WO2022143506A1 - 智能割草机及其控制方法、系统和存储介质 - Google Patents

智能割草机及其控制方法、系统和存储介质 Download PDF

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Publication number
WO2022143506A1
WO2022143506A1 PCT/CN2021/141561 CN2021141561W WO2022143506A1 WO 2022143506 A1 WO2022143506 A1 WO 2022143506A1 CN 2021141561 W CN2021141561 W CN 2021141561W WO 2022143506 A1 WO2022143506 A1 WO 2022143506A1
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WIPO (PCT)
Prior art keywords
lawn mower
map
intelligent lawn
path
intelligent
Prior art date
Application number
PCT/CN2021/141561
Other languages
English (en)
French (fr)
Inventor
沃尔马克卡尔
Original Assignee
格力博(江苏)股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202011606822.6A external-priority patent/CN112703881B/zh
Priority claimed from CN202023283031.2U external-priority patent/CN214338686U/zh
Application filed by 格力博(江苏)股份有限公司 filed Critical 格力博(江苏)股份有限公司
Priority to EP21914243.7A priority Critical patent/EP4272533A4/en
Publication of WO2022143506A1 publication Critical patent/WO2022143506A1/zh
Priority to US18/333,509 priority patent/US20230324926A1/en

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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
    • G05D1/60—Intended control result
    • G05D1/648—Performing a task within a working area or space, e.g. cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B25J11/0055—Cutting
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
    • 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
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • 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
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • 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
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/246—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D2101/00—Lawn-mowers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/15—Specific applications of the controlled vehicles for harvesting, sowing or mowing in agriculture or forestry
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/20—Land use
    • G05D2107/23—Gardens or lawns
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles

Definitions

  • the invention relates to the technical field of intelligent lawn mowers, in particular to an intelligent lawn mower and a control method, system and storage medium thereof.
  • a smart lawn mower is a garden tool for mowing lawns, vegetation, etc., and usually includes a self-propelled mechanism, a cutter mechanism, and a power source, which can be a gasoline engine, a battery pack, and the like.
  • Existing smart lawn mowers are usually designed based on the principle of random cutting or optimized paths.
  • the intelligent lawn mower designed with the principle of random cutting cuts the lawn or vegetation in a random way.
  • the random cutting method can still cover the entire area when the intelligent lawn mower does not know its own position, but the efficiency is relatively low. Low, it can often take several days to complete a work area, and there is no way of predicting when the lawn will be mowed or knowing when the lawn will be ready.
  • the intelligent lawn mower designed by the principle of the optimized path has planned the optimal running path in advance according to the working area map, and then the intelligent lawn mower will always mow along the optimal path every time it operates, which will repeatedly Roll over lawn or vegetation, thereby damaging lawn or vegetation.
  • the purpose of the present invention is to provide an intelligent lawn mower and its control method, system and storage medium, which are used to solve the problem of repeated grinding in the intelligent lawn mower adopting an optimized path in the prior art.
  • the present invention provides a control method for an intelligent lawn mower, and the control method for the intelligent lawn mower includes:
  • the intelligent lawn mower is controlled to move according to the selected path map.
  • the obtaining method of the path atlas includes:
  • the path maps of the intelligent lawn mower when the intelligent lawn mower moves along different travel angles in the working area are respectively planned to form the path atlas.
  • the step of planning the path map of the intelligent lawnmower when the intelligent lawnmower moves along different travel angles in the working area according to the working area map of the intelligent lawnmower so that the intelligent lawnmower moves The number of turns of the lawn mower is minimized to optimize the path map.
  • the travel angle of the smart lawn mower is between 0° and 180°.
  • the step of defining the working area map of the intelligent lawn mower includes: controlling the intelligent lawn mower to walk along the edge of the working area, collecting and storing the position of the working area, so as to obtain the location of the working area. work area map.
  • the step of defining the working area map of the intelligent lawn mower further includes,
  • the intelligent lawn mower is controlled to walk along the edge of the obstacle in the working area, the position of the obstacle is collected and saved, and marked as an exclusion area in the working area map.
  • a location sensor is used to define a map of the work area of the smart lawn mower.
  • the location sensor includes a global positioning module.
  • the step of controlling the smart lawn mower to move according to the selected path map includes: when the power of the smart lawn mower is insufficient, controlling the smart lawn mower to return to the charging Station and record the return point of the smart lawn mower, after charging, the smart lawn mower returns to the return point and continues to move according to the original path.
  • the step of controlling the intelligent lawnmower to move according to the selected path map includes: when the weather conditions are not suitable for the intelligent lawnmower to work, controlling the intelligent lawnmower to return
  • the charging station also records the return point of the smart lawn mower. After charging is complete or when the weather conditions are suitable for the smart lawn mower to cut grass, the smart lawn mower returns to the return point and continues to follow the original instructions. Path moves.
  • the path atlas is a path map planned in advance according to different travel angles and working widths according to the working area of the intelligent lawn mower.
  • the intelligent lawn mower control method further includes:
  • the smart lawn mower performs the mowing operation within the preset mowing period, and stops the mowing operation in other periods other than the preset mowing period.
  • the step of selecting a route map from the pre-stored route atlas includes selecting a route map from the pre-stored route atlas in a random manner.
  • the step of selecting a route map from the pre-stored route atlas includes selecting a route map from the pre-stored route atlas each time in a manner of increasing or decreasing the travel angle.
  • the step of selecting a route map from the pre-stored route atlas includes selecting a route map from the pre-stored route atlas according to the received external instruction.
  • the present invention also provides an intelligent lawn mower control system
  • the intelligent lawn mower control system includes:
  • a moving module for controlling the smart lawn mower to move to the starting point
  • a map selection module for selecting a path map from a pre-stored path atlas, wherein the path atlas is a path map pre-planned according to different travel angles according to the working area of the intelligent lawn mower;
  • the operation module controls the intelligent lawn mower to move and operate according to the selected path map.
  • the intelligent lawn mower control system further includes an atlas acquisition module, and the atlas acquisition module includes:
  • the area map definition module is used to define the working area map of the intelligent lawn mower.
  • the path map planning module is used for respectively planning the path maps of the intelligent lawn mower when the intelligent lawn mower moves along different travel angles in the working area according to the working area map of the intelligent lawn mower to form the path atlas.
  • the path map planning module further includes: a path optimization module for optimizing the path map to minimize the number of turns of the intelligent lawn mower.
  • the travel angle of the smart lawn mower is between 0° and 180°.
  • the area map definition module further includes: a map acquisition module, configured to control the intelligent lawnmower to walk along the edge of the work area, collect and store the location of the work area, so as to acquire the work area map.
  • a map acquisition module configured to control the intelligent lawnmower to walk along the edge of the work area, collect and store the location of the work area, so as to acquire the work area map.
  • the atlas acquisition module further includes an exclusion module, configured to control the intelligent lawnmower to walk along the edge of the obstacle in the working area, collect and save the position of the obstacle, and Identify exclusion areas in the work area map.
  • the operation module further includes a charging module, configured to control the intelligent lawnmower to return to the charging station and record the intelligent lawnmower when the power of the intelligent lawnmower is insufficient. After charging, the smart lawn mower returns to the return point and continues to move according to the original path.
  • a charging module configured to control the intelligent lawnmower to return to the charging station and record the intelligent lawnmower when the power of the intelligent lawnmower is insufficient. After charging, the smart lawn mower returns to the return point and continues to move according to the original path.
  • the path map planning module is further configured to plan, according to the working area map of the intelligent lawnmower, respectively, when the intelligent lawnmower moves along different travel angles and different working widths in the working area.
  • the operation module further includes a charging module, configured to control the intelligent lawnmower to return to the charging station and record the intelligent lawnmower when the weather conditions are not suitable for the intelligent lawnmower to work.
  • a charging module configured to control the intelligent lawnmower to return to the charging station and record the intelligent lawnmower when the weather conditions are not suitable for the intelligent lawnmower to work. The return point of the lawn mower, after the charging is completed or when the weather conditions are suitable for the intelligent lawn mower to cut grass, the intelligent lawn mower returns to the return point and continues to move according to the original path.
  • the intelligent lawn mower control system includes a mowing time period setting module for presetting a mowing time period, so as to control the intelligent lawn mower to perform a mowing operation within the preset mowing time period. , and the smart lawn mower stops mowing at other time periods other than the preset mowing time period.
