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CN112166391A - 自动割草机及其转向方法 - Google Patents

自动割草机及其转向方法 Download PDF

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Publication number
CN112166391A
CN112166391A CN201980028201.3A CN201980028201A CN112166391A CN 112166391 A CN112166391 A CN 112166391A CN 201980028201 A CN201980028201 A CN 201980028201A CN 112166391 A CN112166391 A CN 112166391A
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CN
China
Prior art keywords
boundary
module
robotic lawnmower
working
walking
Prior art date
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Pending
Application number
CN201980028201.3A
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English (en)
Inventor
保罗·安德罗
达维德·多尔夫
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Positec Power Tools Suzhou Co Ltd
Original Assignee
Positec Power Tools Suzhou Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Positec Power Tools Suzhou Co Ltd filed Critical Positec Power Tools Suzhou Co Ltd
Publication of CN112166391A publication Critical patent/CN112166391A/zh
Pending legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D2101/00—Lawn-mowers
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
    • A01D34/76—Driving mechanisms for the cutters
    • A01D34/78—Driving mechanisms for the cutters electric

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Environmental Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Electromagnetism (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Guiding Agricultural Machines (AREA)
  • Harvester Elements (AREA)

Abstract

一种自动割草机(1)，在工作区域(7)内行走和工作，包括：壳体，行走模块(17)，表面识别模块(9)，探测自动割草机行走的表面，表面识别模块(9)的探测区域包括行走模块(17)前方的表面；工作区域(7)内的表面为工作表面，工作区域(7)外的表面为非工作表面，工作表面与非工作表面之间形成工作区域的边界(3)；控制模块(19)，根据表面识别模块(9)发送的信号判断所述自动割草机(1)与边界(3)的位置关系，若满足预设位置关系，令行走模块(17)执行转向以驶向工作区域(7)内；若移动方向与边界(3)顺时针方向成锐角，顺时针转向，使得转向完成时移动方向与边界(3)顺时针方向成锐角；反之亦然。该自动割草机(1)对于无边界的工作区域，能够安全高效地工作。

Description

PCT国内申请，说明书已公开。

Claims (17)

  1. PCT国内申请，权利要求书已公开。
CN201980028201.3A 2018-05-22 2019-05-22 自动割草机及其转向方法 Pending CN112166391A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
CN201810497076 2018-05-22
CN2018104970768 2018-05-22
PCT/CN2019/087989 WO2019223725A1 (zh) 2018-05-22 2019-05-22 自动割草机及其转向方法

Publications (1)

Publication Number Publication Date
CN112166391A true CN112166391A (zh) 2021-01-01

Family

ID=68617178

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201980028201.3A Pending CN112166391A (zh) 2018-05-22 2019-05-22 自动割草机及其转向方法

Country Status (4)

Country Link
US (1) US20210204473A1 (zh)
EP (1) EP3798781B1 (zh)
CN (1) CN112166391A (zh)
WO (1) WO2019223725A1 (zh)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113273375A (zh) * 2021-05-21 2021-08-20 宁波技工学校（宁波技师学院） 一种自动规划路径的割草机系统及其自动割草机
CN113740868A (zh) * 2021-09-06 2021-12-03 中国联合网络通信集团有限公司 植被距离测量方法及装置，和植被修剪装置
CN115268449A (zh) * 2022-07-29 2022-11-01 格力博(江苏)股份有限公司 一种割草机及其校准方法

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* Cited by examiner, † Cited by third party
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CN113552874B (zh) * 2020-04-03 2024-01-23 南京泉峰科技有限公司 智能割草系统
EP4272533A4 (en) * 2020-12-30 2024-05-29 Globe (Jiangsu) Co., Ltd. INTELLIGENT MOWER AND CONTROL METHODS AND SYSTEM THEREFOR AND STORAGE MEDIUM
US12296694B2 (en) 2021-03-10 2025-05-13 Techtronic Cordless Gp Lawnmowers
CN115843528B (zh) * 2021-09-24 2025-03-14 苏州宝时得电动工具有限公司 园艺工具系统及其工作方法
AU2022268338A1 (en) 2021-11-10 2023-05-25 Techtronic Cordless Gp Robotic lawn mowers
EP4270138A1 (en) 2022-04-28 2023-11-01 Techtronic Cordless GP Creation of a virtual boundary for a robotic garden tool
US12472611B2 (en) 2022-05-31 2025-11-18 Techtronic Cordless Gp Peg driver
EP4310621B1 (en) 2022-07-19 2025-02-12 Techtronic Cordless GP Display for controlling robotic tool
EP4340296B1 (en) 2022-07-29 2025-04-09 Techtronic Cordless GP Generation of a cryptography key for a robotic garden tool
CN218998875U (zh) * 2022-08-04 2023-05-12 苏州科瓴精密机械科技有限公司 一种割草设备
CN117898106A (zh) * 2023-12-27 2024-04-19 江苏东成机电工具有限公司 智能割草机
SE2450120A1 (en) * 2024-02-06 2025-08-07 Husqvarna Ab Enhanced behavior for a robotic lawnmower that has left a grass surface

