WO2015110006A1 - 自动割草机 - Google Patents

自动割草机 Download PDF

Info

Publication number
WO2015110006A1
WO2015110006A1 PCT/CN2015/071207 CN2015071207W WO2015110006A1 WO 2015110006 A1 WO2015110006 A1 WO 2015110006A1 CN 2015071207 W CN2015071207 W CN 2015071207W WO 2015110006 A1 WO2015110006 A1 WO 2015110006A1
Authority
WO
WIPO (PCT)
Prior art keywords
automatic
module
lawn mower
image
mower
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/CN2015/071207
Other languages
English (en)
French (fr)
Inventor
查霞红
田角峰
刘芳世
邵勇
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
Priority claimed from CN201410027369.1A external-priority patent/CN104782314A/zh
Priority claimed from CN201410096054.2A external-priority patent/CN104904404A/zh
Application filed by Positec Power Tools Suzhou Co Ltd filed Critical Positec Power Tools Suzhou Co Ltd
Priority to CN201580004705.3A priority Critical patent/CN106102446A/zh
Priority to EP15740684.4A priority patent/EP3097755A4/en
Priority to EP19213907.9A priority patent/EP3682725A1/en
Priority to US15/112,934 priority patent/US20160338262A1/en
Publication of WO2015110006A1 publication Critical patent/WO2015110006A1/zh
Anticipated expiration legal-status Critical
Priority to US16/244,894 priority patent/US20190141886A1/en
Priority to US16/719,728 priority patent/US11622499B2/en
Priority to US18/131,636 priority patent/US20230240175A1/en
Priority to US18/298,123 priority patent/US20230240176A1/en
Ceased legal-status Critical Current

Links

Images

Classifications

    • 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
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/001—Accessories not otherwise provided for
    • A01D34/003—Means for cleaning the machine
    • 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
    • A01D42/00—Mowers convertible to apparatus for purposes other than mowing; Mowers capable of performing operations other than mowing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
    • B08B1/12—Brushes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
    • B08B1/16—Rigid blades, e.g. scrapers; Flexible blades, e.g. wipers
    • B08B1/165—Scrapers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
    • B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
    • B08B1/34—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members rotating about an axis parallel to the surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
    • B08B3/02—Cleaning by the force of jets or sprays
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B5/00—Cleaning by methods involving the use of air flow or gas flow
    • B08B5/02—Cleaning by the force of jets, e.g. blowing-out cavities
    • 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
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • 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
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • 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
    • G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING SYSTEMS, e.g. PERSONAL CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms
    • G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
    • G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
    • G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D2101/00—Lawn-mowers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/40—Working vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2250/00—Driver interactions
    • B60L2250/10—Driver interactions by alarm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B60L2260/32—Auto pilot mode