  • the map selection module includes a first map selection module for randomly selecting a route map from a pre-stored route map set.
  • the map selection module includes a second map selection module, configured to select a route map from a pre-stored route map set in a manner of increasing or decreasing the travel angle each time.
  • the map selection module includes a third map selection module, configured to select a route map from a pre-stored route map set according to the received external instruction.
  • the present invention also provides an intelligent lawn mower, and the intelligent lawn mower includes:
  • a position sensor arranged on the fuselage
  • a control unit arranged on the body, the control unit includes a mutually coupled processor and a memory, the memory stores program instructions, and when the program instructions stored in the memory are executed by the processor, any of the above The one described intelligent lawn mower control method.
  • the location sensor includes a global positioning module.
  • the smart lawn mower further includes a rain and snow sensor.
  • the present invention also provides a storage medium, comprising a program, when the program is run on a computer, the computer is made to execute the intelligent lawn mower control method described in any one of the above .
  • the intelligent lawn mower and its control method, system and storage medium of the present invention each time the intelligent lawn mower operates, it selects any path map from the pre-stored path atlas, so that every The running paths are different each time, which avoids the problem of repeated rolling and forming ruts when walking along the fixed path.
  • the intelligent lawn mower and its control method, system and storage medium of the present invention can not only cover the working area 100%, but also can reduce unnecessary repeated operations and reduce the pressure on parts.
  • the intelligent lawn mower and its control method, system and storage medium of the present invention can complete the operation of the entire work area in one operation if the battery allows.
  • FIG. 1 is a flow chart showing the control method of the intelligent lawn mower of the present invention.
  • FIG. 2 is a schematic diagram showing the path planning of the intelligent lawn mower of the present invention.
  • Figures 3a-3d show path maps for different travel angles and working widths obtained using the intelligent lawn mower control method of the present invention.
  • FIG. 4 shows a structural block diagram of the intelligent lawn mower control system of the present invention.
  • FIG. 5 is a structural block diagram of the atlas acquisition module of the present invention.
  • FIG. 6 is a block diagram showing the structure of the control unit of the present invention.
  • FIG. 7 is a block diagram showing the structure of the intelligent lawn mower of the present invention.
  • the intelligent lawn mower will use the optimized path map to move, because each mowing operation will crush the lawn or vegetation along the same moving path, which will destroy the ruts Area lawn or vegetation growth.
  • the present invention provides a control method and control system for an intelligent lawn mower. Each time the intelligent lawn mower runs, a path map is randomly selected from a pre-stored path map set (the path of each path map is are not the same), and then follow the selected path map to move the operation, thus avoiding the repeated rolling of the lawn or vegetation, which can better protect the lawn or preparation.
  • FIG. 1 shows a schematic flowchart of the control method of the intelligent lawn mower of the present invention
  • FIG. 4 shows the structural block diagram of the intelligent lawn mower control system of the present invention.
  • the intelligent lawn mower control method includes the following steps:
  • Step S10 controlling the intelligent lawn mower to move to the starting point
  • Step S20 selecting a path map from a pre-stored path map set, wherein the path map set is a path map pre-planned according to different travel angles according to the working area of the intelligent lawn mower;
  • Step S30 controlling the intelligent lawn mower to move according to the selected path map.
  • step S10 is performed. Each time a lawn mowing operation is performed, the intelligent lawn mower needs to be controlled to move to a starting point. point, or the location of the charging station, or a point in the channel connecting the charging station to the work area.
  • step S10 it is necessary to store, download or import path atlases containing different paths in the control unit of the intelligent lawn mower in advance, so as to facilitate the calling of the mobile lawn mower during moving operations.
  • FIG. 2 shows a schematic diagram of the acquisition of a path atlas.
  • the working area map of the smart lawn mower needs to be defined: you can control the intelligent lawn mower to walk along the edge 1 of the working area 3, and then use position sensing to collect data during the walking process.
  • the real-time location coordinates of the smart lawn mower (as the location of the work area) are stored in the storage device as work area map data.
  • the position sensor can be a satellite-based navigation device, such as a global positioning module, referred to as a GPS module; the GPS module's signals can be corrected to improve positioning accuracy (real-time dynamic differential GPS, real-time dynamic carrier-phase differential GPS, and the like). It can be understood that, in some embodiments, the position sensor can also use lasers and optical devices as sensors of positioning technology, for example.
  • the intelligent lawn mower can be controlled to walk along the edge of the obstacle in the working area 3, the position of the obstacle can be collected and saved by the above-mentioned position sensor, and marked as Exclusion areas are automatically bypassed in subsequent path planning.
  • the travel angle can be defined as the angle between the travel direction of the smart lawn mower and a certain reference line (for example, a straight line segment of the boundary line of the work area 3), the smart mower
  • the angle of travel of the lawn mower is any value between 0° and 180°.
  • the path maps when the travel angles are 0° (180°), 5°, 10°, 15°, .
  • the angle variable can be set as required, the smaller the angle variable is, the more path maps are generated, and vice versa.
  • each of the path maps may also be optimized to minimize the number of turns of the smart lawn mower or to minimize the total path.
  • the path map set can also be a path map planned in advance according to different travel angles and working widths according to the working area of the smart lawn mower, which can generate different paths by adjusting the travel angles and working widths.
  • Map the working width is defined as the distance between two parallel inner lanes of the smart lawn mower, or in the case of a curvilinear shaped lane, the distance between local parallel lanes.
  • Figures 3a-3d respectively correspond to the planned path maps at different travel angles and different working widths.
  • the positions of the charging station 4 and the guide line 5 are also defined on the working area map, so that the in-station charging and out-station operations of the intelligent lawn mower can be easily controlled.
  • the charging station 4 may be arranged on the edge 1 of the working area, or may be arranged at a position away from the working area as shown in FIG. 2 .
  • steps S20 and S30 are performed. Every time a lawn mowing operation is performed, a path map needs to be selected from a pre-stored path map set, and then the intelligent lawn mower is controlled to move according to the selected path map Operation.
  • a path map is selected from the stored path atlas according to a specified map selection method, for example, a path map may be randomly selected from the pre-stored path atlas in a random manner, or it may be incremented each time according to the travel angle Either select a path map from the pre-stored path atlas in a descending manner, or select a path map from the pre-stored path atlas according to the received external command, so as to basically ensure that each mowing operation is performed in multiple mowing operations.
  • the walking paths during grass work are different (there may also be two repetitions when randomly selected), which avoids the problem of repeated rolling to form ruts when walking along a fixed path.
  • each time a path map is selected from the pre-stored path map set in the way of increasing or decreasing the travel angle for example, it can be 5°, 10°, 15°, 30° (or other suitable values) each time.
  • the travel angle changes in sequence or select a route map from the pre-stored route atlas until all travel angles are traversed, and then re-select a route map from the pre-stored route atlas in an incrementing or decreasing manner.
  • step S30 during the mowing operation, due to the large area of the work area or the limited battery capacity of the smart lawn mower, the mowing operation of the entire work area cannot be completed at one time.
  • the smart lawn mower can be controlled to return to the charging station and the current position (that is, the return point) of the smart lawn mower can be recorded. After charging, the smart lawn mower returns to the return point and Continue to move the job along the original path.
  • step S30 during the mowing operation, when the weather conditions are not suitable for the intelligent lawn mower to work, such as rain, snow, hail, strong wind and other bad weather, the intelligent lawn mower is controlled Return to the charging station and record the return point of the smart lawn mower. After charging is completed or when the weather conditions are suitable for the smart lawn mower to mow the lawn, the smart lawn mower returns to the return point and continues to follow The original path moves.
  • the smart lawn mower can, for example, judge whether the current weather conditions are suitable for the smart lawn mower to work by receiving the local weather forecast, or it can monitor whether the current weather conditions are suitable for the smart lawn mower to work, and can also monitor the rain and snow sensors, wind speed sensors, etc. provided on the body of the smart lawn mower.
  • the sensor of the weather condition monitors the external weather condition information, and the control unit of the intelligent lawn mower determines whether the intelligent lawn mower suspends or stops the mowing operation according to the monitored weather condition information.
  • control method of the intelligent lawn mower of the present invention further includes the step of presetting the mowing period.
