Method for establishing trimming map of mower and mower

Abstract

The embodiment of the invention provides a method for establishing an edge map of a mower. The method comprises the following steps: acquiring a mapping instruction of establishing the edge map started by an operator; track coordinates of the mower controlled by an operator to move are detected in real time; and recording the track coordinates as an edge trimming area to be trimmed by the mower. The embodiment of the invention further provides a mower capable of executing the edge trimming method.

Description

Technical Field

[0001] The invention relates to the technical field of lawn mowers, and in particular to a method for establishing an edge trimming map for a lawn mower and the lawn mower. Background Art

[0002] In the fields of garden maintenance, lawn management and agriculture, edging is a vital task, which aims to maintain the neat boundaries of lawns or farmlands, prevent weeds from invading, and maintain the beauty and functionality of the landscape. Traditionally, this operation mainly relies on manual handheld edging machines to work along the predetermined boundaries. Due to their flexible judgment and adaptability, people can easily identify and trim along the complex and changing lawn boundaries, ensuring the accuracy and efficiency of trimming.

[0003] However, with the rapid development of automation and intelligent technology, as well as the rising labor costs, people are increasingly in need of using robotic technology to replace manual edge-cutting operations. Compared with manual operation, the robotic edge-cutting system has the advantages of improving work efficiency, reducing labor intensity, and achieving 24-hour continuous operation, but it also faces many technical challenges.

[0004] One of the most core and critical technical challenges is how to provide the robot with accurate and real-time boundary information to ensure that it can perform edging operations along the boundaries of lawns or farmlands as accurately as humans. Since boundaries in natural environments are often complex and changeable, including straight lines, curves, corners, and even irregular shapes, and may be affected by factors such as vegetation obstruction and terrain undulations, traditional methods based on fixed path planning or simple sensors are difficult to meet the needs of high-precision edging.

[0005] Therefore, developing a technical solution that can efficiently obtain and process complex boundary information and provide accurate navigation guidance for robot edging operations has become an important direction for the current research and development of robot edging systems. This technical solution needs to integrate high-precision positioning technology, environmental perception technology, intelligent path planning algorithms, and advanced robotic arm control technology to achieve autonomous navigation and accurate edging operations of robots in complex environments, thereby promoting the automation and intelligence of garden maintenance, lawn management, and agriculture. Summary of the invention

[0006] In view of this, an embodiment of the present invention provides a method for establishing a edging map for a lawn mower, which can improve the accuracy of map establishment.

[0007] An embodiment of the present invention provides a method for a lawn mower to establish an edge map, comprising the following steps:

[0008] Obtain the operator's instructions for starting to build a border map;

[0009] Real-time detection of the trajectory coordinates of the operator controlling the movement of the lawn mower;

[0010] The trajectory coordinates are recorded as the trimming area where the lawn mower is to trim.

[0011] Furthermore, the method further comprises the following steps:

[0012] Get the signal that the user inserts the edge module;

[0013] The specific instructions for obtaining the operator's instructions to start building the edge map are:

[0014] Obtaining an edge-making instruction from an operator to start an edge-making operation, and using the edge-making instruction as a mapping instruction;

[0015] The real-time detection of the trajectory coordinates of the operator controlling the movement of the lawn mower is specifically:

[0016] Real-time detection of the trajectory coordinates of the operator controlling the lawn mower to move for edging.

[0017] Furthermore, the method further comprises the following steps:

[0018] Real-time detection of the edge quality of the edge beating module under the trajectory coordinates;

[0019] The trajectory coordinates whose edge trimming quality meets the set quality range are recorded as the edge trimming area to be trimmed by the lawn mower.

[0020] Furthermore, the method further comprises the following steps:

[0021] When the edge trimming quality does not meet the set quality range, a prompt message is displayed on the display interface of the lawn mower to prompt the operator to trim the edges again until the edge trimming quality meets the set quality range.

[0022] Furthermore, the real-time detection of the trajectory coordinates of the operator controlling the movement of the lawn mower is specifically:

[0023] Real-time detection of the trajectory coordinates of the operator pushing the lawn mower to move.

[0024] Furthermore, the method further comprises the following steps:

[0025] Real-time detection of the operator's thrust on the mower;

[0026] Control the mower to apply a set assist in the thrust direction to reduce the force required by the operator to push the mower.

[0027] Furthermore, the method further comprises the following steps:

[0028] The operating steps for installing the manual push rod are displayed on the display panel of the lawn mower.

[0029] An embodiment of the present invention further provides a lawn mower, which is configured as follows:

[0030] A device for executing any of the above methods for establishing an edge map.