Definitions

  • the present invention relates to the field of power tools, and more particularly to an automatic lawn mower.
  • the lawn mower As a tool for quick and efficient dressing of lawns, lawn mowers are widely used in urban greening and family weeding.
  • the lawn mower further includes an automatic lawn mower.
  • the automatic mower can complete the work of mowing the lawn autonomously, without manual control and operation, and has low power, low noise, Vietnamese appearance and beautiful operation, and greatly reduces manual operation.
  • the automatic mower obtains video and/or images by installing an image acquisition device on the lawn mower, and identifies other objects such as grass, obstacles, and the like by color and/or texture.
  • the main function of the commonly used lawn mower is to achieve automatic mowing, and the function is relatively simple. At present, it is expected that a device can have multiple functions, which is convenient to use, and can save the cost of purchasing other devices again.
  • image acquisition devices generally include a lens, and if the lens is not clean, the image or video may be unclear.
  • the unclear image or video will cause the automatic mower to misjudge the grass or obstacles, which will cause the mower to not work properly.
  • the invention provides an automatic lawn mower that automatically walks and works in a work area, comprising a casing; a mowing module, is housed in the casing, performs predetermined mowing work; and a walking module supports the casing and drives The automatic mower is driven; the information collecting device is disposed on the casing for collecting external environmental information; the energy module provides energy for the automatic mower; and the control module connects and controls the mowing module, The walking module, the information collecting device and the energy module are configured to realize automatic walking and automatic working of the automatic lawn mower; wherein the automatic lawn mower further comprises an alarm module for alarming; the control module comprises An identification unit, the identification unit receives information collected by the information collection device; the automatic lawn mower has a safe inspection operation mode, and in the safety inspection operation mode, the identification unit analyzes and judges the work according to the information collected by the information collection device Whether there is an abnormal object in the area; if there is an abnormal object, the control module controls the alarm module to issue an alarm to the outside Signal.
  • the information collecting device includes an image collecting device, and the identifying unit analyzes and determines whether an abnormal object exists in the working area according to the image information acquired by the image collecting device.
  • the identification unit identifies whether the object is an abnormal object by the size or contour of the object presented in the image information.
  • the identification unit comprises a face recognition program
  • the face recognition program recognizes a face and determines whether the recognized face is a strange face, and if so, determines that an abnormal object exists in the work area.
  • the image capture device is rotatably secured to the housing.
  • the automatic lawn mower further comprises a driving device for driving the image capturing device to perform a rotary motion, and the control module controls the rotational motion of the image capturing device by the driving device.
  • the information collecting device comprises an infrared sensor, and the temperature is detected by the infrared sensor, and the identifying unit determines whether there is an abnormal object in the working environment according to whether the temperature is in a predetermined range.
  • the alarm module comprises a lighting alarm device or an audible alarm device disposed on the automatic lawn mower.
  • the automatic lawn mower further comprises a wireless communication module, and the wireless communication module comprises a Wi-Fi module, a cellular communication module or a Bluetooth module.
  • the wireless communication module comprises a Wi-Fi module, a cellular communication module or a Bluetooth module.
  • the alarm module transmits an alarm signal such as an image, a text or an audio to the external device through the wireless communication module.
  • the automatic mower receives a control command sent by an external device through the wireless communication module, and controls its own work or walking according to the control command.
  • control module starts the safety patrol working mode when the working environment related parameter meets the preset condition.
  • control module includes a path setting unit, and the path setting unit is configured to set a patrol route, and the automatic lawn mower patrols according to the patrol route in a safe patrol working mode.
  • the present invention also provides an automatic lawn mower, comprising a casing; a mowing module received in the casing to perform a predetermined mowing work; a walking module supporting the casing and driving the automatic mower to walk; An information collecting device disposed on the casing for collecting external environment information; an energy module for providing energy to the automatic mower; and a control module for connecting and controlling the mowing module, the walking module, and the information
  • the automatic device and the energy module realize automatic walking and automatic operation of the automatic lawn mower; wherein the automatic lawn mower further includes an alarm module for alarming; the control module includes a recognition result processing unit;
  • the grass machine has a safe patrol working mode.
  • the recognition result processing unit transmits the collected external environment information to the external device and receives the recognition result obtained by the external device based on the information analysis and judgment, and the identification
  • the result indicates whether there is an abnormal object in the working area; if there is an abnormal object, the control module controls the alarm mode An alarm signal to the outside world.
  • the automatic lawn mower comprises a wireless communication module, and the recognition result processing unit communicates with an external device through a wireless communication module.
  • the information collecting device comprises an image collecting device
  • the external environment information comprises image or video information collected by the image collecting device.
  • the information collecting device comprises an infrared sensor
  • the external environment information comprises an infrared sensor detecting temperature information of an external object.
  • the automatic lawn mower includes an alarm module for alarming, the control module includes an identification unit; the automatic lawn mower has a safe patrol working mode, and in the safe patrol working mode, the identification unit analyzes and determines whether the working environment is There is an abnormal object; if there is an abnormal object, the alarm module sends an alarm signal to the outside world. Therefore, the automatic lawn mower can realize the function of safe inspection in addition to the function of trimming the lawn.
  • the automatic mower has multiple uses for cost savings.
  • the invention provides an automatic walking device, which automatically walks and works in a working area, comprising: a housing; a working module, is housed in the housing to perform a predetermined work; a walking module supports the housing; and an image collecting device Provided on the housing, comprising a lens; an energy module for providing energy for walking and walking of the automatic walking device; a control module connecting and controlling the working module, the walking module, the image collecting device and the energy The module realizes automatic walking and automatic operation of the automatic walking device; wherein the automatic walking device further comprises a cleaning device for maintaining the cleaning of the lens.
  • the automatic walking device further includes a cleaning control unit that controls the cleaning device to automatically clean the lens according to a preset program.
  • the cleaning device includes a shielding piece disposed on the lens, the shielding piece being movable to shield or expose the lens, and the shielding piece is provided with a cleaning element capable of cleaning the lens when the shielding piece moves.
  • the cleaning element is a cleaning brush or a sheet-like cleaning sheet.
  • the cleaning element is detachably mounted on the shielding sheet.
  • the cleaning device includes a micro fan disposed on the lens, the micro fan generating an air flow to clean the lens.
  • the micro fan comprises a fan blade made of a piezoelectric material, and the high frequency vibration of the blade generates the air flow.
  • the cleaning device comprises a transparent cover enclosing the image capture device and a cleaning element for cleaning the transparent cover.
  • the cleaning element comprises a cleaning brush fixed on a side of the image capturing device opposite to the lens, the transparent cover being rotatable about the image capturing device, the cleaning brush being rotated when the transparent cover is rotated around the image capturing device
  • the transparent cover can be cleaned.
  • the cleaning brush is detachably mounted on one side of the image capturing device with respect to the lens.
  • the transparent cover is driven by a motor to automatically rotate around the image capture device.
  • the cleaning element comprises a cleaning brush for cleaning the transparent cover, the cleaning brush being located outside the transparent cover facing the lens portion.
  • the cleaning brush is driven by a motor and is reciprocally movable along the outside of the transparent cover to automatically clean the transparent cover.
  • the cleaning element comprises a spraying device for cleaning the transparent cover, the spraying device being located outside the transparent cover facing the lens portion.
  • the spraying device comprises a water spraying device or a jet device, and the transparent dust cover is cleaned by a jet of water or a gas stream.
  • the cleaning control unit compares the image collected by the image capturing device with the preset reference image at a preset position, and controls the lens cleaning device to perform a cleaning task when determining that there is a difference between the two. .
  • the automatic walking device includes an alarm module
  • the cleaning control unit compares the image collected by the image capturing device with the preset reference image at a preset position, and controls when there is a difference between the two.
  • the alarm module generates a reminder signal.
  • the above-mentioned automatic walking device is provided with a cleaning device for maintaining the cleanness of the lens, thereby preventing the image or video taken by the lens from being unclear, preventing the image or video from being unclear, causing the automatic walking device to misjudge the grass or obstacle, etc., and the automatic walking device cannot normal work.
  • Figure 1 is a schematic view showing the structure of an automatic lawn mower of an embodiment
  • FIG. 2 is a schematic diagram of functional modules of the automatic lawn mower shown in FIG. 1;
  • FIG. 3 is a schematic view showing the shielding piece of the lens cleaning device of one embodiment in a fully opened state
  • FIG. 4 is a schematic view showing the shielding piece of the lens cleaning device of the embodiment shown in FIG. 3 in a partially opened state;
  • Figure 5 is a schematic view showing the shielding piece of the lens cleaning device of the embodiment shown in Figure 3 in a closed state
  • FIG. 6 is a schematic view of a lens cleaning device of a micro fan of an embodiment
  • Figure 7 is a schematic view showing the cleaning device of the transparent cover and the cleaning brush of one embodiment
  • Figure 8 is a schematic view showing the cleaning device of the transparent cover and the cleaning brush of another embodiment
  • Figure 9 is a schematic view of a cleaning device for a transparent cover and a spray device of one embodiment.
  • Second occlusion piece 164 Recognition result processing unit 200. External device
  • an embodiment of the present invention provides an automatic lawn mower 100.
  • the automatic mower 100 has a housing 110 and an information collecting device mounted on the housing 110.
  • the information collection device is an image acquisition device 140.
  • the image capture device 140 captures the target area of the automatic mower 100 to form an image.
  • the automatic mower 100 further includes a work module 120, a walking module 130, an energy module 150, a control module 160, and an alarm module 190.
  • the control module 160 connects and controls the walking module 130, the working module 120, the energy module 150, and the image capturing device 140.
  • the working module 120 is a mowing module, specifically a cutting component, such as a cutting blade.
  • the working module 120 is driven by a cutting motor (not shown).
  • the center of the working module 120 is located on the central axis of the automatic mower 100 and is disposed below the housing 110 between the auxiliary wheel and the drive wheel.
  • the walking module 130 includes a wheel set and a travel motor that drives the wheel set.
  • the wheel set includes a driving wheel driven by a traveling motor and an auxiliary wheel of the auxiliary supporting housing 110.
  • the number of driving wheels may be one, two or more, and the auxiliary wheels may be set to one or two, respectively.
  • the automatic lawn mower 100 has two driving wheels, which are a right driving wheel on the right side and a left driving wheel on the left side.
  • the right and left drive wheels are symmetrically disposed about the central axis of the automatic mower 100.
  • the center of the auxiliary wheel is located on the central axis.
  • the right and left drive wheels are preferably located at the rear of the housing 11 with the auxiliary wheels at the front.
  • the settings can also be replaced in other embodiments.
  • the right drive wheel and the left drive wheel are each coupled to a drive motor to achieve differential output to control steering.
  • the drive motor can be directly coupled to the drive wheel, but a transmission can also be provided between the drive motor and the drive wheel, such as a planetary gear train as is common in the art.
  • two drive wheels may be provided, one for the drive motor.
  • the drive motor drives the right drive wheel through the first transmission and the left drive wheel through the second transmission. That is, the same motor drives the right and left drive wheels through different transmissions.
  • the image capture device 140 is mounted at a position on the front of the housing 110, preferably centrally located, to capture image information of the target area.
  • the viewing range of the image capturing device 140 has different viewing angle ranges according to different types of collecting devices, such as a viewing angle range of 90 degrees to 120 degrees.
  • a certain angle range within the range of the viewing angle may be selected as the actual viewing range, for example, the 90 degree range located in the middle of the viewing angle range of 120 degrees is selected as the actual viewing range.
  • image capture device 140 is rotatably secured to housing 110.
  • the automatic mower 100 is provided with a driving device that drives the image capturing device 140 to perform a rotational motion.
  • the control module 160 is coupled to the drive device, and the image capture device 140 can be controlled to perform a rotational motion by the drive device.
  • the image capture device 140 has a multi-angle field of view by rotational motion.
  • an illumination light can also be mounted on the image capture device 140 of the automatic mower 100.
  • the illuminator can follow the image capture device 140 for rotation.
  • the image captured by the image capture device 140 can be made clearer by turning on the illumination light, thereby facilitating the recognition of the suspicious object. This makes it easy to judge how to deal with it.
  • the energy module 150 is used to power the operation of the automatic mower 100.
  • the energy source of the energy module 150 may be gasoline, a battery pack, etc., and in this embodiment, the energy module 150 includes a rechargeable battery pack disposed within the housing 110. At work, the battery pack releases electrical energy to maintain the automatic mower 100 in operation and walking. When not in use, the battery can be connected to an external power source to supplement the power. In particular, for a more user-friendly design, the automatic lawn mower 100 automatically looks for charging station supplemental power when it is detected that the battery is low.
  • the control module 160 is used to control the operation and walking of the automatic mower 100. As shown in FIG. 2, the identification module 162 is included in the control module 160. The identification unit 162 is configured to analyze the image information acquired by the image collection device 140 to identify whether there is an abnormal object in the working environment.
  • the recognition unit 162 identifies whether the object is an abnormal object by the size or contour of the object presented in the image information.
  • the specific implementation manner is that the identification unit 162 is provided with a specific program to determine whether there is an abnormal object in the working environment from the image information.
  • the specific program in the recognition unit 162 determines whether the content in the image information reaches a certain size or a specific contour by an algorithm such as image segmentation or image extraction, thereby determining that an abnormal object appears in the working environment.
  • the identification unit 162 can determine whether an abnormal object exists in the working environment by comparing the content in the image information obtained in real time with the content in the storage unit.
  • the automatic mower 100 is provided with a storage unit in which features of an abnormal object or features of a non-abnormal object are stored, and the recognition unit 162 passes the image information and the content in the storage unit by an image matching algorithm Match matching, judge the working ring when the characteristics of the abnormal object appear When an abnormal object appears in the environment, or other features of the non-abnormal object appear, it is judged that an abnormal object appears in the working environment.
  • the recognition unit 162 includes a face recognition program that determines whether a person is invaded within the work environment.
  • the specific implementation process is that the identification unit 162 detects whether there is a human face in the image obtained in real time through a face recognition program (eg, based on a template matching algorithm, based on a singular value feature algorithm, a subspace analysis algorithm, a principal component analysis algorithm, etc.). If the result of the test is that the image contains a human face, it means that someone in the working environment has invaded.
  • the automatic mower is provided with a storage unit in which the user and its face image for setting a specific member are stored.
  • the recognition unit 162 After the recognition unit 162 detects that the face is included in the image, the recognition unit 162 compares the face feature with the face feature already provided in the storage unit. If the comparison is different, the stranger invades. Through the face comparison, the automatic mower 100 is more intelligent and can distinguish between strangers and non-strangers.
  • the alarm module 190 will only send an alarm signal to the outside world when a stranger is present.
  • the information collection device is an infrared sensor.
  • the automatic mower 100 detects the temperature by the infrared sensor, and the recognition unit 162 determines whether or not there is an abnormal object in the working environment depending on whether the temperature is within a predetermined range.
  • the automatic mower 100 detects the temperature of an object occurring in the working environment by an infrared sensor. If the detected temperature is within a predetermined range, such as 36.0 ° C to 37.8 ° C, the identification unit 162 determines that an abnormal object exists in the working environment.
  • the predetermined temperature range is artificially set by an abnormal object, and when the abnormal object is another animal or object, the preset temperature range can be changed accordingly.
  • the alarm module 190 sends an alarm signal to the outside.
