WO2021244594A1 - 自动割草机及其路径规划方法、系统和设备 - Google Patents

自动割草机及其路径规划方法、系统和设备 Download PDF

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Publication number
WO2021244594A1
WO2021244594A1 PCT/CN2021/098046 CN2021098046W WO2021244594A1 WO 2021244594 A1 WO2021244594 A1 WO 2021244594A1 CN 2021098046 W CN2021098046 W CN 2021098046W WO 2021244594 A1 WO2021244594 A1 WO 2021244594A1
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WIPO (PCT)
Prior art keywords
lawn mower
automatic lawn
charging station
automatic
boundary line
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/CN2021/098046
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English (en)
French (fr)
Inventor
伦德克维斯特·安德烈
特朗·丹尼尔
曹金
李汪浩
高杰
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.)
Globe Jiangsu Co Ltd
Original Assignee
Globe Jiangsu 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 CN202010493112.0A external-priority patent/CN111487982B/zh
Priority claimed from CN202011561171.3A external-priority patent/CN112799395A/zh
Priority claimed from CN202023200854.4U external-priority patent/CN214151499U/zh
Priority claimed from CN202011563806.3A external-priority patent/CN112764419B/zh
Application filed by Globe Jiangsu Co Ltd filed Critical Globe Jiangsu Co Ltd
Priority to EP21817893.7A priority Critical patent/EP4137907A4/en
Publication of WO2021244594A1 publication Critical patent/WO2021244594A1/zh
Priority to US17/986,843 priority patent/US20230071262A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0265—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using buried wires
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
    • A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic
    • 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
    • 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
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • 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
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D2101/00—Lawn-mowers

Definitions

  • the invention relates to the technical field of automatic lawn mowers, in particular to an automatic lawn mower and a path planning method, system and equipment thereof.
  • An automatic lawn mower is a garden tool used to mow lawns, vegetation, etc. It usually includes a self-propelled mechanism, a cutter mechanism, and a power source.
  • the power source can be a gasoline engine, a battery pack, and so on.
  • Battery-driven automatic lawn mowers are popular among users because of their low noise and zero pollution.
  • the power of the battery pack carried by the automatic lawn mower is very limited, resulting in a small operating area of the automatic lawn mower.
  • the automatic lawn mower needs to return to the charging station for charging after working for a certain period of time. After the charging is completed, leave the charging station and return to the working area for mowing operations.
  • the existing smart lawn mower returning to the charging method has the following problems: when the working area is large, the smart lawn mower needs to roll the lawn multiple times to and from the charging station and the work place, causing certain damage to the lawn. In addition, too many charging times will also reduce the service life of the battery core of the smart lawn mower and increase the working cost. When there are many obstacles in the work area, the smart lawn mower must avoid the obstacles, resulting in a longer route back to the charging station, consuming more power, and the smart lawn mower cannot return to the charging station for charging normally.
  • the purpose of the present invention is to provide an automatic lawn mower and its path planning method, system and equipment, which are used to solve the problem that the automatic lawn mower leaves the charging station and returns to the mowing area in the prior art.
  • it is easy to produce rutting and the technical problems of more mowing on the same path.
  • the present invention provides a path planning method for an automatic lawn mower, including:
  • the automatic lawn mower is controlled to follow the boundary line or the guide line to walk until it reaches the target location.
  • the step of controlling the automatic lawn mower to follow the boundary line until it reaches the target location includes:
  • the automatic lawn mower is controlled to follow the boundary line to walk toward the target location.
  • the target location is an arbitrary point at a first preset distance from the boundary line; the step of controlling the automatic lawn mower to follow the boundary line to walk toward the target location includes :
  • the automatic lawn mower is controlled to follow the boundary line at the first preset interval to walk until it reaches the target location.
  • the step of controlling the automatic lawn mower to exit the charging station includes:
  • control the automatic lawn mower After the charging is completed, control the automatic lawn mower to start to withdraw from the charging station;
  • the automatic lawn mower When the automatic lawn mower exits outside the charging station outer field loop set in the charging station, the automatic lawn mower is controlled to continue linearly backward for a second random backward distance.
  • the step of controlling the automatic lawn mower to find the boundary line includes:
  • the method further includes, after reaching the target location, controlling the automatic lawn mower to start mowing operations within the working area defined by the boundary line.
  • the method further includes, after reaching the target location, controlling the automatic lawn mower to start mowing operations in a random manner within the working area defined by the boundary line.
  • the step of controlling the automatic lawn mower to follow the guide line until it reaches the target location includes:
  • the automatic lawn mower is controlled to follow the guide line to walk toward the target location at a first random interval.
  • the step of controlling the automatic lawn mower to find a guide line and to make the automatic lawn mower face away from the charging station includes:
  • the position of the automatic lawn mower is adjusted according to the relative position of the automatic lawn mower and the guide line, so that the automatic lawn mower faces away from the charging station.
  • the path planning method further includes a refill path planning method, and the refill path planning method includes:
  • Planning the recharging path of the automatic lawnmower according to the virtual location includes: planning an X-axis path with the virtual location of the charging station as a starting point and planning a Y-axis path with the virtual location of the automatic lawnmower as a starting point , When the path in the X-axis direction intersects the path in the Y-axis direction, a recharge path is obtained.
  • the virtual work area diagram is divided into several virtual grids; the X-axis direction path and the Y-axis direction path are planned along the virtual grid.
  • the present invention also provides a path planning method for an automatic lawn mower, including:
  • the step of controlling the automatic lawn mower to follow the boundary line until it reaches the target location includes:
  • the automatic lawn mower is controlled to follow the boundary line to walk toward the target location.
  • the present invention also provides a path planning method for an automatic lawn mower, including:
  • the step of controlling the automatic lawn mower to follow the guide line until it reaches the target location includes:
  • the automatic lawn mower is controlled to follow the guide line to walk toward the target location at a first random interval.
  • the present invention also provides a path planning system for an automatic lawn mower, including:
  • the path planning system of the automatic lawn mower includes:
  • the charging station exit module is used to control the automatic lawn mower to exit the charging station
  • the searching module is used to control the automatic lawn mower to find a boundary line or guide line, wherein the boundary line is pre-laid on the edge of the working area of the automatic lawn mower, and the guide line is pre-laid on the edge of the working area of the automatic lawn mower.
  • the boundary line is pre-laid on the edge of the working area of the automatic lawn mower
  • the guide line is pre-laid on the edge of the working area of the automatic lawn mower.
  • the following module is used to control the automatic lawn mower to follow the boundary line or the guide line to walk until it reaches the target location.
  • the path planning system of the automatic lawn mower further includes a refill path planning module, and the refill path planning module is configured to
  • Planning the recharging path of the automatic lawnmower according to the virtual location includes: planning an X-axis path with the virtual location of the charging station as a starting point and planning a Y-axis path with the virtual location of the automatic lawnmower as a starting point , When the path in the X-axis direction intersects the path in the Y-axis direction, a recharge path is obtained.
  • the path planning system of the automatic lawn mower further includes a mowing operation module, which is configured to control the automatic lawn mower when the automatic lawn mower is defined by the boundary line after reaching the target location. Start mowing operations in the working area.
  • an automatic lawn mower which includes:
  • At least one sensor arranged at the front end of the fuselage
  • the control unit is arranged on the body, the control unit includes a processor and a memory coupled to each other, and the memory stores program instructions, which are implemented when the program instructions stored in the memory are executed by the processor
  • the automatic lawn mower is controlled to follow the boundary line or the guide line to walk until it reaches the target location.
  • the present invention also provides a storage medium, including a program, which when the program runs on a computer, causes the computer to execute
  • the automatic lawn mower is controlled to follow the boundary line or the guide line to walk until it reaches the target location.
  • the present invention also provides a path planning device for an automatic lawn mower, including:
  • An automatic lawn mower comprising a body, a control unit and at least one sensor arranged on the body, the sensor being arranged on the front end of the body;
  • the boundary line is pre-laid on the edge of the working area of the automatic lawn mower
  • a charging station the charging station is located on the boundary line, and a charging station peripheral loop is provided in the charging station;
  • the sensor is used for sensing the boundary line and/or the guidance signal of the outer field loop of the charging station; the control unit is used for controlling the automatic lawn mower to automatically leave the charging station according to the guidance signal.
  • the path planning device of the automatic lawn mower further includes at least one guide line pre-laid in the working area of the automatic lawn mower; the two ends of the guide line are respectively The charging station is connected to the boundary line, and the guide line and the boundary line form a closed loop.
  • the pilot signal includes an alternating magnetic field; the sensor includes a magnetic induction coil.
  • the automatic lawn mower and its path planning method, system and equipment of the present invention can be used to plan the path for the automatic lawn mower to leave the charging station, so that the charging station leaves the charging station along a different path each time, thereby avoiding moving along the automatic lawn mower.
  • ruts are generated, which affects the growth of lawn or vegetation in the rutting area.
  • the automatic lawn mower and its path planning method, system and equipment of the present invention can be used to plan the path for the automatic lawn mower to leave the charging station, so that the charging station leaves the charging station along a different path each time, thereby avoiding automatic cutting.
  • the lawn mower repeatedly cuts the grass along the same path to improve the efficiency of cutting the lawn and enhance the beauty of the lawn.
  • the guide line can be arranged in a relatively simple shape as required, so that the path planning of the automatic lawn mower from the station can be simplified.
  • the automatic lawn mower and its path planning method, system and equipment of the present invention form the working area of the automatic lawn mower into a corresponding virtual work area map, and respectively perform the X-axis direction path and the Y-axis direction path on the virtual work area map Planning to generate a recharge path.
  • the recharging path has been planned during recharging, effectively avoiding obstacles in the working area, and preventing the automatic lawn mower from being consumed before returning to the charging station; by planning a shorter recharging path, the demand is reduced.
  • the reserved amount of recharging saves recharging time, thereby increasing the working time of the smart lawn mower.
  • Fig. 1 shows a schematic structural diagram of a path planning device for an automatic lawn mower out of the station according to an embodiment of the present invention.
  • Fig. 2 shows a structural block diagram of an automatic lawn mower according to an embodiment of the present invention.
  • Fig. 3 shows a schematic flowchart of a path planning method for an automatic lawn mower according to an embodiment of the present invention.
  • FIG. 4 is a schematic diagram showing the sub-flow of step S12 in FIG. 3.
  • Fig. 5 shows a schematic diagram of the sub-flow of step S13 in Fig. 3.
  • FIG. 6 is a schematic diagram showing the sub-flow of step S33 in FIG. 5.
  • Fig. 7 is a schematic diagram of the automatic lawn mower exiting to the outer loop of the charging station in an embodiment of the present invention.
  • Fig. 8 is a schematic diagram of the automatic lawn mower continuing to recede in a straight line for a second random retreat distance in an embodiment of the present invention.
  • Fig. 9 is a schematic diagram of the automatic lawn mower rotating to any side of the charging station by a first preset angle in an embodiment of the present invention.
  • Figures 10a-c are schematic diagrams showing the movement of the automatic lawn mower to the boundary line following the guidance of the outer field loop of the charging station arranged in the charging station in an embodiment of the present invention.
  • Fig. 11 is a schematic diagram of the automatic lawn mower rotating to the side away from the charging station in an embodiment of the present invention, until at least half of the automatic lawn mower is located inside the boundary line.
  • Fig. 12 shows a schematic diagram of an automatic lawn mower riding across a boundary line in an embodiment of the present invention.
  • FIG. 13 is a schematic diagram of the automatic lawn mower finding the straight line boundary area of the boundary line in an embodiment of the present invention.
  • Fig. 14 is a schematic diagram of the automatic lawn mower after reversing a first random retreat distance in an embodiment of the present invention.
  • Figures 15a-c show schematic diagrams of the automatic lawn mower adjusting the distance between the automatic lawn mower and the border line in an embodiment of the present invention.
  • Figures 16a-d show schematic diagrams of an automatic lawn mower following a boundary line to a target location in an embodiment of the present invention.
  • Fig. 17 is a schematic diagram of the automatic lawn mower after reaching the target location in an embodiment of the present invention.
  • Fig. 18 is a schematic diagram of a random mowing operation after the automatic lawn mower reaches the target location in an embodiment of the present invention.
  • Fig. 19 is a block diagram of a path planning system and structure of an automatic lawn mower according to an embodiment of the present invention.
  • Fig. 20 is a structural block diagram of a second following sub-module according to an embodiment of the present invention.
  • Fig. 21 is a structural block diagram of a control unit according to an embodiment of the present invention.
  • Fig. 22 is a schematic structural diagram of a path planning device for an automatic lawn mower out of the station according to another embodiment of the present invention.
  • FIG. 23 is a schematic flowchart of a path planning method for an automatic lawn mower according to another embodiment of the present invention.
  • FIG. 24 is a schematic diagram showing the sub-flow of step S22 in FIG. 23.
  • FIG. 25 shows a schematic diagram of the sub-flow of step S23 in FIG. 23.
  • Fig. 26 is a schematic diagram of the automatic lawn mower exiting to the outer loop of the charging station in another embodiment of the present invention.
  • Fig. 27 is a schematic diagram of the automatic lawn mower in another embodiment of the present invention after continuing to recede linearly for a random receding distance.
  • Figures 28a-c are schematic diagrams of the automatic lawn mower looking for a guide line and making the direction of the automatic lawn mower away from the charging station in another embodiment of the present invention.
  • Fig. 29 is a schematic diagram of the automatic lawn mower riding across the guide line in another embodiment of the present invention.
  • Fig. 30 is a schematic diagram of the automatic lawn mower riding across the guide line after walking for a preset time according to another embodiment of the present invention.
  • Figures 31a-d show schematic diagrams of an automatic lawn mower following a guide line to a target location at a first random interval in another embodiment of the present invention.
  • Fig. 32 is a schematic diagram of a random mowing operation after the automatic lawnmower reaches the target location in another embodiment of the present invention.
  • Fig. 33 is a structural block diagram of a path planning system according to another embodiment of the present invention.
  • Fig. 34 is a schematic diagram of the distribution of the smart lawn mower, working area and charging station of the present invention.
  • FIG. 35 is a schematic diagram of the virtual working area and recharging path of the present invention.
  • Fig. 36 is a flowchart of the method for recharging path planning of self-propelled power equipment of the present invention.
  • Fig. 37 is a partial logical schematic diagram of planning a path in the X-axis direction according to the present invention.
  • FIG. 38 is a schematic diagram of part of the logic of planning a path in the Y-axis direction according to the present invention.
  • FIG. 1 shows a schematic structural diagram of the path planning device of the automatic lawn mower of this embodiment
  • Figure 2 shows the structural block diagram of the automatic lawn mower of this embodiment
  • Figure 3 shows the automatic lawn mower of this embodiment.
  • the automatic lawn mower includes a self-propelled automatic lawn mower, which is a battery-powered electric tool that needs to be charged regularly.
  • the automatic lawn mower can move within the working area defined by the boundary line during use.
  • the path planning device for the automatic lawn mower 1 out of the station includes the automatic lawn mower 1, the boundary line 2, the guide line 7 (in Figure 1 Not shown, see Figure 22), obstacle avoidance sensor 50 and charging station 3.
  • the automatic lawn mower 1 includes a fuselage, and a control unit 60 (see the relevant part description below for details) and at least one sensor 5 (shown in Figure 1 that the automatic lawn mower 1 includes two sensors 5) arranged on the fuselage. Situation); the sensor 5 is used to sense the guide signal of at least one of the boundary line 2, the guide line and the charging station outer field loop 4; the control unit 60 is used to control the automatic lawn mower 1 to automatically leave the charging station 3 according to the guide signal.
  • the charging station 3 is located on the boundary line 2, and the charging station 3 is set as a charging board to facilitate the automatic lawn mower 1 to be on a uniform and continuous plane during the docking process, to ensure a more accurate docking process, in order to facilitate the automatic lawn mower 1 Identify and locate the position of the charging station 3.
  • the charging station outer field loop 4 is set in the charging station 3, and the boundary line 2 is recessed in the inner working area of the charging station 3 to form a narrower and narrower than the charging station outer field loop 4
  • the charging station inner field loop 2a passing through the charging station outer field loop 4, and the charging station inner field loop 2a is used to guide the automatic lawn mower to exit the charging station.
