CN120476830B - Smart lawnmower escape methods and smart lawnmower - Google Patents
Smart lawnmower escape methods and smart lawnmowerInfo
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- CN120476830B CN120476830B CN202510738312.0A CN202510738312A CN120476830B CN 120476830 B CN120476830 B CN 120476830B CN 202510738312 A CN202510738312 A CN 202510738312A CN 120476830 B CN120476830 B CN 120476830B
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Abstract
The invention discloses an intelligent mower escape method and an intelligent mower, and relates to the technical field of mowing equipment, wherein the intelligent mower comprises a machine body, a driving wheel and a travelling wheel which are arranged along the advancing direction of the machine body, a supporting structure is movably arranged on the machine body and is positioned between the driving wheel and the travelling wheel, the supporting structure supports the supporting state of the machine body and the storage state of the machine body separated from the ground, the intelligent mower escape method comprises the steps of determining that the intelligent mower is in escape, controlling the intelligent mower to execute an auxiliary escape strategy, controlling the supporting structure to move to the supporting state, and driving the intelligent mower to move to the direction of the driving wheel by the driving module so as to assist the intelligent mower to escape. The technical scheme provided by the invention can assist the intelligent mower to get rid of the trapping.
Description
Technical Field
The invention relates to the technical field of mowing equipment, in particular to an intelligent mower escape method and an intelligent mower.
Background
An intelligent mower is also called a weeding machine, a grass mower, a lawn trimmer and the like, and is a mechanical tool for trimming lawns, vegetation and the like. The intelligent mower may face various road conditions when working outdoors, such as local protrusion or depression of the ground when encountering relatively uneven road conditions, and may not be able to directly cross when the depression or protrusion is high and/or steep (the ground is locally stepped), or encounters relatively high obstacles, causing the intelligent mower to become trapped.
Disclosure of Invention
The invention mainly aims to provide an intelligent mower escape method and an intelligent mower, and aims to assist the intelligent mower in escape.
In order to achieve the above purpose, the intelligent mower escaping method provided by the invention comprises the following steps:
Determining that the intelligent mower is stranded;
The intelligent mower is controlled to execute an auxiliary escape strategy, the auxiliary escape strategy comprises controlling the supporting structure to move to a supporting state, and controlling the driving module to drive the intelligent mower to move in the direction from the self-walking wheel to the driving wheel so as to assist the intelligent mower to escape.
In one embodiment, the step of determining that the intelligent mower is trapped comprises:
and acquiring the running information of the intelligent mower, and determining that the intelligent mower is trapped according to the running information.
In an embodiment, the step of obtaining the running information of the intelligent mower and determining that the intelligent mower is trapped according to the running information includes:
Acquiring the running speed of the intelligent mower and the working state of the driving module, determining that the intelligent mower is trapped when the running speed of the intelligent mower is zero and the driving module is in the running state, or,
And when the displacement of the intelligent mower in the first preset time period is within a preset range and the driving module is in an operating state, determining that the intelligent mower is trapped.
In an embodiment, the intelligent mower further comprises a distance sensor arranged on the walking wheel or on one side of the body close to the walking wheel, and the step of determining that the intelligent mower is trapped further comprises:
Acquiring the distance between the distance sensor and the ground in a second preset time period through the distance sensor;
and when the distance between the distance sensor and the ground in the second preset time period is greater than or equal to the first preset distance, determining that the intelligent mower is trapped.
In one embodiment, the body surface is provided with a plurality of touch sensors, and before the step of determining that the intelligent mower is trapped, the intelligent mower escaping method further comprises the steps of:
Acquiring the contact state of a human body and the surface of the machine body through the touch sensor;
and when the body surface is determined to be in a human body contact-free state, executing the step of determining that the intelligent mower is trapped.
And performing the step of determining that the intelligent mower is stranded.
In an embodiment, after the step of determining that the intelligent mower is trapped, and before the step of the intelligent mower performing the auxiliary stay-away policy, the intelligent mower stay-away method further comprises the steps of:
controlling the intelligent mower to execute an attempt to get rid of poverty strategy;
determining whether the intelligent mower is stranded;
And if the intelligent mower is still trapped, executing the try trapping strategy again until the execution times reach the preset times, and triggering the intelligent mower to execute the auxiliary trapping strategy.
In one embodiment, the step of controlling the intelligent mower to perform an attempted escape strategy comprises:
controlling the driving module to drive the intelligent mower to travel a second preset distance from the main driving wheel to the travelling wheel;
and controlling the driving module to drive the intelligent mower to run in the direction from the travelling wheel to the driving wheel at a preset speed.
In an embodiment, the intelligent mower further comprises a positioning module arranged on the machine body, and the intelligent mower escaping method further comprises the following steps:
After the step of determining that the intelligent mower is trapped, and before the step of controlling the intelligent mower to execute an auxiliary stay-away strategy, acquiring a first position of the intelligent mower through the positioning module;
After the intelligent mower is controlled to execute the auxiliary escape strategy, acquiring a second position of the intelligent mower through the positioning module;
When the distance between the first position and the second position is larger than a third preset distance, determining that the intelligent mower is in a getting rid of poverty state;
and controlling the supporting structure to move to a storage state.
In one embodiment, the third predetermined distance is greater than or equal to half the length of the fuselage.
In addition, in order to achieve the aim, the application also provides an intelligent mower, which comprises a mower body, a driving wheel, a travelling wheel, a supporting structure, a memory, a processor and a computer program, wherein the driving wheel and the travelling wheel are arranged along the travelling direction of the mower body, the supporting structure is movably mounted on the mower body, the computer program is stored on the memory and can run on the processor, the supporting structure is positioned between the driving wheel and the travelling wheel, the supporting structure supports the mower body in a supporting state and in a storage state separated from the ground, and the computer program is configured to achieve the steps of the intelligent mower escaping method.
In addition, in order to achieve the above object, the present application also proposes a storage medium, which is a computer readable storage medium, on which a computer program is stored, the computer program implementing the steps of the intelligent mower extraction method as described above when being executed by a processor.