  • the automatic mower 100 may be provided with an alarm device, such as a sounding device (sound siren), a lighting device, etc., and when the alarm module 190 receives the abnormal object information, the alarm device is activated. In one embodiment, the automatic mower 100 is not provided with an alarm device.
  • the wireless communication module 170 can be activated to send an alarm signal to the external device 200 through the wireless communication module 170.
  • the alarm signal may be an image acquired in real time, a text reminder of an abnormal object, an email of a text alert prompt content, or a special audio.
  • the external device can be a personal mobile device such as a computer, a mobile phone, or a remote controller.
  • the wireless communication module 170 can be a Wi-Fi communication module or a cellular mobile communication module or a Bluetooth module.
  • the automatic mower 100 can transmit not only image information or an alarm signal to the external device 200 through the wireless communication module 170, but also control information of the external device 200 through the wireless communication module 170.
  • the automatic mower 100 can work and walk according to the control information of the external device 200, such as controlling whether the automatic mower 100 is in the mowing mode or the safety patrol mode, controlling whether the automatic mower 100 is stopped, and controlling whether the image capturing device 140 is controlled. Rotate and other movements.
  • the automatic mower 100 transmits information collected by the information collection device to the external device 200 through the wireless communication module 170.
  • the external device 200 makes a corresponding control command based on the received information.
  • Automatic mower The control module 160 of 100 includes a recognition result processing unit 164 that receives the control command sent by the external device 200 through the wireless communication module 170, and the automatic mower 100 controls its own walking or working according to the control command, such as control. Whether the automatic mower 100 is in the mowing work mode or the safe tour mode controls whether the automatic mower 100 is stopped or not, and controls whether the automatic mower 100 rotates or the like.
  • the automatic lawn mower 100 can realize the safety patrol function, that is, the automatic lawn mower 100 not only has the working mode of trimming the lawn like the ordinary automatic lawn mower, but also has the working mode of safe patrol. .
  • the control module 160 is provided with a path setting unit 166.
  • the path setting unit 166 can set the rule of the patrol path according to the requirements of the working environment: for example, a plurality of fixed-point patrols are performed at a place that is easily invaded by the abnormal object, and the patrol path is patrolled at a specific time.
  • the automatic mower 100 to start the safe patrol work mode.
  • the user manually starts, and the work mower selection button is provided on the automatic mower 100, and the user manually selects the mowing work mode or the safe patrol work mode through the button. .
  • the user remotely activates through the external device 200 mobile phone, computer, pad, remote control, etc.
  • the client corresponding to the personal mobile device is provided in the control module 160 of the automatic mower 100, and the personal mobile device is matched.
  • the client chooses to start the mowing mode or the safe tour mode.
  • a predetermined program is set in the control module 160 of the automatic mower 100, the safety patrol work mode or the mowing work mode is automatically started when certain conditions in the work environment meet the predetermined conditions.
  • the startup program provided in the control module 160 activates different working modes of the automatic lawn mower 100 according to time, such as the automatic lawn mower 100 starts the mowing work mode during the day, and starts the safety inspection work mode at night.
  • the automatic mower 100 starts the mowing work mode in spring and summer, and starts the safety inspection work mode in autumn and winter.
  • the control module 160 initiates different modes of operation depending on whether the wireless communication module 170 of the automatic mower 100 is in a communication state. When the wireless communication module 170 is in a communication state, that is, the user is in a range not far from the working environment, the automatic mower 100 starts the mowing operation mode; when the wireless communication module 170 is in a non-communication state, it means that the user may go out. Then, the automatic mower 100 starts the safe tour mode.
  • the automatic lawn mower 100 has the same function as a conventional automatic lawn mower to trim the lawn.
  • the automatic lawn mower 100 is required to trim the lawn, it is only necessary to open the corresponding switch, which works in the same way as the conventional automatic lawn mower.
  • the automatic mower 100 can automatically perform mowing according to the set program.
  • the automatic mower 100 can also be controlled to be cut by an external device 200 (a personal mobile device such as a computer, a mobile phone, or a remote controller). Grass work.
  • the automatic mower 100 also has a safety patrol function.
  • the automatic mower 100 is required to perform a safety patrol, the automatic mower 100 is adjusted to a safe patrol mode of operation.
  • the safety patrol function of the automatic mower 100 can be started at the same time as the function of trimming the lawn, or can be opened separately.
  • the safety patrol function of the automatic mower 100 has two implementation modes, one is a fully automatic patrol mode and the other is a semi-automatic patrol mode. The user can select the automatic lawn mower 100 to adopt a fully automatic safety inspection mode or a semi-automatic safety inspection mode according to actual needs.
  • the control module 160 of the automatic mower 100 will control the operation of the walking module 130 and set the automatic mower 100 along the path setting unit 166. Patrol path patrol.
  • the image capture device 140 While the automatic mower 100 is in motion, the image capture device 140 will operate simultaneously to capture the surrounding environment.
  • the image captured by the image capture device 140 will be passed to the recognition unit 162, which performs an analysis process on the captured image to determine whether the image capture device 140 has captured an abnormal object.
  • the abnormal object here can be judged according to the size and movement of the photographed object. For example, when a moving object of a specified size is photographed, that is, an abnormal object is considered, the alarm module 190 sends an alarm signal to the outside.
  • the moving objects of the size specified here include people, cars, dogs, etc., and the size of the specified size may be longer or higher than 30 cm.
  • the image captured by the image capturing device 140 may be directly transmitted to the external device 200 through the wireless transmission module 170 without being processed by the identification unit 162, where the external device 200 is, for example, a computer, a mobile phone, a remote controller, or the like.
  • the external device 200 may process the image to determine whether an abnormal object exists, or may be recognized by a staff member or a user to determine whether an abnormal object exists.
  • the alarm module 190 sends an alarm signal to the outside world.
  • the alarm module 190 can issue an alarm sound or an alarm image or information.
  • the automatic mower 100 can be operated by the external device 200 to perform the next action. For example, the user can transmit a control signal to the automatic mower 100 through the external device 200. After the automatic mower 100 receives the control signal through the wireless communication module 170, it will be processed by the control module 160, and the control module 160 processes the data. This control turns on the video light to get a clear image, cancel the alarm, and travel to a dangerous object.
  • the automatic lawn mower 100 has a function of safely inspecting and detecting an alarm after a danger, and handling a danger by a worker.
  • the automatic lawn mower 100 since the automatic lawn mower 100 has the function of trimming the lawn at the same time, the automatic lawn mower 100 has the advantage of having multiple uses of one device. In this way, it is only necessary to purchase a device to realize the function of trimming the lawn and safely patrolling, thereby achieving the purpose of cost saving.
  • the user When the user selects the automatic lawn mower 100 to operate in the semi-automatic safe tour mode, the user can view the image information content displayed by the monitor or the external device 200, and then send a control command to the automatic lawn mower 100 through the external device 200, Thereby the movement of the automatic mower 100 is controlled so that the user sees the area that he wants to observe. At the same time, the user can also control the image capturing device 140 to rotate or turn on the image light through the external device 200 to better observe the area to be observed.
  • the wireless communication module 170 of the automatic mower 100 receives the control signal from the external device 200, and also transmits the image captured by the image capture device 140 to the external device 200 or a monitor or the like.
  • the control module 160 processes the signal received by the wireless communication module 170, the operation of the image acquisition device 140, the walking module 130, the working module 120, and the like will be controlled according to the processing result.
  • the external device 200 can control further operations of the image capturing device 140, the walking module 130, the alarm module 190, and the like of the automatic mower 100.
  • the user controls the automatic mower 100 to stop motion, control the alarm module 190 alarm, and the like through the external device 200.
  • the automatic mower has an image collecting device on the casing, and the working module, the walking module and the control module are arranged in the casing, so that the identification unit in the control module can analyze the image taken by the image capturing device or the infrared sensor.
  • the detected temperature control alarm module performs an alarm. Therefore, in addition to the function of trimming the lawn, the lawn mower can also realize the function of safe inspection.
  • the lawn mower has the advantage of multiple uses of the device, and the functions of mowing and monitoring can be realized without manufacturing two devices, thereby achieving the advantage of saving manufacturing costs.
  • Image acquisition device 140 includes a lens 142.
  • the lens 142 is used to capture video images in the working area of the automatic mower 100. If the lens 142 is not clean, the image will be unclear, and the image will be unclear, which will cause the machine to misjudge the grass or obstacles, which will cause the mower to not work properly.
  • the automatic mower 100 is provided with a cleaning device 143 for maintaining the cleanliness of the lens 142. The user can manually clean the lens 142 by the cleaning device 143.
  • the automatic mower 100 is also provided with a cleaning control unit 168 that controls the cleaning device 143 to automatically clean the lens 142 in accordance with a predetermined procedure.
  • the lens 142 can be kept clean without user involvement.
  • the cleaning device 143 includes a shutter 145 disposed on the lens 142 and a cleaning member 147 disposed on the shutter 145.
  • the shielding piece 145 is movable relative to the lens 142. When the shutter 145 is moved relative to the lens 142, the cleaning member 147 can clean the lens 142, making the lens 142 clean, thereby taking a sharp image.
  • the shielding piece 145 includes a first shielding piece 1451 and a second shielding piece 1452.
  • the first shielding piece 1451 and the second shielding piece 1452 can be closed or separated from each other.
  • the lens 142 is shielded.
  • the shielding piece 145 can also be a unitary type without being necessarily provided in two parts.
  • the first shielding piece 1451 and the second shielding piece 1452 may be moved up and down or left and right.
  • the cleaning member 147 is a cleaning brush, which may be provided with one or more, and the cleaning member 147 may be alternatively disposed on the first shielding sheet 1451 and the second shielding sheet 1452, or the cleaning member 147 may be entirely disposed.
  • the cleaning element 147 can also be a sheet-like cleaning sheet which can also be dip coated with a cleaning agent to improve the cleaning effect.
  • the cleaning element 147 is removably mounted on the shutter 145. After the cleaning element 147 is operated for a period of time, the user can disassemble the cleaning element 147, clean it and then use it; or when the cleaning element 147 is broken, the user can remove the cleaning element 147 and replace it with a new one.
  • the first shielding piece 1451 and the second shielding piece 1452 are separated to expose the lens 142; as shown in FIG. 5, the image capturing device 140
  • the first shielding piece 1451 and the second shielding piece 1452 are closed and the lens 142 is shielded.
  • the first shielding piece 1451 and the second shielding piece 1452 of the shielding piece 145 are closed in the direction of the arrow shown in FIG. 4, and the cleaning element 147 can clean the lens 142 during the closing process.
  • the cleaning element 147 can also clean the lens 142 during the separation of the first and second shutters 1451 and 1452 along the arrow shown in FIG.
  • the cleaning device 143 includes a microfan 144 disposed on the lens 142.
  • the lens 142 is cleaned by the air flow generated by the micro fan 144.
  • the fan needs to be provided with the lens 142, and its size needs to be adapted to the size of the lens 142.
  • the micro fan 144 includes a blade made of a piezoelectric material, and the micro fan 144 is driven by a driving circuit to perform high frequency vibration, such as a vibration frequency of 26,000 times/second. By utilizing the vibration of the piezoelectric material, the fan blade generates an air flow, and the airflow passes through the air passage to blow off the dirt or vapor on the lens 142, thereby achieving a clean effect.
  • the micro fan 142 can also adopt a common fan, and only needs to have a large airflow, and the purpose of cleaning the lens 142 can also be achieved.
  • the design of the air duct can be varied, in addition to the design of the single duct shown in FIG. If the multi-duct design or the positional relationship between the micro fan 144 and the lens 142 is changed, only the wind generated by the micro fan 144 can be blown to the lens 142 to achieve the object of the present invention.
  • the cleaning device 143 includes a transparent cover 146 that encloses the image capture device 140 and a cleaning element 147 for cleaning the transparent cover 146.
  • the transparent cover 146 surrounds the image capturing device 140, so that dust or the like cannot directly contact the lens 142, so that it is only necessary to clean the transparent cover 146 to maintain the lens 142 clean.
  • the cleaning member 147 is a cleaning brush mounted on the side of the image pickup device 140 opposite to the lens 142.
  • the cleaning brush is detachably mounted on one side of the image pickup device 140 with respect to the lens 142 so that the user can remove the cleaning brush for cleaning or replacement.
  • the transparent cover 146 is rotatable about the image capture device 140 in the direction of the arrow shown. When the transparent cover 146 is rotated, the cleaning brush 147 can clean the transparent cover 146.
  • the rotation of the transparent cover 146 can be performed by a single
  • the single drive motor 180 is driven, and the drive motor existing in the automatic mower 100 can also be shared.
  • the cleaning element 147 is a cleaning brush.
  • the cleaning brush 147 is located outside the transparent cover 146 that faces the portion of the lens 142.
  • the cleaning brush 147 is driven by the drive motor 180 to be reciprocally movable along the outside of the transparent cover to clean the range of the transparent cover 146 facing the lens 142.
  • the rotation of the cleaning brush 147 can be driven by the separate drive motor 180 or the drive motor already existing in the automatic mower 100.
  • the cleaning element 147 is a spray device.
  • Spray device 147 is located outside of transparent cover 146 that is opposite the portion of lens 142.
  • the spray device 147 can cause the water spray device or the air jet device to clean the transparent cover 146 by the sprayed water flow or air flow.
  • Cleaning of the lens 142 of the image capture device 140 of the automatic mower 100 can be accomplished in a variety of ways, such as a pure manual cleaning mode, a semi-automatic cleaning mode, and a fully automatic cleaning mode.
  • the cleaning device 143 includes a shielding piece 145 and a cleaning member 147 as an example of a cleaning method.
  • the cleaning manner of other embodiments is similar to the process implemented in this embodiment.
  • Semi-automatic cleaning mode The timing of cleaning the lens 142 by experience alone may bring about the following problems: the cleaning is too early, and the image capturing device 140 can also capture a sufficiently clear image, which may affect the working efficiency of the automatic mower 100; After cleaning too late, the working efficiency of the lens 142 has become low, which may increase the risk of the automatic mower 100 working, and even cause the automatic mower 100 to malfunction.
  • the cleaning control unit 168 compares the real-time image collected by the image capturing device 140 with the preset reference image when the automatic mower 100 is in the preset position, and controls when there is a difference between the two.
  • the alarm module 190 issues an alarm.
  • the reference image is an image captured by the lens 142 under a specific scene in a clean situation, and the position of the shooting is consistent with the preset position, ensuring that the scene of the real-time image and the scene of the reference image are consistent.
  • the automatic mower 100 may collect a real-time image and compare it with the reference image each time before the departure from the charging station or the starting station, and control the alarm module when judging the difference between the two. 190 issued an alarm.
  • the reference image is an image acquired at the charging station or the initial station position when the lens 142 is clean. In this way, the user can stop in time, and then manually operate the shielding piece 145 to utilize the cleaning element thereon.
  • the piece 147 cleans the lens 142.
  • the alarm module 190 can be a sound system or a lighting system, or a mobile device (such as a mobile phone, a computer, etc.) that transmits the communication to the user.
  • the cleaning control unit 168 compares the real-time image collected by the image capturing device 140 with the preset reference image when the automatic mower 100 is in the preset position, and judges both When there is a difference, the control shutter 145 moves and cleans the lens 142.
  • the reference image is an image that ensures that the lens 142 is captured under a specific scene in a clean situation, and the position of the captured real-time image is consistent with the preset position, ensuring that the scene of the real-time image and the scene of the reference image are consistent. In this way, the automatic cleaning of the lens 142 is realized, and the user does not need to stop the machine at all, thereby ensuring efficient operation of the lawn mower.
  • the automatic mower 100 may acquire a real-time image to be compared with the reference image each time before the departure of the charging station or the starting station, and control the blocking piece 145 when it is determined that there is a difference between the two. Move and clean the lens 142.
  • the reference image is the image captured by the lens 142 at the charging station or the starting station position in the case of a clean lens.
  • the automatic lawn mower 100 of the present invention can not only clean the lens manually but also automatically clean the lens by setting the cleaning device 143, which can prevent the image taken by the lens 142 from being unclear, and prevent the image from being unclear, causing the lawn mower to be grass or Misjudgments such as obstacles cause the mower to not work properly.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Environmental Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (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（100），包括壳体（110）、割草模块（120）、行走模块（130）、信息采集装置（140）、能量模块（150）、报警模块（190）和控制模块（160），控制模块（160）还包括识别单元（162），自动割草机（100）具有安全巡视工作模式，在安全巡视工作模式下，识别单元（162）分析判断工作区域内是否存在异常物体，若存在异常物体，报警模块（190）向外界发出警报信号，该自动割草机（100）除了具有修整草坪的功能外，还可以实现安全巡视的功能，因此具有多种用途，节约成本的优点。