  • the obstacle avoidance sensor 50 is used to detect obstacles on the travel path of the automatic lawn mower 1, and then transmits the signal to the control unit 60, and the control unit 60 controls the automatic lawn mower 1 to implement obstacle avoidance operations to Avoiding obstacles
  • the obstacle avoidance sensor 50 may be, for example, an infrared sensor, a laser sensor, or a collision sensor;
  • the collision sensor may be a sensor composed of a magnet and a Hall sensor, or a sensor composed of an armature or an inductive sensor.
  • the magnet or the Hall sensor can be installed on two parts of the automatic lawn mower 1, for example, the body of the automatic lawn mower 1.
  • the Hall sensor can send the signal to the control unit 60, and the control unit 60 controls the automatic lawn mower 1. Obstacle avoidance operation to avoid obstacles, so that the automatic lawn mower 1 has an obstacle avoidance function in the process of following the guide line 7 to leave the charging station 3.
  • the boundary line 2 may be buried along the edge of the working area to hide the boundary line 2.
  • the boundary line 2 may also be set on the ground or on the ground.
  • the boundary line 2 may be, for example, a single-core metal wire (for example, a copper wire) or a multi-strand wire or the like.
  • the guide line 7 is pre-laid in the working area of the automatic lawn mower 1. The two ends of the guide line 7 are connected to the charging station 3 and the boundary line 2 respectively. Among them, the end of the guide line 7 connected to the charging station 3 is also connected to the boundary line 2.
  • the boundary line 2 (including the inner field loop 2a of the charging station), the guide line 7 and the outer field loop 4 of the charging station are respectively coupled to the signal generating device set in the charging station 3, and the signal generating device is used to generate a certain frequency pulse current signal And input into the boundary line 2, the guide line 7 or the charging station outer field loop 4 to form a guide signal in the boundary line 2, the guide line 7 or the charging station outer field loop 4, and the boundary line 2, the guide line 7 or the charging station
  • the pilot signal generated by the external field loop 4 of the station needs to have its own special characteristics to distinguish the two.
  • the pulse current signal can be input to the boundary line 2, the pilot line 7 and the external field loop 4 of the charging station respectively in an interval manner. So that the boundary line 2, the guide line 7 and the charging station outer field loop 4 respectively generate corresponding guide signals in different time intervals.
  • the sensor 5 may be, for example, a magnetic field sensor 5 or a current sensor 5 to measure the guide signal of at least one of the boundary line 2, the guide line 7 and the external field loop 4 of the charging station.
  • the automatic lawn mower 1 of this embodiment further includes a walking assembly 70, a working assembly 80 and a power supply assembly 90 arranged on the fuselage.
  • the walking assembly 70 includes drive wheels located on both sides of the fuselage.
  • the drive wheels are generally located at the rear of the fuselage.
  • the two drive wheels are driven by two drive motors respectively.
  • At least one support wheel is also provided in the front of the fuselage. 1 is supported by the driving wheel and the supporting wheel to walk, and the supporting wheel can be a universal wheel, for example, so that the automatic lawn mower 1 can turn.
  • the control unit 60 controls the walking direction and speed of the automatic lawn mower 1 by controlling the rotational speeds of the two drive motors.
  • the operating assembly 80 includes a cutting motor and a cutting head driven by the cutting motor.
  • the operating assembly 80 is roughly located at the center of the automatic lawn mower 1.
  • the rotation axis of the cutting motor is roughly perpendicular to the horizontal plane. Height to adjust the cutting height.
  • the power supply component 90 includes a rechargeable battery and a charging system for supplying power to the rechargeable battery.
  • the control unit 60 receives various signals sent to the automatic lawn mower 1 or signals collected by the sensors 5, and generates corresponding control signals through the built-in processor 61, and controls the walking unit or the working unit according to the generated control signals, thereby Make the automatic lawn mower 1 leave the charging station 3 along the planned route for mowing operations.
  • the automatic lawn mower 1 can either be based on the path planning method of the automatic lawn mower, the path planning system of the automatic lawn mower and The planned path leaves the charging station 3, and the path planned by other suitable methods may also be used to leave the charging station 3.
  • an alarm device (not shown) is also provided on the body of the automatic lawn mower 1.
  • the alarm device is used to give an alarm when the automatic lawn mower 1 fails or an unexpected situation occurs during operation, or to give an alarm.
  • the information is sent wirelessly to the user’s terminal equipment. After the user receives the alarm signal, the user can eliminate the fault or deal with the unexpected situation in time, so that the automatic lawn mower 1 can operate normally.
  • the unexpected situation may be that the automatic lawn mower 1 is stuck in a certain Situations such as terrain, inability to cross obstacles, inability to find the guide line, inability to find the boundary line, and insufficient power to return to the charging station.
  • the pilot signal is an alternating magnetic field and the sensor 5 is a magnetic induction coil as an example. It is understandable that the path planning method and system of the automatic lawn mower of this embodiment can also be used Other suitable pilot signal forms, or different types of sensors5.
  • the signal generating device can, for example, input an alternating pulse current signal into the boundary line 2, the guide line 7 or the charging station outer field loop 4, thereby generating an alternating current signal around the boundary line 2, the guide line 7 or the charging station outer field loop 4 Variable magnetic field; the sensor 5 can be, for example, a magnetic induction coil.
  • the sensing principle is: according to the magnetic induction effect, when an alternating pulse current is input to the boundary line 2, the guide line 7 or the charging station outer field loop 4, it can be around the boundary line 2 or the charging station outer field loop 4
  • an alternating magnetic field is generated, when the magnetic induction coil is located near the boundary line 2, the guide line 7 or the external field loop 4 of the charging station, the magnetic induction coil will generate an induced electromotive force in the alternating magnetic field, thereby generating induction in the magnetic induction coil
  • the induced current is sent to the control unit 60 of the automatic lawn mower 1.
  • the control unit 60 can determine whether the automatic lawn mower 1 is relative to the boundary line 2 or the outer field loop of the charging station according to the magnitude and polarity of the induced current.
  • the guide line 7 or the charging station outer field loop 4 the closer to the boundary line 2 or the charging station outer field loop 4, the greater the magnetic field strength; that is, the closer the magnetic induction coil is to the boundary line 2, Lead wire 7 or charging station outer field loop 4, the greater the induced current output, because the magnetic induction coil is installed and fixed on the automatic lawn mower 1, the automatic lawn mower 1 and the automatic lawn mower can be obtained according to the magnitude of the induced current.
  • the guide line 7 or the charging station outer field loop 4 Because the direction of the magnetic field on both sides of the boundary line 2, the guide line 7 or the charging station outer field loop 4 is opposite, the induction when the magnetic induction coil is on both sides of the boundary line 2, the guide line 7 or the charging station outer field loop 4 The polarity of the current is opposite (one side is positive and the other side is negative). Therefore, it can be judged whether the magnetic induction coil of the automatic lawn mower 1 has crossed the boundary line 2 or not according to the change in the polarity of the induced current of the magnetic induction coil. Line 7 or Loop 4 outside the charging station.
  • alternating current pulse signals can avoid being affected by additional magnetic interference, because the current pulse signals are at different time points, short time intervals, and only allow the sensor of the automatic lawn mower 1 within the corresponding time interval. 5 Receive the signal (alternating magnetic field signal), so that the system can filter out other magnetic field noise signals that will interfere with the function of the automatic lawn mower 1.
  • the technical solution of this embodiment will be explained by taking the sensor 5 as a magnetic induction coil and the pilot signal generated by the boundary line 2 or the external field loop 4 of the charging station as an alternating magnetic field as an example.
  • FIG. 3 shows the path planning method of the automatic lawn mower 1 used for the automatic lawn mower 1 to leave the charging station 3 of this embodiment, and the boundary line is sensed by two magnetic induction coils arranged at the front end of the automatic lawn mower 1 2 and the pilot signal of the external field loop 4 of the charging station to realize the automatic lawn mower 1 leaving the charging station 3.
  • the two magnetic induction coils are respectively set on both sides of the center line of the front end of the automatic lawn mower 1, which are defined as the first sensor (Figure 1 and Figure 7-19 are represented by 1) and the second sensor ( Figure 1 and Figure 7-19 are represented by 2).
  • the first sensor and the second sensor can be arranged in a symmetrical way or asymmetrically.
  • the path planning method of the automatic lawn mower includes the following steps: step S11, control the automatic lawn mower 1 to exit the charging station 3; step S12, the automatic lawn mower 1 finds the boundary line 2; step S13, control the automatic lawn mower 1 to follow the boundary The line 2 walks until it reaches the target location; step S14, after the control reaches the target location, the automatic lawn mower 1 starts the mowing operation in the working area defined by the boundary line 2.
  • FIGS. 7-19 respectively correspond to schematic diagrams of the position and orientation of the automatic lawn mower 1 in the working area in different steps of the path planning method of the automatic lawn mower.
  • the path planning method of the automatic lawn mower of this embodiment will be described below with reference to FIGS. 7-19.
  • step S11 is executed to control the automatic lawn mower 1 to exit the charging station 3 according to the sensor 5 sensing the guidance signal of the charging station outer field loop 4. After the automatic lawn mower 1 is fully charged, it needs to exit the charging station 3 and keep a certain distance from the charging station 3.
  • the automatic lawn mower 1 when the charging is completed, the automatic lawn mower 1 starts to withdraw from the charging station 3, when the sensor 5 senses that the polarity of the pilot signal of the outer field loop 4 of the charging station is reversed (the sensor 5’s When the polarity of the induced current is reversed), it means that the automatic lawn mower 1 exits outside the loop 4 of the charging station (see Figure 7), and then the automatic lawn mower 1 continues to go backwards in a straight line for a random distance (second Random back distance) and then stop walking (please refer to Figure 9. Since the back distance of the automatic lawn mower 1 is random, this can ensure that the automatic lawn mower 1 will not always follow the same line when looking for the boundary line 2 (that is, step S12). To avoid rutting, which will damage the grass or vegetation in the work area.
  • step S12 is executed to control the automatic lawn mower 1 to search for the boundary line 2 according to the sensor 5 to sense the guidance signal of the outer field loop 4 of the charging station and the guidance signal of the boundary line 2.
  • step S12 may further include, step S121, controlling the automatic lawn mower 1 to rotate to any side of the charging station 3 by a first preset angle; step S122, controlling the automatic lawn mower 1 to follow the charging station The direction of the outer loop 4 of the charging station in 3 moves to the boundary line 2; step S123, when the automatic lawn mower 1 is partially outside the boundary line 2, control the automatic lawn mower 1 to stop walking; step S124, control the automatic mowing The machine 1 rotates to the side away from the charging station 3 until at least half of the automatic lawn mower 1 is located inside the boundary line 2.
  • Step S121 is executed to control the automatic lawn mower 1 to rotate to the left or right of the charging station 3 by a first preset angle, and the automatic lawn mower 1 starts to measure the walking distance from this time.
  • the first preset angle may be, for example, a value greater than 0°
  • the setting value is less than or equal to 90°, such as 30°, 45°, 60° or 90°, etc. It is understandable that the first preset angle can of course also be a random value between 0° and less than or equal to 90° value.
  • FIG. 9 shows a situation where the automatic lawn mower 1 rotates to the right side of the charging station 3, and the subsequent automatic lawn mower 1 will leave along the boundary line 2 on the right side of the charging station 3.
  • Step S122 is executed. After the automatic lawn mower 1 is turned to the first preset angle, the automatic lawn mower 1 is controlled to use one of the sensors 5 to sample the quotation mark signal of the charging station outer field loop 4 to obtain the induced current signal, and use the induced current The amplitude of the signal follows the outer field loop 4 of the charging station to move to the boundary line 2, as shown in Figure 10a-c.
  • Step S123 is executed.
  • a sensor 5 such as the first sensor in FIG. 10c
  • the automatic lawn mower 1 is partially located outside the boundary line 2, and then the automatic lawn mower 1 is controlled to stop walking , As shown in Figure 10c.
  • Step S124 is executed, as shown in FIG. 11, the automatic lawn mower 1 is controlled to rotate to the side away from the charging station 3.
  • another sensor 5 for example, the second sensor in FIG. 11c
  • step S13 is executed to control the automatic lawn mower 1 to follow the boundary line 2 according to the guidance signal of the sensor 5 to sense the boundary line 2 until it walks to the target location.
  • step S13 may further include: step S131, as shown in Figs. Stop walking; step S132, as shown in Fig. 14, the automatic lawn mower 1 backs a first random back distance, the first random back distance is less than or equal to the length of the straight line boundary area; step S133, the automatic lawn mower 1 follows the boundary line 2 Walk towards the target location.
  • step S131 when the automatic lawn mower 1 rides across the boundary line 2, the sensor 5 can be used to detect the guidance signal of the boundary line 2.
  • the sensor 5 When in a certain boundary line 2 interval, the sensor 5 When the quotation mark of the induced current remains stable (the polarity and amplitude remain unchanged), it means that the boundary line 2 interval is a straight line boundary area. This is because when the boundary line 2 is not a straight line, because the automatic lawn mower 1 needs to adjust the movement posture frequently during the traveling process, the distance between the automatic lawn mower 1 and the boundary line 2 will fluctuate or even pass through. In the case of the boundary line 2, this will cause the current sensing signal of the sensor 5 to change (change in size and/or polarity).
  • the boundary line 2 section during which the automatic lawn mower 1 rides across the boundary line 2 for a preset time can also be used as the straight line boundary area.
  • step S133 the target location is an arbitrary point at a first preset distance from the boundary line 2, and the first preset distance is a random value.
  • the automatic lawn mower 1 is controlled to follow the boundary line 2 in the direction
  • the step of walking at the target location may further include, first, as shown in FIG. 15a, the automatic lawnmower 1 rotates toward the center of the work area by a second preset angle (corresponding to step S1331); then, as shown in FIG.
  • the automatic lawnmower 1 Walk forward until the distance between the automatic lawn mower 1 and the boundary line 2 is the first preset interval (corresponding to step S1332); then, as shown in Figure 15c, the automatic lawn mower 1 rotates by a second preset angle, In order to keep the moving direction of the automatic lawn mower 1 unchanged before and after the adjustment (corresponding to step S1333); finally, as shown in Figure 16a-d and Figure 17, the automatic lawn mower 1 follows the boundary line 2 at the first preset interval until it reaches Target location (corresponding to step S1334).
  • the automatic lawn mower 1 can be guaranteed during the process of adjusting the follow-up distance between the automatic lawn mower 1 and the boundary area.
  • the work area prevent the automatic lawn mower 1 from moving outside the work area and losing; in addition, in this way, the automatic lawn mower 1 can follow the boundary line 2 along a different path each time, avoiding repeated rolling
  • the formation of rutting affects the growth of lawn or vegetation in the rutting area.
  • the second preset angle is greater than 0° and less than or equal to 90°, and the second preset angle may be a value, such as 30°, 45°, 60°, or 90°.
  • the distance that the automatic lawn mower 1 travels forward is taken as the first preset distance; and when the second preset angle is greater than 0° and less than 90°, in step S1332, In S1332, the distance that the automatic lawn mower 1 travels forward is less than or equal to the first preset distance divided by the cosine value of the second preset angle, and the value of the first preset distance is equal to that of the automatic lawn mower 1 in step S1332.
  • step S1334 the automatic lawn mower 1 first uses a sensor 5 to sample the pilot signal of the boundary line 2 to obtain the induced current signal, and controls the automatic lawn mower 1 to follow the boundary line with the amplitude of the induced current signal at that moment. 2 Walk to ensure that the distance between the automatic lawn mower 1 and the boundary line 2 is maintained at the first preset interval during the following process of the automatic lawn mower 1.
  • step S14 perform step S14, as shown in Figure 17 and Figure 18.
  • the automatic lawn mower 1 When it is detected that the total walking distance of the automatic lawn mower 1 is the same as the set value, it means that the automatic lawn mower 1 has reached the target location, and the automatic lawn mower is controlled at this time.
  • the machine 1 stops following the boundary line 2; the automatic lawn mower 1 randomly rotates an angle and then starts the mowing operation within the working area defined by the boundary line 2.
