Robot mower system

Abstract

The invention discloses a robot mowing machine system which comprises a robot mowing machine working in a working area limited by a boundary line; a charging station; the user terminal is connected with the robot mower and is used for setting working parameters of the robot mower, and the working area is divided into a main working area and a secondary working area; when the robot mower is located in the main working area, the robot mower works according to a first working state based on the setting of the user terminal; and when the robot mower is located in the secondary working area, the robot mower works according to a second working state based on the setting of the user terminal. According to the invention, the work of the robot mower can adapt to different working areas and different mowing scenes.

Description

Technical Field

[0001] The present invention relates to the technical field of robot lawn mowers, and in particular to a robot lawn mower system. Background Art

[0002] A robot lawn mower is a garden tool used to trim lawns, vegetation, etc. It usually includes a self-propelled mechanism, a cutting blade mechanism, and a power source. By programming the robot lawn mower to trim an area, the robot lawn mower can be controlled to automatically mow the grass according to the schedule and settings, and is very popular among people.

[0003] In a typical deployment of a robot lawn mower, a boundary cable closure is usually adopted, so that the mowing robot can mow freely in a fixed area. However, depending on the lawns of different users, there may be some areas in the mowing area of ​​the lawn that the robot mower cannot reach. For example, in the backyard, the mowing area in this area cannot be connected to other mowing areas or the passage is too narrow, and the robot mower cannot pass through by itself. If charging stations are set up in different mowing areas to match the work of the robot mower, the cost of use will increase and resources will be wasted; and when the existing robot mowers go in and out to mow, they often mow according to the fixed schedule set by the user terminal, which cannot take into account different application scenarios and achieve flexible switching to meet user needs. In summary, the work of the robot mower in the prior art cannot adapt to different working areas and different mowing scenarios. Summary of the invention

[0004] In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a robot lawn mower system for solving the problem that the robot lawn mower in the prior art cannot adapt to different working areas and different mowing scenes.

[0005] In order to achieve the above-mentioned object and other related objects, the present invention provides a working control method of a robot lawn mower.

[0006] The robotic lawn mower system comprises:

[0007] a robotic lawn mower, the robotic lawn mower operating within a working area defined by a boundary line;

[0008] Charging stations; and

[0009] a user terminal, the user terminal being connected to the robot lawn mower and being used to set working parameters of the robot lawn mower;

[0010] The working area is divided into a main working area and a secondary working area;

[0011] When the robot lawn mower is located in the main working area, based on the setting of the user terminal, the robot lawn mower operates according to a first working state;

[0012] When the robot lawn mower is located in the secondary working area, the robot lawn mower works in a second working state based on the setting of the user terminal.

[0013] In one embodiment, in the first working state, when the power level of the robot lawn mower is lower than a threshold, the robot lawn mower returns to a charging station for charging.

[0014] In one embodiment, in the second working state, when the power level of the robot lawn mower is lower than a threshold, the robot lawn mower continues to work and sends a notification to the user terminal.

[0015] In one embodiment, a charging station is provided in the primary working area, and no charging station is provided in the secondary working area.

[0016] In one embodiment, the robot lawn mower system further includes a cloud server, the robot lawn mower and the user terminal can both be connected to the cloud server, and the cloud server stores parameters of the robot lawn mower set by the user terminal.

[0017] In one embodiment, the user terminal is used to set a work schedule for the robotic lawn mower.

[0018] In one embodiment, the user terminal is used to switch the working mode of the robotic lawn mower.

[0019] In one embodiment, the working modes of the robotic lawn mower include a work scheduling working mode, a pause working mode and a continuous working mode.

[0020] In one embodiment, the pause working mode or the continuous working mode is set for different time periods or until further notice.

[0021] In one embodiment, the robot lawn mower system further includes a boundary line and a guide line, wherein the boundary line and the guide line are connected to the charging station, and the robot lawn mower enters or leaves the charging station along the boundary line or the guide line, and the user terminal is used to set the maximum distance that the robot lawn mower travels along the boundary line or the charging station.