Description

自动割草机 技术领域
本发明涉及动力工具领域，特别是涉及一种自动割草机。
背景技术
作为适于快速高效的修整草坪的工具，割草机在城市绿化和家庭除草等场合应用广泛。割草机进一步包括自动割草机。自动割草机能自主的完成修剪草坪的工作，无须人为直接控制和操作，且功率低、噪音小、外形精巧美观，大幅度降低人工操作。
自动割草机通过在割草机上安装图像采集装置获得视频和/或图像，通过颜色和/或纹理识别草地、障碍等其他物体。常用的割草机的主要功能是实现自动割草，功能较为单一。而目前人们希望一个装置能够具有多种功能，从而方便使用，并可以节省再次购买其它装置的成本。
众所周知，图像采集装置一般包括镜头，镜头如果不干净将导致图像或者视频不清晰。而图像或者视频不清晰将引起自动割草机对草地或障碍等的误判，从而导致割草机不能正常工作。
发明内容
基于此，有必要提供一种具有安全巡视工作模式的自动割草机。
本发明提供一种自动割草机，在工作区域内自动行走及工作，包括壳体；割草模块，收容在所述壳体内，执行预定割草工作；行走模块，支撑所述壳体并带动所述自动割草机行走；信息采集装置，设置在所述壳体上，用于采集外部环境信息；能量模块，为自动割草机提供能量；控制模块，连接并且控制所述割草模块、所述行走模块、所述信息采集装置和所述能量模块，以实现自动割草机自动行走及自动工作；其中，所述自动割草机还包括用于报警的报警模块；所述控制模块包括识别单元，所述识别单元接收信息采集装置所采集的信息；所述自动割草机具有安全巡视工作模式，在安全巡视工作模式下，所述识别单元根据信息采集装置所采集的信息分析判断工作区域内是否存在异常物体；若存在异常物体，所述控制模块控制所述报警模块向外界发出警报信号。
优选的，所述信息采集装置包括图像采集装置，所述识别单元根据所述图像采集装置所获取的图像信息，分析判断工作区域内是否存在异常物体。
优选的，所述识别单元通过图像信息中物体呈现的大小或者轮廓来识别该物体是否为异常物体。
优选的，所述识别单元包括人脸识别程序，所述人脸识别程序识别人脸并判断识别的人脸是否为陌生人脸，若是则判断工作区域内存在异常物体。
优选的，所述图像采集装置可旋转地固定在所述壳体上。
优选的，所述自动割草机还包括驱动所述图像采集装置做旋转运动的驱动装置，所述控制模块通过所述驱动装置控制所述图像采集装置的旋转运动。
优选的，所述信息采集装置包括红外传感器，通过红外传感器检测温度，所述识别单元判根据温度是否处于预定范围，判断工作环境内是否存在异常物体。
优选的，所述报警模块包括设置在所述自动割草机上的发光报警装置或者发声报警装置。
优选的，所述自动割草机还包括无线通信模块，所述无线通信模块包括Wi-Fi模块、蜂窝通讯模块或者蓝牙模块。
优选的，所述报警模块通过所述无线通信模块向外界设备传输图像、文字或者音频等警报信号。
优选的，所述自动割草机通过所述无线通信模块接收外界设备发送的控制指令，并且按照所述控制指令控制自身工作或行走。
优选的，在工作环境相关的参数满足预设条件时，所述控制模块启动所述安全巡视工作模式。
优选的，所述控制模块包括路径设定单元，所述路径设定单元用于设定巡视路线，所述自动割草机在安全巡视工作模式下按照所述巡视路线进行巡逻。
本发明还提供一种自动割草机，包括壳体；割草模块，收容在所述壳体内，执行预定割草工作；行走模块，支撑所述壳体并带动所述自动割草机行走；信息采集装置，设置在所述壳体上，用于采集外部环境信息；能量模块，为自动割草机提供能量；控制模块，连接并且控制所述割草模块、所述行走模块、所述信息采集装置和所述能量模块，实现自动割草机自动行走及自动工作；其中，所述自动割草机还包括用于报警的报警模块；所述控制模块包括识别结果处理单元；所述自动割草机具有安全巡视工作模式，在安全巡视工作模式下，所述识别结果处理单元将采集的外部环境信息发送给外界设备并且接收外界设备基于所述信息分析判断得出的识别结果，所述识别结果表示工作区域内是否存在异常物体；若存在异常物体，则所述控制模块控制所述报警模块向外界发出警报信号。
优选的，所述自动割草机包括无线通信模块，所述识别结果处理单元通过无线通信模块与外界设备进行通信。
优选的，所述信息采集装置包括图像采集装置，所述外部环境信息包括所述图像采集装置采集到的图像或视频信息。
优选的，所述信息采集装置包括红外传感器，所述外部环境信息包括红外传感器检测外界物体的温度信息。
上述自动割草机包括用于报警的报警模块，所述控制模块包括识别单元；所述自动割草机具有安全巡视工作模式，在安全巡视工作模式下，所述识别单元分析判断工作环境内是否存在异常物体；若存在异常物体，所述报警模块向外界发出警报信号。因此该自动割草机除了具有修整草坪的功能外还可以实现安全巡视的功能。该自动割草机具有多种用途，从而节约成本。
基于此，有必要提供一种能够对镜头进行清洁的自动行走设备。
本发明提供一种自动行走设备，在工作区域内自动行走及工作，包括，壳体；工作模块，收容在所述壳体内，执行预定工作；行走模块，支撑所述壳体；图像采集装置，设置在所述壳体上，包括镜头；能量模块，为自动行走设备的工作及行走提供能量；控制模块，连接并且控制所述工作模块、所述行走模块、所述图像采集装置和所述能量模块，实现自动行走设备的自动行走及自动工作；其中，所述自动行走设备还包括维持所述镜头清洁的清洁装置。
优选的，所述自动行走设备还包括清洁控制单元，所述清洁控制单元按预设程序控制所述清洁装置自动清洁所述镜头。
优选的，所述清洁装置包括设置在镜头上的遮挡片，所述遮挡片能够移动以遮蔽或暴露镜头，所述遮挡片上设置有能够在遮挡片移动时清洁镜头的清洁元件。
优选的，所述清洁元件为清洁刷或片状清洁片。
优选的，所述清洁元件可拆卸地安装在所述遮挡片上。
优选的，所述清洁装置包括设置在镜头上的微型风扇，所述微型风扇产生气流以清洁所述镜头。
优选的，所述微型风扇包括压电材料制成的扇叶，所述扇叶的高频振动产生所述气流。
优选的，所述清洁装置包括将所述图像采集装置包围在内的透明罩和清洁所述透明罩的清洁元件。
优选的，所述清洁元件包括固定位于图像采集装置相对所述镜头一侧的清洁刷，所述透明罩能够绕图像采集装置转动，当所述透明罩绕图像采集装置转动时，所述清洁刷能够清洁所述透明罩。
优选的，所述清洁刷可拆卸地安装于图像采集装置相对所述镜头的一侧。
优选的，所述透明罩通过电机驱动，自动绕所述图像采集装置转动。
优选的，所述清洁元件包括用于清洁所述透明罩的清洁刷，所述清洁刷位于正对镜头部分的透明罩外侧。
优选的，所述清洁刷通过电机驱动，能够沿所述透明罩外侧往复移动，自动清洁透明罩。
优选的，所述清洁元件包括用于清洁所述透明罩的喷洒装置，所述喷洒装置位于正对镜头部分的透明罩外侧。
优选的，所述喷洒装置包括喷水装置或者喷气装置，通过喷出的水流或者气流清洁所述透明防尘罩。
优选的，所述清洁控制单元根据在预设位置所述图像采集装置所采集到的图像和预设的基准图像进行对比，并在判断二者存在差异时，控制所述镜头清洁装置执行清洁任务。
优选的，所述自动行走设备包括报警模块，所述清洁控制单元根据在预设位置所述图像采集装置所采集到的图像和预设的基准图像进行对比并在判断二者存在差异时，控制所述报警模块发生提醒信号。
上述自动行走设备设有清洁装置，用于维持镜头的洁净，从而避免镜头摄取的图像或者视频不清晰，防止图像或者视频不清晰引起自动行走设备对草地或障碍等的误判导致自动行走设备不能正常工作。
附图说明
图1为一个实施例的自动割草机结构示意图；
图2为图1所示自动割草机的功能模块示意图；
图3为一个实施例镜头清洁装置的遮挡片处于完全打开状态的示意图；
图4为图3所示实施例镜头清洁装置的遮挡片处于部分打开状态的示意图；
图5为图3所示实施例镜头清洁装置的遮挡片处于合拢状态的示意图；
图6为一个实施例微型风扇的镜头清洁装置示意图；
图7为一个实施例透明罩与清洁刷的清洁装置示意图；
图8为另一个实施例透明罩与清洁刷的清洁装置示意图；
图9为一个实施例透明罩与喷洒装置的清洁装置示意图。
100.自动割草机    120.工作模块      140.图像采集装置
110.壳体          130.行走模块      142.镜头
143.清洁装置     147.清洁元件          168.清洁控制单元
144.微型风扇     150.能量模块          170.无线通信模块
145.遮挡片       160.控制模块          180.驱动电机
1451.第一遮挡片  162.识别单元          190.报警模块
1452.第二遮挡片  164.识别结果处理单元  200.外部设备
146.透明罩       166.路径设定单元
具体实施方式
下面结合附图对本发明的实施方式进行详细阐述，以使本发明的优点和特征能更易于被本领域技术人员理解，从而对本发明的保护范围作出更为清楚和明确的界定。所附附图仅提供参考与说明，并非用来对本发明加以限制。
请参考图1和图2，本发明的一个实施例提供一种自动割草机100。自动割草机100具有壳体110及安装在壳体110上的信息采集装置。在一个实施例中信息采集装置为图像采集装置140。图像采集装置140拍摄自动割草机100目标区域从而形成图像。自动割草机100还包括工作模块120、行走模块130、能量模块150、控制模块160、报警模块190。控制模块160连接并且控制行走模块130、工作模块120、能量模块150、图像采集装置140。
本实施例中，工作模块120即为割草模块，具体为切割部件，如切割刀片。工作模块120由切割马达(图未示)驱动工作。工作模块120的中心位于自动割草机100的中轴线上，设置于壳体110下方，位于辅助轮和驱动轮之间。
行走模块130包括轮组和驱动轮组的行走马达。轮组可以有多种设置方法。通常轮组包括由行走马达驱动的驱动轮和辅助支撑壳体110的辅助轮，驱动轮的数量可以为1个、2个或者更多，辅助轮相应地也可以设为1个、2个或者多个。在本实施例中，自动割草机100的驱动轮为2个，分别为位于右侧的右驱动轮和位于左侧的左驱动轮。右驱动轮和左驱动轮关于自动割草机100的中轴线对称设置。辅助轮的中心位于中轴线上。右驱动轮和左驱动轮优选的位于壳体11的后部，辅助轮位于前部。当然在其他实施例中也可以替换设置。
在本实施例中，右驱动轮和左驱动轮各自配接一个驱动马达，以实现差速输出以控制转向。驱动马达可以直接连接驱动轮，但也可以在驱动马达和驱动轮之间设传动装置，如本技术领域内常见的行星轮系等。在其他的实施例中，也可设置驱动轮2个，驱动马达1个，这种情况下，驱动马达通过第一传动装置驱动右驱动轮，通过第二传动装置驱动左驱动轮。即同一个马达通过不同的传动装置驱动右驱动轮和左驱动轮。
图像采集装置140安装在壳体110的前部靠上的位置，优选的居中设置，采集目标区域的图像信息。在本实施例中，图像采集装置140的取景范围根据不同的采集装置类型具有不同的视角范围，如视角范围90度至120度。当然，在具体的实施过程中，可选取视角范围内一定角度范围作为实际取景范围，如选取视角范围120度内位于中部的90度范围作为实际取景范围。
在一个实施例中，图像采集装置140能够旋转地固定在壳体110上。自动割草机100设有驱动图像采集装置140做旋转运动的驱动装置。控制模块160与驱动装置相连，可以通过驱动装置控制图像采集装置140做旋转运动。通过旋转运动，图像采集装置140具有多角度视野。
在一个实施例中，自动割草机100的图像采集装置140上还可以安装有照明灯。照明灯可以跟随图像采集装置140旋转。当光线较暗且发现可疑物体时，可以通过打开照明灯使图像采集装置140拍摄到的图像更加清晰，从而方便对可疑物体的辨认。从而方便判断如何处理。
能量模块150用于给自动割草机100的运行提供能量。能量模块150的能源可以为汽油、电池包等，在本实施例中能量模块150包括在壳体110内设置的可充电电池包。在工作的时候，电池包释放电能以维持自动割草机100工作和行走。在非工作的时候，电池可以连接到外部电源以补充电能。特别地，出于更人性化的设计，当探测到电池的电量不足时，自动割草机100会自动地寻找充电站补充电能。
控制模块160用于控制自动割草机100的工作及行走。如图2所示，控制模块160中包括识别单元162。识别单元162用于分析图像采集装置140所获取的图像信息，识别工作环境中是否具有异常物体。
识别单元162通过图像信息中物体呈现的大小或者轮廓来识别物体是否为异常物体。具体实现方式为，识别单元162中设有特定的程序，从图像信息中判断工作环境中是否具有异常物体。在一个实施例中，识别单元162中特定的程序通过图像分割或者图像提取等算法，判断图像信息中是否有内容达到特定大小或者特定轮廓，从而判断工作环境中出现异常物体。
识别单元162可以通过将实时获得的图像信息中的内容与存储单元中的内容进行比对，从而判断工作环境中是否存在异常物体。在一个实施例中，自动割草机100设有存储单元，在该存储单元中存储异常物体的特征或者非异常物体的特征，识别单元162通过图像匹配算法，将图像信息与存储单元中的内容进行匹配对比，当出现异常物体的特征时则判断工作环 境中出现异常物体，或者出现了非异常物体的其他特征时则判断工作环境中出现异常物体。
在一个实施例中，识别单元162包括人脸识别程序，所述人脸识别程序判断工作环境内是否有人侵入。具体的实施过程为，识别单元162通过人脸识别程序(如基于模板匹配算法、基于奇异值特征算法、子空间分析算法、主成分分析算法等)检测实时获得的图像中是否有人脸。若检测结果为图像中包含人脸，则说明工作环境内有人入侵。在一个实施例中，自动割草机内设有存储单元，存储单元中存储用户及其设定特定成员的人脸图像。当识别单元162检测出图像中包含人脸后，识别单元162再将该人脸特征与存储单元中已设有的人脸特征进行比对，若比对有差异则说明有陌生人侵入。通过人脸比对，自动割草机100更加智能，可以区分陌生人与非陌生人。只有当出现陌生人时，报警模块190才会向外界发出警报信号。
在一个实施例中，信息采集装置为红外传感器。自动割草机100通过红外传感器检测温度，识别单元162判根据温度是否处于预定范围，判断工作环境内是否存在异常物体。自动割草机100通过红外传感器检测工作环境内出现物体的温度，如果检测的温度处于预定的范围，如36.0℃～37.8℃，则识别单元162则判断工作环境中存在异常物体。在该实施例中，预定温度范围是以异常物体为人为设定的，当异常物体为其他动物或者物体时，该预设温度范围可以进行相应地改变。
当识别单元162判断图像信息中存在异常物体，报警模块190会向外界发出警报信号。在一个实施例中，自动割草机100可以设有报警装置，如发声装置(警笛)、发光装置等，当报警模块190接到异常物体信息后，就启动报警装置报警。在一个实施例中，自动割草机100不设有报警装置，报警模块190接到异常物体信息后，可以启动无线通信模块170，通过无线通信模块170向外部设备200发送警报信号。警报信号可以为实时获取的图像、异常物体的文字提醒信息、文字警报提示内容的邮件或者特殊的音频等。外部设备可以为电脑、手机、遥控器等个人移动设备。
