Autonomous mower, and working method and working system thereof
阅读说明:本技术 自主型割草机及其作业方法和作业系统 (Autonomous mower, and working method and working system thereof ) 是由 吴志强 于 2019-03-27 设计创作,主要内容包括:本发明公开一自主型割草机及其作业方法和作业系统,其中所述作业方法包括步骤:被允许选择一虚拟图形;转换所述虚拟图形,以形成表示一作业路径的一路径数据;以及在一割草机执行所述路径数据包含的指令,以允许所述割草机根据所述作业路径在一草坪进行割草作业,其中在割草作业完成后,于所述草坪形成对应于所述虚拟图形的一几何图形,以提供个性化服务。(The invention discloses an autonomous mower, and an operation method and an operation system thereof, wherein the operation method comprises the following steps: is allowed to select a virtual graphic; converting the virtual graph to form a path data representing a working path; and executing the instructions contained in the path data on a mower to allow the mower to perform mowing operation on a lawn according to the operation path, wherein after the mowing operation is completed, a geometric figure corresponding to the virtual figure is formed on the lawn to provide personalized service.)
1. A method of operating a lawnmower, comprising the steps of:
(a) is allowed to select a virtual graphic;
(b) converting the virtual graph to form a path data representing a working path; and
(c) and executing the instructions contained in the path data on a mower to allow the mower to perform mowing operation on a lawn according to the operation path, wherein after the mowing operation is completed, a geometric figure corresponding to the virtual figure is formed on the lawn.
2. The work method according to claim 1, wherein prior to the step (a), the work method further comprises the steps of: (d) acquiring and displaying a virtual image of the lawn on a display screen of a computing device, and in the step (a), displaying the virtual image on the display screen of the computing device, so that in the step (b), the operation path formed by the virtual image after being converted corresponds to the part of the lawn to be trimmed.
3. The work method according to claim 1, wherein the step (a) further comprises the steps of:
detecting an operated track; and
and converting the operated track to form the virtual graph.
4. The method according to claim 3, wherein in the method, the operated trajectory of the display screen of the computing device is detected to convert the operated trajectory of the display screen of the computing device to form the virtual figure.
5. The method according to claim 3, wherein in the method, the operated trajectory of a writing board or drawing board is detected to convert the operated trajectory of the writing board or drawing board to form the virtual figure.
6. The work method according to claim 2, wherein the step (a) further comprises the steps of:
detecting an operated track of a display screen of the computing device; and
converting the operated track of the display screen of the computing device to form the virtual graph, wherein the virtual graph is displayed on the display screen of the computing device.
7. The work method according to claim 2, wherein the step (a) further comprises the steps of:
programming at the computing device; and
displaying the virtual graphic corresponding to the programming on a display screen of the computing device.
8. The work method according to claim 1, wherein the step (a) further comprises the steps of:
detecting a gesture of a user; and
and converting the gesture to form the virtual graph.
9. The work method according to claim 2, wherein the step (a) further comprises the steps of:
displaying the called picture on a display screen of the computing device;
stroking the main body part of the picture to obtain the outer contour of the main body part of the picture; and
and converting the outline of the main body part of the picture to form the virtual graph, wherein the picture is deleted or hidden.
10. A method of operating a lawnmower, comprising the steps of:
(A) displaying a virtual image of the acquired lawn on a display screen of a computing device;
(B) selecting and displaying a virtual graph on a display screen of the computing device;
(C) converting, at the computing device, the virtual graphics to form a path data representing a job path; and
(D) executing the instructions included in the path data on a mower to perform mowing on the lawn, wherein after the mowing is completed, a geometric figure corresponding to the virtual figure is formed on the lawn.
11. The work method according to claim 10, wherein in the above method, the virtual image and the virtual graphic are hierarchically managed.
12. The method according to claim 11, wherein in step (a), when it is detected that the virtual image is obtained, a first layer is created for saving the virtual image in the first layer; and in the step (B), when it is detected that the virtual image is selected, creating a second image layer for storing the virtual image in the second image layer.
13. The method of operation of claim 12, wherein said step (B) further comprises the steps of:
detecting an operated track of a display screen of the computing device; and
converting the operated track of the display screen of the computing device to form the virtual graph, wherein the virtual graph is displayed on the display screen of the computing device.