  • the automatic lawn mower 1 can perform mowing operations in a random manner in the work area.
  • the automatic lawn mower 1 When performing random mowing, the automatic lawn mower 1 can randomly rotate 360°, and when the automatic lawn mower 1 rotates one randomly When cutting grass in a random direction, the automatic lawn mower 1 will walk in a straight line until it reaches the boundary line 2 (the polarity of the induced current generated by the sensor 5 in response to the guidance signal of the boundary line 2 can be used to determine whether it crosses the boundary Line 2). When the collision reaches the boundary line 2, the automatic lawn mower 1 will randomly rotate an angle inward to cut the grass.
  • the embodiment of this embodiment also introduces a path planning system of an automatic lawn mower for realizing the path planning method of the above automatic lawn mower.
  • the path planning system of the automatic lawn mower includes a charging station exit module 10, a finding module 20 (as a boundary finding module), a following module 30 (a boundary following module), and a mowing operation module 40.
  • the charging station exit module 10 is used to control the automatic lawn mower 1 to exit the charging station 3;
  • the search module 20 is used to control the automatic lawn mower 1 to search for the boundary line 2, where the boundary line 2 is pre-laid on the automatic lawn mower 1.
  • the following module 30 is used to control the automatic lawn mower 1 to follow the boundary line 2 until it reaches the target location;
  • the mowing operation module 40 is used to control the automatic lawn mower 1 in the working area after reaching the target location Start mowing operations inside.
  • the charging station exit module 10 further includes a first reverse sub-module 11 and a second reverse sub-module 12; the first reverse sub-module 11 is used to control the automatic lawn mower 1 to exit the charging station 3 after the charging is completed;
  • the second backward sub-module 12 is used to control the automatic lawn mower 1 to continue linear backwards for a second random backward distance when the automatic lawn mower 1 exits outside the loop 4 of the charging station.
  • the search module 20 includes a first rotation sub-module 21, a first following sub-module 22, a stop sub-module 23 and a second rotation sub-module 24;
  • the first rotation sub-module 21 is used to control the 1 direction of the automatic lawn mower Either side of the charging station 3 rotates by a first preset angle;
  • the first following sub-module 22 is used to control the automatic lawn mower 1 to follow the guidance of the charging station outer field loop 4 set in the charging station 3 to move to the boundary line 2;
  • the stop sub-module 23 is used to control the automatic lawn mower 1 to stop walking when the automatic lawn mower 1 is partially located outside the boundary line 2;
  • the second rotation sub-module 24 is used to control the automatic lawn mower 1 to move away from the charging station 3 Rotate sideways until the automatic lawn mower 1 is at least halfway inside the boundary line 2.
  • the following module 30 further includes a searching sub-module 31, a third backward sub-module 32 and a second following sub-module 33;
  • the searching sub-module 31 is used to control the automatic lawn mower 1 to ride across the boundary line 2 until it finds The straight line boundary area of the boundary line 2;
  • the third backward sub-module 32 is used to control the automatic lawn mower 1 to reverse the first random backward distance, and the first random backward distance is less than or equal to the length of the linear boundary area;
  • the second following sub-module 32 is used To control the automatic lawn mower 1 to follow the boundary line 2 to walk towards the target location.
  • the second following sub-module 33 further includes a third rotating sub-module 331, a walking sub-module 332, a fourth rotating sub-module 333, and a third following sub-module 334.
  • the third rotation sub-module 331 is used to control the automatic lawn mower 1 to rotate toward the center of the work area by a second preset angle;
  • the walking sub-module 332 is used to control the automatic lawn mower 1 to move forward until the automatic lawn mower 1 and the boundary line 2
  • the distance between is the first preset distance;
  • the fourth rotation sub-module 333 is used to control the automatic lawn mower 1 to rotate by the second preset angle, so as to keep the traveling direction of the automatic lawn mower 1 unchanged before and after the adjustment;
  • the sub-module 334 is used to control the automatic lawn mower 1 to follow the boundary line 2 at a first preset interval to walk until it reaches the target location.
  • the path planning system of the automatic lawn mower of this embodiment is a system corresponding to the above-mentioned path planning method of the automatic lawn mower, and the functional modules or functional sub-modules in the path planning system of the automatic lawn mower are respectively Corresponding to the corresponding steps in the path planning method of the automatic lawn mower.
  • the path planning system of the automatic lawn mower of this embodiment can be implemented in cooperation with the path planning method of the automatic lawn mower.
  • the relevant technical details mentioned in the path planning method of the automatic lawn mower of this embodiment are still valid in the path planning system of the automatic lawn mower, and in order to reduce repetition, it will not be repeated here.
  • the relevant technical details mentioned in the path planning system of the automatic lawn mower of this embodiment can also be applied to the above-mentioned path planning method of the automatic lawn mower.
  • each step of the above method or each of the above modules can be completed by an integrated logic circuit of hardware in the processor 61 element or instructions in the form of software.
  • the path planning method of the automatic lawn mower of this embodiment can also be implemented by a control unit 60 provided on the fuselage of the automatic lawn mower 1.
  • the control unit 60 includes interconnected The memory 63 and the processor 61, and the memory 63 stores program instructions, and when the program instructions are executed by the processor 61, the above-mentioned path planning method of the automatic lawn mower is implemented.
  • the control unit 60 further includes a communicator 62, and the communicator 62 is connected to the processor 61.
  • the memory 63 in the aforementioned control unit 60 can be implemented in the form of a software functional unit and when sold or used as an independent product, it can be stored in a computer-readable storage medium.
  • the technical solution of this embodiment essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, an electronic device, or a network device, etc.) execute all or part of the steps of this embodiment.
  • This embodiment may also provide a storage medium, which stores a program, and when the program is executed by the processor 61, the above-mentioned path planning method for an automatic lawn mower is implemented;
  • the storage medium includes all forms of non-volatile memory, media, and Memory devices include, for example: semiconductor memory devices, such as EPROM, EEPROM, and flash memory devices; magnetic disks, such as internal hard disks or removable disks; magneto-optical disks; and CD-ROM and DVD-ROM disks.
  • the automatic lawn mower and its path planning method, system and equipment of this embodiment can be used to plan the path for the automatic lawn mower to leave the charging station, so that the charging station leaves the charging station along a different path each time , So as to avoid rutting when the automatic lawn mower exits the station along a fixed path, which affects the growth of lawn or vegetation in the rutting area.
  • the automatic lawn mower and its path planning method, system and equipment of this embodiment can be used to plan the path for the automatic lawn mower to leave the charging station, so that the charging station leaves the charging station along a different path each time, thereby avoiding automatic The lawn mower cuts the grass repeatedly along the same path to improve the efficiency of mowing and the beauty of the lawn.
  • FIG. 2 shows a structural block diagram of the automatic lawn mower of this embodiment
  • FIG. 22 shows a structural schematic diagram of the path planning device of the automatic lawn mower of this embodiment
  • FIG. 23 shows the automatic lawn mower of this embodiment.
  • the automatic lawn mower includes a self-propelled automatic lawn mower, which is a battery-powered electric tool that needs to be charged regularly.
  • the automatic lawn mower can move within the working area defined by the boundary line during use.
  • the path planning device for the automatic lawn mower 1 out of the station in this embodiment includes the automatic lawn mower 1, the guide line 7, and the boundary line 2.
  • Obstacle avoidance sensor 50 and charging station 3 automatic lawn mower 1.
  • the automatic lawn mower 1 includes a body, and a control unit 60 and at least one sensor 5 arranged on the body.
  • the sensor 5 is arranged at the front end of the body, The sensor 5 is used for sensing the guide signal of at least one of the boundary line 2, the guide line and the charging station outer loop 4; the control unit 60 is used for controlling the automatic lawn mower 1 to automatically leave the charging station 3 according to the guide signal.
  • the boundary line 2 the obstacle avoidance sensor 50, and the charging station 3
  • the boundary line 2, the guiding line 7 or the charging station outer field loop 4 guiding signal and the sensor 5 and the functioning modes of the two are the same as in the first embodiment, so the description will not be repeated.
  • the following will take the sensor 5 as a magnetic induction coil, and the guide signal generated by the boundary line 2, the guide line 7 or the external field loop 4 of the charging station as an alternating magnetic field as an example to illustrate the technical solution of this embodiment.
  • FIG. 23 shows the path planning method of the automatic lawn mower 1 used for the automatic lawn mower 1 to leave the charging station 3 in this embodiment, and the boundary line is sensed by two magnetic induction coils arranged at the front end of the automatic lawn mower 1 2 and the pilot signal of the external field loop 4 of the charging station to realize the automatic lawn mower 1 leaving the charging station 3.
  • the two magnetic induction coils are respectively set on both sides of the center line of the front end of the automatic lawn mower 1, which are defined as the first sensor ( Figure 22 and Figs. 26-32 are indicated by 1) and the second sensor (Fig. 1 and Figs. 26-32 are indicated by 2).
  • the first sensor and the second sensor can be arranged symmetrically or asymmetrically.
  • the path planning method of the automatic lawn mower includes the following steps: step S21, control the automatic lawn mower 1 to exit the charging station 3; step S22, control the automatic lawn mower 1 to find the guide line 7 and make the automatic lawn mower 1 move away from charging The direction of station 3, where the guide line 7 is pre-laid in the working area of the automatic lawn mower; step S23, the automatic lawn mower 1 is controlled to follow the guide line 7 until it reaches the target location; step S24, the target location is reached After that, the automatic lawn mower 1 is controlled to start the mowing operation within the working area defined by the boundary line 2.
  • FIGS. 26-32 respectively correspond to schematic diagrams of the position and orientation of the automatic lawn mower 1 in the working area in different steps of the path planning method of the automatic lawn mower.
  • the path planning method of the automatic lawn mower of this embodiment will be described below with reference to Figs. 6-32.
  • step S21 is executed to control the automatic lawn mower 1 to exit the charging station 3 according to the sensor 5 sensing the guidance signal of the charging station outer field loop 4.
  • the automatic lawn mower 1 After the automatic lawn mower 1 is fully charged, it needs to exit the charging station 3 and keep a certain distance from the charging station 3.
  • the automatic lawn mower 1 starts to withdraw from the charging station 3.
  • the sensor 5 senses that the polarity of the pilot signal of the charging station’s outer loop 4 is reversed (the sensor 5’s When the polarity of the induced current is reversed), it means that the automatic lawn mower 1 exits out of the charging station outer field loop 4 (refer to Figure 26), and then the automatic lawn mower 1 continues to go straight backward for a random backward distance and then stops.
  • step S22 is executed to control the automatic lawn mower 1 to search for the guide line 7 according to the guidance signal of the sensor 5 sensed by the guide line 7 and to make the automatic lawn mower 1 face away from the charging station 3.
  • step S22 may further include: step S221, as shown in FIG. 27, determining the relative position of the automatic lawn mower 1 and the guide line 7, for example, two The polarity of the induced current of the sensor 5 (of course a single sensor 5 can also be used) determines the position of the guide wire 7 relative to the automatic lawn mower 1. Step S222.
  • FIG. 27 shows a situation where two sensors 5 are located on both sides of the guide line 7. In this case, the automatic lawn mower 1 faces the charging station 3. Therefore, for example, the method shown in FIGS. 28a-c can be used.
  • step S23 is executed to control the automatic lawn mower 1 to follow the guide line 7 according to the guidance signal of the sensor 5 sensed by the guide line 7 until it walks to the target location.
  • step S23 may further include: step S231, as shown in Figs. 29 and 30, controlling the automatic lawn mower 1 to ride across the guide line 7 for a preset time and then stop; step S232, as shown in Figs. 31a-d As shown, the automatic lawn mower 1 is controlled to follow the guide line 7 to walk toward the target location at a first random interval.
  • step S232 first, as shown in FIG. 31a, the automatic lawnmower 1 is controlled to rotate a preset angle to either side of the guide line 7 (upper or lower side in FIG. 31a) until a sensor 5 and the guide line The distance between 7 is equal to the first random interval; then, as shown in Fig. 31a, the automatic lawn mower 1 is controlled to use the sensor 5 to sense the guiding signal on the guiding line 7 at this time to obtain the induced current; finally, as shown in Fig. 31b- As shown in d, the automatic lawn mower 1 is controlled to start to follow the guide line 7 to the target location with the amplitude of the induced current.
  • the automatic lawn mower 1 rotates to the side of the guide line 7 at different preset angles, and different random distances can be obtained, so that the automatic lawn mower 1 follows the guide line 7 to the target along a different path each time. Place walking, avoid repeated rolling to form ruts and affect the growth of lawn or vegetation in the rut area. It should be noted that in step S232, for example, the distance between the first sensor or the second sensor that is far from the guide line 7 in FIG. 31a and the guide line 7 can be selected as the first random distance.
  • step S24 when it is detected that the total walking distance of the automatic lawn mower 1 is the same as the set value, it means that the automatic lawn mower 1 has reached the target location, and the automatic lawn mower is controlled at this time
  • the machine 1 stops following the guide line 7; the automatic lawn mower 1 randomly rotates an angle and then starts the mowing operation within the working area defined by the boundary line 2.
  • the automatic lawn mower 1 can perform mowing operations in a random manner in the work area.
  • the automatic lawn mower 1 When performing random mowing, the automatic lawn mower 1 can randomly rotate 360°, and when the automatic lawn mower 1 rotates one randomly When cutting grass in a random direction, the automatic lawn mower 1 will walk in a straight line until it reaches the boundary line 2 (the polarity of the induced current generated by the sensor 5 in response to the guidance signal of the boundary line 2 can be used to determine whether it crosses the boundary Line 2). When the collision reaches the boundary line 2, the automatic lawn mower 1 will randomly rotate an angle inward to cut the grass.
  • the embodiment of this embodiment also introduces a path planning system of an automatic lawn mower for realizing the path planning method of the above automatic lawn mower.
  • the path planning system of the automatic lawn mower includes a charging station exit module 10, a search module 20 (as a guide line search module), a follow module 30 (as a guide line follow module), and a mowing operation module 40.
  • the charging station exit module 10 is used to control the automatic lawn mower 1 to exit the charging station 3;
  • the searching module 20 is used to control the automatic lawn mower 1 to search for the guide line 7 and make the automatic lawn mower 1 face away from the charging station 3, wherein ,
  • the guide line 7 is pre-laid in the working area of the automatic lawn mower 1;
  • the following module 30 is used to control the automatic lawn mower 1 to follow the guide line 2 to walk until it reaches the target location;
  • the mowing operation module 40 is used to reach After the target location, control the automatic lawn mower 1 to start mowing operations in the work area.
  • the charging station exit module 10 further includes a first reverse submodule 11 and a second reverse submodule 12; the first reverse submodule 11 is used to control the automatic lawn mower 1 to exit the charging station 3 after the charging is completed;
  • the second backward sub-module 12 is used to control the automatic lawn mower 1 to continue linear backwards for a random backward distance when the automatic lawn mower 1 exits outside the loop 4 of the charging station.
  • the searching module 20 includes a position determining sub-module 25 and an orientation adjustment sub-module 26; the position determining sub-module 25 is used to determine the relative position of the automatic lawn mower 1 and the guide line 7; The relative position of the automatic lawn mower 1 and the guide line 7 is used to adjust the orientation of the automatic lawn mower 1 so that the automatic lawn mower 1 faces away from the charging station 3.
  • the following module 30 further includes a straddle walking sub-module 34 and a fourth following submodule 35; the straddle walking sub-module 34 is used to control the automatic lawn mower 1 to walk across the guide line 7 for a preset time; The four-following sub-module 35 is used to control the automatic lawn mower 2 to follow the guide line 7 to the target location at a first random interval.
  • the path planning system of the automatic lawn mower of this embodiment is a system corresponding to the above-mentioned path planning method of the automatic lawn mower, and the functional modules or functional sub-modules in the path planning system of the automatic lawn mower are respectively Corresponding to the corresponding steps in the path planning method of the automatic lawn mower.
  • the path planning system of the automatic lawn mower of this embodiment can be implemented in cooperation with the path planning method of the automatic lawn mower.
  • the relevant technical details mentioned in the path planning method of the automatic lawn mower of this embodiment are still valid in the path planning system of the automatic lawn mower, and in order to reduce repetition, it will not be repeated here.