在一个实施例中，无线通信模块170可以为wi-fi通信模块或者蜂窝移动通信模块或者蓝牙模块。自动割草机100不仅可以通过无线通信模块170向外部设备200传输图像信息或者警报信号，也可以通过无线通信模块170接收外部设备200的控制信息。自动割草机100能够按照外部设备200的控制信息进行工作和行走，如控制自动割草机100是割草工作模式还是安全巡视模式，控制自动割草机100是否停机，控制图像采集装置140是否旋转等运动。
在一个实施例中，自动割草机100通过无线通信模块170将信息采集装置所采集到的信息传输给外界设备200。外界设备200根据所接收的信息作出相应的控制指令。自动割草机 100的控制模块160包括识别结果处理单元164，识别结果处理单元164通过无线通信模块170接收外界设备200发送的控制指令，并且自动割草机100按照所述控制指令控制自身行走或工作，如控制自动割草机100是处于割草工作模式还是安全巡视模式，控制自动割草机100是否停机，控制自动割草机100是否旋转等运动。
通过识别单元162与报警模块190的配合，自动割草机100可以实现安全巡视功能，即自动割草机100不仅与普通自动割草机一样具有修整草坪的工作模式，还具有安全巡视的工作模式。
在安全巡视工作模式下，自动割草机100的巡视路线与其割草路径会有所区别。在一个实施例中，控制模块160设有路径设定单元166。路径设定单元166根据工作环境的需求，可以设定巡视路径的规律：如某些易被异常物体侵入的地点进行多次定点巡视，巡视路径特定时间进行巡逻等。
自动割草机100启动安全巡视工作模式的方式有很多种，如用户手动启动，在自动割草机100上设有工作模式选择按钮，用户通过该按钮手动选择割草工作模式或者安全巡视工作模式。如用户通过外界设备200(手机、电脑、pad、遥控器等个人移动设备)远程启动，在自动割草机100的控制模块160内设有与个人移动设备相应的客户端，个人移动设备通过配套的客户端选择启动割草工作模式或者安全巡视工作模式。如在自动割草机100的控制模块160中设置预定程序，当工作环境中的某些条件符合预定条件时就自动启动安全巡视工作模式或者割草工作模式。在一个实施例中，控制模块160中设置的启动程序根据时间不同而启动自动割草机100的不同工作模式，如自动割草机100在白天启动割草工作模式，在夜晚启动安全巡视工作模式；自动割草机100在春夏季启动割草工作模式，在秋冬季启动安全巡视工作模式。在一个实施例中，控制模块160根据自动割草机100的无线通信模块170是否处于通信状态而启动不同的工作模式。当无线通信模块170处于通信状态，即代表用户是处于工作环境不远的范围内，则自动割草机100启动割草工作模式；当无线通信模块170处于非通信状态，即代表用户有可能外出，则自动割草机100启动安全巡视工作模式。
下面将具体介绍一下该自动割草机100是如何进行工作的。
首先，该自动割草机100与常用的自动割草机一样具有修整草坪的功能。当需要该自动割草机100修整草坪时，只需打开相应的开关，其工作与常用的自动割草机相同。打开该自动割草机100的割草开关后，该自动割草机100可以根据所设定的程序自动进行割草。也可以通过外部设备200(电脑、手机、遥控器等个人移动设备)控制该自动割草机100进行割 草作业。
其次，该自动割草机100还具有安全巡视功能。当需要该自动割草机100进行安全巡视时，该自动割草机100调整到安全巡视工作模式。该自动割草机100的安全巡视功能可以与修整草坪的功能同时开启，也可以是只能分别开启的方式。该自动割草机100的安全巡视功能具有两种实现方式，一个是全自动巡视工作模式，另一个是半自动巡视工作模式。用户可以根据实际需要选择使该自动割草机100采用全自动安全巡视工作模式或者采用半自动安全巡视工作模式。
当自动割草机100采用全自动安全巡视模式工作时，该自动割草机100的控制模块160将控制行走模块130工作，并使该自动割草机100沿着路径设定单元166设定的巡视路径巡逻。该自动割草机100在行走过程中，图像采集装置140将同时工作以对周围的环境进行拍摄。图像采集装置140拍摄到的图像将被传递给识别单元162，识别单元162对拍摄到的图像进行分析处理以确定图像采集装置140是否拍摄到异常物体。此处的异常物体可以根据拍摄到的物体的大小和是否运动进行判断。例如，当拍摄到达到指定大小的运动物体时，即认为是异常物体，报警模块190即向外界发出警报信号。此处指定大小的运动物体包括人、汽车、狗等，指定大小的尺寸可以是长或高超过30厘米。另外，图像采集装置140拍摄到的图像也可以不经过识别单元162的处理，而是直接通过无线传输模块170传递给外部设备200，此处的外部设备200例如是电脑、手机、遥控器等。外部设备200接收到拍摄到的图像后可以对图像进行处理以判断是否存在异常物体，也可以由工作人员或者用户进行辨识，以判断是否存在异常物体。当发现异常物体后，报警模块190即向外界发出警报信号。报警模块190可以发出报警声音或者报警图像或信息。工作人员或用户听到报警声音或者看到报警图像或信息后，可以通过外部设备200操控自动割草机100进行下一步动作。例如，用户可以通过外部设备200向自动割草机100发射控制信号，自动割草机100通过无线通信模块170接收到控制信号后，将由控制模块160进行处理，控制模块160进行处理后，将据此控制打开摄像灯以得到清晰的图像、解除报警以及向危险物体行进等。这样，该自动割草机100就具有了安全巡视和发现危险后报警和由工作人员对危险进行处理等的功能。同时，由于该自动割草机100同时具有修整草坪的功能，所以该自动割草机100具有一个装置多种用途的优点。这样可以只需购买一个装置实现修整草坪及安全巡视的功能，达到节约成本的目的。
当用户选择该自动割草机100采用半自动安全巡视模式工作时，用户可以观看监视器或者外部设备200显示的图像信息内容，然后通过外部设备200发送控制命令给自动割草机100， 从而控制自动割草机100的运动，使得用户看到想要观察的区域。同时，用户也可以通过外部设备200控制图像采集装置140旋转或者打开摄像灯从而更好的观察想要观察的区域。该自动割草机100的无线通信模块170会接收外部设备200发出的控制信号，同时也会将图像采集装置140拍摄的图像传递给外部设备200或监视器等。控制模块160对无线通信模块170接收到的信号进行处理后将，将根据处理结果控制图像采集装置140、行走模块130、工作模块120等设备的工作。当用户发现异常物体时，可以通过外部设备200控制该自动割草机100的图像采集装置140、行走模块130、报警模块190等的进一步动作。例如，用户通过外部设备200控制自动割草机100停止运动、控制报警模块190报警等。
该自动割草机的壳体上设有图像采集装置，壳体内设有工作模块、行走模块和控制模块，这样，控制模块中的识别单元可以根据对图像采集装置拍摄的图像进行分析或者红外传感器检测的温度控制报警模块进行报警。因此该割草机除了具有修整草坪的功能外还可以实现安全巡视的功能。该割草机具有一个装置多种用途的优点，无需制造两个设备就能实现割草和监控的功能，从而达到了节约制造成本的优点。
图像采集装置140包括镜头142。镜头142用来摄取自动割草机100工作区域内的视频图像。镜头142如果不干净将导致图像不清晰，而图像不清晰将引起机器对草地或障碍等的误判，从而导致割草机不能正常工作。为解决这一问题，自动割草机100设有清洁装置143，用于维持镜头142的洁净。用户可以通过清洁装置143手动地清洁镜头142。
在一个实施例中，自动割草机100还设有清洁控制单元168，清洁控制单元168按预设程序控制清洁装置143自动清洁镜头142。在该实施例中，不需要用户参与，镜头142可以保持洁净。
在一个实施例中，清洁装置143包括设置在镜头142上的遮挡片145和设置在遮挡片145上的清洁元件147。遮挡片145相对于镜头142能够移动。当遮挡片145相对于镜头142移动时，清洁元件147能够清洁镜头142，使镜头142变得干净，从而摄取清晰的图像。
参考图3至图5，遮挡片145包括第一遮挡片1451和第二遮挡片1452。第一遮挡片1451和第二遮挡片1452可彼此合拢或分离，第一遮挡片1451和第二遮挡片1452合拢时镜头142被遮蔽，第一遮挡片1451和第二遮挡片1452分离时镜头142被暴露。需要指出的是，遮挡片145也可以为整体式的，而不需要一定设置成两个部分。第一遮挡片1451和第二遮挡片1452可以是上下移动，也可以是左右移动。
在该实施例中，清洁元件147为清洁刷，其可以设置一个或多个，并且第一遮挡片1451和第二遮挡片1452上可以择一设置清洁元件147，也可以全部设置清洁元件147。清洁元件147也可以为片状的清洁片，该清洁片在使用时还可以浸涂清洁剂以提高清洁效果。
在一个实施例中，清洁元件147可拆卸地安装在所述遮挡片145上。当清洁元件147工作一段时间后，用户可以将清洁元件147拆卸下来，清洗干净后再安装利用；或者当清洁元件147破损后，用户可以将清洁元件147拆卸下来，更换新的清洁元件。
如图3及图4所示，自动割草机100的图像采集装置140工作时，第一遮挡片1451和第二遮挡片1452分离以将镜头142暴露；如图5所示，图像采集装置140不工作时，第一遮挡片1451和第二遮挡片1452合拢并将镜头142遮蔽。当需要清洁镜头142时，使遮挡片145的第一遮挡片1451和第二遮挡片1452沿图4中所示箭头方向合拢，在合拢的过程中，清洁元件147可以对镜头142进行清洁。当然，在第一遮挡片1451和第二遮挡片1452沿图3所示箭头的分离过程中，清洁元件147也可以对镜头142进行清洁。
在一个实施例中，清洁装置143包括设置在镜头142上的微型风扇144。如图6所示，通过微型风扇144产生的气流清洁镜头142。该风扇需要配合镜头142设置，其大小需要适应镜头142的尺寸。微型风扇144包括由压电材料制成的扇叶，微型风扇144由驱动电路驱动扇叶做高频振动，如振动频率达到26000次/秒。利用压电材料的振动，扇叶会产生气流，气流经过风道会将镜头142上的污秽或蒸气吹走，从而达到清洁的效果。本领域技术人员可以想到，微型风扇142也可以采用普通风扇，只需要其气流够大，同样可以实现清洁镜头142的目的。
本领域技术人员可以想到，除了图6中所示单风道的设计，风道的设计可以多样化。如多风道设计，或者将微型风扇144与镜头142的位置关系发生变化，只需微型风扇144产生的风能够吹到镜头142即可实现本发明目的。
在一个实施例中，清洁装置143包括将图像采集装置140包围在内的透明罩146和用于清洁透明罩146的清洁元件147。透明罩146将图像采集装置140包围，则灰尘等污秽都不能直接接触镜头142，所以只需清洁透明罩146即可达到保持镜头142洁净的效果。
如图7所示，在该实施例中，清洁元件147为安装在图像采集装置140相对镜头142一侧的清洁刷。清洁刷可拆卸地安装在图像采集装置140相对镜头142的一侧，从而用户可以将清洁刷拆卸下来清洗或者更换。透明罩146能够沿图示箭头方向绕图像采集装置140转动。当透明罩146转动的时候，清洁刷147即可对透明罩146清洁。透明罩146的转动可以由单 独驱动电机180驱动，也可以共用自动割草机100中已有的驱动电机。
如图8所示，在一个实施例中，清洁元件147为清洁刷。清洁刷147位于正对镜头142部分的透明罩146外侧。清洁刷147通过驱动电机180驱动，能够沿所述透明罩外侧往复移动，从而对透明罩146正对镜头142的范围进行清洁。当然，清洁刷147的转动可以由单独驱动电机180驱动，也可以共用自动割草机100中已有的驱动电机。
如图9所示，在一个实施例中，清洁元件147为喷洒装置。喷洒装置147位于正对镜头142部分的透明罩146外侧。喷洒装置147可以使喷水装置或者是喷气装置，通过喷出的水流或者气流清洁透明罩146。
对自动割草机100的图像采集装置140的镜头142的清洁，能够以多种方式予以实现，如纯手动清洁模式、半自动清洁模式和全自动清洁模式。下面仅以清洁装置143包括遮挡片145与清洁元件147为例进行清洁方式的详细介绍，其他实施例的清洁方式与该实施例实现的过程类似。
纯手动清洁模式：使用者手动控制遮挡片145清洁镜头，镜头142的清洁频率可以通过经验得到。例如，自动割草机100长期在某一特定场景下工作，则使用者很容易知道镜头142工作多长时间后必须清洁，否则就会影响镜头142摄取图像的效果。同样地，不同工作场景下的镜头142的清洁频率均可以通过经验得到。这样，自动割草机100工作过程中，使用者根据具体的场景，定期清洁镜头142，清洁时只需要使遮挡片145的第一遮挡片1451和第二遮挡片1452合拢即可。
半自动清洁模式：单纯靠经验判断清洁镜头142的时机可能带来以下问题：清洁过早，此时图像采集装置140还可以摄取到足够清晰的图像，可能会影响自动割草机100的工作效率；清洁过晚，镜头142工作效率已经变得低下，可能增大自动割草机100工作时的危险性，甚至导致自动割草机100不能正常工作。在一个实施例中，清洁控制单元168将自动割草机100在预设位置时图像采集装置140所采集到的实时图像和预设的基准图像进行对比，并在判断二者存在差异时，控制报警模块190发出警报。基准图像是镜头142在干净的情况下位于特定场景下采集的一张图像，该拍摄的位置和预设位置是一致的，确保实时图像的场景和基准图像的场景是一致的。在一个实施例中，自动割草机100可以在每次由充电站或者起始站出发前，都采集一幅实时图像与基准图像进行比对，并在判断二者存在差异时，控制报警模块190发出警报。此时，基准图像即为镜头142在干净的情况下，在充电站或者起始站位置采集的图像。这样，使用者可以及时停机，然后手动操作遮挡片145，利用其上的清洁元 件147将镜头142清洁。这种半自动模式，较纯手动模式，极大地提高了清洁的效率，且对自动割草机100的正常工作影响较小。报警模块190可以是发声系统或发光系统、或者经过通讯传输给用户的移动设备(如手机、电脑等)。
全自动清洁模式：在一个实施例中，清洁控制单元168将自动割草机100在预设位置时图像采集装置140所采集到的实时图像和预设的基准图像进行对比，并在判断二者存在差异时，控制遮挡片145移动并清洁镜头142。基准图像是确保镜头142是在干净的情况下在特定场景下采集的一张图像，该采集实时图像的位置和预设位置是一致的，确保实时图像的场景和基准图像的场景是一致的。这样，就实现了镜头142的自动清洁，使用者完全不用停机，保证了割草机高效工作。在一个实施例中，自动割草机100可以每次由充电站或者起始站出发前，都采集一幅实时图像与基准图像进行比对，并在判断二者存在差异时，控制遮挡片145移动并清洁镜头142。此时，基准图像即为镜头142在干净的情况下，在充电站或者起始站位置所采集的图像。
本发明的自动割草机100，通过设置清洁装置143，不但可以手动清洁镜头，也可以实现全自动清洁镜头，能够避免镜头142摄取的图像不清晰，防止图像不清晰引起割草机对草地或障碍等的误判导致割草机不能正常工作。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对本发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (17)