The invention provides an intelligent mower escape method, which is applied to an intelligent mower, and comprises a machine body, a driving wheel and a travelling wheel which are arranged along the travelling direction of the machine body, wherein a supporting structure is movably arranged on the machine body and is positioned between the driving wheel and the travelling wheel, and the supporting structure supports the supporting state of the machine body and the accommodating state of the machine body, which is separated from the ground, so that the intelligent mower is determined to be trapped, further, the intelligent mower is controlled to execute an auxiliary escape strategy, the auxiliary escape strategy comprises controlling the supporting structure to move to the supporting state, controlling a driving module to drive the intelligent mower to move in the direction from the travelling wheel to the driving wheel, so that the supporting structure can provide a supporting point for the intelligent mower, the landing force of the machine body is improved, the driving wheel can drive the machine body to move, the auxiliary travelling wheel is out of the concave ground or over an obstacle, the aim of escape or obstacle is achieved, the extra manpower and material resources are saved, the intelligent mower is reduced, the adaptation scene of the intelligent mower is increased, and the user experience is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a method for removing a trapped object in an intelligent mower according to an embodiment of the present application;
FIG. 2 is a schematic flow chart of a second embodiment of a method for removing a trapped object in an intelligent mower of the present application;
FIG. 3 is a schematic diagram of a smart mower according to an embodiment of the present invention;
FIG. 4 is a schematic view of the intelligent mower of FIG. 1 in a trapped state;
FIG. 5 is a schematic view of a smart mower according to another embodiment of the present invention;
FIG. 6 is a schematic view of the intelligent mower of FIG. 3 in an operational state;
fig. 7 is a schematic structural diagram of a smart mower according to another embodiment of the present invention in a trapped state.
Reference numerals illustrate:
100. the intelligent mower comprises a machine body, 101, a driving wheel, 102, travelling wheels, 11, a supporting structure, 111, lifting supporting rods, 112, supporting wheels, 113, a first supporting rod, 114, a second supporting rod, 115, a limiting supporting sleeve, 2, the ground, 21 and a concave area.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and rear are referred to in the embodiments of the present invention), the directional indications are merely used to explain the relative positional relationship, movement conditions, and the like between the components in a specific posture, and if the specific posture is changed, the directional indications are correspondingly changed.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, if "and/or" and/or "are used throughout, the meaning includes three parallel schemes, for example," a and/or B "including a scheme, or B scheme, or a scheme where a and B are satisfied simultaneously. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.
The intelligent mower 100 is determined to be trapped, and then the intelligent mower 100 is controlled to perform an auxiliary trapping strategy, so that the intelligent mower 100 can automatically get trapped.
The intelligent mower 100 is generally equipped with an obstacle avoidance device that can detect at least an obstacle in front of the body 1 and transmit obstacle information to a control module of the intelligent mower 100, so that the intelligent mower 100 can judge whether to directly cross the obstacle or bypass the obstacle according to the obstacle information, so that the intelligent mower 100 can avoid the obstacle.
However, in some work scenarios, the intelligent mower 100 may not be able to bypass an obstacle or there may be an unexpected obstacle encounter with the intelligent mower 100. Such as when the ground 2 has a large-sized recessed area 21 or raised area (much larger than the size of the intelligent mower 100 itself), and the recessed area 21 or raised area requires weeding operations. In order to get rid of the problem or surmount the obstacle, the driving wheel is usually located at the front so that the intelligent mower 100 can conveniently punch out the concave area 21 or climb to the convex area, but if the height of the concave area 21 or the convex area is higher and/or the concave area 21 or the convex area is steeper, the rear wheel may not pass smoothly at this time, so that the intelligent mower 100 is trapped, or the rear wheel may not pass when the obstacle with higher height is carelessly encountered, and the intelligent mower can only get rid of the problem, which is time-consuming and labor-consuming due to the fact that the user can only rely on manpower.
In view of this, the present application provides a method for releasing the intelligent mower 100, which is used for accurately identifying the intelligent mower 100 being trapped, and controlling the intelligent mower 100 to execute various releasing strategies according to the trapped state, so as to effectively release the intelligent mower 100, thereby reducing the possibility of releasing the intelligent mower 100 by manpower, saving the manpower, and improving the user experience.
Referring to fig. 3 to 7, the intelligent mower 100 applied to the method for removing the trapping of the intelligent mower 100 includes a main body 1, and a driving wheel 101 and a traveling wheel 102 arranged along the traveling direction of the main body 1, that is, the driving wheel 101 and the traveling wheel 102 are arranged along the front-rear direction of the main body 1, and the intelligent mower 100 can be configured to be driven by two wheels (the traveling wheel 102 is a driven wheel) or four wheels (the traveling wheel 102 is also a driving wheel).
It should be noted that, the driving wheel 101 and the travelling wheel 102 are arranged along the travelling direction of the machine body 1, and the driving wheel 101 may be disposed at the front side of the machine body, or the travelling wheel 102 may be disposed at the front side of the machine body. And when the intelligent mower 100 is driven by two wheels, if the intelligent mower is driven by a rear wheel, namely the driving wheel 101 is arranged at the rear side of the machine body 1, the travelling wheel 102 is arranged at the front side of the machine body 1, when obstacle crossing or getting rid of is needed, the intelligent mower 100 usually adopts a reverse mode to cross the obstacle for convenience, if the intelligent mower 100 is driven by a front wheel, namely the driving wheel 101 is arranged at the front side of the machine body 1, the travelling wheel 102 is arranged at the rear side of the machine body 1, and when obstacle crossing or getting rid of is needed, the intelligent mower 100 can directly and positively travel to get rid of the obstacle. That is, in the actual escape, the intelligent mower 100 is driven by the rear wheel or the front wheel, and the driving wheel 101 is driven to cross the higher ground 2 or the obstacle. And when the intelligent mower 100 is dual wheel drive, the road wheels 102 are often configured as universal wheels.