14. The method of operation of claim 12, wherein said step (B) further comprises the steps of:
displaying the called picture on a display screen of the computing device;
stroking the main body part of the picture to obtain the outer contour of the main body part of the picture; and
and converting the outline of the main body part of the picture to form the virtual graph, wherein the picture is deleted or hidden.
15. A work system for a lawnmower, comprising a lawnmower, wherein the lawnmower further comprises:
a mower body, wherein said mower body comprises a frame and a drive mechanism, a travel mechanism and a mowing mechanism respectively disposed on said frame, wherein said travel mechanism and said mowing mechanism are respectively drivably connected to said drive mechanism; and
a processor, wherein the processor is disposed on the mower body, wherein the processor is configured to:
receiving path data representing a job path based on a virtual graph; and
and executing instructions contained in the path data to control the walking mechanism to walk on the lawn according to the operation path and control the mowing mechanism to perform mowing operation on the lawn, so that a geometric figure corresponding to the virtual figure is formed on the lawn after the mowing operation is completed.
16. The operating system of claim 15, wherein the processor is configured to:
is allowed to select the virtual graphic; and
converting the virtual graph to form the path data representing the job path.
17. The operating system of claim 15, wherein in the step of the processor being configured to allow selection of the virtual graphic, further comprising:
detecting an operated track; and
and converting the operated track to form the virtual graph.
Technical Field
The present invention relates to lawn mowers, and more particularly to an autonomous lawn mower, and a method and system for operating the same.
Background
In recent years, autonomous lawnmowers have appeared and are capable of performing grass cutting operations on lawns without departing from manual operations by users. For example, a user may specify a work area on a lawn, and the autonomous lawnmower may perform a mowing operation in the specified work area according to a particular scene of the specified work area. However, the conventional autonomous lawnmowers only support a universal work function, that is, the autonomous lawnmowers perform a mowing work on all areas of the designated work area unless there is an area unsuitable for mowing the grass in the designated work area, and for example, if there are obstacles such as lakes, rivers, rocks, numbers, houses, etc. in the designated work area, the autonomous lawnmowers can automatically avoid the obstacles. That is, although existing autonomous mowers support identifying and avoiding areas of inappropriate mowing within the designated work area, their behavior is still universal and does not provide personalized mowing services.
Disclosure of Invention
It is an object of the present invention to provide an autonomous lawn mower, a method and system for mowing a lawn, wherein the system allows a lawn mower to mow a lawn to form a geometric figure on the lawn, thereby providing personalized mowing services.
An object of the present invention is to provide an autonomous lawn mower, a method and a system for operating the same, wherein the system is capable of converting a selected virtual figure into a path data representing a working path, allowing the lawn mower to perform a mowing operation on the lawn when the mower executes an instruction included in the path data, and forming the geometric figure on the lawn after the mowing operation is completed.
It is an object of the present invention to provide an autonomous lawn mower, method of operating the same, and an operating system that allows a user to select the virtual graphic on a computing device. For example, the user may select the virtual graphic by drawing on the computing device or by calling up a picture on the computing device.
An object of the present invention is to provide an autonomous lawnmower, and a method and system for operating the same, in which the operating system hierarchically manages a virtual image of the lawn and the selected virtual image, thereby allowing the virtual image to be easily edited and managed to adjust the position and size of the virtual image relative to the virtual image.
It is an object of the present invention to provide an autonomous lawnmower and a method and system for operating the same, wherein the operating system allows the lawnmower and the computing device to be interconnected such that the lawnmower can receive the path data after the path data representing the working path is provided, and execute the path data on the lawnmower.
According to one aspect of the present invention, there is provided a method of operating a lawnmower, wherein the method comprises the steps of:
(a) is allowed to select a virtual graphic;
(b) converting the virtual graph to form a path data representing a working path; and
(c) and executing the instructions contained in the path data on a mower to allow the mower to perform mowing operation on a lawn according to the operation path, wherein after the mowing operation is completed, a geometric figure corresponding to the virtual figure is formed on the lawn.
According to an embodiment of the present invention, before the step (a), the working method further includes the steps of: (d) acquiring and displaying a virtual image of the lawn on a display screen of a computing device, and in the step (a), displaying the virtual image on the display screen of the computing device, so that in the step (b), the operation path formed by the virtual image after being converted corresponds to the part of the lawn to be trimmed.
