WO2023046151A1 - Système d'outil de jardinage et son procédé de fonctionnement - Google Patents

Système d'outil de jardinage et son procédé de fonctionnement Download PDF

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Publication number
WO2023046151A1
WO2023046151A1 PCT/CN2022/121275 CN2022121275W WO2023046151A1 WO 2023046151 A1 WO2023046151 A1 WO 2023046151A1 CN 2022121275 W CN2022121275 W CN 2022121275W WO 2023046151 A1 WO2023046151 A1 WO 2023046151A1
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working
work
electric
autonomous
area
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PCT/CN2022/121275
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English (en)
Chinese (zh)
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焦石平
杜江
查霞红
刘常华
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苏州宝时得电动工具有限公司
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Publication of WO2023046151A1 publication Critical patent/WO2023046151A1/fr

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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
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/835—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes
    • A01D34/84—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes for edges of lawns or fields, e.g. for mowing close to trees or walls
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
    • A01G3/08—Other tools for pruning, branching or delimbing standing trees
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
    • E01H1/08—Pneumatically dislodging or taking-up undesirable matter or small objects; Drying by heat only or by streams of gas; Cleaning by projecting abrasive particles
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H5/00—Removing snow or ice from roads or like surfaces; Grading or roughening snow or ice
    • E01H5/04—Apparatus propelled by animal or engine power; Apparatus propelled by hand with driven dislodging or conveying levelling elements, conveying pneumatically for the dislodged material
    • 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

Definitions

  • the invention relates to the technical field of gardening tools, in particular to a gardening tool system and a working method thereof.
  • the set of electric gardening tools has at least one electric gardening tool, each of the electric gardening tools has a corresponding first working capacity parameter, and the first working capacity parameter is configured so that the electric gardening tool is suitable for the working area passively controlled operation at a corresponding first operating rate;
  • a group of autonomous working devices having at least one autonomous working device, each of which has a second working capability parameter configured such that each of said autonomous working devices is suitable for The second working speed works autonomously;
  • the garden tool system is configured to: work on a predetermined number of work areas;
  • the second average time duration for the group of autonomous working devices to complete the work of the predetermined number of work areas and the first average time length for the group of electric garden tools to complete the work of the predetermined number of work areas satisfy a preset relationship .
  • the electric gardening tool has a first working capacity parameter, so that each electric gardening tool can work at a corresponding first working speed, and at the same time, the autonomous working device has a second working capacity parameter, so that each autonomous working device can work at a second Work at a working rate; use the gardening tool system to work on a predetermined number of work areas, which is conducive to reducing human resource input and reducing costs; at the same time, by controlling the average time for the electric gardening tool group to complete the work of a predetermined number of work areas (i.e.
  • the first average duration) and the average time (i.e., the second average duration) for the autonomous working device group to complete the work of a predetermined number of work areas satisfy a preset relationship, so that the electric gardening tool group and the autonomous working device group can be basically at the same time under standard working conditions Complete the work of a certain work area, so as to ensure the work efficiency of the garden tool system.
  • the preset relationship includes a difference relationship, and the difference relationship includes that the second average duration T2 and the first average duration T1 satisfy 0 ⁇
  • the preset relationship includes a ratio relationship, and the ratio relationship includes that the second average duration T2 and the first average duration T1 satisfy
  • the ratio relationship includes
  • the set of electric garden tools includes a plurality of electric garden tools
  • the set of autonomous working devices includes one or more autonomous working devices.
  • the electric garden tool includes at least one of a hand mower, a lawn trimmer, an edge trimmer, a blower, a pruner, and a chain saw; At least one of lawn mowers, watering machines, snowplows, floor sweepers, and leaf cleaning machines.
  • the set of electric gardening tools includes trimmers, lawn trimmers, hand lawn mowers, and blowers
  • the autonomous working device includes one or more autonomous working lawn mowers
  • the electric garden tool set includes a lawnmower, a hand mower, a blower, and a pruner
  • the autonomous working device includes one or more autonomously working lawnmowers.
  • the first working capacity parameter includes the average output power of each electric tool under standard working conditions
  • the second working capacity parameter includes the average output power of each independent working device under standard working conditions
  • the first working capacity parameter of the walk lawn mower is configured such that the mowing rate of the walk lawn mower under standard working conditions is less than or equal to 35m 2 /min;
  • the first working capacity parameter of the lawn trimmer is configured such that the cutting rate of the lawn trimmer under standard working conditions is less than or equal to 10m 2 /min;
  • the first working capacity parameter of the trimmer is configured such that the The pruning rate of the pruning machine under standard working conditions is less than or equal to 15m 2 /min;
  • the first working capacity parameter of the blower is configured so that the blowing speed of the blower under standard working conditions ranges from 15m 2 /min ⁇ 45m 2 /min;
  • the first working capacity parameter of the trimming machine is configured so that the trimming rate of the trimming machine under standard working conditions ranges from 40m/min to 60m/min;
  • the The second working capacity parameter of the lawnmower is configured such that the mowing rate of the lawnmower under standard working conditions is less than or equal to 90m 2 /min.