  • the user can set the working period of the intelligent lawn mower according to actual needs.
  • the mowing operation is performed during the mowing period, and the smart lawn mower suspends or stops the mowing operation in other periods other than the preset mowing period.
  • the mowing period can be preset, for example, can be set between 10:00 and 20:00, so as to avoid the time operation outside the preset period from affecting the rest of the user or neighbors.
  • an embodiment of the present invention further introduces an intelligent lawn mower control system 100 for implementing the above-mentioned intelligent lawn mower control method.
  • the intelligent lawn mower control system 100 includes a movement module 10 , a map selection module 20 , an operation module 30 and an atlas acquisition module 40 .
  • the moving module 10 is used to control the intelligent lawn mower to move to the starting point;
  • the map selection module 20 is used to select a path map from a pre-stored path atlas according to preset rules, wherein the path atlas is a path map planned in advance according to different travel angles according to the working area of the intelligent lawn mower;
  • the operation module 30 controls the intelligent lawn mower to move according to the selected path map;
  • the atlas acquisition module 40 Used to obtain the route map set.
  • the operation module 30 further includes a charging module 31 for controlling the intelligent lawnmower to return to the charging station and recording the intelligent lawnmower when the power of the intelligent lawnmower is insufficient.
  • the charging module 31 is also used to control the intelligent lawnmower when the weather conditions are not suitable for the operation of the intelligent lawnmower.
  • the intelligent lawnmower returns to the charging station and records the return point of the intelligent lawnmower. After charging is completed or when the weather conditions are suitable for the intelligent lawnmower to cut grass, the intelligent lawnmower returns to the return point. point and continue to move according to the original path.
  • the intelligent lawn mower control system 100 further includes a mowing period setting module (not shown), which is used to preset a mowing period, so as to control the intelligent lawn mower within the preset mowing period The mowing operation is performed, and the smart lawn mower stops the mowing operation during other periods other than the preset mowing period.
  • a mowing period setting module (not shown), which is used to preset a mowing period, so as to control the intelligent lawn mower within the preset mowing period The mowing operation is performed, and the smart lawn mower stops the mowing operation during other periods other than the preset mowing period.
  • the map selection module 20 may further include a first map selection module, a second map selection module and a third map selection module; the first map selection module is used to randomly select from a pre-stored path map A path map is selected centrally; the second map selection module is used to select a path map from a pre-stored path map set in a manner of increasing or decreasing the travel angle each time; the third map selection module is used to select a path map according to the received external The command selects a route map from a pre-stored set of route maps.
  • the atlas acquisition module 40 includes an area map definition module 41 , an exclusion module 42 and a path map planning module 43 ;
  • the area map definition module 41 is used to define the working area of the intelligent lawn mower map;
  • the exclusion module 42 is used to control the intelligent lawnmower to walk along the edge of the obstacle in the working area, collect and save the position of the obstacle, and mark it as the exclusion area in the working area map;
  • the path map planning module 43 is configured to respectively plan the path maps of the intelligent lawn mower when the intelligent lawn mower moves along different travel angles in the working area according to the working area map of the intelligent lawn mower to form the path atlas.
  • the area map definition module 41 further includes a map acquisition module 411 for controlling the intelligent lawn mower to walk along the edge of the work area, and to collect and store the location of the work area to acquire the work area map.
  • the path map planning module 43 further includes a path optimization module 431 for optimizing the path map to minimize the number of turns of the smart lawn mower.
  • the intelligent lawn mower control system 100 of the present invention is a system corresponding to the above-mentioned intelligent lawn mower control method, and the functional modules or functional sub-modules in the intelligent lawn mower control system 100 correspond to the intelligent lawn mowers respectively. corresponding steps in the control method.
  • the intelligent lawn mower control system 100 of the present invention can be implemented in cooperation with the intelligent lawn mower control method.
  • the relevant technical details mentioned in the intelligent lawn mower control method of the present invention are still valid in the intelligent lawn mower control system 100, and are not repeated here in order to reduce repetition.
  • the relevant technical details mentioned in the intelligent lawn mower control system 100 of the present invention can also be applied to the above-mentioned intelligent lawn mower control method.
  • each step of the above-mentioned method or each of the above-mentioned modules may be completed by an integrated logic circuit of hardware in the element of the processor 71 or an instruction in the form of software.
  • the intelligent lawn mower control method of the present invention can also be implemented by a control unit 7 disposed on the body of the intelligent lawn mower, and the control unit 7 includes interconnected memories 73 and the processor 71, the memory 73 stores program instructions, and when the program instructions are executed by the processor 71, the above-mentioned intelligent lawn mower control method is implemented. It should be noted that when communication with the outside is required, the control unit 7 further includes a communicator 72 , and the communicator 72 is connected to the processor 71 .
  • the above-mentioned processor 71 can be a general-purpose processor, including a central processing unit (CentralProcessingUnit, referred to as CPU), a network processor (NetworkProcessor, referred to as NP), etc.; can also be a digital signal processor (Digital Signal Processing, referred to as DSP), dedicated Integrated circuit (Application Specific Integrated Circuit, referred to as ASIC), Field-Programmable Gate Array (Field-Programmable Gate Array, referred to as FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components; the above-mentioned memory 73 may be It includes random access memory (Random Access Memory, RAM for short), and may also include non-volatile memory (Non-volatile Memory), such as at least one disk memory.
  • CPU central processing unit
  • NP NetworkProcessor
  • NP NetworkProcessor
  • DSP digital signal processor
  • ASIC Application Specific Integrated Circuit
  • FPGA Field-Programmable Gate Array
  • control program instructions in the above-mentioned memory 73 may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as an independent product.
  • the technical solution of the present invention is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several The instructions are used to cause a computer device (which may be a personal computer, an electronic device, or a network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present invention.
  • the present invention can also provide a storage medium, which stores a program, and when the program is executed by the processor 71, realizes the above-mentioned intelligent lawn mower control method;
  • the storage medium includes all forms of non-volatile memory, media and memory Devices, including, for example: semiconductor memory devices, such as EPROM, EEPROM, and flash memory devices; magnetic disks, such as internal hard disks or removable disks; magneto-optical disks; and CD-ROM and DVD-ROM disks.
  • the intelligent lawn mower and its control method, system and storage medium of the present invention select any path map from the pre-stored path map set every time the intelligent lawn mower operates, so as to make the intelligent lawn mower work.
  • the running path of the lawn mower is different each time, avoiding the problem of repeated rolling and forming ruts when walking along the fixed path.
  • the intelligent lawn mower and its control method, system and storage medium of the present invention can not only cover the working area 100%, but also can reduce unnecessary repeated operations and reduce the pressure on parts.
  • the intelligent lawn mower control system 100 and method of the present invention the mowing operation of the entire work area can be completed in one operation under the condition that the battery of the intelligent lawn mower allows.
  • the intelligent lawn mower control system 100 and method of the present invention the exact time required for mowing the lawn can be estimated, in other words, the time when the lawn is ready.
  • an embodiment of the present invention further discloses an intelligent lawn mower 200 .
  • the intelligent lawn mower 200 includes a body, a position sensor 50 , a control unit 7 , a walking assembly 60 , a position sensor 50 , a control unit 7 , a walking assembly 60 ,
  • the working assembly 70, the power supply assembly 80 and the antenna assembly 90; the control unit 7 can control the intelligent lawn mower 200 to walk along different paths during each operation, which can avoid repeatedly rolling over the working area and causing ruts.
  • the walking assembly 60 has two driving wheels and at least one supporting wheel.
  • the two driving wheels are respectively arranged on both sides of one end of the fuselage, and the supporting wheels are arranged on the other side of the fuselage.
  • the smart lawn mower 200 is supported by a driving wheel and a support wheel, and the support wheel can be, for example, a universal wheel, so that the smart lawn mower 200 can be turned.
  • the drive wheel can be connected to the drive motor through a transmission shaft, and a protective sleeve is provided on the transmission shaft, the protective sleeve includes a flexible segment, and the protective sleeve is deformed to realize the axial direction of the transmission shaft through the deformation of the flexible segment.
  • the control unit 7 controls the walking direction and speed of the smart lawn mower 200 by controlling the rotational speeds of the two driving motors.
