存在人体。控制模块50通过人体检测模块的输出信号，判断用户是否在自动割草机1附近。当用户在自动割草机1附近时，控制模块50允许切割模块30在第二位置13工作。在一个实施例中，切割模块30的第二位置13在自动割草机1的一侧，则人体检测模块设置于自动割草机1的另一侧，将第二位置13与人体检测模块的位置分隔开，是为了保证用户不再切割模块30的同一侧，从而避免切割模块30对用户造成伤害。
如图5所示，在一个实施例中，自动割草机1包括沿边模式，在沿边模式中，控制模块50控制自动割草机1沿着预设路径移动。预设路径包括边界3或设置的其他路径。可选的，在沿边模式中，控制模块50控制切割模块30向外移动至第二位置，并控制切割模块30工作。当自动割草机1沿着边界3移动，使第二位置朝向工作区域外，且控制模块50控制切割模块30工作，切割模块30能够将自动边界3的草切割干净。可选的，控制模块50基于预设信号控制启动沿边模式，预设信号包括用户控制信号或工作区域内切割完成信号等等。
在一个实施例中，控制模块50同时根据两种信号控制切割模块30在第二位置13的工作，具体为用户控制信号和边界信号。若没有检测到用户控制信号或没有检测到边界3，则禁止切割模块30在第二位置13工作。边界侦测模块70检测自动割草机1与边界的关系，本实施例中，检测到边界是指自动割草机1与边界3的距离小于设定距离或自动割草机1位于边界3上。
在一个实施例中，控制模块50根据用户控制信号控制自动割草机1边界3，并朝向边界3移动。使得自动割草机1进入沿边模式，自动割草机1沿着边界3移动，且第二位置13朝向工作区域外。
在一个实施例中，当位于第一位置11，控制模块50自动控制切割模块30 工作或不工作。切割模块30保持在第一位置11时，自动割草机1在工作区域内移动和切割，其工作方式是本领域技术人员熟知的，这里不再赘述。本实施例中，自动割草机包括切割模式和修边模式，在切割模式中，控制模块50控制切割模块30移动到第一位置11，自动割草机1在工作区域内移动，并控制切割模块30工作；在修边模式中，控制模块50控制切割模块移动到第二位置13，控制模块50基于用户控制信号控制切割模块30工作，并基于边界侦测模块70的检测信号控制自动割草机1沿边界3移动，从而完成对边界的切割。这种结构在不增加新的切割模块的基础上解决了切割到边的问题，不增加额外的成本，也不会因为新的切割模块带来新的技术问题。
在一个实施例中，切割元件45为刀片。自动割草机1的工作区域为草坪，很多情况下，围绕草坪的一侧或多侧为硬路面，例如车道，人行道，围栏等。柔性较高的切割元件45在这些场景下工作比较容易导致断裂，而刀片的韧性相对较高，不容易发生断裂。进一步的，刀片为目前自动割草机通用的切割元件，对于自动割草机而言，刀片的切割性能较好，能够高效地完成自动切割工作。可选的，刀片以周向分布的形式安装于刀盘，通过刀盘旋转带动刀片旋转，对草坪进行切割。
在一个实施例中，刀片的材料为金属。可选的，刀片本体和刀刃部由相同材料制成，如高速钢、合金钢等材料。可选的，刀片本体110由碳素钢或者同等性能钢材制成；刀刃部120由高速钢、合金工具钢或者同等性能钢材制成。金属材料使得刀片满足硬度、韧性等要求，避免频繁更换。
在一个实施例中，如图4所示，自动割草机1包括活动组件70，安装于壳体10的下方，活动组件70与切割模块30连接。控制模块50控制活动组件70至少在水平方向上移动，从而带动切割模块30在水平方向上移动。
在一个实施例中，活动组件70包括引导部71和活动部73，引导部71安装于壳体10的下方，活动部73配接于引导部71，可在引导部71的引导下移动。切割模块30安装于活动部73，控制模块50通过控制活动部73带动切割模块30移动。如图4所示，可选的，若壳体10的前部空间较小，如行走模块20包括四个行走轮，则引导部71在横向上延伸，使得活动部73带动切割模块30在横向上移动，以避免接触到行走模块20或其他结构。如图2和图3所示，可选的，若壳体10的前部空间相对较大，如行走模块20包括三个行走轮，即壳体10的前部包括1个行走轮，则引导部71可以在横向上延伸，也可以同时 在横向和纵向上延伸。
在一个实施例中，引导部71包括导轨，导轨的两端形成有固定运动件的固定位，分别位于第一位置11和第二位置13。活动组件70包括引导电机，用于带动活动部73移动和停止。控制模块50通过控制引导电机控制切割模块30的位置。本实施例中，导轨为直线导轨，引导电机具体为直线电机，带动活动部73沿着导轨进行直线移动。在其他实施例中，导轨为圆弧形导轨，活动部73包括摆杆，引导电机驱动摆杆带动切割模块30沿着导轨摆动。