[0022] In one embodiment, the user terminal is used to control the robotic lawn mower to automatically walk along the boundary line or the guide line to test whether the parameter settings are correct.

[0023] In one embodiment, the user terminal is used to set a working starting point of the robot lawn mower.

[0024] In one embodiment, at least one working starting point is provided.

[0025] In one embodiment, the work starting point is set at the charging station or the guide line.

[0026] In one embodiment, the working starting point at the guide line is a position where the robotic lawn mower leaves the charging station along the guide line and travels a certain distance.

[0027] In one embodiment, the certain distance may be set by the user terminal.

[0028] In one embodiment, the user terminal is used to set the frequency at which the robot lawn mower starts working at different working starting points.

[0029] In one embodiment, after the robotic lawn mower reaches the work starting point, it starts to walk and work along a random route.

[0030] The present invention sets different working areas for mowing, thus avoiding the problem of repeatedly setting up charging stations in each working area, which in turn leads to increased costs; by selecting various target modes from a variety of working modes, the use scenarios of the robot mower are expanded, making the use of the robot mower more flexible; by setting the working starting point according to the regional parameters in the lawn (such as the parameters of the charging station and the parameters of the guide line), the robot mower can have more options when starting the mowing operation through the multiple working starting points set, making the start of the mowing operation more random, avoiding the problem that the robot mower repeatedly uses the same position as the starting point each time it performs a mowing operation, thereby causing the lawn with a fixed starting point to be severely worn relative to other areas. Therefore, the robot mower system proposed by the present invention can solve the problem that the robot mower in the prior art cannot adapt to different working areas and different mowing scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 Shown is a schematic diagram of the structure of the robot lawn mower system of the present invention;

[0032] Figure 2 Shown is a block diagram of the robot lawn mower of the present invention;

[0033] Figure 3 Shown is a functional module diagram of the robot lawn mower system of the present invention;

[0034] Figure 4 Shown is a schematic diagram of the working area of ​​the lawn in the present invention;

[0035] FIG5 is a schematic diagram showing a UI of a user terminal according to the working condition of a robot lawn mower in a working area in the present invention;

[0036] Figure 6 Shown is a functional module diagram of the robot lawn mower system of the present invention;

[0037] FIG7 is a schematic diagram showing a UI of a user terminal according to the present invention according to which the robot lawn mower is in a continuous working mode;

[0038] FIG8 is a schematic diagram showing a UI of a user terminal according to the present invention when the robot lawn mower is in a pause working mode;

[0039] Fig. 9 It is a schematic diagram showing the robot lawn mower of the present invention walking along the guide line at a certain distance;

[0040] Fig.10 It is a schematic diagram showing the random mowing operation of the robot lawn mower after reaching the target work starting point in the present invention. DETAILED DESCRIPTION

[0041] The following describes the embodiments of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0042] It should be noted that the illustrations provided in this embodiment are only used to illustrate the basic concept of the present invention in a schematic manner. Therefore, the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0043] The robot lawn mower needs to frequently return to the charging station for charging. After charging, it will leave the charging station and return to different mowing areas to work, and automatically work according to the working mode set by the user in the user terminal. In order to solve the problem that the robot lawn mower cannot adapt to different working areas and different mowing scenes, an embodiment of the present invention discloses a robot lawn mower system. In the present invention, the robot lawn mower includes a self-propelled robot lawn mower, which is an electric tool that is powered by a battery and needs to be charged regularly. During use, the robot lawn mower can move and work in the working area defined by the boundary line.

[0044] See also Figure 1The robot lawn mower system of the present invention comprises a robot lawn mower 1, a guide line 7, a boundary line 2 and a charging station 3. The robot lawn mower 1 comprises a body and at least one sensor 5 ( Figure 1 FIG. 4 shows a robot lawn mower 1 comprising two sensors 5, the first sensor being Figure 1 Indicated by ①, the second sensor is Figure 1 Indicated by ②), the sensor 5 is arranged at the front end or the rear end of the fuselage, and the sensor 5 is used to sense the guidance signal of at least one of the boundary line 2, the guide line 7 and the charging station external field loop 4; the robot mower 1 automatically leaves the charging station 3 according to the guidance signal.