  • the gardening tool system includes: an energy component configured to be coupled with the set of electric gardening tools and the set of autonomous working devices, so as to power the set of electric gardening tools and the set of autonomous working devices Groups provide at least one day's worth of power usage.
  • the lawn mower includes: a housing; a driving assembly, disposed on the housing, configured to drive the mower to move; a positioning assembly, disposed on the housing, configured for obtaining the location information of the mower; and, a control assembly, connected to the cutting assembly, the drive assembly and the positioning assembly, configured to control the movement and/or mowing of the lawn mower;
  • control assembly is configured to control the lawn mower to move along the first path according to the position information, so that the path coverage of the lawn mower is greater than or equal to 50%;
  • drive assembly is configured to Drive the mower to move with the first power, so that the moving speed of the mower is less than or equal to 4m/s;
  • cutting assembly is configured so that the actual cutting width of the mower ranges from Less than 500mm.
  • control component is configured to control the lawn mower to move along the second path according to the position information, so that the path coverage of the lawn mower is greater than or equal to 60%.
  • the driving assembly is further configured to drive the lawn mower to move with the second power, so that the moving speed of the lawn mower ranges from 1 m/s to 3 m/s.
  • the present application also provides a garden tool system.
  • a gardening tool system includes: an electric gardening tool set, having at least one electric gardening tool, each of the electric gardening tools has a corresponding first working capacity parameter, and the first working capacity parameter is determined by configured such that the electric garden tool can be passively controlled to operate at a corresponding first operating rate in a working area; and, a set of autonomous working devices having at least one autonomous working device, each of said autonomous working devices having a second working capability parameter, the second working capability parameter is configured to enable each of the autonomous working devices to work autonomously at a second working rate in the working area;
  • the gardening tool system is configured as follows: the autonomous working device group and the electric gardening tool group are switched from the working state to the non-working state after the respective work ends; the autonomous working device group is configured as: When the working area is working, it is switched to a non-working state substantially synchronously with the electric garden tool set.
  • the above-mentioned gardening tool system by setting the second capability parameter of the autonomous working device, can make the working speed of the autonomous working device group match the working speed of the electric gardening tool group, and then can make the autonomous working device group and the electric gardening tool group have a basic relationship in the working area. Complete their work synchronously, maximize the use of labor and time, and reduce costs.
  • the set of autonomous working devices is configured to: switch to the non-working state when the electric gardening tool set is switched to the non-working state; or, switch to the non-working state when the electric gardening tool set is switched to the non-working state state is about to switch to the non-working state; or, when the electric garden tool set is switched to the non-working state, it is switched to the non-working state synchronously.
  • the duration T2' for the autonomous working device group to complete the work in the working area and the duration T1' for the electric garden tool group to complete the work in the working area satisfy the difference relationship, the difference relationship is 0 ⁇
  • the working time T1' of the working area satisfies the ratio relationship, and the ratio relationship is
  • a garden tool system comprising:
  • the electric gardening tool set has at least one electric gardening tool, each of the electric gardening tools has a corresponding first working capacity parameter, and the first working capacity parameter is configured so that the electric gardening tool can be used in the working area a corresponding first rate of work is passively controlled; and, a group of autonomous work devices having at least one autonomous work device, each of said autonomous work devices having a second work capability parameter configured such that Each of the autonomous working devices can work autonomously at a second working speed in the working area;
  • the gardening tool system is configured to work on a working area of 400m 2 to 1200m 2 under standard working conditions;
  • duration T2" for the autonomous working device group to complete the work in the working area and the duration T1" for the electric gardening tool group to complete the work in the working area satisfy
  • the electric gardening tool has a first working capacity parameter, so that each electric gardening tool can work passively in the working area at a corresponding first working speed, and at the same time, the autonomous working device has a second working capacity parameter, so that each of the electric gardening tools can work independently
  • the working device can work in the working area at the second working speed; using the gardening tool system to work in the working area under standard working conditions is not only conducive to reducing human resource investment and cost, but also can complete specific tasks by controlling the electric gardening tool set.
  • the present application also provides an autonomous working device.
