Method for mowing robot to automatically leave base station

Abstract

The invention provides a method for a mowing robot to automatically leave a base station. The method comprises the following steps that the mowing robot leaves the base station along the first direction; the mowing robot walks along the first direction for a preset distance of travel; the mowing robot leaves the first direction and enters the operation area along the second direction; the mowing robot reenters into the base station; the mowing robot leaves the base station along the first direction again; the mowing robot walks again along the first direction for a preset distance of travel; the mowing robot leaves the first direction again and enters into the operation area along the second direction; only one unique second direction is provided and more than two preset distances of travel with different lengths are provided. The positions for starting operation of the automatic walking device running out of the base station for a plurality of times are different, and a plurality of parallel paths can guarantee the flattening of the lawn processing nearby the base station. Accordingly, the working paths of the mowing robot do not overlap for each time, and excessive trimming of the driving-out road section can be prevented, and the balance of overall trimming of the lawn is guaranteed.

Description

technical field [0001] The invention belongs to the technical field of mowing robots, and in particular relates to a method for a mowing robot to automatically leave a base station. Background technique [0002] The mowing robot is an automatic mowing device that mows the grass autonomously in the preset working area, charges and leaves the base station to return to the working area. When the mowing robot leaves the charging station and returns to the mowing area, most products are If the trajectory goes out of the station, it is easy to cause too much mowing on the same path, which not only affects the overall mowing efficiency, but also affects the appearance of the lawn. [0003] In the patent application CN102789232B, a control method of automatic running equipment is disclosed. The core solution is: when the automatic running equipment leaves a stop for many times, it has at least two second orientations. [0004] The self-propelled equipment in the patent application ...

AI Technical Summary

Problems solved by technology

[0004] The self-propelled equipment in the patent application CN102789232B first exits from the base station, and then makes a turn. Its track and turning position from the base station are all located at the boundary of the mowing area, but limited by the boundary position, the turning angle of the self-propelled equipment It is limited within 0-180°, otherwise it will drive out of the mowing area, resulting in a reduction in the coverage efficiency of the mowing robot on the entire lawn; and the distance of the automatic walking equipment driving out of the base station is fixed each time, resulting in excessive lawn in this section. prune

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