  • the smart lawn mower 200 can turn; when the rotational speeds of the driving motors are the same , the smart lawn mower 200 can walk in a straight line, and when the rotational speed of the driving motor is opposite, the smart lawn mower 200 can realize zero-position steering on the spot.
  • the working assembly 70 includes a cutting motor and a cutting head driven by the cutting motor.
  • the working assembly 70 is approximately located at the center of the intelligent lawn mower 200.
  • the rotating shaft of the cutting motor is approximately perpendicular to the horizontal plane.
  • the assembly 70 can be adjusted in height from the ground by the operator to achieve adjustment of the cutting height.
  • the power supply assembly 80 includes a rechargeable battery, a charging system for supplying power to the rechargeable battery, and a solar panel disposed outside the fuselage.
  • the solar panel is connected to the rechargeable battery through the charging system. .
  • the rechargeable battery can be charged during the mowing operation of the intelligent lawn mower 200, thereby effectively prolonging the operation time of the intelligent lawn mower 200 and reducing Returns the number of times the charging station has been charged.
  • control unit 7 can also receive various signals sent to the smart lawn mower 200 or signals collected by the position sensor 50 , and generate corresponding corresponding signals through the built-in processor.
  • the control signal is used to control the traveling unit or the operation unit according to the generated control signal, so that the smart lawn mower 200 can perform grass cutting along the planned route.
  • the smart lawn mower 200 also includes a rain and snow sensor and/or a wind speed sensor arranged on the fuselage, which is used to monitor the weather condition information of the working place of the intelligent lawn mower 200, and transmit the weather condition information to the control unit 7,
  • the control unit 7 controls the smart lawn mower 200 to perform corresponding operations according to the weather condition information, which is described in the relevant part above for details, and will not be repeated here.
  • the position sensor 50 can be, for example, a GPS module.
  • the GPS module is generally installed inside the fuselage, which will affect the signal strength of the GPS module.
  • an antenna assembly 90 can be placed outside the GPS module to enhance the signal strength of the GPS module and improve the positioning accuracy of the smart lawn mower 200 .
  • the antenna assembly 90 includes an antenna, an antenna housing and a soft buffer connector.
  • the soft buffer connector can be a soft glue with good elasticity and self-recovery, such as rubber or silicone.
  • the antenna is usually made of conductive metal.
  • the antenna is wrapped for protection, the bottom of the antenna housing can be fixed on the soft buffer connector by pasting, for example, the soft buffer connector is fixed on the fuselage by screws or pasting, and the antenna housing is opposite to the fuselage.
  • the surface is basically vertical, and the shape of the soft buffer connector is center-symmetrical, so that the pulling force of the soft buffer connector on the antenna casing is balanced and cancels each other out in the horizontal direction.
  • the soft buffer connector fixes the antenna housing on the fuselage and fills the gap between the antenna housing and the fuselage, which can prevent water vapor from entering the machine and damaging the electrical components.
  • the antenna casing is basically perpendicular to the fuselage.
  • the antenna casing When the antenna casing is subjected to external force, the antenna casing is inclined relative to the fuselage, and the soft buffer connector is pulled and deformed to store elastic potential energy. When the external force acting on the antenna casing disappears, the elastic potential energy is released by the soft buffer connection, and the antenna casing returns to a vertical state under the action of the soft buffer connection.