在一个实施例中，若控制模块50接收到用户控制信号，控制模块50控制引导电机带动互动部移动，使得切割模块从第一位置11移动到第二位置13。控制模块30控制行走模块20沿边界行走，使得第二位置13朝向工作区域外侧。在所述第二位置，若控制模块50基于接收的用户控制信号，控制模块50控制切割模块进行切割。本实施例中，用户控制信号可以是不仅限于同一种信号，可以包括同一种信号，也可以包括不同的信号。
在一个实施例中，若控制模块50接收到持续的用户控制信号，控制切割模块30进行切割，若用户控制信号中断，控制模块控制切割模块30停止切割。可选的，若用户控制信号中断的时间超过预设时间，控制模块50控制引导电机带动活动部73移动，使得切割模块30从第二位置13移动到第一位置11。可选的，若用户控制信号中断的时间超过预设时间，控制模块50控制行走模块20，使得自动割草机1回到工作区域内工作，或回到停靠站5，由控制模块50自动控制自动割草机1在工作区域内工作。
在一个实施例中，自动割草机1包括高度调节模块，用于调节切割模块30的离地高度。本实施例中，高度调节模块包括螺纹调节机构或凸轮调节机构或涡轮调节机构，用于调节活动组件70的高度，从而带动切割模块30在高度方向上位置的调整。
本发明的一个实施例提供了一种自动割草机的控制方法，该控制方法包括：
判断是否检测到用户信号；
若未检测到用户控制信号，禁止切割装置在第二位置工作；
若检测到用户控制信号，允许切割装置在第二位置工作。
本发明的一个实施例提供了一种自动割草机的控制方法，该控制方法包括：
判断是否检测到用户信号；
若未检测到用户控制信号，禁止切割装置在第二位置工作；
判断用户控制是否满足预设条件；
若用户控制信号满足预设条件，允许切割装置在第二位置工作；
若用户控制信号不满足预设条件，禁止切割装置在第二位置工作。
本发明的一个实施例提供了一种自动割草机的控制方法，该控制方法包括：
判断是否检测到用户信号；
若未检测到用户控制信号，禁止切割装置在第二位置工作，且禁止切割装置从第一位置移动到第二位置。
本发明的一个实施例提供了一种自动割草机的控制方法，该控制方法包括：
判断是否检测到用户信号；
若未检测到用户控制信号，禁止切割装置在第二位置工作；
若检测到用户控制信号，则允许切割装置在第二位置工作；
判断是否检测到边界，
若检测到边界，允许切割装置在第二位置工作；
若未检测到边界，则禁止切割装置在于第二位置工作。
本发明的一个实施例提供了一种自动割草机的控制方法，该控制方法包括：
判断是否检测到用户信号；
若检测到用户控制信号，控制自动割草机向边界移动，使第二位置相对于第一位置朝向工作区域外侧。
本发明的一个实施例提供了一种自动割草机的控制方法，该控制方法包括：
判断用户是否在自动割草机附近；
若用户在自动割草机附近，允许切割装置在第二位置工作；
若用户不在自动割草机附近，则禁止切割装置在第二位置工作。
判断用户是否在自动割草机附近的方法至少包括以下一种：
一，自动割草机的输入模块检测用户操作，若输入模块检测到用户操作，则判断为用户在自动割草机附近。
二，自动割草机包括人体检测模块，根据人体检测模块的检测结果，判断用户是否在自动割草机附近。
三，自动割草机包括通信模块，根据通信模块接收的信号特征，判断用户是否在自动割草机附近。示例性的，信号特征包括信号强度。示例性的，通信模块包括短距离通信模块。
以上描述的实施方式仅表达了本发明的几种实施方式，由于文字表达的有 限性，而在客观上存在无限的可能结构，对于本领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以作出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (29)

  1. 一种自动割草机，在工作区域内移动和工作，包括：
    壳体；
    行走模块，安装于所述壳体，带动所述壳体移动；
    切割模块，安装于所述壳体，所述切割模块在第一位置和第二位置之间移动，所述第二位置位于所述第一位置的外侧；
    通信模块，安装于所述壳体，与用户设备通信，接收所述用户设备发送的用户控制信号；
    控制模块，安装于所述壳体，与所述行走模块、所述切割模块和所述通信模块连接，控制所述自动割草机移动和工作；其特征在于，
    至少基于所述用户控制信号，所述控制模块控制所述切割模块在第二位置工作。
  2. 根据权利要求1所述的自动割草机，其特征在于，至少基于所述用户控制信号的强度大于预设值，所述控制模块控制所述切割模块在第二位置工作。
  3. 根据权利要求1所述的自动割草机，其特征在于，所述通信模块包括短距离无线通信模块。
  4. 根据权利要求1所述的自动割草机，其特征在于，至少基于所述用户控制信号，所述控制模块控制所述切割模块从所述第一位置移动至所述第二位置。
  5. 根据权利要求1所述的自动割草机，其特征在于，所述自动割草机包括边界侦测模块，检测所述工作区域的边界，至少基于所述边界检测模块检测到所述边界，所述控制模块控制所述切割模块在所述第二位置工作。