  1. 一种自动割草机，在工作区域内自动行走及工作，包括：
    壳体；
    割草模块，收容在所述壳体内，执行预定割草工作；
    行走模块，支撑所述壳体并带动所述自动割草机行走；
    信息采集装置，设置在所述壳体上，用于采集外部环境信息；
    能量模块，为自动割草机提供能量；
    控制模块，连接并且控制所述割草模块、所述行走模块、所述信息采集装置和所述能量模块，以实现自动割草机自动行走及自动工作；
    其特征在于，所述自动割草机还包括用于报警的报警模块；所述控制模块包括识别单元，所述识别单元接收信息采集装置所采集的信息；所述自动割草机具有安全巡视工作模式，在安全巡视工作模式下，所述识别单元根据信息采集装置所采集的信息分析判断工作区域内是否存在异常物体；若存在异常物体，所述控制模块控制所述报警模块向外界发出警报信号。
  2. 根据权利要求1所述的自动割草机，其特征在于，所述信息采集装置包括图像采集装置，所述识别单元根据所述图像采集装置所获取的图像信息，分析判断工作区域内是否存在异常物体。
  3. 根据权利要求2所述的自动割草机，其特征在于，所述识别单元通过图像信息中物体呈现的大小或者轮廓来识别该物体是否为异常物体。
  4. 根据权利要求2所述的自动割草机，其特征在于，所述识别单元包括人脸识别程序，所述人脸识别程序识别人脸并判断识别的人脸是否为陌生人脸，若是则判断工作区域内存在异常物体。
  5. 根据权利要求2所述的自动割草机，其特征在于，所述图像采集装置可旋转地固定在所述壳体上。
  6. 根据权利要求5所述的自动割草机，其特征在于，所述自动割草机还包括驱动所述图像采集装置做旋转运动的驱动装置，所述控制模块通过所述驱动装置控制所述图像采集装置的旋转运动。
  7. 根据权利要求1所述的自动割草机，其特征在于，所述信息采集装置包括红外传感器，所述红外传感器检测外界物体的温度，所述识别单元根据温度是否处于预定范围，相应判断外界物体是否为异常物体。
  8. 根据权利要求1所述的自动割草机，其特征在于，所述报警模块包括设置在所述自动割草机上的发光报警装置或者发声报警装置。
  9. 根据权利要求1至7任一项所述的自动割草机，其特征在于，所述自动割草机还包括无线通信模块，所述无线通信模块包括Wi-Fi模块、蜂窝通讯模块或者蓝牙模块。
  10. 根据权利要求9所述的自动割草机，其特征在于，所述报警模块通过所述无线通信模块向外界设备传输图像、文字或者音频等警报信号。
  11. 根据权利要求9所述的自动割草机，其特征在于，所述自动割草机通过所述无线通信模块接收外界设备发送的控制指令，并且按照所述控制指令控制自身工作或行走。
  12. 根据权利要求1所述的自动割草机，其特征在于，在工作环境相关的参数满足预设条件时，所述控制模块启动所述安全巡视工作模式。
  13. 根据权利要求1所述的自动割草机，其特征在于，所述控制模块包括路径设定单元，所述路径设定单元用于设定巡视路线，所述自动割草机在安全巡视工作模式下按照所述巡视路线进行巡逻。
  14. 一种自动割草机，在工作区域内自动行走及工作，包括：
    壳体；
    割草模块，收容在所述壳体内，执行预定割草工作；
    行走模块，支撑所述壳体并带动所述自动割草机行走；
    信息采集装置，设置在所述壳体上，用于采集外部环境信息；
    能量模块，为自动割草机提供能量；
    控制模块，连接并且控制所述割草模块、所述行走模块、所述信息采集装置和所述能量模块，实现自动割草机自动行走及自动工作；
    其特征在于，所述自动割草机还包括用于报警的报警模块；所述控制模块包括识别结果处理单元；所述自动割草机具有安全巡视工作模式，在安全巡视工作模式下，所述识别结果处理单元将采集的外部环境信息发送给外界设备并且接收外界设备基于所述信息分析判断得出的识别结果，所述识别结果表示工作区域内是否存在异常物体；若存在异常物体，则所述控制模块控制所述报警模块向外界发出警报信号。
  15. 根据权利要求14所述的自动割草机，其特征在于，所述自动割草机包括无线通信模块，所述识别结果处理单元通过无线通信模块与外界设备进行通信。
  16. 根据权利要求14所述的自动割草机，其特征在于，所述信息采集装置包括图像采集 装置，所述外部环境信息包括所述图像采集装置采集到的图像或视频信息。
  17. 根据权利要求14所述的自动割草机，其特征在于，所述信息采集装置包括红外传感器，所述外部环境信息包括所述红外传感器检测外界物体的温度信息。
PCT/CN2015/071207 2014-01-21 2015-01-21 自动割草机 Ceased WO2015110006A1 (zh)

