阅读说明：本技术 智能割草机及其控制方法、系统和存储介质 (Intelligent mower, control method and system thereof and storage medium ) 是由 卡尔·沃尔马克 于 2020-12-30 设计创作，主要内容包括：本发明公开一种智能割草机及其控制方法、系统和存储介质。所述控制方法包括：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。利用本发明,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。(The invention discloses an intelligent mower, a control method and a control system thereof and a storage medium. The control method comprises the following steps: controlling the intelligent mower to move to a starting point; selecting a path map from a pre-stored path map set, wherein the path map set is a path map planned in advance according to different traveling angles according to a working area of the intelligent mower; and controlling the intelligent mower to move according to the selected path map for operation. By using the intelligent mower, the intelligent mower can be ensured to walk along different paths during each operation, so that ruts generated in a repeatedly rolled working area can be avoided.)

1. An intelligent mower control method, characterized in that the intelligent mower control method comprises:

controlling the intelligent mower to move to a starting point;

selecting a path map from a pre-stored path map set, wherein the path map set is a path map planned in advance according to different traveling angles according to a working area of the intelligent mower;

and controlling the intelligent mower to move according to the selected path map for operation.

2. The intelligent mower control method according to claim 1, wherein the acquisition of the set of path maps comprises:

defining a work area map of the intelligent lawn mower;

and respectively planning a path map of the intelligent mower moving along different advancing angles in the working area according to the working area map of the intelligent mower so as to form the path map set.

3. The intelligent mower control method according to claim 2, wherein in the step of planning the path map of the intelligent mower when the intelligent mower moves along different travel angles within the working area based on the working area map of the intelligent mower, the path map is optimized so as to minimize the number of turns of the intelligent mower.

4. The intelligent mower control method according to claim 2, wherein the travel angle of the intelligent mower is between 0 ° and 180 °.

5. The intelligent mower control method according to claim 2, wherein the step of defining the working area map of the intelligent mower comprises controlling the intelligent mower to walk along the edge of the working area, and acquiring and storing the position of the working area to obtain the working area map.

6. The intelligent mower control method according to claim 2, wherein the step of defining a map of a working area of said intelligent mower further comprises,

and controlling the intelligent mower to walk along the edge of the obstacle in the working area, collecting and storing the position of the obstacle, and marking the position as an exclusion area in the working area map.

7. The intelligent mower control method according to claim 2, wherein a work area map of the intelligent mower is defined using a position sensor.

8. The intelligent mower control method of claim 7, wherein said location sensor comprises a global positioning module.

9. The intelligent mower control method according to claim 1, wherein the step of controlling the intelligent mower to move the work according to the selected route map comprises: and when the electric quantity of the intelligent mower is insufficient, controlling the intelligent mower to return to the charging station and recording a return point of the intelligent mower, and after the charging is finished, the intelligent mower returns to the return point and continues to move according to the original path.

10. The intelligent mower control method according to claim 1, wherein the step of controlling the intelligent mower to move the work according to the selected route map comprises: and when the weather condition is not suitable for the intelligent mower to work, controlling the intelligent mower to return to the charging station and recording a return point of the intelligent mower, and after the charging is finished or when the weather condition is suitable for the intelligent mower to mow, returning the intelligent mower to the return point and continuously moving according to the original path.

11. The intelligent mower control method according to claim 1, wherein the road map set is a road map planned in advance according to different traveling angles and working widths according to a working area of the intelligent mower.

12. The intelligent mower control method according to claim 1, further comprising:

the intelligent mower executes mowing operation within the preset mowing time period, and stops mowing operation in other time periods except the preset mowing time period.

13. The intelligent mower control method according to any one of claims 1-12, wherein the step of selecting a road map from a set of pre-stored road maps comprises selecting a road map from a set of pre-stored road maps in a random manner.

14. The intelligent mower control method according to any one of claims 1-12, wherein the step of selecting one road map from the set of pre-stored road maps comprises selecting one road map from the set of pre-stored road maps each time in an increasing or decreasing manner of travel angle.

15. The intelligent mower control method according to any one of claims 1-12, wherein the step of selecting a road map from a set of pre-stored road maps comprises selecting a road map from a set of pre-stored road maps in accordance with a received external command.

16. An intelligent mower control system, said intelligent mower control system comprising:

the moving module is used for controlling the intelligent mower to move to a starting point;

the map selection module is used for selecting a path map from a pre-stored path map set, wherein the path map set is a path map planned according to different traveling angles in advance according to the working area of the intelligent mower;

and the operation module is used for controlling the intelligent mower to move and operate according to the selected path map.