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Abstract

一种智能割草机及其控制方法、系统和存储介质。控制方法包括：控制智能割草机移动至起始点（S10）；从预先存储的路径地图集中选取一个路径地图，其中，路径地图集是根据智能割草机的工作区域预先依据不同行进角度规划的路径地图（S20）；控制智能割草机按照选取的路径地图移动作业（S30）。利用本方法，可以保证智能割草机每次作业时沿着不同的路径行走，从而可以避免反复碾压工作区域产生车辙。

Description

智能割草机及其控制方法、系统和存储介质 技术领域
本发明涉及智能割草机技术领域，特别涉及一种智能割草机及其控制方法、系统和存储介质。
背景技术
智能割草机是一种用于修剪草坪、植被等的园林工具，通常包括自走机构、割刀机构以及动力源，所述动力源可以是汽油机、电池包等等。现有的智能割草机通常是基于随机切割或者优化路径的原理设计。其中，采用随机切割原理设计的智能割草机是以随机的方式切割草坪或者植被，随机切割的方式在智能割草机不知道自身位置时仍能覆盖整个区域，但这种效率相对来说比较低，通常可能需要几天的时间来完成一个工作区域，并且无法预估出草坪修剪的时间，无法获知草坪就绪的时间。而采用优化路径的原理设计的智能割草机会针对工作区域地图事先规划好最优运行路径，然后智能割草机每次进行作业时总会沿着该最优路径进行割草作业，这样会反复碾压草坪或植被，从而会破坏草坪或植被。
发明内容
鉴于以上所述现有技术的缺点，本发明的目的在于提供一种智能割草机及其控制方法、系统和存储介质，用于解决现有技术中采用优化路径的智能割草机存在反复碾压草坪或植被的技术问题。
为实现上述目的及其他相关目的，本发明提供一种智能割草机控制方法，所述智能割草机控制方法包括：
控制所述智能割草机移动至起始点；
从预先存储的路径地图集中选取一个路径地图，其中，所述路径地图集是根据所述智能割草机的工作区域预先依据不同行进角度规划的路径地图；
控制所述智能割草机按照选取的所述路径地图移动作业。
在一可选实施例中，所述路径地图集的获取方式包括：
定义所述智能割草机的工作区域地图；
根据所述智能割草机的工作区域地图分别规划所述智能割草机在工作区域内沿不同行进角度移动时的路径地图，组成所述路径地图集。
在一可选实施例中，根据所述智能割草机的工作区域地图分别规划所述智能割草机在工 作区域内沿不同行进角度移动时的路径地图的步骤中，以使所述智能割草机的转弯次数最小来优化所述路径地图。
在一可选实施例中，所述智能割草机的行进角度介于0°到180°之间。
在一可选实施例中，定义所述智能割草机的工作区域地图的步骤包括，控制所述智能割草机沿着工作区域边沿行走，采集并存储所述工作区域的位置，以获取所述工作区域地图。
在一可选实施例中，定义所述智能割草机的工作区域地图的步骤还包括，
控制所述智能割草机沿工作区域内的障碍物的边沿行走，采集并保存所述障碍物的位置，并在所述工作区域地图中标识为排除区域。
在一可选实施例中，使用位置传感器定义所述智能割草机的工作区域地图。
在一可选实施例中，所述位置传感器包括全球定位模块。
在一可选实施例中，控制所述智能割草机按照选取的所述路径地图移动作业的步骤包括：当所述智能割草机电量不足时，控制所述智能割草机返回所述充电站并记录所述智能割草机的返回点，充电完成所述智能割草机返回所述返回点并继续按照原路径移动。
在一可选实施例中，控制所述智能割草机按照选取的所述路径地图移动作业的步骤包括：当天气状况不适宜所述智能割草机工作时，控制所述智能割草机返回所述充电站并记录所述智能割草机的返回点，充电完成后或者等天气状况适宜所述智能割草机割草作业时，所述智能割草机返回所述返回点并继续按照原路径移动。
在一可选实施例中，所述路径地图集是根据所述智能割草机的工作区域预先依据不同行进角度和作业宽度规划的路径地图。
在一可选实施例中，所述智能割草机控制方法还包括：
预设割草时段的步骤，所述智能割草机在预设割草时段内执行割草作业，而在预设割草时段之外的其他时段所述智能割草机停止割草作业。
在一可选实施例中，所述从预先存储的路径地图集中选取一个路径地图的步骤包括，采用随机方式从预先存储的路径地图集中选取一个路径地图。
在一可选实施例中，所述从预先存储的路径地图集中选取一个路径地图的步骤包括，每次按照行进角度递增或者递减的方式从预先存储的路径地图集中选取一个路径地图。
在一可选实施例中，所述从预先存储的路径地图集中选取一个路径地图的步骤包括，按照接收的外部指令从预先存储的路径地图集中选取一个路径地图。
为实现上述目的及其他相关目的，本发明还提供一种智能割草机控制系统，所述智能割草机控制系统包括：
移动模块，用于控制所述智能割草机移动至起始点；
地图选取模块，用于从预先存储的路径地图集中选取一个路径地图，其中，所述路径地图集是根据所述智能割草机的工作区域预先依据不同行进角度规划的路径地图；
作业模块，控制所述智能割草机按照选取的所述路径地图移动作业。
在一可选实施例中，所述智能割草机控制系统还包括地图集获取模块，所述地图集获取模块包括：
区域地图定义模块，用于定义所述智能割草机的工作区域地图。
路径地图规划模块，用于根据所述智能割草机的工作区域地图分别规划所述智能割草机在工作区域内沿不同行进角度移动时的路径地图，组成所述路径地图集。
在一可选实施例中，所述路径地图规划模块还包括：路径优化模块，用于以使所述智能割草机的转弯次数最小来优化所述路径地图。
在一可选实施例中，所述智能割草机的行进角度介于0°到180°之间。
所述区域地图定义模块还包括：地图获取模块，用于控制所述智能割草机沿着工作区域边沿行走，采集并存储所述工作区域的位置，以获取所述工作区域地图。
在一可选实施例中，所述地图集获取模块还包括排除模块，用于控制所述智能割草机沿工作区域内的障碍物的边沿行走，采集并保存所述障碍物的位置，并在所述工作区域地图中标识为排除区域。
在一可选实施例中，所述作业模块还包括充电模块，用于当所述智能割草机电量不足时，控制所述智能割草机返回所述充电站并记录所述智能割草机的返回点，充电完成所述智能割草机返回所述返回点并继续按照原路径移动。
在一可选实施例中，所述路径地图规划模块还用于根据所述智能割草机的工作区域地图分别规划所述智能割草机在工作区域内沿不同行进角度和不同作业宽度移动时的路径地图，组成所述路径地图集。
在一可选实施例中，所述作业模块还包括充电模块，用于当天气状况不适宜所述智能割草机工作时，控制所述智能割草机返回所述充电站并记录所述智能割草机的返回点，充电完成后或者等天气状况适宜所述智能割草机割草作业时，所述智能割草机返回所述返回点并继续按照原路径移动。
在一可选实施例中，所述智能割草机控制系统包括割草时段设置模块，用于预设割草时段，以控制所述智能割草机在预设割草时段内执行割草作业，而在预设割草时段之外的其他时段所述智能割草机停止割草作业。
在一可选实施例中，所述地图选取模块包括第一地图选取模块，用于采用随机方式从预先存储的路径地图集中选取一个路径地图。
在一可选实施例中，所述地图选取模块包括第二地图选取模块，用于每次按照行进角度递增或者递减的方式从预先存储的路径地图集中选取一个路径地图。
在一可选实施例中，所述地图选取模块包括第三地图选取模块，用于按照接收的外部指令从预先存储的路径地图集中选取一个路径地图。
为实现上述目的及其他相关目的，本发明还提供一种智能割草机，所述智能割草机包括：
机身；
位置传感器，设置于所述机身上；
控制单元，设置于所述机身上，所述控制单元包括相互耦合的处理器和存储器，所述存储器存储有程序指令，当所述存储器存储的程序指令被所述处理器执行时实现上述任意一项所述的智能割草机控制方法。
在一可选实施例中，所述位置传感器包括全球定位模块。
在一可选实施例中，所述智能割草机还包括雨雪传感器。
为实现上述目的及其他相关目的，本发明还提供一种存储介质，包括程序，当所述程序在计算机上运行时，使得所述计算机执行如上述任意一项所述的智能割草机控制方法。
本发明的智能割草机及其控制方法、系统和存储介质，智能割草机每次割草作业时，都从预先存储的路径地图集中选取任意一个路径地图，从而使智能割草机的每次的运行路径不同，避免了沿着固定路径行走时反复碾压形成车辙的问题。
本发明的智能割草机及其控制方法、系统和存储介质，相比于随机作业方式，不仅可以100％的覆盖工作区域，而且还可以减少不必要的重复作业，减轻零部件的压力。
本发明的智能割草机及其控制方法、系统和存储介质，如果电池允许的情况下，可以在一次运行时完成整个工作区域的作业。
附图说明
图1显示为本发明的智能割草机控制方法的流程图。
图2显示为本发明的智能割草机的路径规划的示意图。
图3a-3d显示为利用本发明的智能割草机控制方法获取不同行进角度和作业宽度的路径地图。
图4显示为本发明的智能割草机控制系统的结构框图。
图5显示为本发明的地图集获取模块的结构框图。