When the intelligent mower 100 is trapped, the capstan 101 is positioned in front of the road wheel 102, i.e., the capstan 101 is first passed over the upper ground 2 or obstacle. However, the road wheels 102 may be caught in the recessed ground 2 or the road wheels 102 may not be able to cross the obstacle, so that the intelligent mower 100 is in a escaping state. At this time, if the driving wheel 101 directly drives the body 1 to move, due to the limitation of the terrain, the traveling wheel 102 may not provide enough grip in the escaping process, so that the force applied by the driving wheel 101 is limited, and the intelligent mower 100 is difficult to escape. Therefore, in order to assist the intelligent mower 100 in getting rid of the trapping, the bottom of the body 1 is provided with the supporting structure 11, and in the getting rid of the trapping state, the supporting structure 11 moves to a second position abutting against the ground 2 to support the body 1, so that the driving wheel 101 can drive the body 1 to move, so as to assist the travelling wheel 102 to go beyond the recessed ground 2 or cross the obstacle.
Generally, the intelligent mower 100 has a getting rid of the trapped state and a mowing state, and the supporting structure 11 has a supporting state corresponding to the getting rid of the trapped state and a storage state other than the supporting state. In the escaping state, the supporting structure 11 moves to the second position, so that the lower end of the supporting structure 11 is abutted against the ground 2 to support the mower body 1, a supporting point is additionally provided for the intelligent mower 100, the grounding force of the mower body 1 is improved, the driving wheel 101 is convenient for applying force, the driving wheel 101 can drive the mower body 1 to move, and the walking wheel 102 is assisted to move out of the sunken ground 2 or surmount an obstacle, so that the escaping or obstacle surmounting purpose is achieved.
The supporting structure 11 is located between the driving wheel 101 and the travelling wheel 102, that is, the supporting structure 11 is arranged on one side of the driving wheel 101 facing the travelling wheel 102, and is often arranged at intervals with the driving wheel 101, so that when the supporting structure 11 supports the body 1, the supporting structure is mainly used for providing support for the body on the side of the travelling wheel 102, thereby avoiding the supporting structure 11 supporting the side of the driving wheel 101, and further reducing the possibility that the supporting structure 11 accidentally reduces the grabbing force of the driving wheel 101. And generally, the supporting structure 11 and the travelling wheel 102 also have a certain distance, so that the supporting structure 11 can be stably supported on the higher ground 2 (the ground 2 on which the driving wheel 101 is positioned) in the supporting state, and the possibility of failure of the supporting structure 11 is reduced.
In the embodiment of the invention, along the travelling direction of the machine body 1, the supporting point of the supporting structure 11 to the machine body 1 and the supporting point of the driving wheel 101 to the machine body 1 are respectively arranged on two opposite sides of the center of gravity of the machine body 1, that is, the supporting point of the supporting structure 11 to the machine body and the travelling wheel 102 are both positioned on the same side of the center of gravity of the machine body 1, so that the supporting structure 11 provides support for the machine body 1 on the side of the travelling wheel 102, and the supporting structure 11 is prevented from being supported on the side of the driving wheel 101.
Note that, since the weight of the body 1 of the intelligent mower 100 tends to be unevenly disposed, the center of gravity of the body 1 is not equivalent to the center position of the body 1. Generally, the driving wheel 101 of the intelligent mower 100 is a driving wheel, so that the weight of the intelligent mower 100 tends to be concentrated on the side of the driving wheel 101, and thus the supporting point of the supporting structure 11 can be disposed on the side of the center of the body 1 close to the traveling wheel 102, or on the center of the body 1, or even on the side of the center of the body 1 close to the driving wheel 101. And the supporting point of the supporting structure 11 is not necessarily different from the installation position of the supporting structure 11, when the supporting structure 11 is a vertical structure, the supporting point of the supporting structure 11 is identical to the installation position of the supporting structure 11, and when the supporting structure 11 is arranged obliquely, the supporting point of the supporting structure 11 is not identical to the installation position of the supporting structure 11.
It is conceivable that the support structure 11 is usually operated by a driving motor or the like to help achieve an automatic escape of the intelligent mower 100, thereby eliminating the need for human assistance. The driving structure can utilize some driving structures of the intelligent mower 100, and can be additionally provided with a special driving structure for driving.
It should be noted that, the execution body of the embodiment may be a control module of the intelligent mower 100, and may be a computing service device with data processing, network communication and program running functions, which is used as a master control module of the intelligent mower 100 to control the mowing hole to work and get rid of the trouble. The present embodiment and the following embodiments will be described below using a control module as an execution subject.
Based on this, the present application proposes a method for removing the trapping of the intelligent mower 100 according to the first embodiment, referring to fig. 1, the method for removing the trapping of the intelligent mower 100 includes steps S10 to S20:
step S10, determining that the intelligent mower 100 is trapped;
Step S10 may specifically be to obtain running information of the intelligent mower 100, and determine that the intelligent mower 100 is trapped according to the running information.
It should be noted that, the running information of the intelligent mower 100, that is, the running state information of the intelligent mower 100, may be the running speed of the intelligent mower 100, the displacement of the intelligent mower 100 in a specific time period, the working state of related components of the intelligent mower 100, and even the posture information of the intelligent mower 100 and some external environment information of the intelligent mower 100.
Because of the step S10, the control module can acquire the driving information of at least one intelligent mower 100 and determine the driving information, so as to accurately determine that the intelligent mower 100 is trapped, thereby improving the accuracy of the control module in monitoring the form of the intelligent mower 100.
In a possible embodiment, step S10 may include step a11:
Step A11, acquiring the running speed of the intelligent mower 100 and the working state of the driving module, and determining that the intelligent mower 100 is trapped when the running speed of the intelligent mower 100 is zero and the driving module is in the running state;
It can be appreciated that the running speed of the intelligent mower 100, such as GPS (Global Positioning System ), RTK (Real-TIME KINEMATIC, real-time dynamic carrier-phase differential technology), etc., can be detected by a positioning module provided to the machine body 1. The control module can be directly connected with the driving module in a communication way so as to acquire the working state of the driving module, and can also be used for monitoring the working state of the driving module in real time by arranging a sensor on the machine body 1, for example, by monitoring the current change of the driving module to determine the working state of the driving module. The drive module may be a drive motor.
When the running speed of the intelligent mower 100 is detected to be zero and the driving module is in the running state, namely, the intelligent mower 100 is in the running state, but the intelligent mower 100 does not actually move, the intelligent mower 100 can be determined to be trapped, and therefore the control module can accurately determine that the intelligent mower 100 is trapped.