[0045] See also Figure 1 and Fig.10 , the guide line 7 is pre-laid in the working area of ​​the robot lawn mower 1, and the two ends of the guide line 7 are connected to the charging station 3 and the boundary line 2 respectively, wherein the end of the guide line 7 connected to the charging station 3 is also connected to the boundary line 2, so that the guide line 7 and a relatively short part of the boundary line 2 located between the two ends of the guide line 7 together form a closed loop. The charging station 3 is located on the boundary line 2, and the charging station 3 is set as a charging plate to facilitate the robot lawn mower 1 to be on a uniform and continuous plane during the docking process, ensuring a more accurate docking process. In order to facilitate the robot lawn mower 1 to identify and locate the position of the charging station 3, a charging station external field loop 4 is set in the charging station 3, and the boundary line 2 is concave inwardly in the working area at the position of the charging station 3 to form a charging station internal field loop 2a that is narrower than the charging station external field loop 4 and passes through the charging station external field loop 4, and the charging station internal field loop 2a is used to guide the robot lawn mower 1 to exit the charging station 3.

[0046] See also Figure 1 , the boundary line 2 can be buried along the edge of the working area to hide the boundary line 2, of course, the boundary line 2 can also be set on the surface or on the ground. The boundary line 2 is concave inward into the working area at the position of the charging station 3 to form an inner field loop 2a of the charging station that is narrower than the outer field loop 4 of the charging station and passes through the outer field loop 4 of the charging station. The boundary line 2 can be, for example, a single-core metal wire (such as a copper wire) or a multi-strand wire. The guide line 7 can be buried in the working area to hide the boundary line 2, of course, the boundary line 2 can also be set on the surface or on the ground in the working area. The sensor 5 can, for example, be a magnetic field sensor or a current sensor to measure the guide signal of at least one of the boundary line 2, the guide line 7 and the outer field loop 4 of the charging station.

[0047] See also Figure 2The robot lawn mower 1 of the present invention includes a walking component 101, an operating component 102 and a power supply component 103 arranged on the fuselage. The walking component 101 includes driving wheels located on both sides of the fuselage. The driving wheels are generally located at the rear of the fuselage. The two driving wheels are driven by two driving motors respectively. At least one supporting wheel is also provided in the front of the fuselage. The robot lawn mower 1 is supported by the driving wheels and the supporting wheels for walking. The supporting wheels can be universal wheels, for example, so that the robot lawn mower 1 can turn. The operating component 102 includes a cutting motor and a cutting head driven by the cutting motor. The operating component 102 is approximately located at the center of the robot lawn mower 1. The rotating shaft of the cutting motor is approximately perpendicular to the horizontal plane. The height of the operating component 102 relative to the ground can be adjusted by the operator to achieve the adjustment of the cutting height. The power supply component 103 includes a rechargeable battery and a charging system for powering the rechargeable battery. The robot lawn mower 1 receives various signals sent to the robot lawn mower 1 or signals collected by the sensor 5, and generates corresponding control signals through the built-in processor, and controls the walking unit or the working unit according to the generated control signals, so that the robot lawn mower 1 leaves the charging station 3 along the planned route to perform mowing operations.

[0048] In the embodiment of the present invention, the guide signal is an alternating magnetic field, and the sensor 5 is a magnetic induction coil. It is understandable that other suitable guide signal forms or different types of sensors can also be used. 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 external field loop 4, so that an alternating magnetic field is generated around the boundary line 2, the guide line 7, or the charging station external field loop 4; the sensor 5 can, for example, be a magnetic induction coil. The sensing principle is as follows: according to the magnetic induction effect, when an alternating pulse current is input into the boundary line 2, the guide line 7 or the external field loop 4 of the charging station, an alternating magnetic field can be generated around the boundary line 2, the guide line 7 or the external field loop 4 of the charging station. 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 an induced current in the magnetic induction coil. The induced current is sent to the robot lawn mower 1 after filtering and amplification processing, and the position and orientation of the robot lawn mower 1 relative to the boundary line 2, the guide line 7 or the external field loop 4 of the charging station is determined according to the size and polarity of the induced current.