图6显示为本发明的控制单元的结构框图。
图7显示为本发明的智能割草机的结构框图。
具体实施方式
以下通过特定的具体实例说明本发明的实施方式，本领域技术人员可由本说明书所揭露的内容轻易地了解本发明的其他优点与功效。本发明还可以通过另外不同的具体实施方式加以实施或应用，本说明书中的各项细节也可以基于不同观点与应用，在没有背离本发明的精神下进行各种修饰或改变。
请参阅图1-7。需要说明的是，本实施例中所提供的图示仅以示意方式说明本发明的基本构想，遂图式中仅显示与本发明中有关的组件而非按照实际实施时的组件数目、形状及尺寸绘制，其实际实施时各组件的型态、数量及比例可为一种随意的改变，且其组件布局型态也可能更为复杂。
为了节约割草作业的时间，提高割草作业效率，智能割草机通过会采用优化后的路径地图移动，由于每次割草作业沿着相同的移动路径碾压草坪或植被，从而会破坏车辙区域草坪或植被的成长。为了解决该问题，本发明提供一种智能割草机控制方法和控制系统，智能割草机每次运行时都会先从预先存储的路径地图集中随机选取一个路径地图(每个路径地图的路径都不相同)，然后跟随选取的路径地图移动作业，从而避免了反复碾压草坪或植被，能够更好的保护草坪或制备。其中，图1示出了本发明的智能割草机控制方法的流程示意图，图4示出了本发明的智能割草机控制系统的结构框图。
请参阅图1，所述智能割草机控制方法包括如下步骤：
步骤S10、控制所述智能割草机移动至起始点；
步骤S20、从预先存储的路径地图集中选取一个路径地图，其中，所述路径地图集是根据所述智能割草机的工作区域预先依据不同行进角度规划的路径地图；
步骤S30、控制所述智能割草机按照选取的所述路径地图移动作业。
请参阅图1，执行步骤S10、每次进行割草作业时，需要先控制所述智能割草机移动至起始点，该起始点例如可以是位于智能割草机的工作区域内的某个选取点，又或者是充电站所处的位置，亦或者是连接充电站与工作区域的通道中的某个点。
请参阅图1，在执行步骤S10中，需要预先在智能割草机的控制单元中存储、下载或者导入包含不同路径的路径地图集，从而方便移动割草机移动作业时调用。图2示出了一种路径地图集的获取的示意图。
请参阅图2，首先，需要定义出所述智能割草机的工作区域地图：可以通过控制所述智能割草机沿着工作区域3边沿1行走，然后在行走过程中利用位置传感采集所述智能割草机的实时位置坐标(作为所述工作区域的位置)并存储在存储装置中作为工作区域地图数据。所述位置传感器可采用基于卫星的导航设备，例如全球定位模块，简称GPS模块；可以对GPS模块的信号进行校正以提高定位精度(实时动态差分GPS，实时动态载波相位差分GPS以及诸如此类)。可以理解的是，在一些实施例中，所述位置传感器例如也可以以激光器和光学器件作为定位技术的传感器。通常情况下，在所述智能割草机的工作区域3内会存在一些障碍物2(例如树木、灌木丛、水池、露出地面的一些凸起结构等)，在智能割草机运行过程中，是需要避开这类障碍物2的，故而因此通过相关技术在所述工作区域地图中标识出来。具体地，例如可以通过控制所述智能割草机沿工作区域3内的障碍物的边沿行走，通过上述的位置传感器采集并保存所述障碍物的位置，并在所述工作区域地图中标识为排除区域，以便在后续的路径规划时自动绕过所述排除区域。接着，所述智能割草机的工作区域地图定义完成后，需要根据所述智能割草机的工作区域地图分别规划所述智能割草机在工作区域3内沿不同行进角度移动时的路径地图6，以组成所述路径地图集，其中，该行进角度可以定义为智能割草机的行进方向与某一个参考线(例如工作区域3的边界线的一直线段)的夹角，所述智能割草机的行进角度介于0°到180°之间的任意值。作为示例，例如可以以5°的角度变量分别获取行进角度分别为0°(180°)、5°、10°、15°、……、170°及175°时路径地图，以组成路径地图集，所述角度变量可以根据需要进行设置，角度变量越小，生成的路径地图越多，反之越少。需要说明的是，在进行路径规划的过程中，也可以以使所述智能割草机的转弯次数最小、或者总路径最短来优化每个所述路径地图。可以理解的是，所述路径地图集例如也可是根据所述智能割草机的工作区域预先依据不同行进角度和作业宽度规划的路径地图，这可以通过调整行进角度和作业宽度来生成不同的路径地图，所述作业宽度定义为所述智能割草机的两个平行内部车道之间的距离，或者在曲线形状的车道的情况下局部平行车道之间的距离。其中，图3a-3d分别对应不同行进角度和不同作业宽度时规划的路径地图。
如图2所述，在所述工作区域地图上还要定义出了充电站4及引导线5的位置，从而可以方便的控制智能割草机进站充电和出站作业。所述充电站4既可以设置在所述工作区域的边沿1上，也可以如图2所示的设置在远离工作区域的位置。
请参阅图1，执行步骤S20和S30，在每次进行割草作业时，需要先从预先存储的路径地图集中选取一个路径地图，然后控制所述智能割草机按照选取的所述路径地图移动作业。
在步骤S20中，按照指定的地图选取方式从存储的路径地图集中选取一个路径地图，例如可以是采用随机方式从预先存储的路径地图集中随机选取一个路径地图，也可以是每次按照行进角度递增或者递减的方式从预先存储的路径地图集中选取一个路径地图，亦或者按照接收的外部指令从预先存储的路径地图集中选取一个路径地图，从而可基本上保证在多次割草作业中每次割草作业时的行走路径不同(随机选取时也可能会有两次重复情形出现)，避免了沿着固定路径行走时反复碾压形成车辙的问题。其中，在每次按照行进角度递增或者递减的方式从预先存储的路径地图集中选取一个路径地图时，例如可以以每次5°、10°、15°、30°(也可以是其他合适的值)的行进角度变化量来依次递增或者从预先存储的路径地图集中选取一个路径地图，直到遍历所有行进角度，然后重新按照递增或者递减的方式从预先存储的路径地图集中选取一个路径地图。
在步骤S30中，在进行割草作业的过程中，由于工作区域面积较大、或者智能割草机的电池容量有限，不能一次性的完成整个工作区域的割草作业，当所述智能割草机电量不足时，可以控制所述智能割草机返回所述充电站并记录所述智能割草机的当前位置(也即返回点)，充电完成所述智能割草机返回所述返回点并继续按照原路径移动作业。
在步骤S30中，在进行割草作业的过程中，当天气状况不适宜所述智能割草机工作时，例如下雨、下雪、冰雹、大风等糟糕天气时，控制所述智能割草机返回所述充电站并记录所述智能割草机的返回点，充电完成后或者等天气状况适宜所述智能割草机割草作业时，所述智能割草机返回所述返回点并继续按照原路径移动。所述智能割草机例如可以通过接收当地的天气预报来判断当前的天气状况是否适宜智能割草机工作，也可以通过设置于智能割草机机身上的雨雪传感器、风速传感器等能监测天气状况的传感器来监测外部天气状况信息，智能割草机的控制单元根据监测到的天气状况信息来决定智能割草机是否中止或者停止割草作业。
需要说明的是，本发明的智能割草机控制方法还包括预设割草时段的步骤，使用者可以根据实际需要来设定智能割草机的工作时段，所述智能割草机在预设割草时段内执行割草作业，而在预设割草时段之外的其他时段所述智能割草机中止或停止割草作业。例如可以预设割草时段例如可以设定在在10:00到20:00之间，从而避免在预设时段之外的时间作业影响使用者或者邻居休息。
如图4所示，本发明的实施例还介绍一种用于实现上述智能割草机控制方法的智能割草机控制系统100。所述智能割草机控制系统100包括移动模块10，地图选取模块20、作业模块30以及地图集获取模块40。所述移动模块10用于控制所述智能割草机移动至起始点；所 述地图选取模块20用于按照预设规则从预先存储的路径地图集中选取一个路径地图，其中，所述路径地图集是根据所述智能割草机的工作区域预先依据不同行进角度规划的路径地图；所述作业模块30控制所述智能割草机按照选取的所述路径地图移动作业；所述地图集获取模块40用于获取所述的路经地图集。
请参阅图4所述，所述作业模块30还包括充电模块31，用于当所述智能割草机电量不足时，控制所述智能割草机返回所述充电站并记录所述智能割草机的返回点，充电完成所述智能割草机返回所述返回点并继续按照原路径移动；所述充电模块31还用于当天气状况不适宜所述智能割草机工作时，控制所述智能割草机返回所述充电站并记录所述智能割草机的返回点，充电完成后或者等天气状况适宜所述智能割草机割草作业时，所述智能割草机返回所述返回点并继续按照原路径移动。
在本发明中，所述智能割草机控制系统100还包括割草时段设置模块(未图示)，用于预设割草时段，以控制所述智能割草机在预设割草时段内执行割草作业，而在预设割草时段之外的其他时段所述智能割草机停止割草作业。
在本发明中，所述地图选取模块20可以进一步包括第一地图选取模块、第二地图选取模块及第三地图选取模块；所述第一地图选取模块用于采用随机方式从预先存储的路径地图集中选取一个路径地图；所述第二地图选取模块用于每次按照行进角度递增或者递减的方式从预先存储的路径地图集中选取一个路径地图；所述第三地图选取模块用于按照接收的外部指令从预先存储的路径地图集中选取一个路径地图。