Wherein it is detected that the running speed of the intelligent mower 100 is zero, that is, the average speed of the intelligent mower 100 and the first preset time period is zero, and the instantaneous speed of the intelligent mower 100 is not zero.
In another possible embodiment, step S10 may include step a12:
And step A12, acquiring the displacement of the intelligent mower 100 in a first preset time period and the working state of the driving module, and determining that the intelligent mower 100 is trapped when the displacement of the intelligent mower 100 in the first preset time period is in a preset range and the driving module is in a running state.
Compared to step a11, step a12 determines that the intelligent mower 100 is not substantially moving by detecting the displacement of the intelligent mower 100 within the first preset time period by the positioning module, that is, the intelligent mower 100 is in a driving state, but the intelligent mower 100 is not actually moving, so that the intelligent mower 100 can be determined to be trapped, thereby ensuring that the control module accurately determines that the intelligent mower 100 is trapped.
It can be appreciated that, when the intelligent mower 100 is trapped, the driving module drives the driving wheel 101 to rotate in order to try to get rid of the trapped position, so that the intelligent mower 100 can continuously vibrate at the trapped position under the action of the driving wheel 101, but cannot get out of the trapped position. Therefore, the intelligent mower 100 is not completely stationary in place within the first predetermined time period, and thus the intelligent mower 100 can determine that the intelligent mower 100 is trapped as long as the position of the intelligent mower 100 is less than the predetermined range within the first predetermined time period.
In yet another possible embodiment, the intelligent mower 100 further includes a distance sensor provided on the traveling wheel 102 or on a side of the body 1 close to the traveling wheel 102, so the step S10 may further include the step a13:
Step A13, obtaining the distance between the distance sensor and the ground 2 in a second preset time period through the distance sensor;
When the distance between the distance sensor and the ground within the second preset time period is greater than or equal to the first preset distance, the intelligent mower 100 is determined to be trapped.
The distance sensor can measure the distance from the ground 2 and transmit the measured data to the distance sensor in real time. When the distance sensor is arranged on one side of the machine body 1 close to the travelling wheel 102, the distance sensor can measure the distance from the machine body 1 to the ground 2, so that in order to ensure accuracy, the distance sensor is preferably arranged at the bottom of the machine body 1 (the first preset distance is the maximum distance between the bottom of the intelligent mower 100 and the ground 2 at this time), and should be arranged as close as possible to the travelling wheel 102, so that the distance sensor is arranged opposite to the ground 2 on the lower ground 2 (the concave area 21) in a trapped state, so as to ensure accuracy of measurement, at this time, the maximum value of the distance measured by the distance sensor in the running state of the intelligent mower 100 does not exceed the maximum distance between the chassis and the ground 2, and the maximum distance is also often an instantaneous distance, namely, the distance measured by the distance sensor continuously fluctuates within the maximum distance of the chassis in the second preset time period, and if the intelligent mower 100 is trapped, the maximum distance measured by the distance sensor exceeds the maximum distance between the chassis and the ground 2 at this time when the travelling wheel 102 is in a suspended state. Therefore, if the control module obtains that the distance in the second preset time period is continuously greater than or equal to the first preset distance, it can be determined that the intelligent mower 100 is trapped.
When the distance sensor is disposed on the traveling wheel 102, the data detected by the distance sensor is always a certain value (the first preset distance is always smaller than the height of the bottom of the vehicle body at this time), if the intelligent mower 100 is trapped, the maximum value of the distance measured by the sensor is always greater than the preset distance because the traveling wheel 102 is always in a suspended state at this time, so that the intelligent mower 100 is determined to be trapped. The first preset distance is not a specific value, and may be adjusted according to the size of the intelligent mower 100, the model, the size of the traveling wheel 102, and the setting position of the distance sensor. Taking the example that the chassis height of the intelligent mower 100 is 55cm in the static state and the liftable height of the travelling wheel 102 is 20cm, the chassis height of the intelligent mower 100 fluctuates between 55cm and 75cm in the travelling process, so that the first preset distance can be 75cm, and when the first preset distance is within the second preset time period, if the chassis height of the intelligent mower 100 is continuously greater than or equal to 75cm, the intelligent mower 100 can be judged to be in a trapped state.
It is step a13 that the control module is enabled to acquire the distance between the distance sensor and the ground 2, so as to determine whether the fuselage 1 is trapped. And in order to improve accuracy, step S10 may include steps a11 and a13 or steps a12 and a13 simultaneously, thereby determining that the intelligent mower 100 is trapped from a combination of aspects, thereby improving accuracy.
The above are just several possible implementations of step S10 provided in this embodiment, and the specific implementation of step S10 in this embodiment is not specifically limited.
Step S20, controlling the intelligent mower 100 to execute an auxiliary escape strategy;
Referring to fig. 4, 5 and 7, the auxiliary escape strategy includes controlling the supporting structure 11 to move to a supporting state, and the driving module drives the intelligent mower 100 to move in a direction from the travelling wheel 102 to the driving wheel 101, so as to assist the intelligent mower 100 in escaping.
It should be noted that, the supporting structure 11 may move to the supporting state through the lifting movement, or may reach the supporting state through the extension of the supporting structure 11 itself, or the folding movement, and in the supporting state, at least the height of the lower end of the supporting structure 11 is lowered, so that the lower end of the supporting structure 11 abuts against the ground 2 to support the machine body 1, thereby providing an additional supporting point for the intelligent mower 100 and improving the grounding force of the machine body 1. And in general, the supporting structure 11 is often driven by a driving motor, so that the control module can control the lifting structure to move to the supporting state by controlling the driving of the driving motor.
And the supporting structure 11 is located between the driving wheel 101 and the travelling wheel 102, that is, the supporting structure 11 is arranged on one side of the driving wheel 101 facing the travelling wheel 102, and is often arranged at intervals with the driving wheel 101, so that when the supporting structure 11 supports the machine body 1, the supporting structure is mainly used for providing support for the machine body 1 on the side of the travelling wheel 102, thereby avoiding the supporting structure 11 supporting the side of the driving wheel 101, and further reducing the possibility that the supporting structure 11 accidentally reduces the grabbing force of the driving wheel 101. And generally, the supporting structure 11 and the travelling wheel 102 also have a certain distance, so that the supporting structure 11 can be stably supported on the higher ground 2 (the ground 2 on which the driving wheel 101 is positioned) in the supporting state, and the possibility of failure of the supporting structure 11 is reduced.