17. The intelligent mower control system of claim 16 further comprising a map-set acquisition module, said map-set acquisition module comprising:

and the regional map definition module is used for defining a working regional map of the intelligent mower.

And the path map planning module is used for respectively planning the path maps of the intelligent mower moving along different advancing angles in the working area according to the working area map of the intelligent mower to form the path map set.

18. The intelligent mower control system of claim 17, wherein the pathway map planning module further comprises: a path optimization module to optimize the path map to minimize a number of turns of the intelligent lawn mower.

19. The intelligent mower control system of claim 17, wherein the intelligent mower has an angle of travel between 0 ° and 180 °.

20. The intelligent mower control system of claim 17, wherein said area map definition module further comprises: and the map acquisition module is used for controlling the intelligent mower to walk along the edge of a working area, and acquiring and storing the position of the working area so as to acquire the map of the working area.

21. The intelligent mower control system of claim 17 wherein said map-set acquisition module further comprises an exclusion module for controlling said intelligent mower to walk along the edges of obstacles within a work area, capture and save the location of said obstacles, and identify as an exclusion zone in said work area map.

22. The intelligent mower control system of claim 17, wherein said operating module further comprises a charging module for controlling said intelligent mower to return to said charging station and recording a return point of said intelligent mower when said intelligent mower is low on power, and said intelligent mower returns to said return point after charging and continues to move along the original path.

23. The intelligent mower control system of claim 16 wherein the set of road maps are road maps pre-planned according to different travel angles and job widths according to a work area of the intelligent mower.

24. The intelligent mower control system of claim 17, wherein the path map planning module is further configured to plan a path map of the intelligent mower moving along different traveling angles and different working widths in a working area according to a working area map of the intelligent mower, so as to form the path map set.

25. The intelligent mower control system of claim 17, wherein the operation module further comprises a charging module configured to control the intelligent mower to return to the charging station and record a return point of the intelligent mower when the weather conditions are not suitable for the intelligent mower to operate, and the intelligent mower returns to the return point and continues to move along an original path after charging is completed or when the weather conditions are suitable for the intelligent mower to perform mowing.

26. The intelligent mower control system of claim 16, comprising a mowing period setting module configured to set a mowing period to control the intelligent mower to perform mowing operation during the set mowing period and stop mowing operation during a period other than the set mowing period.

27. The intelligent mower control system of any one of claims 16-26, wherein the map selection module comprises a first map selection module configured to select a pathway map from a set of pre-stored pathway maps in a random manner.

28. The intelligent mower control system of any one of claims 16 to 26, wherein said map selection module comprises a second map selection module for selecting one of the road maps from a set of pre-stored road maps each time the angle of travel is incremented or decremented.

29. The intelligent mower control system of any one of claims 16 to 26, wherein the map selection module comprises a third map selection module configured to select a road map from a set of pre-stored road maps in accordance with a received external command.

30. An intelligent lawn mower, comprising:

a body;

a position sensor disposed on the body;

a control unit disposed on the body, the control unit including a processor and a memory coupled to each other, the memory storing program instructions, and the program instructions stored in the memory when executed by the processor implement the intelligent mower control method according to any one of claims 1 to 9.

31. The intelligent lawn mower of claim 30, wherein the location sensor comprises a global positioning module.

32. The intelligent lawnmower of claim 30, further comprising a rain and snow sensor and/or a wind speed sensor.

33. A storage medium characterized by comprising a program that, when executed on a computer, causes the computer to execute the intelligent lawnmower control method according to any one of claims 1 to 15.

Technical Field

The invention relates to the technical field of intelligent mowers, in particular to an intelligent mowers, a control method and a control system thereof, and a storage medium.

Background

An intelligent lawn mower is a garden tool for trimming lawns, vegetation, and the like, and generally includes a self-propelled mechanism, a cutter mechanism, and a power source, which may be a gasoline engine, a battery pack, and the like. Existing intelligent mowers are typically designed based on the principle of random cutting or optimized routing. The intelligent mower designed by the random cutting principle can cut the lawn or vegetation in a random mode, the random cutting mode can still cover the whole area when the intelligent mower does not know the position of the intelligent mower, but the efficiency is relatively low, a working area can be completed within several days usually, the time for trimming the lawn cannot be estimated, and the time for the lawn to be ready cannot be known. The intelligent mower designed by the principle of the optimized path plans an optimal running path in advance for a working area map, and then always carries out mowing operation along the optimal path every time the intelligent mower carries out operation, so that lawns or vegetations can be repeatedly rolled, and the lawns or the vegetations can be damaged.