  • the relevant technical details mentioned in the path planning system of the automatic lawn mower of this embodiment can also be applied to the above-mentioned path planning method of the automatic lawn mower.
  • each of the above-mentioned functional modules or functional sub-modules may be fully or partially integrated into one physical entity during actual implementation, or may be physically separated.
  • these units can all be implemented in the form of software called by processing elements; they can also be implemented in the form of hardware; part of the units can be implemented in the form of calling software by processing elements, and some of the units can be implemented in the form of hardware.
  • all or part of these units can be integrated together or implemented independently.
  • the processing element here can be an integrated circuit with signal processing capabilities.
  • each step of the above method or each of the above modules can be completed by an integrated logic circuit of hardware in the processor 61 element or instructions in the form of software.
  • the path planning method of the automatic lawn mower in this embodiment can also be implemented by a control unit 60 provided on the fuselage of the automatic lawn mower 1.
  • the control unit 60 includes a memory 63 and a processor 61 connected to each other.
  • the memory 63 stores program instructions.
  • the program instructions are executed by the processor 61 to implement the path planning method of the automatic lawn mower.
  • the control unit 60 further includes a communicator 62, and the communicator 62 is connected to the processor 61.
  • the control unit 60 please refer to the first embodiment, which will not be repeated here.
  • the automatic lawn mower and its path planning method, system and equipment of this embodiment can be used to plan the path for the automatic lawn mower to leave the charging station, so that the charging station leaves the charging station along a different path each time, thereby Avoid rutting when the automatic lawn mower exits the station along a fixed path, which will affect the growth of lawn or vegetation in the rutting area.
  • the automatic lawn mower and its path planning method, system and equipment of this embodiment can be used to plan the path for the automatic lawn mower to leave the charging station, so that the charging station leaves the charging station along a different path each time, thereby avoiding automatic The lawn mower cuts the grass repeatedly along the same path to improve the efficiency of mowing and the beauty of the lawn.
  • the automatic lawn mower and its path planning method, system and equipment of this embodiment by setting the guide line, by setting the guide line, since the guide line can be arranged in a relatively simple shape as required, the automatic lawn mower can be moved away from the station The path planning is simpler.
  • This embodiment provides a self-propelled power equipment, which includes a fuselage, a driving wheel and a support wheel arranged on the fuselage, a working component, a power supply component, a GPS positioning system, a detection system, a data processing system, and a control system.
  • Operating components are components that implement or assist in implementing the operating functions of smart work equipment, such as the cutting component of the lawn mower, the suction and sweeping component of the sweeping robot, etc., which are not limited here.
  • a smart lawn mower also referred to as an automatic lawn mower
  • an automatic lawn mower is taken as an example for detailed description.
  • the intelligent lawn mower 1 includes a fuselage, a cutting component arranged on the fuselage, a power supply component, a GPS positioning system, a detection system, a data processing system, and a control system.
  • the fuselage is provided with two driving wheels located on both sides of the fuselage.
  • the driving wheels are generally located at the rear of the fuselage, and the two driving wheels are respectively driven by two driving motors.
  • the front of the fuselage is also provided with at least one supporting wheel, and the smart lawn mower is supported by a walking assembly composed of a driving wheel and a supporting wheel.
  • the supporting wheel is generally a universal wheel so that the smart lawn mower 1 can turn.
  • the cutting assembly includes a cutting motor and a cutting part driven by the cutting motor.
  • the cutting assembly is roughly located at the center of the lawn mower, the rotation axis of the cutting motor is roughly perpendicular to the horizontal plane, and the cutting assembly can be adjusted by the operator to adjust the height of the cutting to the ground.
  • the power supply component includes a rechargeable battery and a charging system that supplies power to the rechargeable battery.
  • FIG. 34 is a schematic diagram of the distribution of the smart lawn mower 1, the working area 200 and the charging station 3 when it needs to be returned for charging.
  • the charging station 3 is located on the boundary line 40 and is used to charge the smart lawn mower 1.
  • the boundary line 40 is drawn from the positive terminal of the charging station 3, surrounds the working area 200 and the obstacle 300, and is then connected to the negative terminal of the charging station 3.
  • the charging station 3 includes a signal generating device for generating a pulse signal of a certain frequency, which leads to the boundary line 40.
  • the GPS positioning system is used to obtain the actual position of the smart lawn mower 1.
  • the GPS positioning system is also used to obtain the actual position of the charging station 3.
  • the detection system is used to obtain the walking path of the smart lawn mower 1.
  • FIG. 35 is a schematic diagram of a virtual working area diagram 301 and a refill path 400 of this embodiment.
  • the data processing system is used to obtain the virtual work area map 301 corresponding to the work area 200 and divide the virtual work area map 301 into a number of virtual grids 202 to obtain the virtual work area map 301 of the smart lawn mower 1 and the charging station 3 Location.
  • the data processing system plans the X-axis direction path 401 from the position of the charging station 3 according to the virtual position, and the Y-axis direction path 402 from the position of the smart lawn mower 1, when the X-axis direction path and the Y-axis direction path intersect at At intersection 403, a refill path 400 is generated.
  • the path 401 in the X-axis direction and the path 402 in the Y-axis direction are planned along the virtual grid 202.
  • the X-axis direction path 401 extends along the X-axis direction and deviates toward one side of the Y-axis, and has a stepped shape.
  • the planned path is leftward.
  • the difference in the position of the obstacle and the smart lawn mower may cause the path in the X-axis direction to deviate to the right or to be a straight line extending along the X-axis direction.
  • the Y-axis direction path 402 extends along the Y-axis direction and deviates toward one side of the X-axis, and is stepped.
  • the planned path is toward Deviate to the left.
  • the difference in the position of the obstacle and the smart lawn mower may cause the Y-axis direction path to deviate to the right or a straight line extending along the Y-axis direction.
  • the X-axis direction path 401 and the Y-axis direction path 402 are planned along the virtual grid 202, when the X-axis direction path 401 and the Y-axis direction path 402 deviate to one side, they deviate by at least one grid.
  • the control system is used to control the walking of the intelligent lawn mower 1. Specifically, the control system controls the walking direction and speed of the smart lawn mower 1 by controlling the rotational speeds of the two drive motors. When the rotational speeds of the drive motors are different, the intelligent lawn mower 1 realizes turning; when the rotational speeds of the drive motors are the same, The intelligent lawn mower 1 realizes straight travel; when the rotation speed of the driving motor is opposite, the intelligent lawn mower 1 realizes zero-position turning on the spot. After the data processing system completes the planning of the recharging path 400, the control system controls the smart lawn mower 1 to walk along the Y-axis direction path 402 and the X-axis direction path 401 in sequence, and return to the charging station 3.
  • the method for planning the recharging path of the smart lawn mower 1 includes the following steps:
  • step S31 includes: setting a boundary line 40 on the boundary of the working area 200, and the smart lawn mower 1 walks a circle along the boundary line 40 and detects the walking path to obtain a virtual working area map 301. Specifically: After the smart lawn mower 1 is started, it automatically walks along the boundary line 40 and returns to the charging station 3 again. The detection system passes the walking path of the smart lawn mower 1 in a circle through the data processing system to form a virtual working area map 301.
  • Step S32 includes: defining the position of the charging station 3 as the origin of the coordinate, comparing the actual position of the smart lawn mower 1 with the virtual working area map 301 to obtain the corresponding virtual position of the smart lawn mower 1 on the virtual working area map 301.
  • the GPS positioning system locates the initial position of the smart lawn mower 1 in the charging state of the charging station 3, that is, the actual position of the charging station 3.
  • the data processing system takes this initial position as the origin of the coordinates.
  • the GPS positioning system locates the actual position of the smart lawn mower 1 in the work area 200.
  • the data processing system compares the actual position of the smart lawn mower 1 with the virtual work area map 301 to obtain the virtual position of the smart lawn mower 1.
  • Step S33 includes: dividing the virtual work area map 301 into a number of virtual grids 202;
  • the size of the virtual grid 202 can be designed according to actual needs, and is not limited here.
  • the X-axis direction path 401 and the Y-axis direction path 402 are planned according to the virtual positions of the charging station 3 and the smart lawn mower 1.
  • FIG. 37 is a partial schematic diagram of planning a path 401 in the X-axis direction with the virtual location of the charging station 3 as a starting point. Take the virtual location of the charging station 3 as the starting point and move forward along the X-axis. If it encounters the boundary line 40, the X-axis direction path retreats at least one block from the boundary line 40, then turns and goes straight along the Y-axis for at least one block, and then turns Go back to the X-axis direction and continue planning the route in the same way, where the turning direction is always the same until the X-axis direction path intersects the Y-axis direction path or the boundary line 40 is encountered when going straight along the Y-axis.
  • the X-axis direction path is re-planned from the virtual position of the charging station 3, specifically: when the boundary line 40 is encountered along the X-axis direction, the X-axis direction path starts from the boundary line Go back at least one square at 40 places, and then go straight for at least one square in the direction opposite to the previous turning direction, that is, turn right and go straight for at least one square, then turn back to the X-axis direction and continue planning the route in the same way, where the turning direction is always the same until The path in the X-axis direction intersects the path in the Y-axis direction.
  • the virtual work area map 301 is divided into two parts along the X-axis direction with the charging station 3 as a reference.
  • the upper area may be planned first, that is, the path 401 in the X-axis direction is obtained. It is also possible to plan the lower area first. Due to the blockage of the boundary line 40, a path that intersects the path in the Y-axis direction cannot be obtained in this area. You need to plan the remaining area, namely the upper area, from the virtual location of the charging station 3 as the starting point.
  • An X-axis direction path 401 is formed in the upper region.
  • FIG. 38 is a partial logic diagram of planning a path in the Y-axis direction with the virtual position of the smart lawn mower 1 as a starting point.
  • the path planning method in the Y-axis direction is roughly similar to the path planning method in the X-axis direction, specifically: starting from the virtual position of the smart lawn mower 1 and moving along the Y-axis direction, if it encounters the boundary line 40, then the Y-axis direction
  • the path retreats at least one square from the boundary line 40, then turns and goes straight along the X-axis for at least one square, then turns back to the Y-axis direction and continues planning the route in the same way.
  • the turning direction is always the same. In this embodiment, it turns left until When the Y-axis direction path 402 and the X-axis direction path 401 intersect or go straight along the X-axis, the boundary line 40 is encountered.
  • the Y-axis direction path 402 is re-planned from the virtual position of the intelligent lawn mower 1, specifically: when the boundary line 40 is encountered along the Y-axis direction, the Y-axis direction path Go back at least one square from the boundary line 40, and then go straight for at least one square in the direction opposite to the previous turning direction, that is, turn right and go straight for at least one square, then turn back to the Y-axis direction and continue planning the route in the same way, where the turning direction It is always the same until the Y-axis direction path 402 and the X-axis direction path 401 intersect.
  • the virtual working area map 301 is divided into two parts along the Y-axis direction based on the smart lawn mower 1.
  • the path 402 in the Y-axis direction can be directly obtained.
  • the Y-axis path cannot be obtained in this area due to the blockage of the boundary line 40. Therefore, it is necessary to plan the remaining part of the area, that is, the left area, with the virtual position of the smart lawn mower 1 as the starting point, and finally the left area.
  • the side area forms a path 402 in the Y-axis direction.
  • the X-axis direction path 401 and the Y-axis direction path 402 intersect and obtain an intersection 403. In this way, a complete recharging path 400 from the smart lawn mower to the charging station 3 is obtained.
  • several recharging paths 400 are planned and the shortest recharging path is selected, and the control system controls the intelligent lawn mower 1 to walk along the Y-axis direction path 402 and the X-axis direction path 401 in sequence, and return to the charging station 3. It should be noted that when charging is required, plan a recharge path that is different from the recharge path performed last time. This setting can avoid repeated rolling of the lawn and reduce the damage to the lawn.
  • the smart lawn mower of this embodiment forms the work area into a corresponding virtual work area map, and the X-axis direction path and the Y-axis direction path are planned on the virtual work area map.
  • the recharge has been planned A good recharging path effectively avoids obstacles in the work area.
  • the smart lawn mower does not need to be adjusted multiple times to avoid obstacles, preventing the smart lawn mower from being used up before returning to the charging station.
  • the virtual work area map is divided into several equal virtual grids, and a shorter recharging path can be selected according to the distribution of the virtual grids, so that the path of the smart lawnmower back to the charging station is shorter, reducing the need The remaining amount of recharging saves recharging time, thereby increasing the working time of the smart lawn mower.
  • reducing the number of charging can effectively increase the service life of the battery cell.
  • the intelligent lawn mower forms a virtual grid, and there is no need to actually arrange guide lines in the work area, which not only reduces the manufacturing cost of the product, but also simplifies the operation steps and improves the user experience.
  • the refill path planned each time in this embodiment is different from the refill path executed last time, so it is possible to avoid repetitive rolling of the lawn and reduce the damage to the lawn.