The driving module is used for driving the driving wheel 101 of the intelligent mower 100 to rotate so as to drive wheels to run, so that the control module can control the intelligent mower 100 to move forwards through controlling the operation of the driving module, and the driving wheel 101 can drive the intelligent mower 100 to move conveniently because a supporting point is provided for the intelligent mower 100, and the driving wheel 101 can drive the intelligent mower 1 to move so as to assist the walking wheel 102 to cross the recessed ground 2 or cross an obstacle, thereby achieving the purpose of getting rid of poverty or crossing the obstacle.
Owing to step S20, the control module is enabled to move through the control support structure 11 to assist the body 1 to get rid of the trapping, thereby eliminating the need for extra manpower to get rid of the trapping, saving manpower and material resources, reducing the possibility of trapping the intelligent mower 100, increasing the adaptation scene of the intelligent mower 100, and improving the user experience.
In the second embodiment of the present application, the same or similar content as in the first embodiment of the present application may be referred to the above description, and will not be repeated. On this basis, the body 1 is provided with a plurality of touch sensors, and before step S10, the method for removing the trapping of the intelligent mower 100 further comprises the steps of:
Step S01, acquiring the contact state of a human body and the surface of the machine body 1 through the touch sensor;
When it is determined that the surface of the body 1 is in a human body contact-free state, the step of determining that the intelligent mower 100 is trapped is performed.
Specifically, the body 1 is provided with a plurality of touch sensors which can detect whether the body 1 surface is in contact with a human body, thereby avoiding the support structure 11 from accidentally moving to a support state when the body 1 is lifted by a person. If the intelligent mower 100 is trapped in step S10 only through step a13, the distance measured by the distance sensor at the travelling wheel 102 exceeds the preset value, possibly due to the artificial lifting, and the intelligent mower 100 is not trapped, if the control module misjudges that the intelligent mower 100 is trapped in step S20, the next step is likely to be performed, and thus the program is disturbed. The touch sensor is therefore provided to exclude this.
The touch sensor may be an inductive sensor, a pressure sensor, an ultrasonic sensor, or the like. Preferably, a plurality of touch sensors may be arranged at intervals along the circumferential direction of the body 1.
Because of the step S01, the control module is enabled to eliminate the possibility that the intelligent mower 100 is lifted by manpower to cause unexpected execution of the escaping strategy before executing the step S10, thereby improving the judgment accuracy of the control module.
In the third embodiment of the present application, the same or similar content as the first embodiment of the present application can be referred to the above description, and the description thereof will not be repeated. On this basis, after step S10 and before step S20, the method for removing the intelligent mower 100 further includes step S02:
step S02, controlling the intelligent mower 100 to execute the attempt to get rid of poverty strategy;
That is, controlling the intelligent mower 100 to try to get rid of the trouble, in a possible embodiment, the step S02 may include the step B11:
Step B11, controlling the driving module to drive the intelligent mower 100 to travel a second preset distance in the direction from the main driving wheel 101 to the traveling wheel 102;
the driving module is controlled to drive the intelligent mower 100 to travel in the direction from the traveling wheel 102 to the driving wheel 101 at a preset speed.
That is, the driving module is controlled to drive the intelligent mower 100 to move backward, that is, the driving wheel moves into the concave area 21, so that the intelligent mower 100 is completely placed in the concave area 21, and then the driving module is controlled to move forward at a preset speed, so that the intelligent mower 100 is tried to be used for washing out the area by inertia, and the intelligent mower is not required to be trapped by the support structure 11. Another escape strategy is also provided for the intelligent mower 100, which facilitates the intelligent mower 100 to select a more appropriate escape mode according to the requirements.
In a possible embodiment, this step S02 may include a step B12:
And step B12, controlling the steering module to drive the driving wheel 101 to steer, controlling the driving module to drive the driving wheel 101 to rotate, namely changing the advancing direction of the intelligent mower 100, further changing the position relation between the driving wheel 101 and the ground 2, and attempting to enhance the ground grabbing force of the driving wheel 101 on one side of the machine body 1, so as to attempt to pull out the driven wheel on one side of the machine body 1 by using the driving wheel 101 to get rid of the trapping state, and then pulling out the driven wheel on the other side to achieve the purpose of getting rid of the trapping state.
In one possible embodiment, the machine body 1 is provided with an environment detection module, and the environment detection module can detect information of obstacles around the intelligent mower 100, and the control module obtains the information of the obstacles around and selects a route which is most prone to getting rid of the trouble to travel according to the information of the obstacles around, so as to help the intelligent mower 100 get rid of the trouble. The above are just several possible implementations of step S02 provided in this embodiment, and this embodiment is not particularly limited to the specific implementation of step S02.
After step S02, step S10 is re-executed, and then steps S02 and S10 are circularly executed until the number of executions reaches a preset number, and step S20 is triggered. That is, when it is determined that the intelligent mower 100 is in the trapped state for the first time, an attempt to get rid of the trapping strategy may be performed, and then it is determined again whether the intelligent mower 100 gets rid of the trapping, if it is detected that the intelligent mower 100 is in the trapped state, the auxiliary getting rid of the trapping strategy is not required to be executed, and thus the support structure 11 is not required to be additionally controlled to assist the getting rid of the trapping, if it is detected that the intelligent mower 100 is still in the trapped state, if the preset execution number is 1, the auxiliary getting rid of the trapping strategy is directly executed, and if the preset execution number is 2, the attempt to get rid of the trapping strategy is still executed, and the above operations are circulated. The preset number of times is generally 3, but may be 1,2, or 4 or more.