  • the above-mentioned autonomous working device has a second working capacity parameter, so that it can work in the working area at a second working speed; when using the autonomous working device to work on a predetermined number of working areas, the average time for the autonomous working device to complete the work can be compared with gardening
  • the average time for the electric gardening tool set in the tool system to complete the work satisfies the preset relationship (such as the aforementioned difference relationship and ratio relationship), so that the autonomous working device and the passively controlled electric gardening tool set can basically complete the work of a certain work area at the same time.
  • the work is not only conducive to reducing human resource input and cost, but also can ensure the work efficiency of the gardening tool system.
  • control assembly is configured to control the lawn mower to move along the first path according to the position information, so that the path coverage of the lawn mower is greater than or equal to 50%;
  • drive assembly is configured to Drive the mower to move with the first power, so that the moving speed of the mower is less than or equal to 4m/s;
  • cutting assembly is configured so that the actual cutting width of the mower ranges from Less than 500mm.
  • the working methods include:
  • the second average time duration T2 for the group of autonomous working devices to complete the work of the predetermined number of work areas meets the first average time length T1 for the group of electric garden tools to complete the work of the predetermined number of work areas
  • Fig. 2 shows the working diagram of the garden tool system of an embodiment of the present application
  • Fig. 3 shows the working diagram of the garden tool system of another embodiment of the present application.
  • Fig. 5 shows the working method flowchart of the gardening tool system of an embodiment of the present application
  • the working time of a commercial team for garden maintenance work at a user is about 20-40 minutes. Once one garden is done, the team goes to another garden and repeats the process until all tasks for the day are completed. In a typical day, a commercial garden maintenance team can repair the gardens of 10-20 families.
  • Gardening tools usually refer to maintenance equipment for garden landscapes. According to different functions, they can also be subdivided into: lawn mowers, lawn mowers, hedge trimmers, chain saws, hair dryers, leaf shredders, snowplows, etc. . Limited by outdoor gardening work, power supply is difficult, most commercial gardening tools are powered by gasoline, and only a small amount of electric-driven tools are used as auxiliary operating equipment. Therefore, electric drive tools are generally not used as the main tool for performing landscaping tasks in traditional commercial work scenarios.
  • this application rationally designs a set of gardening tool system and working method, so that when the gardening tool system is applied to commercial scenarios, it can not only reduce human resource investment and cost, but also ensure the work efficiency of the team to a certain extent .
  • the gardening tool system of the present application is helpful to realize the effects of reducing personnel input, reducing costs, and ensuring the working efficiency of the gardening tool system in engineering.
  • the garden tool system and its working method will be described in detail below in conjunction with different embodiments.
  • a gardening tool system 10 may include an electric gardening tool set 100 and an autonomous working device set 200 .
  • the electric garden tool set 100 has at least one electric garden tool. For example, if the work content to be performed by the electric gardening tool set 100 is single, it can be completed by one type of electric gardening tool. At this time, only one electric gardening tool can be configured for the user of the gardening tool system 10; The electric gardening tool set 100 needs to perform a variety of tasks and/or a large execution area, which requires the cooperation of multiple different electric gardening tools. In this case, users of the gardening tool system 10 can be configured with various Electric gardening tools, and multiple electric gardening tools can be configured.
  • the electric garden tool set 100 includes a blower 110 , a lawn mower 120 and the like.
  • the electric garden tool set 100 may also include a lawn trimmer 120 , an edge trimmer/pruner (not shown in the figure), a blower 110 and the like.
  • Each electric gardening tool has a corresponding first working ability parameter
  • the first working ability parameter may be a performance parameter of the tool, which is used to characterize the working performance of the electric gardening tool.
  • the first working capacity parameter of the trimmer can be the speed of the trimmer, the cutting diameter, power, etc.
  • the first working ability parameter of the chain saw can be chain speed, saw blade width, power, etc.
  • the first working ability parameter of the pruning machine can be reciprocating frequency, power, etc.
  • the first working ability parameter of the grass trimmer can be It is rotating speed, cutting diameter, power, etc.
  • the first working capacity parameter of the blower can be blowing force, wind speed, air volume, power, etc.
  • the first working rate represents the task execution rate under standard operating conditions when the electric garden tool is passively controlled.
  • the first working rate of the trimmer can be the trimming distance per unit time of the trimmer when the worker is working normally under the rated power
  • the first working speed of the pruning machine can be the trimming area of the pruning machine per unit time when the worker is working normally under the rated power
  • the first working speed of the lawn mower can be the unit time of the mowing machine when the worker is working normally under the rated power of lawn area after mowing.