请参阅图5所示，所述地图集获取模块40包括区域地图定义模块41、排除模块42及路径地图规划模块43；所述区域地图定义模块41用于定义所述智能割草机的工作区域地图；所述排除模块42用于控制所述智能割草机沿工作区域内的障碍物的边沿行走，采集并保存所述障碍物的位置，并在所述工作区域地图中标识为排除区域；所述路径地图规划模块43用于根据所述智能割草机的工作区域地图分别规划所述智能割草机在工作区域内沿不同行进角度移动时的路径地图，组成所述路径地图集。所述区域地图定义模块41还进一步包括图获取模块411，用于控制所述智能割草机沿着工作区域边沿行走，采集并存储所述工作区域的位置，以获取所述工作区域地图。所述路径地图规划模块43还进一步包括路径优化模块431用于以使所述智能割草机的转弯次数最小来优化所述路径地图。
需要说明的是，本发明的智能割草机控制系统100是与上述智能割草机控制方法相对应的系统，智能割草机控制系统100中的功能模块或者功能子模块分别对应智能割草机控制方法中的相应步骤。本发明的智能割草机控制系统100可与智能割草机控制方法相互相配合实 施。本发明的智能割草机控制方法中提到的相关技术细节在智能割草机控制系统100中依然有效，为了减少重复，这里不再赘述。相应地，本发明的智能割草机控制系统100中提到的相关技术细节也可应用在上述智能割草机控制方法中。
需要说明的是，上述的各功能模块或者功能子模块，实际实现时可以全部或部分集成到一个物理实体上，也可以物理上分开。且这些单元可以全部以软件通过处理元件调用的形式实现；也可以全部以硬件的形式实现；还可以部分单元通过处理元件调用软件的形式实现，部分单元通过硬件的形式实现。此外这些单元全部或部分可以集成在一起，也可以独立实现。这里所述的处理元件可以是一种集成电路，具有信号的处理能力。在实现过程中，上述方法的各步骤或以上各个模块可以通过处理器71元件中的硬件的集成逻辑电路或者软件形式的指令完成。
需要说明的是，如图6所示，本发明的智能割草机控制方法还可以通过一设置于智能割草机的机身上控制单元7实现，所述控制单元7包括相互连接的存储器73和处理器71，所述存储器73存储有程序指令，该程序指令被所述处理器71执行时实现上述的智能割草机控制方法。需要说明的是，当需要和外部进行通信时，所述控制单元7还包括通信器72，所述通信器72与所述处理器71连接。
上述的处理器71可以是通用处理器，包括中央处理器(CentralProcessingUnit，简称CPU)、网络处理器(NetworkProcessor，简称NP)等；还可以是数字信号处理器(Digital Signal Processing，简称DSP)、专用集成电路(Application Specific Integrated Circuit，简称ASIC)、现场可编程门阵列(Field－Programmable Gate Array，简称FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件；上述的存储器73可能包含随机存取存储器(Random Access Memory，简称RAM)，也可能还包括非易失性存储器(Non-volatile Memory)，例如至少一个磁盘存储器。
需要说明的是，上述存储器73中的控制程序指令可以通过软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，电子设备，或者网络设备等)执行本发明各个实施例方法的全部或部分步骤。
本发明还可以提供一种存储介质，其存储有程序，该程序被处理器71执行时实现上述的智能割草机控制方法；所述存储介质包括所有形式的非易失性存储器、介质和存储器设备， 包括例如：半导体存储器设备，例如EPROM、EEPROM和闪存设备；磁盘，例如内部硬盘或可移动盘；磁光盘；以及CD-ROM和DVD-ROM盘。
综上所述，本发明的智能割草机及其控制方法、系统和存储介质，智能割草机每次割草作业时，都从预先存储的路径地图集中选取任意一个路径地图，从而使智能割草机的每次的运行路径不同，避免了沿着固定路径行走时反复碾压形成车辙的问题。本发明的智能割草机及其控制方法、系统和存储介质，相比于随机作业方式，不仅可以100％的覆盖工作区域，而且还可以减少不必要的重复作业，减轻零部件的压力。利用本发明的智能割草机控制系统100和方法，可以在智能割草机的电池允许的情况下，在一次运行中完成整个工作区域的割草作业。利用本发明的智能割草机控制系统100和方法，可以预估出修剪草坪所需要的确切时间，换句话说可以预估出草坪准备就绪的时间。
如图7所示，本发明的实施例还公开一种智能割草机200，所述智能割草机200包括机身，设置于机身上的位置传感器50、控制单元7、行走组件60、作业组件70、供电组件80以及天线组件90；所述控制单元7能够控制智能割草机200每次作业时沿着不同的路径行走，可避免反复碾压工作区域产生车辙。
如图7所示，所述行走组件60两个驱动轮和至少一支撑轮，两个驱动轮分别设置于所述机身的一端的两侧，所述支撑轮设置于所述机身的另一端，智能割草机200被驱动轮与支撑轮支撑行走，支撑轮例如可以为万向轮，以便智能割草机200转向。所述驱动轮例如可以通过传动轴与驱动电机连接，并且在所述传动轴上设置有保护套，所述保护套包括柔性段，所述保护套通过柔性段的变形实现沿传动轴轴向的长度改变，有效保护传动轴，可以增加智能割草机200的使用寿命。所述控制单元7通过控制两个驱动电机的转速来控制智能割草机200的行走方向及速度，当驱动电机的转速不同时，智能割草机200可实现转弯；当驱动电机的转速相同时，智能割草机200可实现直线行走，当驱动电机的转速相反时，智能割草机200实现原地零位转向。
如图7所示，所述作业组件70包括切割电机以及被切割电机驱动的切割头，所述作业组件70大致位于智能割草机200的中心位置，切割电机的旋转轴大致垂直于水平面，作业组件70可以被操作者调节与地面的高度，以实现对切割高度的调节。
如图7所示，所述供电组件80包括可充电电池、给可充电电池供电的充电系统以及设置于机身外侧的太阳能电板，所述太阳能电板通过充电系统与所述可充电电池连接。考虑到智能割草机200一般都是在户外工作，因此可以在智能割草机200的割草作业过程中对可充电电池进行充电，从而有效延长所述智能割草机200的作业时间，减少返回充电站充电的次数。
如图7所示，所述控制单元7除了上文介绍的功能外，还能接收发送给智能割草机200的各种信号或位置传感器50采集的信号，并通过内置的处理器生成对应的控制信号，根据生成的控制信号对所述行走单元或者所述作业单元进行控制，从而使智能割草机200沿着规划的路线进行割草作业。
所述智能割草机200还包括设置于机身上的雨雪传感器和/或风速传感器，用于监测智能割草机200工作地点的天气状况信息，并将天气状况信息传递给控制单元7，控制单元7根据天气状况信息来控制所述智能割草机200执行相应的操作，详见上文相关部分描述，在此不做赘述。
如图7所示，所述位置传感器50例如可以是GPS模块，通常情况下，为了包括GPS模块，一般会将GPS模块设置于机身内部，这会影响GPS模块的信号强度，为了解决该问题，可以给所述GPS模块外置一个天线组件90，以增强GPS模块的信号强度，提高智能割草机200的定位精度。所述天线组件90包括天线、天线壳体及软体缓冲连接件，软体缓冲连接件可以是橡胶、硅胶等弹性较好且可自行恢复原状的软胶，天线通常采用的是导电金属，天线壳体将天线包裹用于保护，天线壳体的底部例如可通过黏贴的方式固定在软体缓冲连接件，软体缓冲连接件通过螺钉或者黏贴的方式固定在机身上，天线壳体相对机身上表面是基本是竖直的，软体缓冲连接件的形状是呈中心对称的，目的是使软体缓冲连接件作用在天线壳体上的拉力是平衡的，并且在水平方向是相互抵消的。软体缓冲连接件将天线壳体固定在机身上，并且填补了天线壳体和机身之间的空隙，可以防止水汽进入机器内部损坏电气元件。在移动机器人没有受到外力作用时，天线壳体基本是与机身垂直的，当天线壳体受到外力作用时，天线壳体相对机身倾斜，软体缓冲连接件被拉扯发生形变，储存弹性势能，当作用在天线壳体上的外力消失后，软体缓冲连接件释放弹性势能，在软体缓冲连接件的作用下，天线壳体回复竖直状态。
在本文的描述中，提供了许多特定细节，诸如部件和/或方法的实例，以提供对本发明实施例的完全理解。然而，本领域技术人员将认识到可以在没有一项或多项具体细节的情况下或通过其他设备、系统、组件、方法、部件、材料、零件等等来实践本发明的实施例。在其他情况下，未具体示出或详细描述公知的结构、材料或操作，以避免使本发明实施例的方面变模糊。
还应当理解还可以以更分离或更整合的方式实施附图所示元件中的一个或多个，或者甚至因为在某些情况下不能操作而被移除或因为可以根据特定应用是有用的而被提供。
另外，除非另外明确指明，附图中的任何标志箭头应当仅被视为示例性的，而并非限制。 此外，除非另外指明，本文所用的术语“或”一般意在表示“和/或”。在术语因提供分离或组合能力是不清楚的而被预见的情况下，部件或步骤的组合也将视为已被指明。
本发明所示实施例的上述描述(包括在说明书摘要中所述的内容)并非意在详尽列举或将本发明限制到本文所公开的精确形式。尽管在本文仅为说明的目的而描述了本发明的具体实施例和本发明的实例，但是正如本领域技术人员将认识和理解的，各种等效修改是可以在本发明的精神和范围内的。如所指出的，可以按照本发明所述实施例的上述描述来对本发明进行这些修改，并且这些修改将在本发明的精神和范围内。