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CN102768535A (zh) * 2011-04-28 2012-11-07 苏州宝时得电动工具有限公司 自动工作系统、自动行走设备及其转向方法
US20140012418A1 (en) * 2012-07-09 2014-01-09 Deere & Company Boundary Sensor Assembly for a Robotic Lawn Mower, Robotic Lawn Mower and Robotic Lawn Mower System
CN105911981A (zh) * 2012-04-28 2016-08-31 苏州宝时得电动工具有限公司 自动工作系统、自动行走设备及其转向方法
CN107479546A (zh) * 2016-06-07 2017-12-15 苏州宝时得电动工具有限公司 自移动园艺设备

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EP2013671B1 (en) * 2006-03-17 2018-04-25 iRobot Corporation Lawn care robot
DE102011003064A1 (de) * 2010-12-29 2012-07-05 Robert Bosch Gmbh Verfahren zur Bearbeitung einer Fläche mittels eines Roboter-Fahrzeugs
US10098277B2 (en) * 2011-08-11 2018-10-16 Chien Ouyang Robotic lawn mower with boundary stands
DE102014212408A1 (de) * 2014-06-27 2015-12-31 Robert Bosch Gmbh Autonomes Arbeitsgerät
CN105512689A (zh) * 2014-09-23 2016-04-20 苏州宝时得电动工具有限公司 基于图像的草地识别方法及草坪维护机器人
WO2016045593A1 (zh) * 2014-09-23 2016-03-31 苏州宝时得电动工具有限公司 自移动机器人
CN107291071A (zh) * 2016-03-30 2017-10-24 苏州宝时得电动工具有限公司 自动工作系统、自动行走设备及其转向方法
KR102489386B1 (ko) * 2016-04-15 2023-01-18 주식회사 에이치엘클레무브 주차 지원 장치 및 그의 주차 제어 방법
CN109416543B (zh) * 2016-06-30 2022-11-08 创科（澳门离岸商业服务）有限公司 一种自主式割草机及其导航系统
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CN102768535A (zh) * 2011-04-28 2012-11-07 苏州宝时得电动工具有限公司 自动工作系统、自动行走设备及其转向方法
CN102768533A (zh) * 2011-04-28 2012-11-07 苏州宝时得电动工具有限公司 自动工作系统、自动行走设备及其转向方法
CN105911981A (zh) * 2012-04-28 2016-08-31 苏州宝时得电动工具有限公司 自动工作系统、自动行走设备及其转向方法
US20140012418A1 (en) * 2012-07-09 2014-01-09 Deere & Company Boundary Sensor Assembly for a Robotic Lawn Mower, Robotic Lawn Mower and Robotic Lawn Mower System
CN107479546A (zh) * 2016-06-07 2017-12-15 苏州宝时得电动工具有限公司 自移动园艺设备

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113273375A (zh) * 2021-05-21 2021-08-20 宁波技工学校（宁波技师学院） 一种自动规划路径的割草机系统及其自动割草机
CN113273375B (zh) * 2021-05-21 2024-06-04 宁波技工学校（宁波技师学院） 一种自动规划路径的割草机系统及其自动割草机
CN113740868A (zh) * 2021-09-06 2021-12-03 中国联合网络通信集团有限公司 植被距离测量方法及装置，和植被修剪装置
CN113740868B (zh) * 2021-09-06 2024-01-30 中国联合网络通信集团有限公司 植被距离测量方法及装置，和植被修剪装置
CN115268449A (zh) * 2022-07-29 2022-11-01 格力博(江苏)股份有限公司 一种割草机及其校准方法

Also Published As

Publication number Publication date
EP3798781A1 (en) 2021-03-31
US20210204473A1 (en) 2021-07-08
WO2019223725A1 (zh) 2019-11-28
EP3798781A4 (en) 2022-01-26
EP3798781B1 (en) 2024-05-01

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