Referring to fig. 2, in a fourth embodiment of the present application, the same or similar contents as those of the first embodiment can be referred to the description above, and the description is omitted. On this basis, after step S10 and before step S20, the method for removing the trapping of the intelligent mower 100 further includes step S03:
Step S03, acquiring a first position of the intelligent mower 100 through the positioning module;
After step S20, the method for removing the trapping of the intelligent mower 100 further includes steps S04 to S06:
Step S04, obtaining a second position of the intelligent mower 100 through the positioning module;
step S05, when the distance between the first position and the second position is larger than a third preset distance, determining that the intelligent mower 100 is in a getting rid of poverty state;
Step S06, controlling the support structure 11 to move to the storage state.
That is, the position of the intelligent mower 100 in the trapped state is recorded by the positioning module and is set as the first position, after the intelligent mower 100 is trapped, the position of the intelligent mower 100 is continuously recorded by the positioning module and is set as the second position, and the control module continuously processes the positional relationship between the first position and the second position, when the distance between the first position and the second position is greater than the third preset distance, the travelling wheel 102 can be judged to completely cross the obstacle or get rid of the trapped state, so that the intelligent mower 100 is determined to be in the trapped state, and the supporting structure 11 is controlled to be retracted.
Therefore, preferably, the third preset distance is greater than or equal to half the length of the body 1, that is, when the control module acquires that the intelligent mower 100 performs step S20 and the distance of forward movement is greater than half the length of the body 1, the support structure 11 can be controlled to retract, so that the support structure 11 can be retracted in time, and the influence of the support structure 11 on normal running of the intelligent mower 100 is reduced. The third preset distance may be set according to the size of the intelligent mower 100, and in this embodiment, the length of the body 1 of the intelligent mower 100 is 66cm, so the third preset distance may be 30cm, 31cm, 32cm, 33cm, 34cm, 35cm, and so on.
The application provides an intelligent mower 100, wherein the intelligent mower 100 comprises a machine body 1, a driving wheel 101 and a traveling wheel 102 which are arranged along the traveling direction of the machine body 1, a supporting structure 11 movably mounted on the machine body 1, at least one processor and a memory which is in communication connection with the at least one processor, wherein the memory stores instructions which can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method for escaping the intelligent mower 100 in the first embodiment.
In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flow chart.
The intelligent mower 100 provided by the application adopts the intelligent mower 100 in the embodiment to get rid of the trapping, and can solve the technical problem of trapping the intelligent mower 100. Compared with the prior art, the beneficial effects of the intelligent mower 100 provided by the application are the same as those of the method for removing the trapping of the intelligent mower 100 provided by the above embodiment, and other technical features of the intelligent mower 100 are the same as those disclosed in the method of the above embodiment, and are not repeated herein.
In the embodiment of the present application, referring to fig. 5 to 7, in the escaping state, the supporting structure 11 can also provide forward thrust for the fuselage 1, for example, the supporting structure 11 is inclined, and the distance between the supporting structure 11 and the driving wheel 101 becomes smaller in the upward direction, that is, the lower end of the supporting structure 11 is offset toward the travelling wheel 102, that is, the supporting structure 11 is inclined backward as a whole. The supporting structure 11 can provide a downward pressure (inclined to the direction of the travelling wheel 102) for the ground 2 in a supporting state, the pressure has a component opposite to the travelling direction of the intelligent mower 100, the ground 2 provides an upward thrust for the supporting rod, and the thrust has a component identical to the travelling direction of the intelligent mower 100, so that the ground 2 can push the body 1 to move forward through the supporting rod, and the intelligent mower 100 is further assisted to get rid of the trapping. Of course, in other embodiments, the support structure 11 may be disposed vertically.
In one embodiment, referring to fig. 4, the support structure 11 is configured as a lifting support bar 111, the lifting support bar 111 having a retracted position in a mowing condition and an extended position in a stranded-out condition. Specifically, the lifting support bar 111 is movably attached to the body 1, and can be lifted and lowered relative to the body 1. In the mowing state, the lifting support rod 111 is contracted, so that the lifting support rod 111 is separated from the ground, and normal operation of the intelligent mower 100 is ensured. At this time, the lifting support bar 111 is at least partially accommodated in the body 1, and in the escaping state, the lifting support bar 111 is unfolded, so that the lower end of the lifting support bar 111 is lowered to be in contact with the ground 2 to support the body 1, thereby assisting the intelligent mower 100 in escaping. The rod structure has a simple structure, occupies a small space, is beneficial to saving the internal space of the machine body 1, and is convenient to maintain and replace.
In this embodiment, the lifting support rod 111 is configured to switch between the first position and the second position by contracting or expanding itself, so as to reduce the internal space of the body 1. Of course, in other embodiments, the lifting support rod 111 can also be lifted by rotation, so that the lifting support rod 111 is driven by the driving motor to rotate, and lifting movement of the lifting support rod 111 is further realized, and the lifting support rod 111 can also be slidably mounted on the machine body 1, so that the lifting structure can directly lift by sliding up and down.
When the supporting structure 11 is configured as the lifting supporting rod 111, and when the lifting supporting rod 111 assists the fuselage 1 in escaping, the fuselage 1 tends to drive the lifting supporting rod 111 to move forward for a certain distance to ensure that the fuselage is completely escaping, at this time, the lifting supporting rod 111 and the ground 2 are in sliding friction, and the friction force is large, in order to reduce the friction, in another embodiment of the present invention, referring to fig. 3 and 4, the supporting structure 11 includes the lifting supporting rod 111, and a supporting wheel 112 rotatably mounted at one end of the lifting supporting rod 111 far away from the fuselage 1, the lifting supporting rod 111 is slidably mounted at the fuselage 1, and in the escaping state, the lifting supporting rod 111 drives the supporting wheel 112 to descend so as to jointly support the fuselage 1, that is, a supporting wheel 112 is added at the lower end of the lifting supporting rod 111, so that when the fuselage 1 drives the lifting supporting rod 111 to move, at this time, the lifting supporting rod 111 and the ground 2 become in rolling friction, thereby further reducing friction, and facilitating escaping of the intelligent mower 100.
In order to facilitate the storage of the supporting structure 11 and reduce the space occupied by the supporting structure 11, the size of the supporting wheel 112 is often smaller, at least smaller than the sizes of the driving wheel 101 and the travelling wheel 102.