[0049] like Figure 3 FIG. 1 is a functional module diagram of a robot lawn mower system 10 provided in an embodiment of the present invention. According to the functions to be implemented, the robot lawn mower system 10 includes:

[0050] A robotic lawn mower 1, the robotic lawn mower 1 working within a working area defined by a boundary line 2;

[0051] Charging station 3; and

[0052] A user terminal 8, wherein the user terminal 5 is connected to the robot lawn mower 1 and is used to set working parameters of the robot lawn mower 1;

[0053] The working area is divided into a main working area and a secondary working area;

[0054] When the robot lawn mower 1 is located in the main working area, based on the setting of the user terminal, the robot lawn mower 1 operates according to the first working state;

[0055] When the robot lawn mower 1 is located in the secondary working area, based on the setting of the user terminal, the robot lawn mower 1 works in a second working state.

[0056] See also Figure 4 As shown, specifically, the main working area ( Figure 4 In the figure, a charging station 3 is arranged in the secondary working area ( Figure 4 It is shown that there is no charging station 3 in ②).

[0057] Referring to FIG. 5 , in an actual application scenario of the present invention, there are often individual areas in the working area of ​​the lawn mower, such as in the backyard. This area cannot be connected to the main working area of ​​the robot lawn mower 1 or the passage is too narrow, and the robot lawn mower 1 cannot pass through it by itself. If a charging station 3 is set in this area alone, it will lead to increased costs. Therefore, the working area of ​​the robot lawn mower 1 can be set as a primary / secondary working area. In the secondary working area, the charging station 3 is not set, and the robot lawn mower 1 can be manually placed from the primary working area to the secondary working area by the operator. Figure 5a-5d As shown, after confirming that the robot lawn mower 1 is located in the secondary working area, the time for the robot lawn mower 1 to work in the secondary working area can be set through the user terminal corresponding to the robot lawn mower 1 (at the same time, during the operation of the lawn mower, the operator can issue a stop command to stop the robot lawn mower 1 from working in the secondary working area; or work for a certain time). When the predetermined time is reached, the operator can be reminded that the mowing work has been completed and the robot lawn mower 1 can be brought back to the charging station 3 in the primary working area for charging. Specifically, the user terminal corresponding to the robot lawn mower 1 can be controlled to confirm that the lawn mower is located in the secondary working area, and before moving the robot lawn mower 1, it is confirmed that the lawn mower is in a stopped state.

[0058] In the embodiment of the present invention, in the first working state, when the power of the robot lawn mower 1 is lower than a threshold, the robot lawn mower 1 returns to the charging station 3 for charging; specifically, the robot lawn mower 1 can return to the charging station 3 for charging according to the guide line 7.

[0059] In the second working state, when the power of the robot lawn mower 1 is lower than a threshold, the robot lawn mower 1 continues to work and sends a notification to the user terminal; in the second working state, the robot lawn mower 1 can continue to work until it runs out of power; or send a notification to the user to remind him that the power is too low.

[0060] like Figure 6 As shown, in another optional embodiment of the present invention, the robot lawn mower system further includes a cloud server 9, and the robot lawn mower 1 and the user terminal 8 can both be connected to the cloud server 9, and the cloud server 9 stores the parameters of the robot lawn mower 1 set by the user terminal 8.

[0061] In another optional embodiment of the present invention, the user can estimate the time according to the completion status of the mowing work in the working area, and set the working time of the robot lawn mower 1 through the user terminal 8. When the robot lawn mower 1 is working, the user terminal 8 can visualize the remaining completion time to remind the user.

[0062] In the embodiment of the present invention, after the lawn mowing operation starts, the user terminal 8 is used to set the working schedule of the robotic lawn mower 1 and switch the working mode of the robotic lawn mower 1 .