Disclosure of Invention

In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide an intelligent lawn mower, a control method, a system and a storage medium thereof, which are used for solving the technical problem of repeatedly rolling lawn or vegetation of the intelligent lawn mower adopting an optimized path in the prior art.

To achieve the above and other related objects, the present invention provides an intelligent mower control method, including:

controlling the intelligent mower to move to a starting point;

selecting a path map from a pre-stored path map set, wherein the path map set is a path map planned in advance according to different traveling angles according to a working area of the intelligent mower;

and controlling the intelligent mower to move according to the selected path map for operation.

In an optional embodiment, the obtaining manner of the path map set includes:

defining a work area map of the intelligent lawn mower;

and respectively planning a path map of the intelligent mower moving along different advancing angles in the working area according to the working area map of the intelligent mower to form the path map set.

In an optional embodiment, in the step of planning the path map of the intelligent lawn mower moving along different travel angles in the working area according to the working area map of the intelligent lawn mower, the path map is optimized by minimizing the number of turns of the intelligent lawn mower.

In an alternative embodiment, the intelligent mower has a travel angle between 0 ° and 180 °.

In an optional embodiment, the step of defining the work area map of the intelligent mower comprises controlling the intelligent mower to walk along the edge of the work area, and acquiring and storing the position of the work area to obtain the work area map.

In an alternative embodiment, the step of defining a map of the working area of the intelligent lawn mower further comprises,

and controlling the intelligent mower to walk along the edge of the obstacle in the working area, collecting and storing the position of the obstacle, and marking the position as an exclusion area in the working area map.

In an alternative embodiment, a location sensor is used to define a map of the working area of the intelligent lawnmower.

In an alternative embodiment, the location sensor comprises a global positioning module.

In an optional embodiment, the step of controlling the intelligent mower to move according to the selected path map comprises: and when the electric quantity of the intelligent mower is insufficient, controlling the intelligent mower to return to the charging station and recording a return point of the intelligent mower, and after the intelligent mower is charged, returning to the return point and continuously moving according to the original path.

In an optional embodiment, the step of controlling the intelligent mower to move according to the selected path map comprises: and when the weather condition is not suitable for the intelligent mower to work, controlling the intelligent mower to return to the charging station and recording a return point of the intelligent mower, and after the charging is finished or when the weather condition is suitable for the intelligent mower to mow, returning the intelligent mower to the return point and continuously moving according to the original path.

In an alternative embodiment, the path map set is a path map which is planned in advance according to different traveling angles and working widths according to the working area of the intelligent mower.

In an optional embodiment, the intelligent mower control method further comprises:

the intelligent mower executes mowing operation within the preset mowing time period, and stops mowing operation in other time periods except the preset mowing time period.

In an optional embodiment, the step of selecting a road map from the pre-stored road map set includes selecting a road map from the pre-stored road map set in a random manner.

In an alternative embodiment, the step of selecting a road map from the pre-stored road map set includes selecting a road map from the pre-stored road map set in a manner of increasing or decreasing the travel angle each time.

In an alternative embodiment, the step of selecting a road map from the set of pre-stored road maps includes selecting a road map from the set of pre-stored road maps according to a received external instruction.

To achieve the above and other related objects, the present invention also provides an intelligent mower control system, comprising:

the moving module is used for controlling the intelligent mower to move to a starting point;

the map selection module is used for selecting a path map from a pre-stored path map set, wherein the path map set is a path map planned according to different traveling angles in advance according to the working area of the intelligent mower;

and the operation module is used for controlling the intelligent mower to move and operate according to the selected path map.

In an optional embodiment, the intelligent mower control system further comprises a map set acquisition module, the map set acquisition module comprising:

and the regional map definition module is used for defining a working regional map of the intelligent mower.

And the path map planning module is used for respectively planning the path maps of the intelligent mower moving along different advancing angles in the working area according to the working area map of the intelligent mower to form the path map set.

In an optional embodiment, the path map planning module further comprises: a path optimization module to optimize the path map to minimize a number of turns of the intelligent lawn mower.

In an alternative embodiment, the intelligent mower has a travel angle between 0 ° and 180 °.

The regional map definition module further comprises: and the map acquisition module is used for controlling the intelligent mower to walk along the edge of a working area, and acquiring and storing the position of the working area so as to acquire the map of the working area.

In an optional embodiment, the map set obtaining module further includes an excluding module, configured to control the intelligent lawn mower to walk along an edge of an obstacle in the work area, collect and store a position of the obstacle, and identify the obstacle as an excluding area in the work area map.

In an optional embodiment, the operation module further includes a charging module, configured to control the intelligent lawn mower to return to the charging station and record a return point of the intelligent lawn mower when the intelligent lawn mower is low in power, and the intelligent lawn mower returns to the return point after charging is completed and continues to move according to an original path.