本文已经在总体上将系统和方法描述为有助于理解本发明的细节。此外，已经给出了各种具体细节以提供本发明实施例的总体理解。然而，相关领域的技术人员将会认识到，本发明的实施例可以在没有一个或多个具体细节的情况下进行实践，或者利用其它装置、系统、配件、方法、组件、材料、部分等进行实践。在其它情况下，并未特别示出或详细描述公知结构、材料和/或操作以避免对本发明实施例的各方面造成混淆。
因而，尽管本发明在本文已参照其具体实施例进行描述，但是修改自由、各种改变和替换意在上述公开内，并且应当理解，在某些情况下，在未背离所提出发明的范围和精神的前提下，在没有对应使用其他特征的情况下将采用本发明的一些特征。因此，可以进行许多修改，以使特定环境或材料适应本发明的实质范围和精神。本发明并非意在限制到在下面权利要求书中使用的特定术语和/或作为设想用以执行本发明的最佳方式公开的具体实施例，但是本发明将包括落入所附权利要求书范围内的任何和所有实施例及等同物。因而，本发明的范围将只由所附的权利要求书进行确定。

Claims (33)

  1. 一种智能割草机控制方法，其特征在于，所述智能割草机控制方法包括：
    控制所述智能割草机移动至起始点；
    从预先存储的路径地图集中选取一个路径地图，其中，所述路径地图集是根据所述智能割草机的工作区域预先依据不同行进角度规划的路径地图；
    控制所述智能割草机按照选取的所述路径地图移动作业。
  2. 根据权利要求1所述的智能割草机控制方法，其特征在于，所述路径地图集的获取方式包括：
    定义所述智能割草机的工作区域地图；
    根据所述智能割草机的工作区域地图分别规划所述智能割草机在工作区域内沿不同行进角度移动时的路径地图，以组成所述路径地图集。
  3. 根据权利要求2所述的智能割草机控制方法，其特征在于，根据所述智能割草机的工作区域地图分别规划所述智能割草机在工作区域内沿不同行进角度移动时的路径地图的步骤中，以使所述智能割草机的转弯次数最小来优化所述路径地图。
  4. 根据权利要求2所述的智能割草机控制方法，其特征在于，所述智能割草机的行进角度介于0°到180°之间。
  5. 根据权利要求2所述的智能割草机控制方法，其特征在于，定义所述智能割草机的工作区域地图的步骤包括，控制所述智能割草机沿着工作区域边沿行走，采集并存储所述工作区域的位置，以获取所述工作区域地图。
  6. 根据权利要求2所述的智能割草机控制方法，其特征在于，定义所述智能割草机的工作区域地图的步骤还包括，
    控制所述智能割草机沿工作区域内的障碍物的边沿行走，采集并保存所述障碍物的位置，并在所述工作区域地图中标识为排除区域。
  7. 根据权利要求2所述的智能割草机控制方法，其特征在于，使用位置传感器定义所述智能割草机的工作区域地图。
  8. 根据权利要求7所述的智能割草机控制方法，其特征在于，所述位置传感器包括全球定位模块。
  9. 根据权利要求1所述的智能割草机控制方法，其特征在于，控制所述智能割草机按照选取的所述路径地图移动作业的步骤包括：当所述智能割草机电量不足时，控制所述智能割草机返回所述充电站并记录所述智能割草机的返回点，充电完成后所述智能割草机返回所述返回点并继续按照原路径移动。
  10. 根据权利要求1所述的智能割草机控制方法，其特征在于，控制所述智能割草机按照选取的所述路径地图移动作业的步骤包括：当天气状况不适宜所述智能割草机工作时，控制所述智能割草机返回所述充电站并记录所述智能割草机的返回点，充电完成后或者等天气状况适宜所述智能割草机割草作业时，所述智能割草机返回所述返回点并继续按照原路径移动。
  11. 根据权利要求1所述的智能割草机控制方法，其特征在于，所述路径地图集是根据所述智能割草机的工作区域预先依据不同行进角度和作业宽度规划的路径地图。
  12. 根据权利要求1所述的智能割草机控制方法，其特征在于，所述智能割草机控制方法还包括：
    预设割草时段的步骤，所述智能割草机在预设割草时段内执行割草作业，而在预设割草时段之外的其他时段所述智能割草机停止割草作业。
  13. 根据权利要求1-12中任意一项所述的智能割草机控制方法，其特征在于，所述从预先存储的路径地图集中选取一个路径地图的步骤包括，采用随机方式从预先存储的路径地图集中选取一个路径地图。
  14. 根据权利要求1-12中任意一项所述的智能割草机控制方法，其特征在于，所述从预先存储的路径地图集中选取一个路径地图的步骤包括，每次按照行进角度递增或者递减的方式从预先存储的路径地图集中选取一个路径地图。
  15. 根据权利要求1-12中任意一项所述的智能割草机控制方法，其特征在于，所述从预先存储的路径地图集中选取一个路径地图的步骤包括，按照接收的外部指令从预先存储的路径地图集中选取一个路径地图。
  16. 一种智能割草机控制系统，其特征在于，所述智能割草机控制系统包括：
    移动模块，用于控制所述智能割草机移动至起始点；
    地图选取模块，用于从预先存储的路径地图集中选取一个路径地图，其中，所述路径地图集是根据所述智能割草机的工作区域预先依据不同行进角度规划的路径地图；
    作业模块，控制所述智能割草机按照选取的所述路径地图移动作业。
  17. 根据权利要求16所述的智能割草机控制系统，其特征在于，所述智能割草机控制系统还包括地图集获取模块，所述地图集获取模块包括：
    区域地图定义模块，用于定义所述智能割草机的工作区域地图。
    路径地图规划模块，用于根据所述智能割草机的工作区域地图分别规划所述智能割草机在工作区域内沿不同行进角度移动时的路径地图，组成所述路径地图集。
  18. 根据权利要求17所述的智能割草机控制系统，其特征在于，所述路径地图规划模块还包括：路径优化模块，用于以使所述智能割草机的转弯次数最小来优化所述路径地图。
  19. 根据权利要求17所述的智能割草机控制系统，其特征在于，所述智能割草机的行进角度介于0°到180°之间。
  20. 根据权利要求17所述的智能割草机控制系统，其特征在于，所述区域地图定义模块还包括：地图获取模块，用于控制所述智能割草机沿着工作区域边沿行走，采集并存储所述工作区域的位置，以获取所述工作区域地图。
  21. 根据权利要求17所述的智能割草机控制系统，其特征在于，所述地图集获取模块还包括排除模块，用于控制所述智能割草机沿工作区域内的障碍物的边沿行走，采集并保存所述障碍物的位置，并在所述工作区域地图中标识为排除区域。
  22. 根据权利要求17所述的智能割草机控制系统，其特征在于，所述作业模块还包括充电模块，用于当所述智能割草机电量不足时，控制所述智能割草机返回所述充电站并记录所述智能割草机的返回点，充电完成所述智能割草机返回所述返回点并继续按照原路径移动。
  23. 根据权利要求16所述的智能割草机控制系统，其特征在于，所述路径地图集是根据所述智能割草机的工作区域预先依据不同行进角度和作业宽度规划的路径地图。
  24. 根据权利要求17所述的智能割草机控制系统，其特征在于，所述路径地图规划模块还用于根据所述智能割草机的工作区域地图分别规划所述智能割草机在工作区域内沿不同行进角度和不同作业宽度移动时的路径地图，组成所述路径地图集。
  25. 根据权利要求17所述的智能割草机控制系统，其特征在于，所述作业模块还包括充电模块，用于当天气状况不适宜所述智能割草机工作时，控制所述智能割草机返回所述充电站并记录所述智能割草机的返回点，充电完成后或者等天气状况适宜所述智能割草机割草作业时，所述智能割草机返回所述返回点并继续按照原路径移动。
  26. 根据权利要求16所述的智能割草机控制系统，其特征在于，所述智能割草机控制系统包括割草时段设置模块，用于预设割草时段，以控制所述智能割草机在预设割草时段内执行割草作业，而在预设割草时段之外的其他时段所述智能割草机停止割草作业。
  27. 根据权利要求16-26所述的智能割草机控制系统，其特征在于，所述地图选取模块包括第一地图选取模块，用于采用随机方式从预先存储的路径地图集中选取一个路径地图。
  28. 根据权利要求16-26所述的智能割草机控制系统，其特征在于，所述地图选取模块包括第二地图选取模块，用于每次按照行进角度递增或者递减的方式从预先存储的路径地图集中选取一个路径地图。
  29. 根据权利要求16-26所述的智能割草机控制系统，其特征在于，所述地图选取模块包括第三地图选取模块，用于按照接收的外部指令从预先存储的路径地图集中选取一个路径 地图。
  30. 一种智能割草机，其特征在于，所述智能割草机包括：
    机身；
    位置传感器，设置于所述机身上；
    控制单元，设置于所述机身上，所述控制单元包括相互耦合的处理器和存储器，所述存储器存储有程序指令，当所述存储器存储的程序指令被所述处理器执行时实现权利要求1-9中任意一项所述的智能割草机控制方法。
  31. 根据权利要求30所述的智能割草机，其特征在于，所述位置传感器包括全球定位模块。
  32. 根据权利要求30所述的智能割草机，其特征在于，所述智能割草机还包括雨雪传感器和/或风速传感器。
  33. 一种存储介质，其特征在于，包括程序，当所述程序在计算机上运行时，使得所述计算机执行如权利要求1-15中任意一项所述的智能割草机控制方法。
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