[0063] Specifically, the working modes of the robot lawn mower 1 include a work scheduling working mode, a pause working mode and a continuous working mode.

[0064] In an embodiment of the present invention, the mowing scenario may be a scenario where the lawn has too much grass for some reason, such as not being cleaned for many days or being cut for the first time, and a long time of mowing is required; or when the operator does not need to mow the lawn regularly for some reason, such as continuous rainy days, serious lawn degradation or being away from home, or the lawn needs to be maintained on a daily basis and a mowing schedule needs to be set regularly for mowing, etc.

[0065] Specifically, the pause working mode or the continuous working mode is set to different time periods or the current operation is always performed until further notice.

[0066] In the embodiment of the present invention, the scheduling work mode can be to set a fixed working time to regularly perform mowing operations, such as working from 8:00 to 10:00 in the morning on Tuesdays, Thursdays and Saturdays; Figure 7a , Figure 7b As shown, the continuous working mode can be to not set the working time and continuously mow the lawn. During this period, when the power of the robot lawn mower 1 is lower than the threshold, it will return to the charging station 3 to charge. After being fully charged, the robot lawn mower 1 will continue to work, or the user terminal 8 will stop after switching the working mode; refer to Figure 8a , Figure 8b As shown, the pause working mode can be customized according to user needs, or selected according to optional conditions, for example, setting "until further notice" or setting mowing operations to be performed two days later; specifically, the user terminal 8 can switch different working modes according to actual needs to control the robot mower 1 to perform mowing operations.

[0067] In the embodiment of the present invention, the user terminal 8 is further used to set a working starting point of the robot lawn mower 1 , and there is at least one working starting point.

[0068] Specifically, the user terminal 8 can set the working starting point of the robot lawn mower 1 according to the following method:

[0069] The regional parameters of the lawn are obtained, and a plurality of work starting points are set according to the regional parameters; wherein the regional parameters include parameters corresponding to the charging station 3 and the guide line 7 .

[0070] In an embodiment of the present invention, the area parameters include parameters corresponding to the charging station 3 and the guide line 7, the size of the lawn, etc.; the data and distance of the work starting point can be set through the area parameters, and the work starting point is set at the charging station 3 or the guide line 7.

[0071] In the embodiment of the present invention, the step of setting a plurality of working starting points according to the regional parameters includes:

[0072] Determining the number of starting points according to the area parameters;

[0073] Select charging station parameters and guide line parameters according to the area parameters;

[0074] A charging station starting point and a guide line starting point are generated according to the number of starting points, the charging station parameters and the guide line parameters, and the charging station starting point and the guide line starting point are used as working starting points.

[0075] In an embodiment of the present invention, the number of starting points can be set according to the size of the lawn in the area parameters, or can be set according to user expectations; after determining the number of starting points, the number of starting points can be divided between the charging station 3 and the guide line 7, that is, the number of starting points set for the charging station 3 and the guide line 7 is determined; specifically, the starting point set at the charging station 3 can be the position of the sensor 5 of the robot lawn mower 1 when it drives out of the charging station outfield loop 4 as the charging station starting point; the starting point set on the guide line 7 can be set on the guide line 7 according to the allocated number of guide line starting points at a fixed division distance, or the guide line starting point can be set on the guide line 7 by random arrangement.

[0076] In another optional embodiment of the present invention, the starting point may be set at other locations besides the charging station 3 or the guide line 7 described in the above embodiments.

[0077] Furthermore, the working starting point of the robot lawn mower 1 may be selected from a plurality of working starting points according to a preset rule.

[0078] In the embodiment of the present invention, the user terminal 8 is used to set the frequency of the robot lawn mower 1 starting to work at different working starting points, and the preset rule is to select a target starting point set from the charging station starting point and the guide line starting point according to a preset selection ratio; and randomly select a starting point from the target starting point set as the target working starting point. Among them, the preset selection ratio can be 30% for the starting point selection rate of the charging station 3 and 70% for the starting point selection rate of the guide line.