In an optional embodiment, the path map planning module is further configured to respectively plan the path map of the intelligent lawn mower moving along different traveling angles and different working widths in the working area according to the working area map of the intelligent lawn mower, so as to form the path map set.

In an optional embodiment, the operation module further includes a charging module, configured to control the intelligent lawn mower to return to the charging station and record a return point of the intelligent lawn mower when the weather conditions are not suitable for the intelligent lawn mower to work, and after charging is completed or when the weather conditions are suitable for the intelligent lawn mower to perform mowing operation, the intelligent lawn mower returns to the return point and continues to move according to an original path.

In an optional embodiment, the intelligent mower control system comprises a mowing period setting module, which is used for presetting a mowing period so as to control the intelligent mower to perform mowing operation within the presetting mowing period, and stop mowing operation in other periods outside the presetting mowing period.

In an optional embodiment, the map selection module includes a first map selection module, configured to select a route map from a set of pre-stored route maps in a random manner.

In an optional embodiment, the map selection module includes a second map selection module, configured to select one route map from a set of pre-stored route maps each time in a manner that a travel angle is increased or decreased.

In an optional embodiment, the map selection module includes a third map selection module, configured to select a route map from a set of pre-stored route maps according to a received external instruction.

To achieve the above and other related objects, the present invention also provides an intelligent lawn mower comprising:

a body;

a position sensor disposed on the body;

the control unit is arranged on the machine body and comprises a processor and a memory which are mutually coupled, the memory stores program instructions, and when the program instructions stored in the memory are executed by the processor, the intelligent mower control method can be realized.

In an alternative embodiment, the location sensor comprises a global positioning module.

In an optional embodiment, the intelligent lawn mower further comprises a rain and snow sensor.

To achieve the above and other related objects, the present invention also provides a storage medium containing a program which, when run on a computer, causes the computer to execute the intelligent lawnmower control method according to any one of the above.

According to the intelligent mower and the control method, system and storage medium thereof, any one path map is selected from the pre-stored path maps in a centralized manner when the intelligent mower mows each time, so that the running paths of the intelligent mower each time are different, and the problem of rut formation caused by repeated rolling when the intelligent mower walks along a fixed path is avoided.

Compared with a random operation mode, the intelligent mower, the control method and the control system of the intelligent mower can not only cover a working area by 100%, but also reduce unnecessary repeated operation and reduce the pressure of parts.

The intelligent mower, the control method and system thereof and the storage medium can complete the operation of the whole working area in one-time operation if the battery allows.

Drawings

Fig. 1 is a flowchart illustrating a control method of an intelligent lawn mower according to the present invention.

Fig. 2 shows a schematic diagram of path planning for the intelligent lawn mower of the present invention.

Fig. 3a-3d show a path map obtained for different travel angles and work widths using the intelligent mower control method of the present invention.

Fig. 4 is a block diagram illustrating the structure of the intelligent mower control system according to the present invention.

FIG. 5 is a block diagram of the map set acquisition module according to the present invention.

Fig. 6 is a block diagram showing the structure of the control unit of the present invention.

Fig. 7 shows a block diagram of the intelligent lawn mower of the present invention.

Detailed Description

The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention.

Please refer to fig. 1-7. It should be noted that the drawings provided in the present embodiment are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.

In order to save the time of mowing operation and improve the mowing operation efficiency, the intelligent mower can move by adopting the optimized path map, and the growth of the lawn or vegetation in the rut area can be damaged because the lawn or vegetation is rolled along the same moving path in each mowing operation. In order to solve the problem, the invention provides an intelligent mower control method and an intelligent mower control system, wherein each time the intelligent mower runs, a path map is randomly selected from a pre-stored path map set (the paths of each path map are different), and then the intelligent mower moves along the selected path map for operation, so that repeated grinding of lawns or vegetation is avoided, and the lawns can be better protected or prepared. Fig. 1 is a schematic flow chart of an intelligent mower control method according to the present invention, and fig. 4 is a block diagram of an intelligent mower control system according to the present invention.

Referring to fig. 1, the intelligent mower control method includes the following steps:

step S10, controlling the intelligent mower to move to a starting point;

step S20, selecting a path map from a pre-stored path map set, wherein the path map set is a path map planned according to different traveling angles in advance according to the working area of the intelligent mower;

and step S30, controlling the intelligent mower to move according to the selected path map.

Referring to fig. 1, each time the intelligent lawn mower is controlled to move to a starting point in step S10, the starting point may be a selected point in the working area of the intelligent lawn mower, or a position of the charging station, or a point in a channel connecting the charging station and the working area.