Priority Applications (8)

Application Number Priority Date Filing Date Title
CN201580004705.3A CN106102446A (zh) 2014-01-21 2015-01-21 自动割草机
EP15740684.4A EP3097755A4 (en) 2014-01-21 2015-01-21 Automatic lawnmower
EP19213907.9A EP3682725A1 (en) 2014-01-21 2015-01-21 Automatic lawnmower
US15/112,934 US20160338262A1 (en) 2014-01-21 2015-01-21 Autonomous mower
US16/244,894 US20190141886A1 (en) 2014-01-21 2019-01-10 Autonomous mower
US16/719,728 US11622499B2 (en) 2014-01-21 2019-12-18 Autonomous mower
US18/131,636 US20230240175A1 (en) 2014-01-21 2023-04-06 Autonomous mower
US18/298,123 US20230240176A1 (en) 2014-01-21 2023-04-10 Autonomous mower

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN201410027369.1 2014-01-21
CN201410027369.1A CN104782314A (zh) 2014-01-21 2014-01-21 割草机
CN201410096054.2 2014-03-14
CN201410096054.2A CN104904404A (zh) 2014-03-14 2014-03-14 智能割草机

Related Child Applications (2)

Application Number Title Priority Date Filing Date
US15/112,934 A-371-Of-International US20160338262A1 (en) 2014-01-21 2015-01-21 Autonomous mower
US16/244,894 Continuation US20190141886A1 (en) 2014-01-21 2019-01-10 Autonomous mower

Publications (1)

Publication Number Publication Date
WO2015110006A1 true WO2015110006A1 (zh) 2015-07-30

Family

ID=53680810

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2015/071207 Ceased WO2015110006A1 (zh) 2014-01-21 2015-01-21 自动割草机

Country Status (4)

Country Link
US (5) US20160338262A1 (zh)
EP (2) EP3097755A4 (zh)
CN (3) CN107357287A (zh)
WO (1) WO2015110006A1 (zh)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107562059A (zh) * 2017-09-20 2018-01-09 浙江映美智能装备科技有限公司 一种带有二维码站点位置信息的智能小车循迹系统
CN108934400A (zh) * 2018-07-06 2018-12-07 江西洪都航空工业集团有限责任公司 一种基于无人割草车辆的电气系统控制方法
CN113395895A (zh) * 2019-01-30 2021-09-14 罗伯特·博世有限公司 自主工作器具
CN115735525A (zh) * 2022-11-04 2023-03-07 深圳市来语飞智能科技有限公司 自动割草机

Families Citing this family (57)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3097755A4 (en) * 2014-01-21 2017-09-13 Positec Power Tools (Suzhou) Co., Ltd Automatic lawnmower
GB201518652D0 (en) * 2015-10-21 2015-12-02 F Robotics Acquisitions Ltd Domestic robotic system and method
EP3508049B1 (en) 2016-06-30 2022-08-24 Techtronic Outdoor Products Technology Limited An autonomous lawn mower
US11172608B2 (en) 2016-06-30 2021-11-16 Tti (Macao Commercial Offshore) Limited Autonomous lawn mower and a system for navigating thereof
CN108604098B (zh) * 2016-11-11 2019-12-13 苏州宝时得电动工具有限公司 自动工作系统及其控制方法
JP6687511B2 (ja) * 2016-12-28 2020-04-22 本田技研工業株式会社 制御装置、監視装置及び制御用プログラム
JP6635909B2 (ja) * 2016-12-28 2020-01-29 本田技研工業株式会社 作業機、制御装置及び制御用プログラム
CN106843079A (zh) * 2017-03-29 2017-06-13 深圳市翼动科技有限公司 一种农业无人收割机远程智能控制系统
JP6910925B2 (ja) * 2017-11-08 2021-07-28 株式会社クボタ 圃場管理システム
CN108513298B (zh) * 2018-02-27 2021-01-05 大同煤矿集团有限责任公司 一种巡检方法
EP3549423B1 (en) 2018-04-06 2021-06-16 Lg Electronics Inc. Lawn mower robot
EP3549429B1 (en) 2018-04-06 2021-10-27 LG Electronics Inc. Lawn mower robot
US11166409B2 (en) 2018-04-06 2021-11-09 Lg Electronics Inc. Lawn mower robot
EP3549425B1 (en) * 2018-04-06 2021-08-04 LG Electronics Inc. Lawn mower robot
EP3560312B1 (en) 2018-04-06 2021-10-20 LG Electronics Inc. Lawn mower robot
US11129330B2 (en) 2018-04-06 2021-09-28 Lg Electronics Inc. Lawn mower robot
EP3549424B1 (en) 2018-04-06 2022-01-05 Lg Electronics Inc. Lawn mower robot
EP3549426B1 (en) 2018-04-06 2021-09-08 LG Electronics Inc. Lawn mower robot
WO2018134803A2 (en) * 2018-04-13 2018-07-26 Colegio De Ingenieros Agronomos De Panamá Autonomous brush cutter with continuous movement
CA3098902A1 (en) * 2018-05-01 2019-11-07 Hrm Enterprises, Inc. Cross-flow horizontal rotary mower
WO2018154547A2 (en) * 2018-05-08 2018-08-30 Colegio De Ingenieros Agronomos De Panamá Autonomous brush cutter with continuous movement and independent hydraulic suspension for each of the four wheels
CN110612492A (zh) * 2018-06-20 2019-12-24 灵动科技（北京）有限公司 一种自驱动无人驾驶割草机
DE102018212412A1 (de) * 2018-07-25 2020-01-30 Robert Bosch Gmbh Autonomes Arbeitsgerät
EP3606033A1 (en) * 2018-07-31 2020-02-05 Honda Research Institute Europe GmbH Method and system for assisting a user in producing and selecting images
CN112512300A (zh) * 2018-08-08 2021-03-16 托罗公司 用于训练自主车辆的手柄和方法及其存放方法
JP7129896B2 (ja) * 2018-12-12 2022-09-02 株式会社マキタ 作業機
JP7153194B2 (ja) * 2018-12-17 2022-10-14 トヨタ自動車株式会社 遠隔監視システム及び監視サーバ
CN109602355A (zh) * 2019-01-10 2019-04-12 广东万家乐厨房科技有限公司 一种自动清洗系统及集成灶
CN112135512A (zh) * 2019-02-02 2020-12-25 苏州宝时得电动工具有限公司 割草机的无线网络连接方法及系统、割草机
US11457558B1 (en) 2019-05-15 2022-10-04 Hydro-Gear Limited Partnership Autonomous vehicle navigation
US11305417B2 (en) * 2019-06-28 2022-04-19 Baidu Online Network Technology (Beijing) Co., Ltd. Service robot
CN112438114B (zh) * 2019-08-27 2022-11-11 南京泉峰科技有限公司 自行走割草机
KR102422001B1 (ko) * 2019-09-03 2022-07-15 엘지전자 주식회사 잔디깎이 로봇 및 그 제어방법
CN110771287A (zh) * 2019-11-11 2020-02-11 常州格力博有限公司 一种园林工具
CN110933283B (zh) * 2019-12-27 2025-01-24 歌尔科技有限公司 一种摄像头遮挡装置及具有该遮挡装置的电子设备
CN113068501A (zh) * 2020-01-06 2021-07-06 苏州宝时得电动工具有限公司 一种智能割草机
USD973573S1 (en) * 2020-02-21 2022-12-27 Positec Power Tools (Suzhou) Co., Ltd. Lawn mower wheel
CN116490064A (zh) * 2020-12-01 2023-07-25 苏州宝时得电动工具有限公司 移动机器人智能避障方法及移动机器人
SE545454C2 (en) * 2021-02-22 2023-09-19 Husqvarna Ab Robotic work tool assistance in a robotic work tool system
US12296694B2 (en) 2021-03-10 2025-05-13 Techtronic Cordless Gp Lawnmowers
US12443180B2 (en) 2021-11-10 2025-10-14 Techtronic Cordless Gp Robotic lawn mowers
CN113867410B (zh) * 2021-11-17 2023-11-03 武汉大势智慧科技有限公司 一种无人机航拍数据的采集模式识别方法和系统
CN115250719B (zh) * 2022-06-22 2024-09-06 格力博(江苏)股份有限公司 一种园林工具安全控制系统、方法及割草机
AU2023200381A1 (en) 2022-01-31 2023-08-17 Techtronic Cordless Gp Robotic garden tool
EP4476598A2 (en) 2022-02-07 2024-12-18 Doosan Bobcat North America, Inc. Path determination for automatic mowers
SE2250370A1 (en) * 2022-03-24 2023-09-25 Husqvarna Ab Refill system for an outdoor robotic work tool
EP4510818A1 (en) * 2022-04-21 2025-02-26 Agco Corporation A cleaning system for a sensor arrangement
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
AU2023204696A1 (en) 2022-07-19 2024-02-08 Techtronic Cordless Gp Display for controlling robotic tool
WO2024017157A1 (zh) * 2022-07-22 2024-01-25 追觅创新科技(苏州)有限公司 自动行走设备镜头清洁装置及自动行走设备充电站
AU2023206123A1 (en) 2022-07-29 2024-02-15 Techtronic Cordless Gp Generation of a cryptography key for a robotic garden tool
CN116034734B (zh) * 2023-03-31 2023-05-30 徐工汉云技术股份有限公司 收割机的安全监控系统、方法与装置
US20250344819A1 (en) * 2024-05-10 2025-11-13 Pioneer Square Brands, Inc. Thermal Management Case System for Portable Electronic Device
USD1118708S1 (en) 2025-01-07 2026-03-17 Techtronic Cordless Gp Lawnmower interface
USD1118706S1 (en) 2025-01-07 2026-03-17 Techtronic Cordless Gp Lawnmower housing
USD1118709S1 (en) 2025-01-07 2026-03-17 Techtronic Cordless Gp Electric lawnmower charging port