Further, the support structure 11 further comprises a driving motor, which is capable of driving the support wheel 112 to rotate. That is, the supporting wheel 112 is also configured as a driving wheel, so as to provide forward thrust for the body 1, so that the supporting structure 11 not only can support the body 1 to increase the landing force of the body 1, but also can drive the body to move together with the driving wheel 101, thereby further facilitating the escape of the intelligent mower 100.
In an embodiment, the supporting structure 11 is configured to support a swing rod, where the swing rod includes a first end rotatably connected to the body 1 and a second end opposite to the first end, and in the escaping state, the second end swings out relative to the body 1 and abuts against the ground to support the body 1. Specifically, the first section of the supporting swing rod is rotatably mounted on the machine body 1, the lifting support rod 111 is at least partially accommodated in the machine body 1 in a mowing state, and the lifting support rod 111 swings downwards in a escaping state, and the second end swings out relative to the machine body 1 and abuts against the ground to support the machine body 1, so that the intelligent mower 100 is assisted in escaping. I.e. the support structure 11 is lifted and lowered by the swinging movement of the support structure 11. Of course, in other embodiments, the second end of the supporting swing link may be connected to the supporting wheel 112.
Referring to fig. 7, in the embodiment of the invention, the supporting structure 11 includes a first supporting rod 113 telescopically mounted on the machine body 1, a second supporting rod 114 rotatably connected to the lower end of the first supporting rod 113, and a limiting supporting sleeve sleeved on the first supporting rod 113 and the second supporting rod 114;
In the escaping state, before the side of the machine body 1, which is close to the travelling wheel 102, is lifted, the second supporting rod 114 partially extends out of the limit supporting sleeve 115 and is abutted against the lower edge of the limit supporting sleeve 115.
Specifically, the first supporting rod 113 is telescopically installed on the machine body 1, the second supporting rod 114 is arranged at the lower end of the first supporting rod 113, the second supporting rod 114 is rotatably connected with the first supporting rod 113, the first supporting rod 113 can drive the second supporting rod 114 to lift, namely when the machine body 1 is supported by the supporting structure 11, the first supporting rod 113 firstly drives the second supporting rod 114 to descend to a position where the second supporting rod 114 contacts the ground 2, along with the further descent of the supporting structure 11, the second supporting rod 114 bends relative to the first supporting rod 113, and when the second supporting rod 114 rotates to an included angle of the first supporting rod and the second supporting rod is at a preset angle, the second supporting rod 114 is abutted to the lower edge of the limiting supporting sleeve 115, so that the supporting structure 11 stably supports the machine body, and accordingly one side, close to the walking wheel 102, of the machine body 1 is supported by supporting force, and the intelligent mower is convenient to get rid of the trouble.
Referring to fig. 5, in the escaping state, before the side of the body 1 near the travelling wheel 102 is lifted, that is, when the supporting structure 11 just begins to support the body 1 by the supporting structure 11, a first preset angle may be formed between the first supporting rod 113 and the second supporting rod 114, and the first preset angle is generally smaller than 180 °, so that the supporting structure 11 is partially inclined, and when the supporting structure is supported, the second supporting rod 114 can generate an oblique upward thrust on the first supporting rod 113, and the thrust has a component corresponding to the same travelling direction of the intelligent mower 100, so that the ground 2 can push the body 1 to move forwards by the supporting rod, thereby further assisting the intelligent mower 100 to escape. And the limit support sleeve 115 can limit the first support bar 113 and the second support bar 114 to be stably maintained at a position at a first preset angle, thereby ensuring that the first support bar 113 and the second support bar 114 stably support the body. Optionally, the first support bar 113 and the second support bar 114 are hinged.
In this embodiment, the first support rod 113 is configured to switch between the first position and the second position by contracting or expanding itself, so as to reduce the internal space of the body 1. Of course, in other embodiments, the first support rod 113 can also be lifted by rotation, so that the first support rod 113 is driven to rotate by the driving motor, and the lifting movement of the first support rod 113 is further realized, and the first support rod 113 can also be slidably mounted on the machine body 1, so that the lifting structure can be lifted by sliding up and down directly.
Further, referring to fig. 5, in the escaping state, before the side of the machine body 1 near the travelling wheel 102 is lifted, the connection part of the first support rod 113 and the second support rod 114 is abutted against the side of the limit support sleeve 115 facing the driving wheel 101, that is, in the supporting state, the inclination directions of the second support rod 114 and the limit support sleeve 115 are the same, and the inclination degree of the second support rod 114 is greater than that of the limit support sleeve 115, so that the connection part of the first support rod 113 and the second support rod 114 is abutted against the side of the limit support sleeve 115 facing the driving wheel 101. At this time, the whole supporting structure 11 is inclined and supported on the machine body, or the limit supporting sleeve 115 is vertically arranged, and the second supporting rod 114 is inclined, so that the joint of the first supporting rod 113 and the second supporting rod 114 is abutted against one side of the limit supporting sleeve 115 facing the driving wheel 101. At this time, the whole part of the supporting structure 11 is inclined to the body. And because the junction butt in spacing supporting sleeve 115 of first bracing piece 113 and second bracing piece 114 is towards one side of action wheel 101 to make second bracing piece 114 can produce a thrust upwards to spacing bracing piece, and this thrust corresponds to have the same component with intelligent mower 100 direction of travel, thereby makes this ground 2 can promote fuselage 1 forward movement through the bracing piece, further assists intelligent mower 100 to get rid of the difficulty.
And because the inclination degree of the second supporting rod 114 is different from that of the limit supporting sleeve 115, when the limit structure is required to be stored, the second supporting rod 114 and the limit supporting sleeve 115 may be blocked, so in an embodiment, the upper end of the limit supporting sleeve 115 is arranged on the machine body 1 in a swinging way, the machine body 1 is also provided with a locking structure, and the locking structure fixes the limit supporting sleeve 115 in a escaping state. Specifically, in the supporting state, the locking structure is locked, so that the limit supporting sleeve 115 is fixed, the supporting structure 11 can stably support the machine body 1, and when the machine body needs to be converted into the storing state, the locking structure is unlocked, so that the limit supporting sleeve 115 can swing, the inclination degree of the limit supporting table is adjustable, the inclination angle of the second supporting rod 114 is adapted, and the supporting structure 11 is convenient to store.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
The present application also provides a computer readable storage medium having computer readable program instructions (i.e., a computer program) stored thereon for performing the method of the intelligent mower 100 described in the above embodiments.