Referring to fig. 1, in step S10, a path map set including different paths needs to be stored, downloaded, or imported in advance in the control unit of the intelligent lawn mower, so as to facilitate the call for moving the lawn mower. Fig. 2 shows a schematic diagram of the acquisition of a path map set.

Referring to fig. 2, first, a work area map of the intelligent lawn mower needs to be defined: the intelligent mower can be controlled to walk along the edge 1 of the working area 3, and then the real-time position coordinates of the intelligent mower (as the position of the working area) are collected by using position sensing during walking and stored in a storage device as working area map data. The position sensor may employ a satellite-based navigation device, such as a global positioning module, GPS module for short; the signals of the GPS module can be corrected to improve positioning accuracy (real-time dynamic differential GPS, real-time dynamic carrier-phase differential GPS and the like). It will be appreciated that in some embodiments, the position sensor may also have a laser and optics, for example, as sensors for positioning technology. Usually, there will be some obstacles 2 (such as trees, bushes, pools, raised structures exposed to the ground, etc.) in the working area 3 of the intelligent lawn mower, and such obstacles 2 need to be avoided during the operation of the intelligent lawn mower, and thus are identified in the working area map by the related art. Specifically, for example, the intelligent mower may be controlled to walk along the edge of an obstacle in the working area 3, the position of the obstacle is collected and stored by the position sensor, and the obstacle is identified as an exclusion area in the working area map, so that the exclusion area is automatically bypassed in the subsequent path planning. Then, after the work area map of the intelligent lawn mower is defined, the route map 6 of the intelligent lawn mower moving along different traveling angles in the work area 3 needs to be respectively planned according to the work area map of the intelligent lawn mower to form the route map set, wherein the traveling angle can be defined as an included angle between the traveling direction of the intelligent lawn mower and a certain reference line (for example, a straight line segment of a boundary line of the work area 3), and the traveling angle of the intelligent lawn mower is an arbitrary value between 0 ° and 180 °. As an example, for example, the route maps at the travel angles of 0 ° (180 °), 5 °, 10 °, 15 °, … …, 170 °, and 175 ° may be acquired respectively with an angle variable of 5 °, which may be set as needed, and the smaller the angle variable, the more route maps are generated, and the smaller the route maps are generated. In the course of planning the route, each of the route maps may be optimized so as to minimize the number of turns of the intelligent lawnmower or to minimize the total route. It is understood that the set of road maps may also be, for example, road maps planned in advance according to different travel angles and job widths according to the working area of the intelligent lawn mower, which may be generated by adjusting the travel angles and job widths, which are defined as the distance between two parallel interior lanes of the intelligent lawn mower or, in the case of a curved lane, the distance between partial parallel lanes. Fig. 3a to 3d are respectively corresponding to the planned path maps at different travel angles and different operation widths.

As shown in fig. 2, the positions of the charging station 4 and the guiding line 5 are further defined on the work area map, so that the intelligent lawn mower can be conveniently controlled to perform charging and discharging operations. The charging station 4 can be arranged either on the edge 1 of the work area or, as shown in fig. 2, at a location remote from the work area.

Referring to fig. 1, steps S20 and S30 are executed, and each time a mowing operation is performed, a route map needs to be selected from a set of pre-stored route maps, and then the intelligent mower is controlled to move according to the selected route map.

In step S20, a route map is selected from the stored route map set according to a designated map selection manner, for example, a route map may be randomly selected from the pre-stored route map set by a random manner, a route map may be selected from the pre-stored route map set by increasing or decreasing the travel angle each time, or a route map may be selected from the pre-stored route map set according to a received external instruction, so that it is basically ensured that the traveling route is different (two times of repetition may occur in random selection) in each mowing operation among a plurality of mowing operations, and the problem of forming a rut by repeated rolling when traveling along a fixed route is avoided. When a route map is selected from the pre-stored route map set in an increasing or decreasing manner according to the travel angle, for example, a route map may be sequentially increased or selected from the pre-stored route map set in an amount of change of the travel angle of 5 °, 10 °, 15 °, 30 ° (or other suitable values) each time until all the travel angles are traversed, and then a route map may be selected from the pre-stored route map set in an increasing or decreasing manner again.

In step S30, during the mowing operation, the mowing operation in the entire working area cannot be completed at one time due to the large area of the working area or the limited battery capacity of the intelligent mower, and when the electric quantity of the intelligent mower is insufficient, the intelligent mower may be controlled to return to the charging station and record the current position (i.e., the return point) of the intelligent mower, and the intelligent mower may be controlled to return to the return point after charging and continue to move along the original path.