According to an embodiment of the present invention, the step (a) further comprises the steps of:
detecting an operated track; and
and converting the operated track to form the virtual graph.
According to one embodiment of the invention, in the method, the operated track of the display screen of the computing device is detected, so that the operated track of the display screen of the computing device is converted to form the virtual graph.
According to an embodiment of the present invention, in the above method, the operated trajectory of a writing board or drawing board is detected to convert the operated trajectory of the writing board or drawing board to form the virtual figure.
According to an embodiment of the present invention, the step (a) further comprises the steps of:
detecting an operated track of a display screen of the computing device; and
converting the operated track of the display screen of the computing device to form the virtual graph, wherein the virtual graph is displayed on the display screen of the computing device.
According to an embodiment of the present invention, the step (a) further comprises the steps of:
programming at the computing device; and
displaying the virtual graphic corresponding to the programming on a display screen of the computing device.
According to an embodiment of the present invention, the step (a) further comprises the steps of:
detecting a gesture of a user; and
and converting the gesture to form the virtual graph.
According to an embodiment of the present invention, the step (a) further comprises the steps of:
displaying the called picture on a display screen of the computing device;
stroking the main body part of the picture to obtain the outer contour of the main body part of the picture; and
and converting the outline of the main body part of the picture to form the virtual graph, wherein the picture is deleted or hidden.
According to another aspect of the present invention, there is further provided a method of operating a lawnmower, wherein the method comprises the steps of:
(A) displaying a virtual image of the acquired lawn on a display screen of a computing device;
(B) selecting and displaying a virtual graph on a display screen of the computing device;
(C) converting, at the computing device, the virtual graphics to form a path data representing a job path; and
(D) executing the instructions included in the path data on a mower to perform mowing on the lawn, wherein after the mowing is completed, a geometric figure corresponding to the virtual figure is formed on the lawn.
According to an embodiment of the present invention, in the above method, the virtual image and the virtual graphic are hierarchically managed.
According to an embodiment of the present invention, in step (a), when it is detected that the virtual image is acquired, a first layer is created for saving the virtual image in the first layer; and in the step (B), when it is detected that the virtual image is selected, creating a second image layer for storing the virtual image in the second image layer.
According to an embodiment of the present invention, the step (B) further comprises the steps of:
detecting an operated track of a display screen of the computing device; and
converting the operated track of the display screen of the computing device to form the virtual graph, wherein the virtual graph is displayed on the display screen of the computing device.
According to an embodiment of the present invention, the step (B) further comprises the steps of:
displaying the called picture on a display screen of the computing device;
stroking the main body part of the picture to obtain the outer contour of the main body part of the picture; and
and converting the outline of the main body part of the picture to form the virtual graph, wherein the picture is deleted or hidden.
According to another aspect of the present invention, there is further provided a system for operating a lawn mower, comprising a lawn mower, wherein the lawn mower further comprises:
a mower body, wherein said mower body comprises a frame and a drive mechanism, a travel mechanism and a mowing mechanism respectively disposed on said frame, wherein said travel mechanism and said mowing mechanism are respectively drivably connected to said drive mechanism; and
a processor, wherein the processor is disposed on the mower body, wherein the processor is configured to:
receiving path data representing a job path based on a virtual graph; and
executing the instructions contained in the path data to control the traveling mechanism according to the operation path
Walking on the lawn and controlling the mowing mechanism to perform mowing operation on the lawn, thereby mowing the lawn
And after the operation is finished, forming a geometric figure corresponding to the virtual figure on the lawn.
According to one embodiment of the invention, the processor is configured to:
is allowed to select the virtual graphic; and
converting the virtual graph to form the path data representing the job path.
According to an embodiment of the present invention, in the step of the processor being configured to allow selection of the virtual graphic, further comprising:
detecting an operated track; and
and converting the operated track to form the virtual graph.
Drawings
Fig. 1A is a perspective view of a lawn mower according to a preferred embodiment of the present invention.
Fig. 1B is an exploded view of the lawn mower according to the above preferred embodiment of the present invention.
FIG. 2 is a perspective view of an operating system according to a preferred embodiment of the present invention.
FIG. 3 is a block diagram of the operating system according to the above preferred embodiment of the present invention.