The computer readable storage medium provided by the present application may be, for example, a U disk, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, or device, or a combination of any of the foregoing. More specific examples of a computer-readable storage medium may include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access Memory (RAM: random Access Memory), a Read-Only Memory (ROM), an erasable programmable Read-Only Memory (EPROM: erasable Programmable Read Only Memory or flash Memory), an optical fiber, a portable compact disc Read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this embodiment, a computer-readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, or device. Program code embodied on a computer readable storage medium may be transmitted using any appropriate medium, including but not limited to electrical wiring, fiber optic cable, RF (Radio Frequency) and the like, or any suitable combination of the foregoing.
The computer readable storage medium may be included in the intelligent mower 100 or may exist alone without being incorporated into the intelligent mower 100.
The computer readable storage medium carries one or more programs that, when executed by the intelligent mower 100, cause the intelligent mower 100 to apparatus by determining that the intelligent mower 100 is trapped;
The intelligent mower 100 is controlled to execute an auxiliary escape strategy, wherein the auxiliary escape strategy comprises controlling the supporting structure 11 to move to a supporting state, and controlling the driving module to drive the intelligent mower 100 to move towards the direction from the travelling wheel 102 to the driving wheel 101 so as to assist the intelligent mower 100 to escape.
Computer program code for carrying out operations of the present application may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of remote computers, the remote computer may be connected to the user's computer through any kind of network, including a local area network (LAN: local Area Network) or a wide area network (WAN: wide Area Network), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The modules involved in the embodiments of the present application may be implemented in software or in hardware. Wherein the name of the module does not constitute a limitation of the unit itself in some cases.
The foregoing description is only exemplary embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the description of the present invention and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the present invention.
Claims (8)
1. The intelligent mower escape method is characterized by comprising a machine body, a driving wheel and travelling wheels, wherein the driving wheel and the travelling wheels are arranged along the travelling direction of the machine body, a supporting structure is movably arranged on the machine body and is positioned between the driving wheel and the travelling wheels, the supporting structure is in a supporting state for supporting the machine body and a receiving state for separating from the ground, and the intelligent mower escape method comprises the following steps:
Determining that the intelligent mower is stranded;
Controlling the intelligent mower to execute an auxiliary escape strategy, wherein the auxiliary escape strategy comprises controlling the supporting structure to move to a supporting state, and controlling a driving module to drive the intelligent mower to move in the direction from a self-travelling wheel to a driving wheel so as to assist the intelligent mower to escape;
The intelligent mower further comprises a distance sensor arranged on the walking wheel or on one side of the machine body close to the walking wheel, and the step of determining that the intelligent mower is trapped comprises the following steps:
Acquiring the distance between the distance sensor and the ground in a second preset time period through the distance sensor;
when the distance between the distance sensor and the ground in the second preset time period is greater than or equal to a first preset distance, determining that the intelligent mower is trapped;
the machine body is provided with a plurality of touch sensors, and before the step of determining that the intelligent mower is trapped, the intelligent mower escaping method further comprises the steps of:
Acquiring the contact state of a human body and the surface of the machine body through the touch sensor;
and when the body surface is determined to be in a human body contact-free state, executing the step of determining that the intelligent mower is trapped.
2. The intelligent mower extraction method of claim 1 wherein said step of determining that said intelligent mower is stuck further comprises:
and acquiring the running information of the intelligent mower, and determining that the intelligent mower is trapped according to the running information.
3. The intelligent mower extraction method of claim 2, wherein the step of obtaining travel information of the intelligent mower and determining that the intelligent mower is trapped according to the travel information comprises:
Acquiring the running speed of the intelligent mower and the working state of the driving module, determining that the intelligent mower is trapped when the running speed of the intelligent mower is zero and the driving module is in the running state, or,
And when the displacement of the intelligent mower in the first preset time period is within a preset range and the driving module is in an operating state, determining that the intelligent mower is trapped.
4. The intelligent mower extraction method of claim 1 wherein after the step of determining that the intelligent mower is trapped and before the step of the intelligent mower performing an auxiliary extraction strategy, the intelligent mower extraction method further comprises the steps of:
controlling the intelligent mower to execute an attempt to get rid of poverty strategy;
determining whether the intelligent mower is stranded;
And if the intelligent mower is still trapped, executing the try trapping strategy again until the execution times reach the preset times, and triggering the intelligent mower to execute the auxiliary trapping strategy.
5. The intelligent mower extraction method of claim 4 wherein the step of controlling the intelligent mower to perform an attempted extraction strategy comprises:
controlling the driving module to drive the intelligent mower to travel a second preset distance from the main driving wheel to the travelling wheel;
and controlling the driving module to drive the intelligent mower to run in the direction from the travelling wheel to the driving wheel at a preset speed.
6. The intelligent mower extraction method of claim 1, wherein the intelligent mower further comprises a positioning module arranged on the body, and the intelligent mower extraction method further comprises the steps of:
After the step of determining that the intelligent mower is trapped, and before the step of controlling the intelligent mower to execute an auxiliary stay-away strategy, acquiring a first position of the intelligent mower through the positioning module;
After the intelligent mower is controlled to execute the auxiliary escape strategy, acquiring a second position of the intelligent mower through the positioning module;
when the distance between the first position and the second position is larger than a third preset distance, determining that the intelligent mower is completely out of the way;
and controlling the supporting structure to move to a storage state.
7. The intelligent mower extraction method of claim 6 wherein the third predetermined distance is greater than or equal to half the length of the mower body.
8. An intelligent mower comprising a main body, a driving wheel and a travelling wheel arranged along the travelling direction of the main body, a supporting structure movably mounted on the main body, a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the supporting structure is positioned between the driving wheel and the travelling wheel, and the supporting structure has a supporting state for supporting the main body and a storage state separated from the ground, and the computer program is configured to realize the steps of the intelligent mower escaping method as claimed in any one of claims 1 to 7.
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