  • the lawn area of a typical work scene of a commercial garden maintenance team is roughly 500m 2 , taking this typical work scene as an example, the area that the team needs to mow is roughly 50m 2 , and the lawn mower under standard working conditions
  • the first working speed of the trimmer is about 7.5m 2 /min, so the mowing time of the mower is about 7min; the length to be trimmed is about 100m ⁇ 160m, and the first working speed of the trimmer It is roughly 50m/min, so the trimming time of the edge trimmer is roughly 2min to 3.5min; the area to be blown is roughly 65m 2 to 210m 2 , and the first working speed of the hair dryer can be 30m 2 /min, so that the blower’s The blowing time is roughly 2.2 minutes to 7 minutes.
  • brush cutting, branch pruning, chain saws, etc. may also be required.
  • the first working speed and working hours of the corresponding brush cutters, branch pruning machines, and chain saws can be calculated by Refer to the calculation method of tasks in typical work scenarios mentioned above, and will not repeat them here.
  • the standard working condition may be expressed as a standard working environment condition, which may include factors such as grass density, grass hardness, temperature, humidity, ground flatness, and soil softness.
  • standard working conditions can be used to indicate the general working environment conditions of autonomous working devices.
  • the standard working condition can be obtained by investigating and analyzing the garden sample information (such as sampling analysis, average analysis, etc.) of multiple users.
  • the value of each factor in the standard working environment conditions may have little difference or be basically the same as the average value of yard sample information of multiple users.
  • the number of courtyard samples can be 20, 30, 40, 50, 60, etc.
  • the standard working conditions can also be determined with reference to the general operating test environments of lawn mowers, watering machines, and snowplows formulated in relevant standards.
  • the working areas of the electric gardening tool sets in the electric gardening tool set 100 are not mutually exclusive, that is, the working areas of different types of electric gardening tools may be different, or may at least partially overlap.
  • the area within the dotted line box represents the first type of work area, wherein the area enclosed by the rectangular dotted line box can include the grass-cutting area and part of the blowing area, so that the grass-cutting area and the blowing area can be partially overlapped; as shown in Figure 3
  • the area enclosed by the elliptical dotted line box represents the pruning area with green plants. It can be seen that the pruning area can not only partially overlap with the grass-cutting area and the blowing area, but also can be separated from the grass-cutting area and the pruning area. separated.
  • the autonomous working device group 200 has at least one autonomous working device. As shown in FIG. 1 , the autonomous working device group 200 includes an autonomous working device 210, an autonomous working device 220, and the like. In some implementations, if the work content to be performed by the autonomous working device group 100 is single, it can be completed by one type of autonomous working device. At this time, only one autonomous working device can be configured for the user of the gardening tool system 10; In some implementations, if the tasks that the autonomous working device group 200 needs to perform are diverse and have a large execution area, multiple different autonomous working devices need to cooperate with each other to complete the work. In this case, the use of the gardening tool system 10 can be Or configure a variety of autonomous working devices, and each autonomous working device can be configured with more than one.
  • the autonomous working device in the embodiment of the present application may be an outdoor robot, such as an automatic lawn mower, an automatic watering machine, an automatic snow plow, an automatic floor sweeper, an automatic leaf cleaning machine, and other automatic robot equipment with automatic driving functions.
  • an outdoor robot such as an automatic lawn mower, an automatic watering machine, an automatic snow plow, an automatic floor sweeper, an automatic leaf cleaning machine, and other automatic robot equipment with automatic driving functions.
  • Each of the autonomous working devices has a second working capability parameter configured such that each autonomous working device is suitable for autonomous working at a second working rate in a working region (a second type of working region).
  • the second working rate represents the task execution rate of the autonomous working device when it works autonomously under standard working conditions.
  • the second working rate may represent the mowing area per unit time when the automatic lawnmower mows at rated power, and optionally, the second working capacity of the automatic lawnmower
  • the parameters can be configured so that the second working rate of the automatic lawn mower is equivalent to that of a conventional manually operated lawn mower, for example, it can be 40m 2 /min, 50m 2 /min, 60m 2 /min, 70m 2 /min;
  • the second working speed can represent the snow removal area per unit time when the automatic snowplow sweeps snow under the rated power.
  • the first working ability parameters of electric gardening tools in different seasons can be different, so that the electric gardening tools can have a suitable first working ability.
  • Working rate the second working capacity parameter of the autonomous working device group in different seasons may also be different, so that the autonomous working device can have a suitable second working rate.
  • the Garden tool system 10 is configured to work on a predetermined number of work areas.
  • the predetermined number of work areas may be a predetermined number of user's home courtyards; the predetermined number of work areas may also be a predetermined number of sub-work areas divided by a large-area work area, wherein one sub-work area corresponds to one work area.