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4919224A (en) * 1988-05-16 1990-04-24 Industrial Technology Research Institute Automatic working vehicular system
US5832708A (en) * 1996-09-04 1998-11-10 Scag Power Equipment, Inc. Lawn mower
CN101091428A (zh) * 2006-10-20 2007-12-26 大连理工大学 一种自动割草机器人
CN101135911A (zh) * 2007-09-21 2008-03-05 浙江大学 一种割草机器人智能控制系统
JP4623591B2 (ja) * 2006-05-29 2011-02-02 ヤンマー株式会社 芝刈機
CN102187289A (zh) * 2008-10-20 2011-09-14 罗伯特·博世有限公司 用于对移动的工具进行工作区域识别的方法和系统
CN102771246A (zh) * 2012-07-05 2012-11-14 芜湖鸿宇智能科技有限公司 一种智能割草机系统及其智能割草方法
CN103197672A (zh) * 2012-01-05 2013-07-10 苏州宝时得电动工具有限公司 边界信号识别方法及其边界系统
CN103425132A (zh) * 2012-05-23 2013-12-04 本田技研工业株式会社 无人行驶作业系统

Family Cites Families (41)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070035114A1 (en) * 1992-05-05 2007-02-15 Automotive Technologies International, Inc. Device and Method for Deploying a Vehicular Occupant Protection System
US6527000B1 (en) * 1999-11-04 2003-03-04 Vicon Industries, Inc. Non-contact wiper and washer assembly for surveillance camera domes
US7324148B2 (en) * 2002-04-26 2008-01-29 Olympus Optical Co., Ltd. Camera and image pickup device unit used therefor having a sealing structure between a dust proofing member and an image pick up device
US20060059880A1 (en) * 2004-09-13 2006-03-23 Angott Paul G Unmanned utility vehicle
US20060232670A1 (en) * 2004-10-19 2006-10-19 Fu-Lai Chu Vehicle monitoring apparatus
CN100348381C (zh) 2006-01-06 2007-11-14 华南理工大学 家政服务机器人
US7810511B2 (en) * 2006-05-15 2010-10-12 Sony Ericsson Mobile Communications Ab Lens cleaner
US8139109B2 (en) * 2006-06-19 2012-03-20 Oshkosh Corporation Vision system for an autonomous vehicle
US20080161968A1 (en) * 2007-01-01 2008-07-03 Babatunde Olanipekun Adegbile BT' Smart Machine (BTSM)
CN101420591A (zh) * 2007-10-24 2009-04-29 袁明 太阳能无线智能监视控制摄像机
CN201327585Y (zh) * 2008-10-27 2009-10-14 北京晋科光技术有限公司 3g机器人
DE102009009964A1 (de) * 2009-02-20 2010-09-09 Hema Maschinen- Und Apparateschutz Gmbh Sichtvorrichtung
DE102009028598A1 (de) * 2009-08-17 2011-03-03 Robert Bosch Gmbh Autonome mobile Plattform zur Oberflächenbearbeitung
CN201489244U (zh) * 2009-09-04 2010-05-26 栾奕 自动清洁镜头盖
JP5056919B2 (ja) * 2009-09-29 2012-10-24 株式会社デンソー 車載光学センサカバー及び車載光学センサ装置
US9014848B2 (en) * 2010-05-20 2015-04-21 Irobot Corporation Mobile robot system
DE102010024666A1 (de) * 2010-06-18 2011-12-22 Hella Kgaa Hueck & Co. Verfahren zur optischen Selbstdiagnose eines Kamerasystems und Vorrichtung zur Durchführung eines solchen Verfahrens
US20120000024A1 (en) * 2010-06-30 2012-01-05 Raytheon Company Automated camera cleaning system
CN201905823U (zh) * 2010-12-31 2011-07-27 桂林电子科技大学 单目家用清洁机器人
CN102179389B (zh) * 2011-02-18 2012-08-29 江苏省电力试验研究院有限公司 球型摄像头自动清洁装置
JP5953658B2 (ja) * 2011-05-25 2016-07-20 ソニー株式会社 ロボット制御装置及びロボット装置の制御方法、コンピューター・プログラム、プログラム記憶媒体、並びにロボット装置
US9069356B2 (en) * 2011-06-12 2015-06-30 Microsoft Technology Licensing, Llc Nomadic security device with patrol alerts
US8761933B2 (en) * 2011-08-02 2014-06-24 Microsoft Corporation Finding a called party
WO2013081544A1 (en) * 2011-12-02 2013-06-06 Delaval Holding Ab Camera cleaning system and method and rotary milking system
CN103324191A (zh) * 2012-03-23 2013-09-25 苏州宝时得电动工具有限公司 控制方法及执行该控制方法的控制系统
US9319637B2 (en) * 2012-03-27 2016-04-19 Magna Electronics Inc. Vehicle vision system with lens pollution detection
DE202012005170U1 (de) * 2012-05-25 2012-07-11 Abb Ag Mobiler Bewegungs- und Kameramelder
JP6022823B2 (ja) * 2012-06-25 2016-11-09 ホーチキ株式会社 警報システム
US9388595B2 (en) * 2012-07-10 2016-07-12 Aqua Products, Inc. Pool cleaning system and method to automatically clean surfaces of a pool using images from a camera
EP2689650B1 (en) * 2012-07-27 2014-09-10 Honda Research Institute Europe GmbH Trainable autonomous lawn mower
US9497901B2 (en) * 2012-08-14 2016-11-22 Husqvarna Ab Boundary definition system for a robotic vehicle
EP3373097B1 (en) * 2012-08-14 2024-06-05 Husqvarna AB Robotic mower with object detection system
CN202958189U (zh) * 2012-11-27 2013-06-05 上海大学 智能割草机器人
US8567963B1 (en) * 2013-03-13 2013-10-29 Michael Thomas Criscuolo System for a self-cleaning/wiping protective dome integrated into an outdoor camera housing
CN203155595U (zh) * 2013-03-15 2013-08-28 厦门理工学院 监视器太阳能定时清洁器
US9307368B1 (en) * 2013-05-14 2016-04-05 Google Inc. Automatically generating and maintaining a floor plan
EP2870853A1 (en) * 2013-11-11 2015-05-13 Honda Research Institute Europe GmbH Lawn mower with remote control
EP2894532B1 (en) 2014-01-10 2018-12-26 Honda Research Institute Europe GmbH Sensor cleaning system for an autonomous robot device, base station and corresponding method
EP3097755A4 (en) * 2014-01-21 2017-09-13 Positec Power Tools (Suzhou) Co., Ltd Automatic lawnmower
EP2899692B1 (en) * 2014-01-28 2019-09-04 Honda Research Institute Europe GmbH Method, system, imaging device, movable device and program product for detecting static elements in video and image sources
EP3948467B1 (en) * 2019-03-25 2024-04-24 The Toro Company Autonomous working machine with computer vision-based monitoring and security system

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4919224A (en) * 1988-05-16 1990-04-24 Industrial Technology Research Institute Automatic working vehicular system
US5832708A (en) * 1996-09-04 1998-11-10 Scag Power Equipment, Inc. Lawn mower
JP4623591B2 (ja) * 2006-05-29 2011-02-02 ヤンマー株式会社 芝刈機
CN101091428A (zh) * 2006-10-20 2007-12-26 大连理工大学 一种自动割草机器人
CN101135911A (zh) * 2007-09-21 2008-03-05 浙江大学 一种割草机器人智能控制系统
CN102187289A (zh) * 2008-10-20 2011-09-14 罗伯特·博世有限公司 用于对移动的工具进行工作区域识别的方法和系统
CN103197672A (zh) * 2012-01-05 2013-07-10 苏州宝时得电动工具有限公司 边界信号识别方法及其边界系统
CN103425132A (zh) * 2012-05-23 2013-12-04 本田技研工业株式会社 无人行驶作业系统
CN102771246A (zh) * 2012-07-05 2012-11-14 芜湖鸿宇智能科技有限公司 一种智能割草机系统及其智能割草方法

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP3097755A4 *

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107562059A (zh) * 2017-09-20 2018-01-09 浙江映美智能装备科技有限公司 一种带有二维码站点位置信息的智能小车循迹系统
CN108934400A (zh) * 2018-07-06 2018-12-07 江西洪都航空工业集团有限责任公司 一种基于无人割草车辆的电气系统控制方法
CN113395895A (zh) * 2019-01-30 2021-09-14 罗伯特·博世有限公司 自主工作器具
CN113395895B (zh) * 2019-01-30 2023-10-31 罗伯特·博世有限公司 自主工作器具
CN115735525A (zh) * 2022-11-04 2023-03-07 深圳市来语飞智能科技有限公司 自动割草机

Also Published As

Publication number Publication date
CN108196553A (zh) 2018-06-22
US20160338262A1 (en) 2016-11-24
EP3682725A1 (en) 2020-07-22
US11622499B2 (en) 2023-04-11
US20190141886A1 (en) 2019-05-16
EP3097755A1 (en) 2016-11-30
CN107357287A (zh) 2017-11-17
US20230240175A1 (en) 2023-08-03
EP3097755A4 (en) 2017-09-13
US20200120863A1 (en) 2020-04-23
CN106102446A (zh) 2016-11-09
US20230240176A1 (en) 2023-08-03

Similar Documents

Publication Publication Date Title
US20230240175A1 (en) Autonomous mower
JP6826804B2 (ja) 自律走行体
CN106659343B (zh) 电动吸尘器
JP6599603B2 (ja) 自律走行体
CN110660193B (zh) 一种智能安全帽及检修人员安全管理系统
ES2613138T3 (es) Robot limpiador y método para controlar el mismo
CN104782314A (zh) 割草机
US12162159B2 (en) Moving robot and method of controlling the same
CN204613789U (zh) 一种基于智能割草机的智能无线监控系统
CN101293349A (zh) 一种基于Wi-Fi的机器人
CN117501958A (zh) 自移动设备及其自动工作系统
CN205306899U (zh) 一种室内slam险情检测与监控一体化智能清洁机器人
CN108086214A (zh) 一种室外清扫机器人
JP2020181434A (ja) 自律走行作業装置および自律走行作業システム
RO135818A0 (ro) Robot de curăţare a camerelor de supraveghere prin îndepărtarea prafului, murdăriei şi pânzelor de păianjen
CN207505621U (zh) 一种伐竹装置
CN104904404A (zh) 智能割草机
KR20160004774A (ko) 방범 청소용 자율 주행 자동차
CN111387170A (zh) 一种智能巡检捕鼠机器人装置
US20190028675A1 (en) Autonomously mobile outdoor device with a surveillance module
CN112995328A (zh) 一种太阳能板清洁装置与洒水无人机物联网布局系统
CN214906433U (zh) 一种安保清扫机器人
CN104797033A (zh) 自动工作设备
CN215912131U (zh) 一种太阳能板清洁装置与洒水无人机物联网布局系统
CN110027000A (zh) 一种家庭安全防护机器人

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 15740684

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 15112934

Country of ref document: US

NENP Non-entry into the national phase

Ref country code: DE

REEP Request for entry into the european phase

Ref document number: 2015740684

Country of ref document: EP

WWE Wipo information: entry into national phase

Ref document number: 2015740684

Country of ref document: EP