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Abstract

一种自动割草机（1）及其路径规划方法、系统和设备，可以避免自动割草机（1）沿着固定路径出站时产生的车辙，减少了对草坪或植被的损坏。该方法包括：步骤S11：控制自动割草机（1）退出充电站（3）；控制自动割草机（1）寻找边界线（2）或者引导线（7），其中，边界线（2）是预先铺设在自动割草机（1）的工作区域的边沿上，引导线（7）是预先铺设在自动割草机（1）的工作区域内；步骤S13：控制自动割草机（1）跟随边界线（2）或引导线（7）行走，直至行走到目标地点。

Description

自动割草机及其路径规划方法、系统和设备 技术领域
本发明涉及自动割草机技术领域，特别涉及一种自动割草机及其路径规划方法、系统和设备。
背景技术
自动割草机是一种用于修剪草坪、植被等的园林工具，通常包括自走机构、割刀机构以及动力源，动力源可以是汽油机、电池包等等。电池驱动式自动割草机因为噪声低、零污染而广受用户的喜爱。然而，由于电池能量密度、电池生产成本等因素的制约，自动割草机所携带的电池包的电量十分有限，从而导致自动割草机的一次作业面积偏小。当草坪面积较广时，自动割草机工作一定时间后需要返回充电站进行充电，充电完成后离开充电站并返回工作区域进行割草作业。
当自动割草机从充电站离开并返回割草区域工作时，大部分产品都是沿着固定轨迹出站，这不仅容易产生车辙，从而影响车辙区域的草坪或制植被的生长；而且容易造成相同路径割草偏多，从而影响整体割草效率和草坪的美观。
现有的智能割草机返回充电的方式存在以下问题：当作业区域较大时，而智能割草机多次往返于充电站及工作地点需多次碾压草坪，对草坪造成一定破坏。另外，充电次数过多也会降低智能割草机的电池芯的使用寿命，增加了工作成本。当作业区域的障碍物较多时，智能割草机须避让障碍物，导致返回充电站的路线较长，耗费较多电量，智能割草机无法正常返回充电站充电。
发明内容
鉴于以上现有技术的缺点，本发明的目的在于提供一种自动割草机及其路径规划方法、系统和设备，用于解决现有技术中自动割草机从充电站离开并返回割草区域工作时容易产生车辙以及相同路径割草偏多的技术问题。
为实现上述目的及其他相关目的，本发明提供一种自动割草机的路径规划方法，包括：
控制所述自动割草机退出充电站；
控制所述自动割草机寻找边界线或者引导线，其中，所述边界线是预先铺设在所述自动割草机的工作区域的边沿上，所述引导线是预先铺设在所述自动割草机的工作区域内；
控制所述自动割草机跟随所述边界线或引导线行走，直至行走到目标地点。
在一可选实施例中，控制所述自动割草机跟随所述边界线行走，直至行走到目标地点的步骤包括：
控制所述自动割草机骑跨所述边界线行走，直至找到所述边界线的直线边界区；
控制所述自动割草机倒退第一随机倒退距离，所述第一随机倒退距离小于或等于所述直线边界区的长度；
控制所述自动割草机跟随所述边界线向所述目标地点行走。
在一可选实施例中，所述目标地点为离所述边界线为第一预设间距的一任意点；控制所述自动割草机跟随所述边界线向所述目标地点行走的步骤包括：
控制所述自动割草机朝向所述工作区域中心转动第二预设角度；
控制所述自动割草机向前行走直至所述自动割草机与所述边界线之间的间距为所述第一预设间距；
控制所述自动割草机回转所述第二预设角度，以保持调整前后所述自动割草机的行进方向不变；
控制所述自动割草机以所述第一预设间距跟随所述边界线行走直至行走到所述目标地点。
在一可选实施例中，控制所述自动割草机退出充电站的步骤包括：
充电完成后控制所述自动割草机开始退出充电站；
当所述自动割草机退出到设置于所述充电站中的充电站外场环路之外时，控制所述自动割草机继续直线倒退第二随机倒退距离。
在一可选实施例中，控制所述自动割草机寻找边界线的步骤包括：
控制所述自动割草机向所述充电站的任意一侧旋转第一预设角度；
控制所述自动割草机跟随设置于所述充电站中的充电站外场环路的指引向所述边界线移动；
当所述自动割草机部分位于所述边界线外时，控制所述自动割草机停止行走；
控制所述自动割草机向远离所述充电站的一侧旋转，直至所述自动割草机至少一半位于所述边界线内部。
在一可选实施例中，方法还包括，到达所述目标地点后，控制所述自动割草机在由所述边界线限定出的所述工作区域内开始割草作业。
在一可选实施例中，方法还包括，到达所述目标地点后，控制所述自动割草机在由所述边界线限定出的所述工作区域内采用随机方式开始割草作业。
在一可选实施例中，控制所述自动割草机跟随所述引导线行走，直至行走到目标地点的 步骤包括：
控制所述自动割草机骑跨所述引导线行走一预设时间；
控制所述自动割草机以第一随机间距跟随所述引导线向所述目标地点行走。
在一可选实施例中，控制所述自动割草机寻找引导线并使所述自动割草机的朝向远离所述充电站的方向的步骤包括：
确定所述自动割草机与所述引导线的相对位置；
根据所述自动割草机与所述引导线的相对位置来调整所述自动割草机的方位，以使所述自动割草机朝向远离所述充电站的方向。
在一可选实施例中，所述路径规划方法还包括回充路径规划方法，所述回充路径规划方法包括：
获取自动割草机的工作区域对应的虚拟工作区域图；
根据自动割草机及充电站的实际位置获取二者在所述虚拟工作区域图上的虚拟位置；
根据所述虚拟位置规划所述自动割草机的回充路径，包括：以所述充电站的虚拟位置为起点规划X轴方向路径以及以自动割草机的虚拟位置为起点规划Y轴方向路径，当所述X轴方向路径与Y轴方向路径相交，获得回充路径。
在一可选实施例中，将所述虚拟工作区域图划分为若干虚拟网格；所述X轴方向路径及Y轴方向路径沿所述虚拟网格进行规划。
为实现上述目的及其他相关目的，本发明还提供一种自动割草机的路径规划方法，包括：
控制所述自动割草机退出充电站；
控制所述自动割草机寻找边界线，其中，所述边界线是预先铺设在所述自动割草机的工作区域的边沿上；
控制所述自动割草机跟随所述边界线行走，直至行走到目标地点；
其中，控制所述自动割草机跟随所述边界线行走，直至行走到目标地点的步骤包括：
控制所述自动割草机骑跨所述边界线行走，直至找到所述边界线的直线边界区；
控制所述自动割草机倒退第一随机倒退距离，所述第一随机倒退距离小于或等于所述直线边界区的长度；
控制所述自动割草机跟随所述边界线向所述目标地点行走。
为实现上述目的及其他相关目的，本发明还提供一种自动割草机的路径规划方法，包括：
控制所述自动割草机退出充电站；
控制所述自动割草机寻找引导线并使所述自动割草机的朝向远离所述充电站的方向，其 中，所述引导线是预先铺设在所述自动割草机的工作区域内；
控制所述自动割草机跟随所述引导线行走，直至行走到目标地点；
其中，控制所述自动割草机跟随所述引导线行走，直至行走到目标地点的步骤包括：
控制所述自动割草机骑跨所述引导线行走一预设时间；
控制所述自动割草机以第一随机间距跟随所述引导线向所述目标地点行走。
为实现上述目的及其他相关目的，本发明还提供一种自动割草机的路径规划系统，包括：
所述自动割草机的路径规划系统及包括：
充电站退出模块，用于控制所述自动割草机退出所述充电站；
寻找模块，用于控制所述自动割草机寻找边界线或者引导线，其中，所述边界线是预先铺设在所述自动割草机的工作区域的边沿上，所述引导线是预先铺设在所述自动割草机的工作区域内；
跟随模块，用于控制所述自动割草机跟随所述边界线或引导线行走，直至行走到目标地点。
在一可选实施例中，所述自动割草机的路径规划系统还包括回充路径规划模块，所述回充路径规划模块被配置为
获取自动割草机的工作区域对应的虚拟工作区域图；
根据自动割草机及充电站的实际位置获取二者在所述虚拟工作区域图上的虚拟位置；
根据所述虚拟位置规划所述自动割草机的回充路径，包括：以所述充电站的虚拟位置为起点规划X轴方向路径以及以自动割草机的虚拟位置为起点规划Y轴方向路径，当所述X轴方向路径与Y轴方向路径相交，获得回充路径。在一可选实施例中，所述自动割草机的路径规划系统还包括，割草作业模块，用于到达所述目标地点后，控制所述自动割草机在由所述边界线限定出的所述工作区域内开始割草作业。
为实现上述目的及其他相关目的，本发明还提供一种自动割草机，所述自动割草机包括：
机身；
至少一传感器，设置于所述机身的前端；
控制单元，设置于所述机身上，所述控制单元包括相互耦合的处理器和存储器，所述存储器存储有程序指令，当所述存储器存储的程序指令被所述处理器执行时实现
控制所述自动割草机退出充电站；
控制所述自动割草机寻找边界线或者引导线，其中，所述边界线是预先铺设在所述自动割草机的工作区域的边沿上，所述引导线是预先铺设在所述自动割草机的工作区域内；
控制所述自动割草机跟随所述边界线或引导线行走，直至行走到目标地点。
为实现上述目的及其他相关目的，本发明还提供一种存储介质，包括程序，当所述程序在计算机上运行时，使得所述计算机执行
控制自动割草机退出充电站；
控制所述自动割草机寻找边界线或者引导线，其中，所述边界线是预先铺设在所述自动割草机的工作区域的边沿上，所述引导线是预先铺设在所述自动割草机的工作区域内；
控制所述自动割草机跟随所述边界线或引导线行走，直至行走到目标地点。
为实现上述目的及其他相关目的，本发明还提供一种自动割草机的路径规划设备，包括：
自动割草机，包括机身，以及设置于所述机身上的控制单元和至少一个传感器，所述传感器设置于所述机身的前端；
边界线，预先铺设在所述自动割草机的工作区域的边沿上；
充电站，所述充电站位于所述边界线上，所述充电站内设置有充电站外围环路；
所述传感器用于感测所述边界线和/或所述充电站外场环路的引导信号；所述控制单元用于根据引导信号控制所述自动割草机自动离开所述充电站。
在一可选实施例中，所述自动割草机的路径规划设备还包括，至少一条引导线，预先铺设在所述自动割草机的工作区域内；所述引导线的两端分别所述充电站和所述边界线连接，所述引导线与所述边界线形成一闭合回路。
在一可选实施例中，所述引导信号包括交变磁场；所述传感器包括磁感线圈。
在一可选实施例中，所述传感器为两个，对称设置在所述机身前端的中心线两侧。
本发明的自动割草机及其路径规划方法、系统和设备，能够用于规划自动割草机离开充电站的路径，使充电站每次沿着不同的路径离开充电站，从而避免沿着自动割草机沿着固定路径出站时产生车辙，影响车辙区域的草坪或制植被的生长。
本发明的自动割草机及其路径规划方法、系统和设备，能够用于规划自动割草机离开充电站的路径，使充电站每次沿着不同的路径离开充电站，从而可以避免自动割草机沿着相同路径反复割草，提高割草效率，提升草坪的美观。
本发明的自动割草机及其路径规划方法、系统和设备，通过设置引导线，由于引导线可以根据需要布置成相对简单的形状，从而能够使自动割草机离站的路径规划更简单。
本发明的自动割草机及其路径规划方法、系统和设备，将自动割草机的工作区域形成对应的虚拟工作区域图，在虚拟工作区域图上分别进行X轴方向路径及Y轴方向路径的规划，以生成回充路径。如此设置，回充时已规划好回充路径，有效地避开工作区域内的障碍物， 防止自动割草机在返回充电站之前电量被消耗完；通过规划较短的回充路径，减少需预留的回充电量，节省回充时间，进而增加了智能割草机的工作时间。
附图说明
图1显示为本发明的一个实施例的自动割草机出站的自动割草机的路径规划设备的结构示意图。
图2显示为本发明的一个实施例的自动割草机的结构框图。
图3显示为本发明的一个实施例的自动割草机的路径规划方法的流程示意图。
图4显示为图3中步骤S12的子流程示意图。
图5显示图3为步骤S13的子流程示意图。
图6显示为图5中步骤S33的子流程示意图。
图7显示为本发明的一个实施例中自动割草机退出到充电站外场环路时的示意图。
图8显示为本发明的一个实施例中自动割草机继续直线倒退第二随机倒退距离的示意图。
图9显示为本发明的一个实施例中自动割草机向充电站的任意一侧旋转第一预设角度的示意图。
图10a-c显示为本发明的一个实施例中自动割草机跟随设置于充电站中的充电站外场环路的指引向边界线移动示意图。
图11显示为本发明的一个实施例中自动割草机自动割草机向远离充电站的一侧旋转，直至自动割草机至少一半位于边界线内部的示意图。
图12显示为本发明的一个实施例中自动割草机骑跨边界线行走的示意图。
图13显示为本发明的一个实施例中自动割草机找到边界线的直线边界区的示意图。
图14显示为本发明的一个实施例中自动割草机倒退第一随机倒退距离后的示意图。
图15a-c显示为本发明的一个实施例中自动割草机调整自动割草机与边界线的间距的示意图。
图16a-d显示为本发明的一个实施例中自动割草机跟随边界线向目标地点行走的示意图。
图17显示为本发明的一个实施例中自动割草机到达目标地点后的示意图。
图18显示为本发明的一个实施例中自动割草机到达目标地点后随机割草作业的示意图。
图19显示为本发明的一个实施例的自动割草机的路径规划系统及的结构框图。
图20显示为本发明的一个实施例的第二跟随子模块的结构框图。
图21显示为本发明的一个实施例的控制单元的结构框图。
图22显示为本发明的另一个实施例的自动割草机出站的自动割草机的路径规划设备的 结构示意图。
图23显示为本发明的另一个实施例的自动割草机的路径规划方法的流程示意图。
图24显示为图23中步骤S22的子流程示意图。
图25显示图23为步骤S23的子流程示意图。
图26显示为本发明的另一个实施例中自动割草机退出到充电站外场环路时的示意图。
图27显示为本发明的另一个实施例中自动割草机继续直线倒退一随机倒退距离后的示意图。
图28a-c显示为本发明的另一个实施例中自动割草机寻找引导线并使自动割草机的朝向远离充电站的方向的示意图。
图29显示为本发明的另一个实施例中自动割草机骑跨引导线行走时的示意图。
图30显示为本发明的另一个实施例中自动割草机骑跨引导线行走一预设时间后的示意图。
图31a-d显示为本发明的另一个实施例中自动割草机以第一随机间距跟随引导线向目标地点行走的示意图。
图32显示为本发明的另一个实施例中自动割草机到达目标地点后随机割草作业的示意图。
图33显示为本发明的另一个实施例的路径规划系统的结构框图。
图34为本发明的智能割草机、工作区域及充电站的分布示意图。
图35为本发明的虚拟工作区域及回充路径的示意图。
图36为本本发明的自走动力设备的回充路径规划方法的流程图。
图37为本发明的规划X轴方向路径的部分逻辑示意图。
图38为本发明的规划Y轴方向路径的部分逻辑示意图。
具体实施方式
以下通过特定的具体实例说明本发明的实施方式，本领域技术人员可由本说明书所揭露的内容轻易地了解本发明的其他优点与功效。本发明还可以通过另外不同的具体实施方式加以实施或应用，本说明书中的各项细节也可以基于不同观点与应用，在没有背离本发明的精神下进行各种修饰或改变。
请参阅图1-38。需要说明的是，本实施例中所提供的图示仅以示意方式说明本发明的基本构想，遂图式中仅显示与本发明中有关的组件而非按照实际实施时的组件数目、形状及尺 寸绘制，其实际实施时各组件的型态、数量及比例可为一种随意的改变，且其组件布局型态也可能更为复杂。
实施例一
电驱动式自动割草机需要经常回到充电站进行充电，充好电后会从充电站离开并返回割草区域工作时，为了避免自动割草机沿着固定轨迹出站容易产生车辙，以及造成相同路径割草较多的问题，本实施例公开一种用于自动割草机离开充电站的自动割草机的路径规划方法、系统及设备。其中，图1示出了本实施例的自动割草机的路径规划设备的结构示意图；图2显示为本实施例的自动割草机的结构框图；图3示出了本实施例的自动割草机的路径规划方法的流程示意图；图19示出了本实施例的自动割草机的路径规划系统及的结构框图。需要说明的是，为了使附图显示更加清楚，图1及后续附图7-18中对自动割草机、充电站进行了放大示出。在本实施例中，自动割草机包括自走式自动割草机，是一种采用电池供电且需要定期充电的电动工具。自动割草机在使用期间可以在边界线限定出的工作区域内移动作业。