  • the predetermined number may be an integer greater than or equal to 1.
  • the work area includes the first type of work area (such as the grass cutting area, the blowing area, and the trimming area) that is performed by the electric garden tool group 100 and the second type of work area that is performed by the autonomous working device group 200 (such as mowing areas).
  • the first type of work area (the area enclosed by the dotted line frame) is at least partially located in the second type of work area (the area enclosed by the solid line frame, such as the lawn area shown in Figure 2)
  • the periphery can also partially overlap with the second type of work area; optionally, as shown in FIG. 3 , the first type of work area can also be partially located inside the second type of work area.
  • the second average time duration for the autonomous working device group 200 to complete a predetermined number of work areas and the first average time length for the electric garden tool set 100 to complete a predetermined number of work areas meet a preset relationship.
  • the first average duration can be expressed as the ratio of the total time for the electric garden tool set 100 to complete a predetermined number of work areas and the predetermined amount; the second average duration can be expressed as the autonomous working device group 200 completes a predetermined amount of work The ratio of the total time of work in the area to the predetermined amount. For example, when the user repairs his own yard, the predetermined number is 1, which means that there is 1 work area in total. At this time, if the electric gardening tool set 100 completes the work of all work areas, it takes 13 minutes, and the autonomous working device set 200 completes the work of all work areas.
  • the first average duration is 13 minutes
  • the second average duration is 17 minutes; for another example, when the commercial team repairs the courtyards of different users in turn, or the scene where the commercial team repairs a large area of lawn (the lawn can be divided into If there are multiple sub-working areas, the team can modify them sequentially according to the numbers of the sub-working areas), and the predetermined number of working areas is 5.
  • the second average duration and the first average duration satisfy a preset relationship
  • the preset relationship may represent that the work efficiency of the electric garden tool set basically matches the work efficiency of the autonomous working device group, so that the electric garden tool set 100 And the autonomous working device group 200 can basically complete the work in their respective work areas at the same time under standard working conditions, achieving the effect of not only saving manpower, but also saving labor waiting time (reducing time waste), and ultimately helping to reduce the cost of commercial teams.
  • the preset relationship may be a difference relationship, a ratio relationship, a logarithmic relationship, an exponential relationship, etc., and the present application does not limit this.
  • the electric gardening tools have a first working capacity parameter, so that each electric gardening tool can work at a corresponding first working speed, and at the same time, the autonomous working devices have a second working capacity parameter, so that each autonomous working device can work at a first Two working speed work; use this gardening tool system 10 to work on the working area of predetermined quantity, take the example shown in Fig. 2, while a worker uses mowing machine 120 to mow grass around the lawn, the autonomous working device 210 can work on the lawn In this way, it is beneficial to reduce the input of human resources and reduce the cost; at the same time, by controlling the average time (i.e.
  • the average working time (i.e. the second average duration) of a number of working areas satisfies the preset relationship, so that the electric garden tool set 100 and the autonomous working device set 200 can basically complete the work in a certain working area at the same time under standard working conditions, Thus, the work efficiency of the garden tool system 10 is guaranteed.
  • the preset relationship includes a difference relationship
  • the difference relationship includes that the second average duration T2 and the first average duration T1 satisfy 0 ⁇
  • the absolute value of the difference between T2 and T1 may be 0, 5 min, 10 min, 15 min, 20 min, 25 min.
  • the preset relationship includes a ratio relationship, and the ratio relationship includes that the second average duration T2 and the first average duration T1 satisfy
  • the ratio of T2 to T1 can be any one of 0.7, 0.8, 0.9, 1, 1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 1.8.
  • the ratio When the ratio is 0.8-1.2, it means that the above-mentioned electric gardening tool set 100 and the autonomous working device set 200 can complete the work in a certain working area in approximately the same time under standard working conditions; when the ratio is 0.7-0.8, it means that The first type of work area is larger or the working conditions are more complicated, resulting in a longer T1, or the second type of work area is smaller or flatter, resulting in a shorter T2; when the ratio is 1.2 to 1.8, it means that the team Two workers are cutting grass and/or trimming at the same time, resulting in a shorter T1, or the second type of work area is larger or the working conditions are more complicated, resulting in a longer T2.
  • the preset range is 0.7-1, so it can be considered that under standard working conditions, the autonomous working device set 200 can complete the work in a certain working area earlier than the electric garden tool set 100, or can be compared with the electric garden tool set 100.
  • the garden tool set 100 completes the work of a certain work area substantially at the same time.