FIG. 4 is a schematic view of one of the operation processes of a lawn mower according to a preferred embodiment of the present invention.
Fig. 5 is a schematic view showing a second operation flow of the lawn mower according to the above preferred embodiment of the present invention.
Fig. 6A and 6B are schematic views respectively illustrating a third operation flow of the lawn mower according to the above preferred embodiment of the present invention.
Fig. 7 is a schematic view showing the fourth operation flow of the mower according to the above preferred embodiment of the present invention.
Fig. 8 is a schematic view showing the fifth operation flow of the mower according to the above preferred embodiment of the present invention.
Fig. 9A and 9B are schematic views respectively illustrating a sixth operation flow of the lawn mower according to the above preferred embodiment of the present invention.
FIG. 10 is a schematic view of one of the operation flows of a lawn mower according to another preferred embodiment of the present invention.
Fig. 11 is a schematic view showing a second operation flow of the lawn mower according to the above preferred embodiment of the present invention.
Fig. 12 is a schematic view showing a third operation flow of the lawn mower according to the above preferred embodiment of the present invention.
Fig. 13 is a schematic view showing the fourth operation flow of the mower according to the above preferred embodiment of the present invention.
Fig. 14A and 14B are schematic views respectively illustrating a sixth operation flow of the lawn mower according to the above preferred embodiment of the present invention.
FIG. 15 is a flow chart illustrating a method of operation according to a preferred embodiment of the present invention.
FIG. 16 is a perspective view of a lawn mower according to another preferred embodiment of the present invention.
Fig. 17 is an exploded view of the lawn mower according to the above preferred embodiment of the present invention.
FIG. 18 is a perspective view of a lawnmower according to another preferred embodiment of the present invention.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.
It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced devices or components must be constructed and operated in a particular orientation and thus are not to be considered limiting.
It is understood that the terms "a" and "an" should be interpreted as meaning that a number of one element or element is one in one embodiment, while a number of other elements is one in another embodiment, and the terms "a" and "an" should not be interpreted as limiting the number.
Referring to fig. 2 and 3 of the drawings accompanying the present specification, an operating system according to a preferred embodiment of the present invention is disclosed and described in the following description, wherein the operating system includes a
The manner in which the
It should be noted that, in the drawings of the present invention, although the
With continuing reference to fig. 1A-3 of the drawings accompanying this specification, in this preferred example of the operating system of the present invention, the
Specifically, referring to fig. 1A, the mower
The
The
The
The
Preferably, the
Accordingly, with continued reference to fig. 3, the
Accordingly, the types of the
It should be noted that the type of the
FIGS. 4 and 5 illustrate embodiments of capturing a
For example, the
It should be noted that the manner of warping the
The image data of the
Fig. 6A and 6B illustrate an embodiment in which a user selects a virtual graphic 500. For example, a user may draw the virtual graphic 500 on the
Alternatively, in other preferred examples of the operating system of the present invention, the user may draw the virtual graphic 500 through a writing board or a drawing board connected to the
Optionally, in another preferred example of the operating system of the present invention, the user may draw the virtual graphic 500 on the
Optionally, in other preferred examples of the operating system of the present invention, the user may draw the virtual graphic 500 by programming on the
Optionally, in other preferred examples of the operating system of the present invention, the operating system may capture a gesture of a user through, but not limited to, the scanning device 206 of the
Specifically, in the preferred example shown in fig. 6A and 6B, the virtual graphic 500 selected by the user may be a "heart shape", but it should be understood by those skilled in the art that the virtual graphic 500 shown in fig. 6A and 6B and the following figures is a "heart shape" merely as an example to illustrate the contents and features of the operating system of the present invention, but the shape of the virtual graphic 500 does not constitute a limitation to the contents and scope of the operating system of the present invention. That is, the operating system allows a user to select the virtual graphic 500 in any shape.
Referring to fig. 7, after the user draws the virtual graphic 500 of the "heart shape", the operating system can automatically optimize the virtual graphic 500, for example, the operating system can make the arc of the virtual graphic 500 of the "heart shape" more rounded by automatically optimizing the virtual graphic 500, thereby enhancing the aesthetic sense of the virtual graphic 500.