请参阅图1及图2，在本实施例中，用于自动割草机1出站的自动割草机的路径规划设备包括自动割草机1，边界线2、引导线7(图1中未示出，见图22)、避障传感器50及充电站3。自动割草机1包括机身，以及设置于机身上的控制单元60(详见下文相关部分描述)和至少一个传感器5(图1中示出了自动割草机1包含两个传感器5的情形)；传感器5用于感测边界线2、引导线及充电站外场环路4中的至少一个的引导信号；控制单元60用于根据引导信号控制自动割草机1自动离开充电站3。充电站3位于边界线2上，充电站3被设置为充电板，以方便自动割草机1在对接过程中处于均匀且连续的平面上，保证对接过程的更精确，为了便于自动割草机1识别定位充电站3的位置，在充电站3内设置有充电站外场环路4，并且边界线2在充电站3的位置向内工作区域内凹形成一个比充电站外场环路4窄且穿过充电站外场环路4的充电站内场环路2a，充电站内场环路2a用于引导自动割草机退出充电站。
在本实施例中，避障传感器50用于探测自动割草机1的行进路径上的障碍物，然后将信号传输给控制单元60，控制单元60控制自动割草机1实现避障操作，以绕开障碍物，避障传感器50例如可以是红外传感器、激光传感器或者碰撞传感器等；碰撞传感器可以是由磁体和霍尔传感器组成的传感器，也可以是由衔铁或电感式传感器组成的传感器。以由磁体和霍尔传感器组成的碰撞传感器为例，例如可以将磁体或者霍尔传感器分别安装在自动割草机1的两个部件上，两个部件例如可以是自动割草机1的机身的顶盖和壳体；自动割草机1发生碰撞时，其中一个部件(例如顶盖)可以在惯性的作用下相对于另一个部件(例如壳体)沿 着自动割草机1的行进方向向前运行一段距离，从而使得磁体和霍尔传感器发生相对位移，进而引起霍尔传感器的信号变化，此时霍尔传感器可将信号发送给控制单元60，控制单元60控制自动割草机1实现避障操作，以绕开障碍物，从而使自动割草机1在跟随引导线7离开充电站3的过程中具有避障功能。
请参阅图1，在本实施中，边界线2例如可以沿工作区域的边沿埋设以隐藏边界线2，当然，边界线2也可以设置在地表上或地面上。边界线2例如可以是单芯型的金属导线(例如铜线)或者多股线等。引导线7是预先铺设在自动割草机1的工作区域内，引导线7的两端分别充电站3和边界线2连接，其中，引导线7与充电站3连接的一端也与边界线2连接，从而引导线7和位于引导线7两个端点之间的相对短的一部分边界线2共同组成一个闭合环路(见图22)。边界线2(包括充电站内场环路2a)、引导线7及充电站外场环路4的分别与设置于充电站3中的信号发生装置耦合连接，信号发生装置用于产生一定频率脉冲电流信号并输入到边界线2、引导线7或充电站外场环路4内，以在边界线2、引导线7或充电站外场环路4中形成引导信号，并且边界线2、引导线7或充电站外场环路4产生的引导信号需要具有自身的特殊特性，以将两者区分开来，例如可以通过间隔方式分别向边界线2、引导线7及充电站外场环路4输入脉冲电流信号，以使边界线2、引导线7及充电站外场环路4分别在不同的时间区间产生对应的引导信号。传感器5例如可以采用磁场传感器5或者电流传感器5，以测边界线2、引导线7和充电站外场环路4中的至少一个的引导信号。
请参阅图2，本实施例的自动割草机1还包括设置于机身上的行走组件70、作业组件80及供电组件90。行走组件70包括位于机身两侧的驱动轮，驱动轮一般位于机身的后方，两个驱动轮分别被两个驱动电机驱动，机身的前方还设有至少一个支撑轮，自动割草机1被驱动轮与支撑轮支撑行走，支撑轮例如可以为万向轮，以便自动割草机1转向。控制单元60通过控制两个驱动电机的转速来控制自动割草机1的行走方向及速度，当驱动电机的转速不同时，自动割草机1可实现转弯；当驱动电机的转速相同时，自动割草机1可实现直线行走，当驱动电机的转速相反时，自动割草机1实现原地零位转向。作业组件80包括切割电机以及被切割电机驱动的切割头，作业组件80大致位于自动割草机1的中心位置，切割电机的旋转轴大致垂直于水平面，作业组件80可以被操作者调节与地面的高度，以实现对切割高度的调节。供电组件90包括可充电电池以及给可充电电池供电的充电系统。控制单元60接收发送给自动割草机1的各种信号或传感器5采集的信号，并通过内置的处理器61生成对应的控制信号，根据生成的控制信号对行走单元或者作业单元进行控制，从而使自动割草机1沿着规划的路线离开充电站3以进行割草作业，自动割草机1既可以根据下文中的自动割草机的路 径规划方法、自动割草机的路径规划系统及规划的路径离开充电站3，也可以以其他合适的方法规划的路径离开充电站3。
需要说明的是，自动割草机1的机身上还设置有报警装置(未图示)，报警装置用于当自动割草机1出现故障、运行中出现意外情况时发出报警，或者将报警信息通过无线方式发给用户的终端设备，用户接收到报警信号，可以及时消除故障或处理意外情况，以使自动割草机1能够正常运行，意外情况例如可以是自动割草机1卡在某个地形、无法越过障碍物、找寻不到引导线、寻不到边界线以及电量不足以返回充电站等情形。
在本实施例中，将以引导信号为交变磁场，传感器5为磁感线圈为例为说明，可理解的是，本实施例的自动割草机的路径规划方法和系统中，也可以采用其他合适的引导信号形式，或者不同类型的传感器5。信号发生装置例如可以向边界线2、引导线7或充电站外场环路4内输入交变的脉冲电流信号，从而在边界线2、引导线7或充电站外场环路4的周围会产生交变的磁场；传感器5例如可以采用磁感线圈。其感测原理是：根据磁感效应，当向边界线2、引导线7或充电站外场环路4中输入交变的脉冲电流时，可在边界线2或充电站外场环路4的周围产生交变的磁场，磁感线圈位于边界线2、引导线7或充电站外场环路4的附近时，磁感线圈会在交变的磁场中产生感应电动势，从而在磁感线圈中产生感应电流，感应电流经滤波放大处理后发送给自动割草机1的控制单元60，控制单元60可以根据感应电流的大小和极性来判定自动割草机1相对于边界线2或充电站外场环路4的位置以及方位。在边界线2、引导线7或充电站外场环路4的一侧，越靠近边界线2或充电站外场环路4，磁场强度越大；也就是说，磁感线圈越靠近边界线2、引导线7或充电站外场环路4，其输出的感应电流也就越大，由于磁感线圈安装固定于自动割草机1上，因此可以根据感应电流的大小来获得自动割草机1与边界线2、引导线7或充电站外场环路4的距离。由于在边界线2、引导线7或充电站外场环路4的两侧的磁场方向相反，故而当磁感线圈在边界线2、引导线7或充电站外场环路4的两侧时的感应电流的极性相反(一侧为正，另一侧为负)，因此，可以根据磁感线圈的感应电流的极性变化来判断自动割草机1的磁感线圈是否越过边界线2、引导线7或充电站外场环路4。需要说明的是，采用交变电流脉冲信号可以避免被附加其他磁场干扰影响，由于电流脉冲信号在不同的时间点、短的时间间隔并且仅在相应的时间间隔内允许自动割草机1的传感器5接收信号(交变磁场信号)，从而系统可以过滤掉其他会干扰自动割草机1功能的磁场噪音信号。下文将以传感器5为磁感线圈，边界线2或充电站外场环路4产生的引导信号为交变磁场为例来说明本实施例的技术方案。
图3示出了本实施例的用于自动割草机1离开充电站3的自动割草机的路径规划方法， 通过设置于自动割草机1前端的两个磁感线圈来感测边界线2和充电站外场环路4的引导信号来实现自动割草机1离开充电站3，两个磁感线圈分别设置于自动割草机1前端的中心线两侧，定义为第一传感器(图1及图7-19中用①表示)和第二传感器(图1及图7-19中用②表示)，第一传感器和第二传感器可以采用对称方式布置也可采用不对称方式布置。自动割草机的路径规划方法包括以下步骤：步骤S11、控制自动割草机1退出充电站3；步骤S12、自动割草机1寻找边界线2；步骤S13、控制自动割草机1跟随边界线2行走，直至行走到目标地点；步骤S14、控制到达目标地点后，自动割草机1在由边界线2限定出的工作区域内开始割草作业。其中，图7-图19分别对应自动割草机的路径规划方法的不同步骤中自动割草机1在工作区域的位置及方位示意图。下面将结合附图7-19来阐述本实施例的自动割草机的路径规划方法。
首先，执行步骤S11，控制自动割草机1根据传感器5感测充电站外场环路4的引导信号退出充电站3。自动割草机1充电完成后，需要退出充电站3并与充电站3保持间隔一定距离。具体地，如图1，当充电完成后，自动割草机1开始向外退出充电站3，当传感器5感测到充电站外场环路4的引导信号的极性发生反转(传感器5的感应电流的极性反转)时，就表示自动割草机1退出到充电站外场环路4之外(请参阅图7)，这时自动割草机1继续直线倒退一随机距离(第二随机倒退距离)后停止行走(请参阅图9，由于自动割草机1倒退的距离随机，这可以保证自动割草机1在寻找边界线2(也即步骤S12)时不会总沿着相同的轨迹行进，避免产生车辙，从而对工作区域的草地或植被产生破坏。
接着，执行步骤S12，控制自动割草机1根据传感器5感测充电站外场环路4的引导信号以及边界线2的引导信号寻找边界线2。如图4所示，步骤S12可进一步包括，步骤S121、控制自动割草机1向充电站3的任意一侧旋转第一预设角度；步骤S122、控制自动割草机1跟随设置于充电站3中的充电站外场环路4的指引向边界线2移动；步骤S123、当自动割草机1部分位于边界线2外时，控制自动割草机1停止行走；步骤S124、控制自动割草机1向远离充电站3的一侧旋转，直至自动割草机1至少一半位于边界线2内部。
执行步骤S121，控制自动割草机1向充电站3的左侧或者右侧旋转第一预设角度，自动割草机1从此时开始测量行走距离。需要说明的是，自动割草机1向向左或者向右旋转取决于自动割草机1随后沿着边界线2的左侧或者右侧离开，第一预设角度例如可以为一个大于0°小于等于90°之间的设定值，例如30°、45°、60°或90°等，可以理解的是，第一预设角度当然也可以采用大于0°小于等于90°之间的随机值。图9中示出了自动割草机1向充电站3的右侧旋转的情形，后续自动割草机1会沿着充电站3右侧的边界线2离开。
执行步骤S122，自动割草机1转向第一预设角度后，控制自动割草机1利用其中一个传感器5对充电站外场环路4的引号信号进行采样获取感应电流信号，并以该感应电流信号的幅值跟随充电站外场环路4向边界线2移动，如图10a-c所示。
执行步骤S123，当感测到一个传感器5(例如图10c的第一传感器)越过边界线2时，就表示自动割草机1部分位于边界线2外，这时控制自动割草机1停止行走，如图10c所示。
执行步骤S124，如图11所示，控制自动割草机1向远离充电站3的一侧旋转，当感测到另一个传感器5(例如图11c的第二传感器)再次越过边界线2时，就表示自动割草机1至少一半位于边界线2内部。
接着执行步骤S13，控制自动割草机1根据传感器5感测边界线2的引导信号跟随边界线2行走，直至行走到目标地点。如图5所示，步骤S13可进一步包括：步骤S131、如图12和13所示，自动割草机1骑跨边界线2行走，直至找到边界线2的直线边界区，自动割草机1停止行走；步骤S132、如图14所示，自动割草机1倒退第一随机倒退距离，第一随机倒退距离小于或等于直线边界区的长度；步骤S133、自动割草机1跟随边界线2向目标地点行走。
在步骤S131中，如图12和13所示，当自动割草机1骑跨边界线2行走时，可以利用传感器5探测边界线2的引导信号，当在某一边界线2区间内，传感器5的感应电流引号保持稳定时(极性和幅值保持不变)，就代表该边界线2区间为直线边界区。这是因为当边界线2不是直线时，由于自动割草机1在行进过程中需要经常来调整运动姿态，从而导致自动割草机1与边界线2之间的距离会出现波动甚至出现穿过边界线2的情形，这就会导致传感器5的电流感应信号会发生改变(大小和/或极性发生变化)。在一具体实施例中，当充电站3两侧的边界线2为直线时，也可以将自动割草机1骑跨边界线2行走一预设时间的边界线2区间作为该直线边界区。
在步骤S133中，目标地点为离边界线2为第一预设间距的一任意点，第一预设间距为一个随机值，如图6所示，控制自动割草机1跟随边界线2向目标地点行走的步骤可进一步包括，首先，如图15a所示，自动割草机1朝向工作区域中心转动第二预设角度(对应步骤S1331)；接着，如图15b所示，自动割草机1向前行走直至自动割草机1与边界线2之间的间距为第一预设间距(对应步骤S1332)；然后，如图15c所示，自动割草机1回转第二预设角度，以保持调整前后自动割草机1的行进方向不变(对应步骤S1333)；最后，如图16a-d及图17自动割草机1以第一预设间距跟随边界线2行走，直至行走到目标地点(对应步骤S1334)。通过采用寻找直线边界区-倒退-调整自动割草机1与边界线2的间距的方式，可以在调整自动割草机1与边界区之间的跟随间距的过程中，保证自动割草机1处于工作区域内，防止自 动割草机1移动到工作区域之外丢失的情形；另外通过这种方式可以使自动割草机1每次沿着不同的路径跟随边界线2行走，避免反复碾压形成车辙影响车辙区域的草坪或制植被的生长。
需要说明的是，在步骤S133中，第二预设角度大于0°小于等于90°，第二预设角度可以是一个值，例如30°、45°、60°或90°。当第二预设角度为90°时，在步骤S1332中，自动割草机1向前行走的距离作为第一预设间距；而当第二预设角度大于0°小于90°时，在步骤S1332中，自动割草机1向前行走的距离小于或者等于第一预设间距除以第二预设角度的余弦值，第一预设间距的值等于在步骤S1332中自动割草机1向前行走的距离与第二预设角度正弦值的乘积。
在步骤S1334中，自动割草机1首先利用一个传感器5对边界线2的引导信号进行采样以获取感应电流信号，控制自动割草机1以该时刻的感应电流信号的幅值来跟随边界线2行走，以确保自动割草机1在跟随过程中，自动割草机1与边界线2之间的间距保持为第一预设间距。
最后，执行步骤S14、如图17及图18所示，当检测到自动割草机1的总行走距离与设定值相同时，代表自动割草机1到达目标地点，此时控制自动割草机1停止跟随边界线2行走；自动割草机1随机旋转一个角度然后开始在由边界线2限定出的工作区域内开始割草作业。作为示例，自动割草机1在工作区域内例如可以采用随机的方式进行割草作业，在进行随机割草时，自动割草机1可以360°随机旋转，当自动割草机1随机旋转一个随机方向向前割草时，自动割草机1会沿着直线方向行走直至到达边界线2(可通过传感器5的响应于边界线2的引导信号产生的感应电流的极性来判定是否越过边界线2)，当碰到达边界线2后，自动割草机1会随机向内旋转一个角度进行割草。
需要说明的是，上面各种方法的步骤划分，只是为了描述清楚，实现时可以合并为一个步骤或者对某些步骤进行拆分，分解为多个步骤，只要包含相同的逻辑关系，都在本专利的保护范围内；对算法中或者流程中添加无关紧要的修改或者引入无关紧要的设计，但不改变其算法和流程的核心设计都在该专利的保护范围内。
如图19所示，本实施例的实施例还介绍一种用于实现上述自动割草机的路径规划方法的自动割草机的路径规划系统。自动割草机的路径规划系统包括充电站退出模块10，寻找模块20(作为边界寻找模块)、跟随模块30(边界跟随模块)以及割草作业模块40。充电站退出模块10用于控制自动割草机1退出充电站3；寻找模块20用于控制自动割草机1寻找边界线2，其中，边界线2是预先铺设在自动割草机1的工作区域的边沿上；跟随模块30，用于 控制自动割草机1跟随边界线2行走，直至行走到目标地点；割草作业模块40用于到达目标地点后，控制自动割草机1在工作区域内开始割草作业。
请参阅图19，充电站退出模块10进一步包括第一倒退子模块11和第二倒退子模块12；第一倒退子模块11用于充电完成后控制自动割草机1开始退出充电站3；第二倒退子模块12用于当自动割草机1退出到充电站外场环路4之外时，控制自动割草机1继续直线倒退第二随机倒退距离。
请参阅图19，寻找模块20包括第一转动子模块21，第一跟随子模块22，停止子模块23以及第二转动子模块24；第一转动子模块21用于控制自动割草机1向充电站3的任意一侧旋转第一预设角度；第一跟随子模块22用于控制自动割草机1跟随设置于充电站3中的充电站外场环路4的指引向边界线2移动；停止子模块23用于当自动割草机1部分位于边界线2外时，控制自动割草机1停止行走；第二转动子模块24用于控制自动割草机1向远离充电站3的一侧旋转，直至自动割草机1至少一半位于边界线2内部。