  • the electric gardening tool set 100 is composed of a lawnmower 120 and a blower 110, and correspondingly, the preset range is 0.9-1.5.
  • the lawn trimmer 120 and the blower 110 are a common combination in the gardening trimming scene.
  • the ratio of the second average duration to the first average duration to satisfy the aforementioned preset relationship, it is beneficial for the autonomous working device group to be roughly the same as the grass trimmer and the blower.
  • the ratio of the duration can still be kept near 1, so as to ensure that the autonomous working device group and the electric gardening tool group can still complete the work in the corresponding working area in basically the same time.
  • the working area to be trimmed includes the lawn area and the mowing area (the area in the dotted line box) which is located at the edge of the lawn and overlaps with the lawn part. grass area.
  • the first type of work area needs to complete the work of cutting grass and blowing air, and the corresponding electric gardening tools can only include lawn trimmers and hair dryers.
  • the second type of work area needs to complete the work of mowing grass, and the corresponding autonomous working device can include a One or more automatic lawn mowers.
  • the area of the lawn is usually about 500m2
  • the area of mowing grass is usually about 50m2 .
  • the time to complete the work in the mowing area is approximately 7 minutes to 8 minutes, and the time for the hair dryer to complete the work in the blowing area is approximately 3 minutes to 4 minutes; based on the aforementioned working speed of the automatic lawn mower, the time for the automatic lawn mower to complete the mowing work is approximately From 11min to 17min, it can be seen that the first average duration corresponding to the combination of the mower 120 and the blower 110 is approximately 10min to 12min, and it can be deduced that the ratio of the second average duration to the first average duration is in the range of 0.9 to 1.5 .
  • the first type of work area also includes the area (illustrated by an elliptical dotted line box) that needs to be pruned with a pruning machine.
  • electric garden tool set 100 may include a plurality of electric garden tools
  • autonomous working device set 200 may include one or more autonomous working devices.
  • the work area includes a garden
  • the electric garden tool set 100 needs to include at least a variety of electric garden tools, and because the user's garden usually does not more than 500m 2 , therefore, the autonomous working device group 200 usually includes only one autonomous working device; for another example, when the courtyard area is greater than a preset value, for example, greater than 800m 2 , it is difficult for an autonomous working device to cover the entire working area, Therefore, one (or more) autonomous working devices 220 can be added to the autonomous working device group 200;
  • a plurality of electric garden tools and a plurality of autonomous working devices are configured for the electric garden tool set 100 and the autonomous working device set 200 .
  • the specific number can be configured according to the area of the working area, which is not limited in this application.
  • the first working capacity parameter can be configured such that the electric garden tool set 100 works in a working area of 500 m2 under standard working conditions for a period of time ranging from 8 minutes to 25 minutes; the second working capacity parameter is configured such that The working time range of the autonomous working device group 200 in a 500m 2 working area under standard working conditions is 12 minutes to 22 minutes.
  • the first average duration T1 can be any one of 8min, 10min, 15min, 18min, 20min, and 25min; optionally, the second average duration T2 can be 12min, 15min, or 18min , 20min, 22min any one. In this way, the working time for the electric gardening tool set 100 and the autonomous working device set 200 to complete the tasks in typical working scenarios under standard working conditions is quantitatively provided, so as to quantitatively ensure the working efficiency of the gardening tool system 10 .
  • the cutting assembly 212 can be arranged on the chassis of the automatic lawnmower 210, and its position can be located between the driving wheel and the auxiliary wheel, the cutter head is located between the ground and the chassis, and the cutter head can be provided with multi-layer blades , to improve the effect of crushing grass.
  • control component is configured to control the automatic lawn mower 210 to move along the first path so that the path coverage is greater than or equal to 50%.
  • the first path can be rationally planned by the control assembly according to the positioning accuracy of the positioning assembly 214, so that when the automatic lawn mower 210 moves along the planned first path, the path coverage rate can be greater than or equal to 50%, which is beneficial to control with the original workers.
  • the lawnmower mows grass with comparable coverage, ensuring the working efficiency of the gardening tool system 10 .
  • the moving component 213 is configured to drive the automatic lawn mower 210 to move with the first power, so that the moving speed of the automatic lawn mower 210 is less than or equal to 4m/s.
  • the automatic lawnmower unit composed of at least one automatic lawnmower may have a working speed less than or equal to 90m 2 /min when traveling in a straight line.
  • the second capability parameter of the automatic lawnmower can be adjusted so that the working speed of the automatic lawnmower is between 25m 2 /min and 60m 2 /min within the range of min. In this way, the working rate of the electric gardening tool set 100 can be adapted, and the working efficiency of the gardening tool system 10 can also be ensured.