In step S30, during mowing, when weather conditions are not suitable for the intelligent mower, for example, bad weather such as rain, snow, hail, strong wind, etc., the intelligent mower is controlled to return to the charging station and record a return point of the intelligent mower, and after charging is completed or when weather conditions are suitable for mowing by the intelligent mower, the intelligent mower returns to the return point and continues to move along the original path. The intelligent mower can judge whether the current weather condition is suitable for the intelligent mower to work by receiving local weather forecast, or can monitor external weather condition information by a sensor which can monitor the weather condition, such as a rain and snow sensor and a wind speed sensor arranged on the body of the intelligent mower, and a control unit of the intelligent mower determines whether the intelligent mower stops or stops mowing according to the monitored weather condition information.

The intelligent mower control method of the present invention further includes a step of presetting a mowing time interval, wherein a user can set an operating time interval of the intelligent mower according to actual needs, the intelligent mower executes mowing operation within the presetting mowing time interval, and the intelligent mower stops or stops mowing operation in other time intervals except the presetting mowing time interval. For example, a pre-set mowing period may be set, for example, between 10:00 and 20:00, to avoid work outside the pre-set period from affecting the rest of the user or neighbors.

As shown in fig. 4, an embodiment of the present invention also introduces an intelligent mower control system 100 for implementing the intelligent mower control method described above. The intelligent mower control system 100 comprises a moving module 10, a map selecting module 20, an operation module 30 and a map set acquiring module 40. The moving module 10 is used for controlling the intelligent mower to move to a starting point; the map selection module 20 is configured to select a path map from a pre-stored path map set according to a preset rule, where the path map set is a path map planned in advance according to different traveling angles according to a working area of the intelligent lawn mower; the operation module 30 controls the intelligent mower to move and operate according to the selected path map; the map set obtaining module 40 is configured to obtain the road map set.

Referring to fig. 4, the operation module 30 further includes a charging module 31, configured to control the intelligent lawn mower to return to the charging station and record a return point of the intelligent lawn mower when the electric quantity of the intelligent lawn mower is insufficient, and the intelligent lawn mower returns to the return point after charging is completed and continues to move according to an original path; the charging module 31 is further configured to control the intelligent lawn mower to return to the charging station and record a return point of the intelligent lawn mower when the weather conditions are not suitable for the intelligent lawn mower to work, and the intelligent lawn mower returns to the return point and continues to move according to the original path after charging is completed or when the weather conditions are suitable for the intelligent lawn mower to perform mowing operation.

In the present invention, the intelligent mower control system 100 further comprises a mowing period setting module (not shown) for presetting a mowing period to control the intelligent mower to perform mowing operation within the preset mowing period and stop mowing operation in other periods except the preset mowing period.

In the present invention, 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 for selecting a path map from a pre-stored path map set in a random mode; the second map selection module is used for selecting a path map from a pre-stored path map set in a mode of increasing or decreasing the travel angle each time; the third map selection module is used for selecting a path map from a pre-stored path map set according to a received external instruction.

Referring to fig. 5, the map set acquiring module 40 includes a regional map defining module 41, an excluding module 42 and a route map planning module 43; the regional map defining module 41 is used for defining a working regional map of the intelligent mower; the excluding module 42 is configured to control the intelligent mower to walk along the edge of the obstacle in the working area, collect and store the position of the obstacle, and mark the position as an excluding area in the working area map; the path map planning module 43 is configured to respectively plan a path map of the intelligent lawn mower moving along different traveling angles in a working area according to the working area map of the intelligent lawn mower, so as to form the path map set. The regional map defining module 41 further includes a map obtaining module 411, configured to control the intelligent lawn mower to walk along the edge of the work region, and collect and store the position of the work region, so as to obtain the work region map. The route map planning module 43 further comprises a route optimization module 431 for optimizing the route map to minimize the number of turns of the intelligent lawn mower.

It should be noted that the intelligent mower control system 100 of the present invention is a system corresponding to the intelligent mower control method, and the functional modules or functional sub-modules in the intelligent mower control system 100 correspond to the corresponding steps in the intelligent mower control method, respectively. The intelligent mower control system 100 of the present invention can be implemented in cooperation with an intelligent mower control method. The related technical details mentioned in the intelligent mower control method of the present invention are still valid in the intelligent mower control system 100, and are not described herein again in order to reduce repetition. Accordingly, the related art details mentioned in the intelligent mower control system 100 of the present invention can also be applied to the above-described intelligent mower control method.