[0079] See also Fig. 9 As shown, in another optional embodiment of the present invention, the working starting point at the guide line 7 is the position where the robot mower 1 leaves the charging station 3 along the guide line 7 and travels a certain distance, and the certain distance can be set by the user terminal 8.

[0080] In the embodiment of the present invention, the robotic lawn mower 1 follows the guide line 7 along a different path each time to walk toward the target location, so as to avoid repeated rolling to form rutting that affects the growth of lawn or vegetation in the rutting area.

[0081] See also Fig.10As shown, after starting to perform the mowing operation, the robot mower 1 can randomly rotate an angle and then start mowing in the working area defined by the boundary line 2. As an example, the robot mower 1 can perform mowing in a random manner in the working area. When performing random mowing, the robot mower 1 can randomly rotate 360 ​​degrees. When the robot mower 1 randomly rotates in a random direction to mow forward, the robot 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 has crossed the boundary line 2). When it reaches the boundary line 2, the robot mower 1 will randomly rotate inward an angle to mow.

[0082] In the embodiment of the present invention, by selecting different working starting points and controlling the robot lawn mower 1 to start mowing when it reaches the target working starting point, it is avoided that the robot lawn mower 1 repeatedly uses the same position as the starting point each time it performs mowing, thereby causing the lawn at the fixed starting point to be severely worn relative to other areas.

[0083] In an embodiment of the present invention, the user terminal 8 is used to set the maximum distance that the robot lawn mower 1 travels along the boundary line 2 or the charging station 3, and the user terminal 8 is used to control the robot lawn mower 1 to automatically walk along the boundary line 2 or the guide line 7 to test whether the parameter settings are correct.

[0084] Furthermore, the interval distance when the robot mower 1 follows the guide line 7, or the maximum distance that the robot mower 1 needs to maintain when performing mowing operations on the boundary line 2 can be obtained by adjusting the parameters of the robot mower 1 multiple times; each time the robot mower 1 can select a different target distance from the interval distance or the maximum distance, and by selecting different target distances, the robot mower 1 can be prevented from going out of the boundary or forming an indentation.

[0085] In detail, it is necessary to test the interval distance of the robot lawn mower 1 on the guide line 7 and the maximum distance on the boundary line 2 in advance. First, the interval distance of the robot lawn mower 1 on the guide line 7 and the maximum distance on the boundary line 2 can be set respectively, and then the robot lawn mower 1 can be controlled to walk along the boundary line 2 or the guide line 7. After the tester confirms that the robot lawn mower 1 works normally, it means that the selected interval distance and maximum distance meet the actual travel requirements; if the tester confirms that the robot lawn mower 1 does not work properly, the parameters of the robot lawn mower 1 are readjusted, and the interval distance and maximum distance are reset and retested. Among them, the interval distance corresponding to the guide line 7 and the maximum distance corresponding to the boundary line 2 can be located on either side of the line. The interval distance and the maximum distance can be set and tested together according to the same standard, or different distances can be set and tested separately.

[0086] In the embodiment of the present invention, before performing the mowing operation and when testing the maximum distance between the interval distance of the guide line 7 and the boundary line 2, the blade of the robot mower 1 is in a stopped state to prevent safety accidents.

[0087] The present invention sets different working areas for mowing, thereby avoiding the problem of repeatedly setting up the charging station 3 in each working area, which leads to increased costs; by selecting various target modes from a variety of working modes, the use scenarios of the robot mower are expanded, making the use of the robot mower more flexible; by setting the working starting point according to the regional parameters in the lawn (such as the parameters of the charging station 3 and the parameters of the guide line 7), the robot mower can have more options when starting the mowing operation through the multiple working starting points set, making the start of the mowing operation more random, avoiding the problem that the robot mower repeatedly uses the same position as the starting point each time it performs a mowing operation, thereby causing the lawn with a fixed starting point to be severely worn relative to other areas. Therefore, the robot mower system proposed by the present invention can solve the problem that the robot mower in the prior art cannot adapt to different working areas and different mowing scenarios.