Preferably, the operating system provides a plurality of optimization modes for the user to select, and optimizes the virtual graphic 500 according to the selected optimization mode after the user selects the optimization mode. For example, if the user selects the arc mode provided by the operating system, the operating system can automatically perform arc processing on the
Preferably, the operating system hierarchically manages the
Specifically, referring to fig. 3, the operating system includes a layer management unit 10 and an image management unit 20 connected to the layer management unit 10, where the layer management unit 10 manages layers, and the image management unit 20 manages the
Preferably, with reference to fig. 3 continuously, the operating system further includes a detection unit 30, the detection unit 30 is connected to the layer management unit 10, wherein the layer management unit 10 creates a new layer according to the detection result of the detection unit 30. For example, when the detection unit 30 detects that the scanning device 206 of the
It is understood that the layer data of the first layer and the second layer and the graphic data of the virtual graphic 500 can be stored in the
Referring to fig. 8, the operating system allows the virtual graphic 500 to be edited. For example, a user may adjust the size and position of the virtual graphic 500 relative to the
After the virtual graphic 500 is edited, the
The
It should be noted that after the
Fig. 10-14B illustrate another preferred embodiment of the operating system. After the
In this preferred example of the operating system, the operating system manages the
Fig. 11 and 12 respectively show a process in which the picture 600 is edited to form the virtual graphic 500. Specifically, after the picture 600 is called, the operating system can automatically recognize the outer contour of the main portion (e.g., a character) of the picture 600 and delete the redundant portion after the outer contour of the main portion of the picture 600 is stroked to form the virtual graphic 500. That is, the virtual graphic 500 corresponds to the outer contour of the body portion of the picture 600.
Referring to fig. 13, the operating system allows the virtual graphic 500 to be edited. For example, a user may adjust the size and position of the virtual graphic 500 relative to the
Alternatively, in a further preferred example of the working system of the invention, the working system allows to first edit the picture 600, for example to edit the size and position of the picture 600 with respect to the
After the virtual graphic 500 is edited, the
The
In another aspect of the invention, a method 1500 of operating the
At
In
At
Alternatively, the
At
In a preferred example of the job method, the job method allows a user to select the virtual graphic 500 by drawing a graphic. Specifically, in the step of allowing the virtual graphic 500 to be selected, the method further comprises the steps of:
displaying the
receiving an operation track of a user on the
In another preferred example of the job method, the job method allows the user to select the virtual graphic 500 by calling the picture 600. Specifically, in the step of allowing the virtual graphic 500 to be selected, the method further comprises the steps of:
displaying the
after the border of the called main part of the picture 600 is stroked, the picture 600 is deleted to form the virtual graphic 500 by the stroking.
At
At
In other words, the present invention further provides the working method of the
(a) is allowed to select the virtual graphic 500;
(b) converting the virtual graphic 500 to form the path data representing the job path; and
(c) the path data includes instructions that, when executed by the
In one embodiment of the working method of the present invention, before the step (a), the working method further comprises the steps of: (d) acquiring and displaying the
Specifically, the step (a) further comprises the steps of: detecting an operated track; and converting the operated trajectory to form the virtual figure 500. For example, in a preferred example of the job method, the operated trajectory of the
The present invention further provides the working method of the
(A) displaying the captured
(B) selecting and displaying the virtual graphic 500 on the
(C) transforming, at the
(D) the path data includes instructions that are executed by the
Further, in the above method, the
Fig. 16 and 17 show a modified embodiment of the autonomous lawnmower, different from the
Alternatively, the communication device 205 of the
Alternatively, the communication device 205 of the
With continued reference to fig. 16 and 17, in this preferred example of the autonomous mower, the
Further, the
Alternatively, in another preferred example of the autonomous lawn mower of the present invention, the
It will be appreciated by persons skilled in the art that the above embodiments are only examples, wherein features of different embodiments may be combined with each other to obtain embodiments which are easily conceivable in accordance with the disclosure of the invention, but which are not explicitly indicated in the drawings.
It will be appreciated by persons skilled in the art that the embodiments of the invention described above and shown in the drawings are given by way of example only and are not limiting of the invention. The objects of the invention have been fully and effectively accomplished. The functional and structural principles of the present invention have been shown and described in the examples, and any variations or modifications of the embodiments of the present invention may be made without departing from the principles.
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