[0031] The lawn mower edging method and lawn mower provided by the embodiments of the present invention can improve the mapping accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0033] Figure 1 It is a flowchart of a method for establishing an edge map for a lawn mower provided by an embodiment of the present invention;

[0034] Figure 2 is another flowchart of a method for establishing an edge map for a lawn mower provided by an embodiment of the present invention;

[0035] Figure 3 is another flowchart of a method for establishing an edge map for a lawn mower provided by an embodiment of the present invention;

[0036] Figure 4 is another flowchart of a method for establishing an edge map for a lawn mower provided by an embodiment of the present invention;

[0037] Figure 5 is a structural schematic diagram of a lawn mower provided by an embodiment of the present invention;

[0038] Figure 6 is a structural schematic diagram of another lawn mower provided by an embodiment of the present invention;

[0039] Figure 7 It is a structural schematic diagram of another lawn mower provided by an embodiment of the present invention. Specific embodiments

[0040] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present invention. However, it should be clear to those skilled in the art that the present invention may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present invention.

[0041] The terms "first", "second" and the like in the embodiments of the present invention are only used to distinguish relevant technical features and do not indicate the order of precedence.

[0042] In order to illustrate the technical solution described in the embodiment of the present invention, Figure 1-4 As shown, the invention is described below through specific embodiments.

[0043] Before elaborating on the method for establishing an edging map for a lawn mower described in the present invention, it should be made clear that the method aims to automatically record and generate an edging map by allowing the user to operate the lawn mower to move along the lawn boundary, thereby providing accurate boundary information for subsequent autonomous edging operations by the robot.

[0044] Embodiment 1

[0045] First, the user sends a mapping instruction to build a edging map through the control panel on the lawn mower or the accompanying application. This step marks the beginning of the mapping process.

[0046] Subsequently, the lawn mower's built-in GPS positioning system, inertial navigation system (INS), laser radar or visual sensor and other high-precision positioning devices start to work, detecting and recording the trajectory coordinates of the operator's control of the lawn mower in real time. These coordinate data reflect the actual movement path of the lawn mower on the lawn boundary and are the basis for building the edge map.

[0047] After the operator completes one or more circles along the lawn boundary, the processing system inside the mower will organize and analyze the collected trajectory coordinate data to form a border map containing boundary information. This map not only records the specific location of the boundary, but may also contain additional information such as the shape and length of the boundary to facilitate the path planning and execution of subsequent robot border operations.

[0048] Embodiment 2

[0049] In order to further improve the accuracy of map construction and the convenience of user operation, this embodiment adds a confirmation step of the edge module signal on the basis of the basic implementation method.

[0050] Before starting to build a map, the user first needs to install the dedicated edge module on the mower and send a signal to insert the edge module through the control panel or application; or the mower automatically detects that the edge module is connected to the mower. This step ensures that the mower has entered a specific mode for building an edge map.

[0051] Then, when the user starts the edging operation, the mower will automatically recognize the edging instruction as a mapping instruction and activate the internal positioning and recording system. At this time, the operator controls the mower to move along the lawn boundary, and the sensors on the mower detect and record the coordinates of the movement trajectory in real time.

[0052] Similar to the basic implementation method, after completing the recording of the boundary trajectory, the processing system integrates the data into a boundary map to provide accurate navigation for subsequent operations.

[0053] In the design of the lawn mower, in order to enhance the flexibility and user experience of its edge trimming function, an identifiable chip or signal can be introduced and set inside the edge trimming module. When the edge trimming module is connected to the lawn mower, the lawn mower can automatically detect and identify the existence of this module, thereby ensuring that the lawn mower will only start the relevant edge trimming operation after the edge trimming module is correctly installed. This automatic recognition function not only simplifies the operation process, but also improves the safety of use.

[0054] In addition, another user interaction method can also be provided, that is, the user can manually confirm the access of the edge trimming module on the operating module of the lawn mower. By clicking the confirmation button on the operating module, the user can actively inform the lawn mower that the edge trimming module is ready, thereby starting the edge trimming process. This manual confirmation method provides the user with additional control and ensures the accuracy of the edge trimming operation.

[0055] As for the edge trimming module itself, it can be a knife-designed module for precisely cutting the lawn edge, or a rope-style edge trimming module that uses a high-speed spinning rope to trim hard-to-reach corners and edges. Regardless of the type of edge trimming module, as long as it can effectively achieve the edge trimming function, it is compatible and works with our mowers.