  • the set of autonomous working devices is configured to switch to the inactive state when the set of electric garden tools switches to the inactive state, in other words, the set of autonomous working devices can end work earlier than the set of electric garden tools, so that It will cause a waste of time for personnel; or, when the electric gardening tool set is switched to the non-working state, it will be switched to the non-working state.
  • the duration T2' of the autonomous working device group to complete the work in the working area and the duration T1' of the electric gardening tool group to complete the work in the working area satisfy a difference relationship, and the difference relationship is 0 ⁇
  • the above-mentioned autonomous working device has a second working capacity parameter, so that it can work in the working area at a second working speed; when using the autonomous working device to work on a predetermined number of working areas, the average time for the autonomous working device to complete the work can be compared with gardening
  • the average time for the electric gardening tool set in the tool system to complete the work satisfies the preset relationship (such as the aforementioned difference relationship and ratio relationship), so that the autonomous working device and the passively controlled electric gardening tool set can basically complete the work of a certain work area at the same time.
  • the work is not only conducive to reducing human resource input and cost, but also can ensure the work efficiency of the gardening tool system.
  • the autonomous working device group composed of the above autonomous working devices can have a working rate of 25m 2 /min to 60m 2 /min to adapt to the working rate of conventional electric gardening tool sets, thereby ensuring that the gardening tools system work efficiency.
  • the present application also provides an autonomous working device group, the autonomous working device group has a plurality of autonomous working devices, wherein the autonomous working devices are applied to the gardening tool system as described above.
  • the autonomous working device includes at least one of a lawnmower, a watering machine, a snowplow, a floor sweeper, and a leaf cleaning machine that can work autonomously.
  • the aforementioned autonomous working device group may have a working rate of 25m 2 /min to 60m 2 /min to adapt to the working rate of conventional electric gardening tool sets, thereby ensuring the working efficiency of the gardening tool system.
  • the present application also provides a gardening tool system
  • the gardening tool system includes: an electric gardening tool set, having at least one electric gardening tool, each electric gardening tool has a corresponding first working capacity parameter, and the first working capacity parameter is It is configured to enable the electric garden tool to work passively at a corresponding first working rate in the working area; and, the set of autonomous working devices has at least one autonomous working device, each autonomous working device has a second working capability parameter, the second The working capability parameter is configured so that each autonomous working device can work autonomously at the second working rate in the working area; wherein,
  • the gardening tool system is configured to work on a working area of 400m 2 ⁇ 1200m 2 under standard working conditions; wherein, the time T2" for the autonomous working device group to complete the work in the working area is the same as the time for the electric gardening tool group to complete the work in the working area
  • the duration T1" satisfies
  • the electric gardening tool has a first working capacity parameter, so that each electric gardening tool can work passively in the working area at a corresponding first working speed, and at the same time, the autonomous working device has a second working capacity parameter, so that each of the electric gardening tools can work independently
  • the working device can work in the working area at the second working speed; using the gardening tool system to work in the working area under standard working conditions is not only conducive to reducing human resource investment and cost, but also can complete specific tasks by controlling the electric gardening tool set.
  • the ratio of the working hours of the working area of the area to the working hours of the autonomous working device group to complete the work of the specific area of the working area satisfies a specific range, and the electric garden tool group and the autonomous working device group that realize passive control can be basically simultaneously under standard working conditions.
  • the present application also provides an automatic lawn mower, the automatic lawn mower includes: a housing; a cutting assembly, disposed on the housing; a positioning assembly, disposed on the housing, configured to obtain the automatic mower location information of the lawnmower; and, a control assembly, connected to the cutting assembly, the moving assembly and the positioning assembly, configured to control the movement and/or mowing of the robotic lawnmower;
  • control assembly is configured to control the automatic lawn mower to move along the first path according to the position information, so that the path coverage rate of the automatic lawn mower is greater than or equal to 50%;
  • drive assembly is configured to drive the automatic mower with the first power The machine moves so that the moving speed of the automatic lawn mower is less than or equal to 4m/s;
  • cutting assembly is configured so that the range of the actual cutting width of the automatic lawn mower is not less than 500mm.
  • the above-mentioned automatic lawn mower has a specific range of path coverage, moving speed and actual cutting width, so that it can work in the working area at a corresponding second cutting rate (cutting area per unit time); using the at least one automatic mowing
  • the time for the automatic mowing unit to complete the work can meet the preset relationship with the time for the electric gardening tool group in the gardening tool system to complete the work (such as the aforementioned difference relationship and ratio relationship) , so that the automatic lawn mowing unit and the passively controlled electric gardening tool group can basically complete the work of a certain work area at the same time, which is not only conducive to reducing human resource investment and cost, but also can ensure the working efficiency of the gardening tool system.