It should be noted that, all or part of the functional modules or functional sub-modules described above may be integrated into one physical entity or may be physically separated in actual implementation. And these units can be implemented entirely in software, invoked by a processing element; or may be implemented entirely in hardware; and part of the units can be realized in the form of calling software by the processing element, and part of the units can be realized in the form of hardware. In addition, all or part of the units can be integrated together or can be independently realized. The processing element described herein may be an integrated circuit having signal processing capabilities. In implementation, the steps of the above method or the above modules may be implemented by hardware integrated logic circuits in the elements of the processor 71 or instructions in the form of software.

As shown in fig. 6, the intelligent mower control method according to the present invention can also be implemented by a control unit 7 disposed on the body of the intelligent mower, where the control unit 7 includes a memory 73 and a processor 71 connected to each other, the memory 73 stores program instructions, and the program instructions are executed by the processor 71 to implement the intelligent mower control method. 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 processor 71 may be a general-purpose processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; or a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component; the Memory 73 may include a Random Access Memory (RAM), and may further include a Non-volatile Memory (Non-volatile Memory), such as at least one disk Memory.

It should be noted that the control program instructions in the 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 a stand-alone product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, an electronic device, or a network device) to perform all or part of the steps of the method according to the embodiments of the present invention.

The present invention may also provide a storage medium storing a program that, when executed by the processor 71, implements the intelligent mower control method described above; 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.

In summary, according to the intelligent mower and the control method, system and storage medium thereof of the invention, any one of the pre-stored path maps is selected from the pre-stored path map set during each mowing operation of the intelligent mower, so that the running paths of the intelligent mower are different each time, and the problem of rutting caused by repeated rolling when the intelligent mower walks along a fixed path is avoided. Compared with a random operation mode, the intelligent mower, the control method and the control system of the intelligent mower can not only cover a working area by 100%, but also reduce unnecessary repeated operation and reduce the pressure of parts. By using the intelligent mower control system 100 and the intelligent mower control method, the mowing operation of the whole working area can be completed in one operation under the permission of the battery of the intelligent mower. By using the intelligent mower control system 100 and the method of the present invention, the exact time required for trimming the lawn, in other words, the time for the lawn to be ready, can be estimated.

As shown in fig. 7, the embodiment of the present invention further discloses an intelligent lawn mower 200, where the intelligent lawn mower 200 includes a main body, a position sensor 50, a control unit 7, a traveling assembly 60, a working assembly 70, a power supply assembly 80, and an antenna assembly 90, which are disposed on the main body; the control unit 7 can control the intelligent mower 200 to walk along different paths during each operation, and rutting caused by repeated rolling of a working area can be avoided.

As shown in fig. 7, the walking assembly 60 includes two driving wheels and at least one supporting wheel, the two driving wheels are respectively disposed on two sides of one end of the main body, the supporting wheel is disposed on the other end of the main body, and the intelligent lawn mower 200 is supported by the driving wheels and the supporting wheel for walking, and the supporting wheel can be, for example, a universal wheel, so that the intelligent lawn mower 200 can steer. The driving wheel can be connected with the driving motor through the transmission shaft, for example, and the transmission shaft is provided with a protective sleeve, the protective sleeve comprises a flexible section, the protective sleeve realizes the length change along the axial direction of the transmission shaft through the deformation of the flexible section, the transmission shaft is effectively protected, and the service life of the intelligent mower 200 can be prolonged. The control unit 7 controls the walking direction and speed of the intelligent mower 200 by controlling the rotating speeds of the two driving motors, and when the rotating speeds of the driving motors are different, the intelligent mower 200 can realize turning; when the rotation speeds of the driving motors are the same, the intelligent mower 200 can walk linearly, and when the rotation speeds of the driving motors are opposite, the intelligent mower 200 can achieve in-situ zero steering.

As shown in fig. 7, the working assembly 70 comprises a cutting motor and a cutting head driven by the cutting motor, the working assembly 70 is approximately positioned at the center of the intelligent mower 200, the rotating shaft of the cutting motor is approximately vertical to the horizontal plane, and the working assembly 70 can be adjusted in height with the ground by an operator to realize the adjustment of the cutting height.

As shown in fig. 7, 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 body and connected to the rechargeable battery through the charging system. Considering that the intelligent lawn mower 200 generally works outdoors, the rechargeable battery can be charged during the mowing operation of the intelligent lawn mower 200, so that the operation time of the intelligent lawn mower 200 is effectively prolonged, and the number of times of returning to a charging station for charging is reduced.

As shown in fig. 7, the control unit 7 may receive various signals transmitted to the intelligent lawn mower 200 or signals collected by the position sensor 50, generate corresponding control signals through a built-in processor, and control the traveling unit or the working unit according to the generated control signals, so that the intelligent lawn mower 200 performs a mowing operation along a planned route, in addition to the above-described functions.