[0088] In the several embodiments provided by the present invention, it should be understood that the disclosed system can be implemented in other ways. For example, the system embodiments described above are only schematic, for example, the division of modules / units is only a logical function division, and there may be other division methods in actual implementation.

[0089] The modules described as separate components may or may not be physically separated, and the components shown as modules / units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules / units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0090] In addition, each functional module in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional modules.

[0091] It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0092] Therefore, no matter from which point of view, the embodiments should be regarded as illustrative and non-restrictive, and the scope of the present invention is limited by the appended claims rather than the above description, so it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any attached figure mark in the claims should not be regarded as limiting the claims involved.

[0093] In addition, it is clear that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices stated in the system claim can also be implemented by one unit or device through software or hardware. The words first, second, etc. are used to indicate names, and do not indicate any particular order.

[0094] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention.

Claims

1. A robotic lawn mower system, the robotic lawn mower system comprising: a robotic lawn mower, the robotic lawn mower operating within a working area defined by a boundary line; Charging stations; as well as a user terminal, the user terminal being connected to the robot lawn mower and being used to set working parameters of the robot lawn mower; The working area is divided into a main working area and a secondary working area; When the robot lawn mower is located in the main working area, based on the setting of the user terminal, the robot lawn mower operates according to a first working state; When the robot lawn mower is located in the secondary working area, the robot lawn mower works in a second working state based on the setting of the user terminal.

2. The robotic lawn mower system according to claim 1, characterized in that: In the first working state, when the power level of the robot lawn mower is lower than a threshold, the robot lawn mower returns to the charging station for charging.

3. The robotic lawn mower system according to claim 1, characterized in that: In the second working state, when the power level of the robot lawn mower is lower than a threshold, the robot lawn mower continues to work and sends a notification to the user terminal.

4. The robotic lawn mower system according to claim 1, wherein: A charging station is arranged in the primary working area, but no charging station is arranged in the secondary working area.

5. The robotic lawn mower system according to claim 1, wherein: The robot lawn mower system further comprises a cloud server, the robot lawn mower and the user terminal can both be connected to the cloud server, and the cloud server stores the parameters of the robot lawn mower set by the user terminal.

6. The robotic lawn mower system according to claim 1, wherein: The user terminal is used to set a work schedule for the robot lawn mower.

7. The robotic lawn mower system according to claim 1, wherein: The user terminal is used to switch the working mode of the robot lawn mower.

8. The robotic lawn mower system according to claim 7, wherein: The working modes of the robot lawn mower include a work scheduling working mode, a pause working mode and a continuous working mode.

9. The robotic lawn mower system according to claim 8, characterized in that: The pause working mode or the continuous working mode is set for different time periods or until further notice.

10. The robotic lawn mower system according to claim 1, wherein: The robot lawn mower system also includes a boundary line and a guide line, wherein the boundary line and the guide line are connected to the charging station, and the robot lawn mower enters or leaves the charging station along the boundary line or the guide line, and the user terminal is used to set the maximum distance that the robot lawn mower travels along the boundary line or the charging station.

11. The robotic lawn mower system according to claim 10, wherein: The user terminal is used to control the robot lawn mower to automatically walk along the boundary line or the guide line to test whether the parameter settings are correct.

12. The robotic lawn mower system according to claim 11, wherein: The user terminal is used to set a working starting point of the robot lawn mower.

13. The robotic lawn mower system according to claim 12, wherein: At least one working starting point is provided.

14. The robotic lawn mower system according to claim 13, wherein: The work starting point is set at the charging station or the guide line.

15. The robotic lawn mower system of claim 14, wherein: The working starting point at the guide line is a position where the robot lawn mower leaves the charging station along the guide line and travels a certain distance.

16. The robotic lawn mower system of claim 15, wherein: The certain distance may be set by the user terminal.

17. The robotic lawn mower system of claim 14, wherein: The user terminal is used to set the frequency at which the robot lawn mower starts working at different working starting points.

18. The robotic lawn mower system of claim 13, wherein: After the robot lawn mower reaches the working starting point, it starts to walk and work along a random route.

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