  6. 根据权利要求5所述的自动割草机，其特征在于，至少基于所述边界侦测模块检测到所述边界，所述控制模块控制所述切割模块从所述第一位置移动至所述第二位置。
  7. 根据权利要求1所述的自动割草机，其特征在于，在所述第二位置，基于所述通信模块接收的所述用户控制信号中断，所述控制模块控制所述切割模块停止工作。
  8. 根据权利要求1所述的自动割草机，其特征在于，至少基于所述用户控制信号，所述控制模块控制所述自动割草机向所述边界移动，使所述第二位置朝向所述工作区域外侧。
  9. 根据权利要求1所述的自动割草机，其特征在于，所述自动割草机包括活动组件，带动所述切割模块在第一位置和第二位置之间移动。
  10. 根据权利要求9所述的自动割草机，其特征在于，所述自动割草机包括调高组件，与所述活动组件连接，通过所述活动组件带动所述切割模块在高度方向上移动。
  11. 根据权利要求1所述的自动割草机，其特征在于，宽度方向上，所述切割模块不超出所述壳体，且与壳体外侧的距离小于等于2厘米。
  12. 根据权利要求1所述的自动割草机，其特征在于，宽度方向上，所述切割模块超出所述壳体。
  13. 根据权利要求11或12所述的自动割草机，其特征在于，宽度方向上，所述第一位置与所述壳体的距离大于等于8厘米。
  14. 根据权利要求1所述的自动割草机，其特征在于，在所述第一位置，所述控制模块控制所述切割模块工作或不工作。
  15. 根据权利要求1所述的自动割草机，其特征在于，在所述切割模块移动过程中，所述控制模块控制所述切割模块不工作。
  16. 一种自动割草机的控制方法，所述自动割草机的切割模块在第一位置和第二位置之间移动，所述第二位置位于所述第一位置的外侧；其特征在于，所述控制方法包括：
    判断是否检测到用户控制信号；
    若未检测到所述用户控制信号，禁止所述切割装置在所述第二位置工作。
  17. 根据权利要求16所述的控制方法，其特征在于，所述控制方法还包括：若检测到所述用户控制信号，允许所述切割装置在所述第二位置工作。
  18. 根据权利要求16所述的控制方法，其特征在于，所述控制方法还包括：若检测到所述用户控制信号，判断所述用户控制信号是否满足预设条件；
    若满足预设条件，允许所述切割装置在所述第二位置工作。
  19. 根据权利要求18所述的控制方法，其特征在于，所述预设条件包括信号强度大于预设值，和/或，持续检测到信号。
  20. 根据权利要求16所述的控制方法，其特征在于，所述控制方法还包括：若未检测到所述用户控制信号，禁止所述切割装置在从所述第一位置移动至所述第二位置。
  21. 根据权利要求16所述的控制方法，其特征在于，所述控制方法还包括：判断是否检测到所述自动割草机的边界；
    若检测到所述边界，允许所述切割装置在所述第二位置工作；
    若未检测到所述边界，禁止所述切割装置在所述第二位置工作。
  22. 根据权利要求16所述的控制方法，其特征在于，所述控制方法还包括：若检测到所述用户控制信号，控制所述自动割草机向所述边界移动，使所述第二位置朝向所述自动割草机的工作区域的外侧。
  23. 一种自动割草机的控制方法，所述自动割草机的切割模块在第一位置和第二位置之间移动，所述第二位置位于所述第一位置的外侧；其特征在于，所述控制方法包括：
    判断用户是否在所述自动割草机附近；
    若确认用户在所述自动割草机附近，允许所述切割装置在所述第二位置工作。
  24. 根据权利要求23所述的控制方法，其特征在于，若确认用户不在所述自动割草机附近，禁止所述切割装置在所述第二位置工作。
  25. 根据权利要求23所述的控制方法，其特征在于，所述自动割草机包括输入模块，所述控制方法包括：若所述输入模块检测到用户操作，则确认用户在所述自动割草机附近。
  26. 根据权利要求23所述的控制方法，其特征在于，所述自动割草机包括人体检测模块，所述控制方法包括：根据人体检测模块的检测结果，判断用户是否在所述自动割草机附近。
  27. 根据权利要求23所述的控制方法，其特征在于，所述自动割草机包括通信模块，所述控制方法包括：根据所述通信模块接收的信号特征，判断用户是否在所述自动割草机附近。
  28. 根据权利要求27所述的控制方法，其特征在于，所述信号特征包括信号强度。
  29. 根据权利要求23所述的控制方法，其特征在于，所述通信模块包括短距离无线通信模块。
PCT/CN2020/123035 2019-10-23 2020-10-23 自动割草机及其控制方法 WO2021078220A1 (zh)

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