请参阅图19，跟随模块30进一步包括寻找子模块31，第三倒退子模块32及第二跟随子模块33；寻找子模块31用于控制自动割草机1骑跨边界线2行走，直至找到边界线2的直线边界区；第三倒退子模块32用于控制自动割草机1倒退第一随机倒退距离，第一随机倒退距离小于或等于直线边界区的长度；第二跟随子模块32用于控制自动割草机1跟随边界线2向目标地点行走。
请参阅20，第二跟随子模块33进一步包括第三转动子模块331，行走子模块332，第四转动子模块333以及第三跟随子模块334。第三转动子模块331用于控制自动割草机1朝向工作区域中心转动第二预设角度；行走子模块332用于控制自动割草机1向前行走直至自动割草机1与边界线2之间的间距为第一预设间距；第四转动子模块333用于控制自动割草机1回转第二预设角度，以保持调整前后自动割草机1的行进方向不变；第三跟随子模块334用于控制自动割草机1以第一预设间距跟随边界线2行走直至行走到目标地点。
需要说明的是，本实施例的自动割草机的路径规划系统是与上述自动割草机的路径规划方法相对应的系统，自动割草机的路径规划系统中的功能模块或者功能子模块分别对应自动割草机的路径规划方法中的相应步骤。本实施例的自动割草机的路径规划系统可与自动割草机的路径规划方法相互相配合实施。本实施例的自动割草机的路径规划方法中提到的相关技术细节在自动割草机的路径规划系统中依然有效，为了减少重复，这里不再赘述。相应地，本实施例的自动割草机的路径规划系统中提到的相关技术细节也可应用在上述自动割草机的路径规划方法中。
在实现过程中，上述方法的各步骤或以上各个模块可以通过处理器61元件中的硬件的集成逻辑电路或者软件形式的指令完成。
需要说明的是，如图20所示，本实施例的自动割草机的路径规划方法还可以通过一设置于自动割草机1的机身上控制单元60实现，控制单元60包括相互连接的存储器63和处理器61，存储器63存储有程序指令，该程序指令被处理器61执行时实现上述的自动割草机的路径规划方法。需要说明的是，当需要和外部进行通信时，控制单元60还包括通信器62，通信器62与处理器61连接。
需要说明的是，上述控制单元60中的存储器63可以通过软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读存储介质中。基于这样的理解，本实施例的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，电子设备，或者网络设备等)执行本实施例的全部或部分步骤。
本实施例还可以提供一种存储介质，其存储有程序，该程序被处理器61执行时实现上述的自动割草机的路径规划方法；存储介质包括所有形式的非易失性存储器、介质和存储器设备，包括例如：半导体存储器设备，例如EPROM、EEPROM和闪存设备；磁盘，例如内部硬盘或可移动盘；磁光盘；以及CD-ROM和DVD-ROM盘。
综上所述，本实施例的自动割草机及其路径规划方法、系统和设备，能够用于规划自动割草机离开充电站的路径，使充电站每次沿着不同的路径离开充电站，从而避免沿着自动割草机沿着固定路径出站时产生车辙，影响车辙区域的草坪或制植被的生长。本实施例的自动割草机及其路径规划方法、系统和设备，能够用于规划自动割草机离开充电站的路径，使充电站每次沿着不同的路径离开充电站，从而可以避免自动割草机沿着相同路径反复割草，提高割草效率，提升草坪的美观。
实施例二
电驱动式自动割草机需要经常回到充电站进行充电，充好电后会从充电站离开并返回割草区域工作时，为了避免自动割草机沿着固定轨迹出站容易产生车辙，以及造成相同路径割草较多的问题，本实施例公开另一种用于自动割草机离开充电站的自动割草机的路径规划方法、系统及设备。其中，图2示出了本实施例的自动割草机的结构框图，图22示出了本实施例的自动割草机的路径规划设备的结构示意图；图23示出了本实施例的自动割草机的路径规 划方法的流程示意图；图33示出了本实施例的自动割草机的路径规划系统的结构框图。需要说明的是，为了使附图显示更加清楚，图22及后续附图26-32中对自动割草机、充电站进行了放大示出。在本实施例中，自动割草机包括自走式自动割草机，是一种采用电池供电且需要定期充电的电动工具。自动割草机在使用期间可以在边界线限定出的工作区域内移动作业。
请参阅图2及图22，与实施例一相似，本实施例的用于自动割草机1出站的自动割草机的路径规划设备包括自动割草机1、引导线7、边界线2、避障传感器50及充电站3，自动割草机1；自动割草机1包括机身，以及设置于机身上的控制单元60和至少一个传感器5，传感器5设置于机身的前端，传感器5用于感测边界线2、引导线及充电站外场环路4中的至少一个的引导信号；控制单元60用于根据引导信号控制自动割草机1自动离开充电站3。自动割草机1、边界线2、避障传感器50及充电站3的详细描述请参阅实施例一，在此不做赘述。
在本实施例中，边界线2、引导线7或充电站外场环路4引导信号与传感器5及两者的作用方式与实施例一的相同，故不再重复描述。下文将以传感器5为磁感线圈，边界线2、引导线7或充电站外场环路4产生的引导信号为交变磁场为例来说明本实施例的技术方案。
图23示出了本实施例的用于自动割草机1离开充电站3的自动割草机的路径规划方法，通过设置于自动割草机1前端的两个磁感线圈来感测边界线2和充电站外场环路4的引导信号来实现自动割草机1离开充电站3，两个磁感线圈分别设置于自动割草机1前端的中心线两侧，定义为第一传感器(图22及图26-32中用①表示)和第二传感器(图1及图26-32中用②表示)，第一传感器和第二传感器可以采用对称方式布置也可采用不对称方式布置。自动割草机的路径规划方法包括以下步骤：步骤S21、控制自动割草机1退出充电站3；步骤S22、控制自动割草机1寻找引导线7并使自动割草机1的朝向远离充电站3的方向，其中，引导线7是预先铺设在自动割草机的工作区域内；步骤S23、控制自动割草机1跟随引导线7行走，直至行走到目标地点；步骤S24、到达目标地点后，控制自动割草机1在由边界线2限定出的工作区域内开始割草作业。其中，图26-图32分别对应自动割草机的路径规划方法的不同步骤中自动割草机1在工作区域的位置及方位示意图。下面将结合附图6-32来阐述本实施例的自动割草机的路径规划方法。
首先，执行步骤S21，控制自动割草机1根据传感器5感测充电站外场环路4的引导信号退出充电站3。自动割草机1充电完成后，需要退出充电站3并与充电站3保持间隔一定距离。具体地，如图22，当充电完成后，自动割草机1开始向外退出充电站3，当传感器5感测到充电站外场环路4的引导信号的极性发生反转(传感器5的感应电流的极性反转)时， 就表示自动割草机1退出到充电站外场环路4之外(请参阅图26)，这时自动割草机1继续直线倒退一随机倒退距离后停止行走(请参阅图27)，由于自动割草机1倒退的距离随机，这可以保证自动割草机1在寻找引导线7并使自动割草机1的朝向远离充电站3的方向(也即步骤S22)时不会总沿着相同的轨迹行进，避免产生车辙，从而对工作区域的草地或植被产生破坏。
接着，执行步骤S22，控制自动割草机1根据传感器5感测引导线7的引导信号寻找引导线7并使自动割草机1的朝向远离充电站3的方向。如图24所示，步骤S22可进一步包括：步骤S221、如图27所示，确定自动割草机1与引导线7的相对位置，例如可利用设置于自动割草机1的前端的两个传感器5(当然也可使用单个传感器5)的感应电流的极性来确定引导线7相对于自动割草机1的位置。步骤S222、如图28a-c所示，根据自动割草机1与引导线7的相对位置来调整自动割草机1的方位，以使自动割草机1朝向远离充电站3的方向，调整好自动割草机1的方向后，自动割草机1开始测量行走距离，以确定步骤S23中的上述的目标地点。作为示例，图27中示出了两个传感器5分别位于引导线7的两侧的情形，在这种情况下，自动割草机1朝向充电站3，故而例如可以采用图28a-c的方式进行旋转(当然也可采用相反的旋转方式)，直至当两个传感器5再次分别位于引导线7的两侧时，就表示自动割草机1朝向远离充电站3的方向。需要说明的是，根据引导线7与自动割草机1的相对位置，以及自动割草机1的旋转方向不同，自动割草机1的方位调整方式也不同。
接着执行步骤S23，控制自动割草机1根据传感器5感测引导线7的引导信号跟随引导线7行走，直至行走到目标地点。如图25所示，步骤S23可进一步包括：步骤S231、如图29及30所示，控制自动割草机1骑跨引导线7行走一预设时间后停止；步骤S232、如图31a-d所示，控制自动割草机1以第一随机间距跟随引导线7向目标地点行走。
在步骤S232中，首先，如图31a所示，控制自动割草机1向引导线7的任意一侧(图31a中的上侧或者下侧)转动预设角度，直至一传感器5与引导线7之间的距离等于第一随机间距；接着，如图31a所示，控制自动割草机1利用传感器5感测此时引导线7上的引导信号以获取感应电流；最后，如图31b-d所示，控制自动割草机1以该感应电流的幅值开始跟随引导线7向目标地点行走。需要说明的是，自动割草机1向引导线7的一侧转动预设角度不同，可以获得不同的随机间距，从而使自动割草机1每次沿着不同的路径跟随引导线7向目标地点行走，避免反复碾压形成车辙影响车辙区域的草坪或制植被的生长。需要说明的是，在步骤S232中，例如可选用图31a中远离引导线7的第一传感器或第二传感器与引导线7之间的距离作为第一随机间距。
最后，执行步骤S24、如图31d及图32所示，当检测到自动割草机1的总行走距离与设定值相同时，代表自动割草机1到达目标地点，此时控制自动割草机1停止跟随引导线7行走；自动割草机1随机旋转一个角度然后开始在由边界线2限定出的工作区域内开始割草作业。作为示例，自动割草机1在工作区域内例如可以采用随机的方式进行割草作业，在进行随机割草时，自动割草机1可以360°随机旋转，当自动割草机1随机旋转一个随机方向向前割草时，自动割草机1会沿着直线方向行走直至到达边界线2(可通过传感器5的响应于边界线2的引导信号产生的感应电流的极性来判定是否越过边界线2)，当碰到达边界线2后，自动割草机1会随机向内旋转一个角度进行割草。
需要说明的是，上面各种方法的步骤划分，只是为了描述清楚，实现时可以合并为一个步骤或者对某些步骤进行拆分，分解为多个步骤，只要包含相同的逻辑关系，都在本专利的保护范围内；对算法中或者流程中添加无关紧要的修改或者引入无关紧要的设计，但不改变其算法和流程的核心设计都在该专利的保护范围内。
如图33所示，本实施例的实施例还介绍一种用于实现上述自动割草机的路径规划方法的自动割草机的路径规划系统。自动割草机的路径规划系统包括充电站退出模块10，寻找模块20(作为引导线寻找模块)、跟随模块30(作为引导线跟随模块)以及割草作业模块40。充电站退出模块10用于控制自动割草机1退出充电站3；寻找模块20用于控制自动割草机1寻找引导线7并使自动割草机1的朝向远离充电站3的方向，其中，引导线7是预先铺设在自动割草机1的工作区域内；跟随模块30，用于控制自动割草机1跟随引导线2行走，直至行走到目标地点；割草作业模块40用于到达目标地点后，控制自动割草机1在工作区域内开始割草作业。
请参阅图33，充电站退出模块10进一步包括第一倒退子模块11和第二倒退子模块12；第一倒退子模块11用于充电完成后控制自动割草机1开始退出充电站3；第二倒退子模块12用于当自动割草机1退出到充电站外场环路4之外时，控制自动割草机1继续直线倒退一随机倒退距离。
请参阅图33，寻找模块20包括位置确定子模块25和方位调整子模块26；位置确定子模块25用于确定自动割草机1与引导线7的相对位置；方位调整子模块26用于根据自动割草机1与引导线7的相对位置来调整自动割草机1的方位，以使自动割草机1朝向远离充电站3的方向。
请参阅图33，跟随模块30进一步包括跨骑行走子模块34和第四跟随子模块35；跨骑行走子模块34用于控制自动割草机1骑跨引导线7行走一预设时间；第四跟随子模块35用于 控制自动割草机2以第一随机间距跟随引导线7向目标地点行走。
需要说明的是，本实施例的自动割草机的路径规划系统是与上述自动割草机的路径规划方法相对应的系统，自动割草机的路径规划系统中的功能模块或者功能子模块分别对应自动割草机的路径规划方法中的相应步骤。本实施例的自动割草机的路径规划系统可与自动割草机的路径规划方法相互相配合实施。本实施例的自动割草机的路径规划方法中提到的相关技术细节在自动割草机的路径规划系统中依然有效，为了减少重复，这里不再赘述。相应地，本实施例的自动割草机的路径规划系统中提到的相关技术细节也可应用在上述自动割草机的路径规划方法中。
需要说明的是，上述的各功能模块或者功能子模块，实际实现时可以全部或部分集成到一个物理实体上，也可以物理上分开。且这些单元可以全部以软件通过处理元件调用的形式实现；也可以全部以硬件的形式实现；还可以部分单元通过处理元件调用软件的形式实现，部分单元通过硬件的形式实现。此外这些单元全部或部分可以集成在一起，也可以独立实现。这里的处理元件可以是一种集成电路，具有信号的处理能力。在实现过程中，上述方法的各步骤或以上各个模块可以通过处理器61元件中的硬件的集成逻辑电路或者软件形式的指令完成。
本实施例的自动割草机的路径规划方法也可以通过一设置于自动割草机1的机身上控制单元60实现。请参阅图13，控制单元60包括相互连接的存储器63和处理器61，存储器63存储有程序指令，该程序指令被处理器61执行时实现上述的自动割草机的路径规划方法。需要说明的是，当需要和外部进行通信时，控制单元60还包括通信器62，通信器62与处理器61连接。关于控制单60的详细描述详见实施例一，在此不做赘述。
综上，本实施例的自动割草机及其路径规划方法、系统和设备，能够用于规划自动割草机离开充电站的路径，使充电站每次沿着不同的路径离开充电站，从而避免沿着自动割草机沿着固定路径出站时产生车辙，影响车辙区域的草坪或制植被的生长。本实施例的自动割草机及其路径规划方法、系统和设备，能够用于规划自动割草机离开充电站的路径，使充电站每次沿着不同的路径离开充电站，从而可以避免自动割草机沿着相同路径反复割草，提高割草效率，提升草坪的美观。本实施例的自动割草机及其路径规划方法、系统和设备，通过设置引导线，通过设置引导线，由于引导线可以根据需要布置成相对简单的形状，从而能够使自动割草机离站的路径规划更简单。
实施例三
本实施例提供了一种自走动力设备，其包括机身、设于机身上的驱动轮及支撑轮、作业 组件、供电组件、GPS定位系统、检测系统、数据处理系统及控制系统。作业组件是实现或辅助实现智能工作设备作业功能的组件，例如：割草机的切割组件、扫地机器人的吸扫组件等，在此不予限制。以下，本实施例以智能割草机(也称为自动割草机)为例进行详细的描述。
智能割草机1包括机身、设于机身上的切割组件、供电组件、GPS定位系统、检测系统、数据处理系统及控制系统。机身上设有两个位于机身两侧的驱动轮，驱动轮一般位于机身的后方，两个驱动轮分别被两个驱动电机驱动。机身的前方还设有至少一个支撑轮，智能割草机被由驱动轮与支撑轮组成的行走组件支撑行走，支撑轮一般为万向轮，以便智能割草机1转向。
切割组件包括切割电机以及被切割电机驱动的切割件。切割组件大致位于割草机的中心位置，切割电机的旋转轴大致垂直于水平面，切割组件可以被操作者调节与地面的高度，以实现对切割高度的调节。供电组件包括可充电电池以及给可充电电池供电的充电系统。
请参图34所示，为需要返回充电时的智能割草机1、工作区域200及充电站3的分布示意图，智能割草机1的工作区域200由边界线40(也称为边界信号线)界定，充电站3位于边界线40上，用于为智能割草机1充电。具体的，边界线40从充电站3的正极接线端子引出，围绕工作区域200及障碍物300，然后连接至充电站3的负极接线端子。充电站3包括信号产生装置，用于产生一定频率的脉冲信号，通向边界线40中。
GPS定位系统用于获取智能割草机1的实际位置。当智能割草机1首次位于充电站3时，GPS定位系统还用于获取充电站3的实际位置。检测系统用于获取智能割草机1的行走路径。
请参图35所示，为本实施例虚拟工作区域图301及回充路径400的示意图。数据处理系统用于获取工作区域200对应的虚拟工作区域图301并将虚拟工作区域图301划分成若干虚拟网格202，获取智能割草机1及充电站3在虚拟工作区域图301上的虚拟位置。另外，数据处理系统根据虚拟位置从充电站3的位置起规划X轴方向路径401，从智能割草机1的位置起规划Y轴方向路径402，当X轴方向路径与Y轴方向路径相交于交点403，生成回充路径400。