The intelligent lawn mower 200 further comprises a rain and snow sensor and/or a wind speed sensor arranged on the body, and is used for monitoring weather condition information of a working place of the intelligent lawn mower 200 and transmitting the weather condition information to the control unit 7, and the control unit 7 controls the intelligent lawn mower 200 to execute corresponding operations according to the weather condition information, which is described in detail in the relevant parts above and is not described herein again.

As shown in fig. 7, the position sensor 50 may be, for example, a GPS module, and in order to include the GPS module, the GPS module is generally disposed inside the main body, which may affect the signal strength of the GPS module, and in order to solve this problem, an antenna assembly 90 may be externally disposed on the GPS module to enhance the signal strength of the GPS module and improve the positioning accuracy of the intelligent lawn mower 200. The antenna assembly 90 includes an antenna, an antenna housing and a soft buffering connector, the soft buffering connector can be a soft rubber with good elasticity and capable of automatically recovering the original shape, such as rubber, silica gel and the like, the antenna is usually made of conductive metal, the antenna is wrapped by the antenna housing for protection, the bottom of the antenna housing can be fixed on the soft buffering connector in a pasting mode, the soft buffering connector is fixed on the antenna housing through a screw or a pasting mode, the antenna housing is basically vertical relative to the upper surface of the antenna housing, the shape of the soft buffering connector is centrosymmetric, and the purpose is to balance the tensile force of the soft buffering connector acting on the antenna housing and to cancel each other in the horizontal direction. The soft buffer connecting piece fixes the antenna shell on the machine body, fills the gap between the antenna shell and the machine body, and can prevent water vapor from entering the interior of the machine to damage electrical elements. When the mobile robot is not acted by external force, the antenna shell is basically vertical to the machine body, when the antenna shell is acted by external force, the antenna shell inclines relative to the machine body, the soft buffering connecting piece is pulled to deform, elastic potential energy is stored, when the external force acted on the antenna shell disappears, the soft buffering connecting piece releases the elastic potential energy, and under the action of the soft buffering connecting piece, the antenna shell returns to the vertical state.

In the description herein, numerous specific details are provided, such as examples of components and/or methods, to provide a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that an embodiment of the invention can be practiced without one or more of the specific details, or with other apparatus, systems, assemblies, methods, components, materials, parts, and/or the like. In other instances, well-known structures, materials, or operations are not shown or described in detail to avoid obscuring aspects of embodiments of the invention.

It will also be appreciated that one or more of the elements shown in the figures can also be implemented in a more separated or integrated manner, or even removed for inoperability in some circumstances or provided for usefulness in accordance with a particular application.

Additionally, any reference arrows in the drawings/figures should be considered only as exemplary, and not limiting, unless otherwise expressly specified. Further, as used herein, the term "or" is generally intended to mean "and/or" unless otherwise indicated. Combinations of components or steps will also be considered as being noted where terminology is foreseen as rendering the ability to separate or combine is unclear.

The above description of illustrated embodiments of the invention, including what is described in the abstract of the specification, is not intended to be exhaustive or to limit the invention to the precise forms disclosed herein. While specific embodiments of, and examples for, the invention are described herein for illustrative purposes only, various equivalent modifications are possible within the spirit and scope of the present invention, as those skilled in the relevant art will recognize and appreciate. As indicated, these modifications may be made to the present invention in light of the foregoing description of illustrated embodiments of the present invention and are to be included within the spirit and scope of the present invention.

The systems and methods have been described herein in general terms as the details aid in understanding the invention. Furthermore, various specific details have been given to provide a general understanding of the embodiments of the invention. One skilled in the relevant art will recognize, however, that an embodiment of the invention can be practiced without one or more of the specific details, or with other apparatus, systems, assemblies, methods, components, materials, parts, and/or the like. In other instances, well-known structures, materials, and/or operations are not specifically shown or described in detail to avoid obscuring aspects of embodiments of the invention.

Thus, although the present invention has been described herein with reference to particular embodiments thereof, a latitude of modification, various changes and substitutions are intended in the foregoing disclosures, and it will be appreciated that in some instances some features of the invention will be employed without a corresponding use of other features without departing from the scope and spirit of the invention as set forth. Thus, many modifications may be made to adapt a particular situation or material to the essential scope and spirit of the present invention. It is intended that the invention not be limited to the particular terms used in following claims and/or to the particular embodiment disclosed as the best mode contemplated for carrying out this invention, but that the invention will include any and all embodiments and equivalents falling within the scope of the appended claims. Accordingly, the scope of the invention is to be determined solely by the appended claims.