  • the above-mentioned gardening tool system may include: an electric gardening tool set having at least one electric gardening tool, each electric gardening tool has a corresponding first working capacity parameter, and the first working capacity parameter is configured to make the electric gardening tool
  • the tool can be passively controlled to work at a corresponding first working rate in the working area;
  • the autonomous working device group has at least one autonomous working device, each autonomous working device has a second working capability parameter, and the second working capability parameter is configured In order to enable each autonomous working device to work autonomously at the second working speed in the working area;
  • the working method may include:
  • the working method of the above-mentioned gardening tool system can replace the original manual mowing through the autonomous working device group.
  • the autonomous working device in the autonomous working device group is configured with a second working ability parameter, so that the autonomous working device group and the passively controlled electric gardening tool group It can basically complete the work of a certain working area at the same time, ensuring the work efficiency of the gardening tool system, so that it will basically not affect the service efficiency of the service team of commercial gardening tools; at the same time, it also reduces the human resource investment of the service team and reduces operating costs of the service team.
  • the server sends the determined required types and quantities of electric gardening tools and the required types and quantities of autonomous working devices to the terminal;
  • the server can send the determined required types and quantities of electric gardening tools and the required types and quantities of autonomous working devices to the user terminal, so that the team/family users can select one or more corresponding The power tool and the corresponding one or more autonomous working devices work on the working area.
  • first and second are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features.
  • the features defined as “first” and “second” may explicitly or implicitly include at least one of these features.
  • “plurality” means at least two, such as two, three, etc., unless specifically defined otherwise.

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Abstract

La présente demande concerne un système d'outil de jardinage, un appareil de travail autonome, une tondeuse automatique et un procédé de travail. Le système d'outil de jardinage comprend : un ensemble d'outils de jardinage électriques, qui a au moins un outil de jardinage électrique, chaque outil de jardinage électrique ayant un premier paramètre de capacité de travail correspondant ; et un ensemble d'appareils de travail autonomes, qui comprend au moins un appareil de travail autonome, chaque appareil de travail autonome ayant un second paramètre de capacité de travail. Le système d'outil de jardinage est configuré pour fonctionner pour un nombre prédéterminé de zones de travail, une seconde durée moyenne dans laquelle l'ensemble d'appareils de travail autonomes achevant un travail dans le nombre prédéterminé de zones de travail et une première durée moyenne dans laquelle l'ensemble d'outils de jardinage électriques achevant un travail dans le nombre prédéterminé de zones de travail satisfaisant une relation prédéfinie.
PCT/CN2022/121275 2021-09-24 2022-09-26 Système d'outil de jardinage et son procédé de fonctionnement WO2023046151A1 (fr)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103733801A (zh) * 2014-01-02 2014-04-23 上海大学 一种组合式智能割草机器人
US20150163993A1 (en) * 2013-12-12 2015-06-18 Hexagon Technology Center Gmbh Autonomous gardening vehicle with camera
WO2017133707A1 (fr) * 2016-02-06 2017-08-10 苏州宝时得电动工具有限公司 Système automatique de fonctionnement, dispositif automoteur et son procédé de commande
US20190230850A1 (en) * 2018-01-26 2019-08-01 Briggs & Stratton Corporation Systems and devices for autonomous lawn care
CN110663345A (zh) * 2019-10-24 2020-01-10 深圳拓邦股份有限公司 割草机器人割草控制方法、系统及装置
US20210204473A1 (en) * 2018-05-22 2021-07-08 Positec Power Tools (Suzhou) Co., Ltd. Autonomous lawnmower and steering method thereof

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150163993A1 (en) * 2013-12-12 2015-06-18 Hexagon Technology Center Gmbh Autonomous gardening vehicle with camera
CN103733801A (zh) * 2014-01-02 2014-04-23 上海大学 一种组合式智能割草机器人
WO2017133707A1 (fr) * 2016-02-06 2017-08-10 苏州宝时得电动工具有限公司 Système automatique de fonctionnement, dispositif automoteur et son procédé de commande
US20190230850A1 (en) * 2018-01-26 2019-08-01 Briggs & Stratton Corporation Systems and devices for autonomous lawn care
US20210204473A1 (en) * 2018-05-22 2021-07-08 Positec Power Tools (Suzhou) Co., Ltd. Autonomous lawnmower and steering method thereof
CN110663345A (zh) * 2019-10-24 2020-01-10 深圳拓邦股份有限公司 割草机器人割草控制方法、系统及装置

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