请参图35所示，X轴方向路径401及Y轴方向路径402沿虚拟网格202进行规划。具体的，在充电站3及交点403之间，X轴方向路径401沿X轴方向延伸并朝向Y轴的一侧偏离，并呈阶梯状。本实施例中根据障碍物300及智能割草机1的位置，规划后的路径为向左偏离。在其他实施例中，障碍物及智能割草机位置的不同可使得X轴方向路径向右偏离或为沿X轴方向延伸的直线。
类似地，Y轴方向路径402沿Y轴方向延伸并朝向X轴的一侧偏离，并呈阶梯状，本实施例中根据障碍物300及智能割草机1的位置，规划后的路径为向左偏离。在其他实施例中，障碍物及智能割草机位置的不同可使得Y轴方向路径向右偏离或为沿Y轴方向延伸的直线。另外，由于X轴方向路径401及Y轴方向路径402沿虚拟网格202进行规划，因此，X轴方向路径401及Y轴方向路径402向一侧偏离时至少偏离一格。
控制系统用于控制智能割草机1的行走。具体的，控制系统通过控制两个驱动电机的转速来控制智能割草机1的行走方向及速度，当驱动电机的转速不同时，智能割草机1实现转弯；当驱动电机的转速相同时，智能割草机1实现直线行走；当驱动电机的转速相反时，智能割草机1实现原地零位转向。控制系统在数据处理系统完成回充路径400的规划后，控制智能割草机1依次沿Y轴方向路径402及X轴方向路径401行走，并返回充电站3。
请参图35和图36所示，为本实施例提供的智能割草机1的回充路径规划方法，其包括如下步骤：
S31、获取智能割草机1的工作区域200对应的虚拟工作区域图301；
S32、根据智能割草机1及充电站3的实际位置获取二者在虚拟工作区域图301上的虚拟位置；以及
S33、根据虚拟位置规划智能割草机1的回充路径400，包括：以充电站3的虚拟位置为起点规划X轴方向路径401以及以智能割草机1的虚拟位置为起点规划Y轴方向路径402，当X轴方向路径401与Y轴方向路径402相交，获得回充路径400。
其中，步骤S31包括：在工作区域200的边界设置边界线40，智能割草机1沿边界线40行走一圈并检测行走路径，以获取虚拟工作区域图301。具体为：智能割草机1启动后自动沿着边界线40行走一圈重新回到充电站3。检测系统将智能割草机1行走一圈的行走路径经过数据处理系统形成虚拟工作区域图301。
步骤S32包括：将充电站3位置定义为坐标原点，将智能割草机1的实际位置与虚拟工作区域图301对比并得到智能割草机1在虚拟工作区域图301上对应的虚拟位置。具体为：在充电站3启动智能割草机1时，GPS定位系统定位智能割草机1在充电站3充电状态时的初始位置即充电站3的实际位置。数据处理系统以该初始位置为坐标原点。当智能割草机1在工作区域200内工作后需要返回充电站3充电时，GPS定位系统定位出智能割草机1在工作区域200内所处的实际位置。数据处理系统将智能割草机1的实际位置与虚拟工作区域图301进行对比，获得智能割草机1的虚拟位置。
步骤S33包括：将虚拟工作区域图301划分为若干虚拟网格202；且虚拟网格202只在 边界线40形成的回路内部形成，不超过边界线40以外。虚拟网格202的大小可根据实际需要进行设计，在此不予限制。根据充电站3及智能割草机1的虚拟位置规划X轴方向路径401及Y轴方向路径402。
具体地，请参图37所示，为以充电站3的虚拟位置为起点规划X轴方向路径401的部分逻辑示意图。以充电站3的虚拟位置为起点，沿X轴方向前进，若遇到边界线40，则X轴方向路径自边界线40处后退至少一格，然后转弯沿Y轴直行至少一格，再转回X轴方向并以相同方法继续规划路线，其中转弯方向始终相同，直至X轴方向路径与Y轴方向路径相交或沿Y轴直行时遇到边界线40。
当沿Y轴直行遇到边界线40时，则从充电站3的虚拟位置开始重新规划X轴方向路径，具体为：当沿X轴方向遇到边界线40，则X轴方向路径自边界线40处后退至少一格，然后沿与之前转弯方向相反的方向直行至少一格，即向右转直行至少一格，再转回X轴方向以相同方法继续规划路线，其中转弯方向始终相同，直至X轴方向路径与Y轴方向路径相交。
请一并参图35所示，规划X轴方向路径401时，将虚拟工作区域图301以充电站3为基准沿X轴方向分为上下两部分区域。本实施例中，可首先规划上侧区域，即获得X轴方向路径401。也可首先规划下侧区域，因边界线40的阻挡，在该区域无法获得与Y轴方向路径相交的路径，则需以充电站3虚拟位置为起点规划剩余部分区域，即上侧区域，最终在上侧区域形成X轴方向路径401。
请参图38所示，为以智能割草机1的虚拟位置为起点规划Y轴方向路径的部分逻辑示意。Y轴方向路径的规划方法与X轴方向路径的规划方法大致相似，具体为：以智能割草机1的虚拟位置为起点，沿Y轴方向前进，若遇到边界线40，则Y轴方向路径自边界线40处后退至少一格，然后转弯沿X轴直行至少一格，再转回Y轴方向并以相同方法继续规划路线，其中转弯方向始终相同，本实施例中为左转，直至Y轴方向路径402与X轴方向路径401相交或沿X轴直行时遇到边界线40。
当沿X轴直行遇到边界线40时，则从智能割草机1的虚拟位置开始重新规划Y轴方向路径402，具体为：当沿Y轴方向遇到边界线40，则Y轴方向路径自边界线40处后退至少一格，然后沿与之前转弯方向相反的方向直行至少一格，即向右转直行至少一格，再转回Y轴方向并以相同方法继续规划路线，其中转弯方向始终相同，直至Y轴方向路径402与X轴方向路径401相交。
请一并参图35所示，规划Y轴方向路径402时，虚拟工作区域图301以智能割草机1为基准沿Y轴方向分为左右两部分区域。本实施例中，选择首先规划左侧区域，即可直接获 得Y轴方向路径402。如选择首先规划右侧区域，因边界线40的阻挡，在该区域无法获得Y轴方向路径，因此需以智能割草机1虚拟位置为起点规划剩余部分区域，即左侧区域，最终在左侧区域形成Y轴方向路径402。
X轴方向路径401与Y轴方向路径402相交并获得交点403，如此，获得从智能割草机到充电站3的完整的回充路径400。优选的，规划若干个回充路径400并从中选择距离最短的回充路径，控制系统控制智能割草机1依次沿Y轴方向路径402及X轴方向路径401行走，并返回充电站3。需要说明的是，当需要充电时，规划与上次执行的回充路径不同的回充路径。如此设置，可以避免重复碾压草坪，减少了对草坪的损坏。
综上，本实施例的智能割草机将工作区域形成对应的虚拟工作区域图，在虚拟工作区域图上分别进行X轴方向路径及Y轴方向路径的规划，如此设置，回充时已规划好回充路径，有效地避开工作区域内的障碍物，智能割草机无需多次调整以避开障碍物，防止智能割草机在返回充电站之前电量被消耗完。另外，将虚拟工作区域图划分成若干个相等的虚拟网格，并根据虚拟网格的分布可以选择较短的回充路径，使得智能割草机回到充电站的路径较短，减少需预留的回充电量，节省回充时间，进而增加了智能割草机的工作时间。相应地，充电次数减少可以有效提高电池芯的使用寿命。进一步地，智能割草机形成的是虚拟网格，无需在工作区域实际布置引导线，既减少了产品的制造成本，又简化了操作步骤，提高了用户的体验程度。本实施例每次规划的回充路径与上次执行的回充路径不同，因此可以避免重复性地碾压草坪，减少了对草坪的损坏。
以上实施例仅用于说明本发明而并非限制本发明所描述的技术方案，对本说明书的理解应该以所属技术领域的技术人员为基础，尽管本说明书参照上述的实施例对本发明已进行了详细的说明，但是，本领域的技术人员应当理解，所属技术领域的技术人员仍然可以对本发明进行修改或者等同替换，而一切不脱离本发明的精神和范围的技术方案及其改进，均应涵盖在本发明的权利要求范围内。

Claims (20)

  1. 一种自动割草机的路径规划方法，其特征在于，包括：
    控制所述自动割草机退出充电站；
    控制所述自动割草机寻找边界线或者引导线，其中，所述边界线是预先铺设在所述自动割草机的工作区域的边沿上，所述引导线是预先铺设在所述自动割草机的工作区域内；
    控制所述自动割草机跟随所述边界线或引导线行走，直至行走到目标地点。
  2. 根据权利要求1的自动割草机的路径规划方法，其特征在于，控制所述自动割草机跟随所述边界线行走，直至行走到目标地点的步骤包括：
    控制所述自动割草机骑跨所述边界线行走，直至找到所述边界线的直线边界区；
    控制所述自动割草机倒退第一随机倒退距离，所述第一随机倒退距离小于或等于所述直线边界区的长度；
    控制所述自动割草机跟随所述边界线向所述目标地点行走。
  3. 根据权利要求2的自动割草机的路径规划方法，其特征在于，所述目标地点为离所述边界线为第一预设间距的一任意点；控制所述自动割草机跟随所述边界线向所述目标地点行走的步骤包括：
    控制所述自动割草机朝向所述工作区域中心转动第二预设角度；
    控制所述自动割草机向前行走直至所述自动割草机与所述边界线之间的间距为所述第一预设间距；
    控制所述自动割草机回转所述第二预设角度，以保持调整前后所述自动割草机的行进方向不变；
    控制所述自动割草机以所述第一预设间距跟随所述边界线行走直至行走到所述目标地点。
  4. 根据权利要求1的自动割草机的路径规划方法，其特征在于，控制自动割草机退出充电站的步骤包括：
    充电完成后控制所述自动割草机开始退出充电站；
    当所述自动割草机退出到设置于所述充电站中的充电站外场环路之外时，控制所述自动割草机继续直线倒退第二随机倒退距离。
  5. 根据权利要求1的自动割草机的路径规划方法，其特征在于，方法还包括，到达所述目标地点后，控制所述自动割草机在由所述边界线限定出的所述工作区域内采用随机方式开始割草作业。
  6. 根据权利要求1的自动割草机的路径规划方法，其特征在于，控制所述自动割草机跟随所述引导线行走，直至行走到目标地点的步骤包括：
    控制所述自动割草机骑跨所述引导线行走一预设时间；
    控制所述自动割草机以第一随机间距跟随所述引导线向所述目标地点行走。
  7. 根据权利要求6的自动割草机的路径规划方法，其特征在于，控制所述自动割草机寻找引导线并使所述自动割草机的朝向远离所述充电站的方向的步骤包括：
    确定所述自动割草机与所述引导线的相对位置；
    根据所述自动割草机与所述引导线的相对位置来调整所述自动割草机的方位，以使所述自动割草机朝向远离所述充电站的方向。
  8. 根据权利要求1的自动割草机的路径规划方法，其特征在于，所述路径规划方法还包括回充路径规划方法，所述回充路径规划方法包括：
    获取自动割草机的工作区域对应的虚拟工作区域图；
    根据自动割草机及充电站的实际位置获取二者在所述虚拟工作区域图上的虚拟位置；
    根据所述虚拟位置规划所述自动割草机的回充路径，包括：以所述充电站的虚拟位置为起点规划X轴方向路径以及以自动割草机的虚拟位置为起点规划Y轴方向路径，当所述X轴方向路径与Y轴方向路径相交，获得回充路径。
  9. 根据权利要求8的自动割草机的路径规划方法，其特征在于，将所述虚拟工作区域图划分为若干虚拟网格；所述X轴方向路径及Y轴方向路径沿所述虚拟网格进行规划。
  10. 一种自动割草机的路径规划方法，其特征在于，包括：
    控制所述自动割草机退出充电站；
    控制所述自动割草机寻找边界线，其中，所述边界线是预先铺设在所述自动割草机的工作区域的边沿上；
    控制所述自动割草机跟随所述边界线行走，直至行走到目标地点；
    其中，控制所述自动割草机跟随所述边界线行走，直至行走到目标地点的步骤包括：
    控制所述自动割草机骑跨所述边界线行走，直至找到所述边界线的直线边界区；
    控制所述自动割草机倒退第一随机倒退距离，所述第一随机倒退距离小于或等于所述直线边界区的长度；
    控制所述自动割草机跟随所述边界线向所述目标地点行走。
  11. 一种自动割草机的路径规划方法，其特征在于，包括：
    控制所述自动割草机退出充电站；
    控制所述自动割草机寻找引导线并使所述自动割草机的朝向远离所述充电站的方向，其中，所述引导线是预先铺设在所述自动割草机的工作区域内；
    控制所述自动割草机跟随所述引导线行走，直至行走到目标地点；
    其中，控制所述自动割草机跟随所述引导线行走，直至行走到目标地点的步骤包括：
    控制所述自动割草机骑跨所述引导线行走一预设时间；
    控制所述自动割草机以第一随机间距跟随所述引导线向所述目标地点行走。
  12. 一种自动割草机的路径规划系统，其特征在于，所述自动割草机的路径规划系统及包括：
    充电站退出模块，用于控制所述自动割草机退出所述充电站；
    寻找模块，用于控制所述自动割草机寻找边界线或者引导线，其中，所述边界线是预先铺设在所述自动割草机的工作区域的边沿上，所述引导线是预先铺设在所述自动割草机的工作区域内；
    跟随模块，用于控制所述自动割草机跟随所述边界线或引导线行走，直至行走到目标地点。
  13. 根据权利要求12所述的自动割草机的路径规划系统，其特征在于，所述自动割草机的路径规划系统还包括回充路径规划模块，所述回充路径规划模块被配置为
    获取自动割草机的工作区域对应的虚拟工作区域图；
    根据自动割草机及充电站的实际位置获取二者在所述虚拟工作区域图上的虚拟位置；
    根据所述虚拟位置规划所述自动割草机的回充路径，包括：以所述充电站的虚拟位置为起点规划X轴方向路径以及以自动割草机的虚拟位置为起点规划Y轴方向路径，当所述X轴方向路径与Y轴方向路径相交，获得回充路径。
  14. 根据权利要求12所述的自动割草机的路径规划系统，其特征在于，所述自动割草机的路径规划系统还包括，割草作业模块，用于到达所述目标地点后，控制所述自动割草机在由所述边界线限定出的所述工作区域内开始割草作业。
  15. 一种自动割草机，其特征在于，所述自动割草机包括：
    机身；
    至少一传感器，设置于所述机身的前端；
    控制单元，设置于所述机身上，所述控制单元包括相互耦合的处理器和存储器，所述存储器存储有程序指令，当所述存储器存储的程序指令被所述处理器执行时实现
    控制所述自动割草机退出充电站；
    控制所述自动割草机寻找边界线或者引导线，其中，所述边界线是预先铺设在所述自动割草机的工作区域的边沿上，所述引导线是预先铺设在所述自动割草机的工作区域内；
    控制所述自动割草机跟随所述边界线或引导线行走，直至行走到目标地点。
  16. 一种存储介质，其特征在于，包括程序，当所述程序在计算机上运行时，使得所述计算机执行
    控制自动割草机退出充电站；
    控制所述自动割草机寻找边界线或者引导线，其中，所述边界线是预先铺设在所述自动割草机的工作区域的边沿上，所述引导线是预先铺设在所述自动割草机的工作区域内；
    控制所述自动割草机跟随所述边界线或引导线行走，直至行走到目标地点。
  17. 一种自动割草机的路径规划设备，其特征在于，包括：
    自动割草机，包括机身，以及设置于所述机身上的控制单元和至少一个传感器，所述传感器设置于所述机身的前端；
    边界线，预先铺设在所述自动割草机的工作区域的边沿上；
    充电站，所述充电站位于所述边界线上，所述充电站内设置有充电站外围环路；
    所述传感器用于感测所述边界线和/或所述充电站外场环路的引导信号；所述控制单元用于根据引导信号控制所述自动割草机自动离开所述充电站。
  18. 根据权利要求17所述的自动割草机的路径规划设备，其特征在于，所述自动割草机的路径规划设备还包括，至少一条引导线，预先铺设在所述自动割草机的工作区域内；所述引导线的两端分别与所述充电站和所述边界线连接，所述引导线与所述边界线形成一闭合回路。
  19. 根据权利要求17所述的自动割草机的路径规划设备，其特征在于，所述引导信号包括交变磁场；所述传感器包括磁感线圈。
  20. 根据权利要求17所述的自动割草机的路径规划设备，其特征在于，所述传感器为两个，对称设置在所述机身前端的中心线两侧。
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