[0056] like Figure 5-6 , which is a structural schematic diagram of a lawn mower provided by an embodiment of the present invention. The lawn mower 1 provided by an embodiment of the present invention comprises a lawn mower body 11 and an edge trimming module 12. The edge trimming module 12 is detachably connected to the lawn mower body 11.

[0057] Embodiment 3

[0058] On the basis of the above-mentioned embodiments, in order to ensure the accuracy and effectiveness of the edge map, this embodiment further introduces an edge quality detection function.

[0059] When the operator controls the mower to move along the lawn boundary to perform edging operations, the mower not only detects and records the coordinates of the movement trajectory in real time, but also evaluates the execution quality of the edging module in real time through built-in sensors or cameras. This evaluation may be based on a variety of factors, such as the height of the grass edge, the edging depth, the consistency of the width, the neatness of the edge, etc. The specific evaluation criteria can be set according to actual needs.

[0060] Every time the mower moves to a new track coordinate point, the system will immediately detect the edge quality at that point and compare it with the preset quality range. If the edge quality meets or exceeds the set standard, the track coordinate point will be considered as part of the effective edge area and recorded in the edge map.

[0061] On the contrary, if the edge trimming quality does not meet the set quality range, the corresponding prompt information will be immediately displayed on the display interface of the lawn mower, such as "Edge trimming quality does not meet the standard, please trim again". Specifically, it can be recorded in the system and the operator can be guided to trim again later; or it can be fed back to the robot system in real time, and the edge trimming effect can be improved in real time by slowing down the moving speed, increasing the power of the edge trimming module, etc. This prompt is intended to guide the operator to find problems in time and re-perform the edge trimming operation along the same trajectory until a satisfactory edge trimming quality is achieved.

[0062] In this way, the method of this embodiment can ensure that the boundary information recorded in the edging map is not only accurate, but also reflects the high-quality edging operation results, providing a more reliable and precise navigation basis for subsequent robot autonomous edging operations.

[0063] Embodiment 4

[0064] This embodiment is a further extension of the third embodiment, and focuses on improving the processing mechanism when the edge quality does not meet the standards.

[0065] When the mower detects that the edge trimming quality does not meet the set quality range, in addition to displaying a prompt message on the display interface, it may also automatically trigger a series of retry mechanisms. For example, the mower can temporarily stop moving forward, wait for the operator to confirm and readjust the state of the edge trimming module (such as replacing the blade, adjusting the angle, etc.), and then try to trim the edge at the track coordinate point again.

[0066] If the edging quality still fails to meet the set standards after multiple attempts, the mower can also provide more detailed error information or suggestions to help the operator analyze the problem and take appropriate solutions.

[0067] In addition, in order to improve user experience and work efficiency, the mower can also set a certain tolerance range or threshold. In some cases, even if the edge trimming quality is slightly deviated, as long as it does not affect the overall edge trimming effect, the system may choose to accept the track coordinate point and record it in the edge trimming map. Of course, the size of this tolerance range needs to be flexibly adjusted according to the actual application scenario and user needs.

[0068] Embodiment 5

[0069] This embodiment focuses on improving the comfort and efficiency of operators when controlling a lawn mower to establish a edging map. On the basis of real-time detection of the trajectory coordinates of the operator pushing the lawn mower to move, a thrust detection and power assist system is introduced.

[0070] High-precision thrust sensors are installed at the front of the mower, at the connection between the push rod and the mower, or at the operating handle, to detect the magnitude and direction of the operator's thrust on the mower in real time; or to detect other methods such as torque feedback and current feedback of the mower's travel motor. These data are quickly transmitted to the mower's control system, and the system calculates the magnitude and direction of the assistance to be provided based on the preset algorithms and parameters.

[0071] Subsequently, the motor or hydraulic system of the mower applies the set power in the thrust direction according to the control command. This power can not only help the operator push the mower along the lawn boundary more easily, but also maintain the stability and accuracy of the mower's movement to a certain extent, thereby improving the accuracy of the edge map.

[0072] like Figure 7 , which is a schematic diagram of the structure of a lawn mower provided by an embodiment of the present invention. The lawn mower 1 provided by an embodiment of the present invention comprises a lawn mower body 11, an edge trimming module 12 and a push rod 13. The edge trimming module 12 is detachably connected to the lawn mower body 11. The push rod 13 can be fixedly connected to the lawn mower body 11, or can be detachably connected to the lawn mower body 11.

[0073] Embodiment 6

[0074] In order to further enhance the user experience, this embodiment further adds prompts for the operation steps of installing the manual push rod on the display panel of the lawn mower or the display interface of an external terminal (such as a mobile phone).

[0075] When the lawn mower leaves the factory, it may come with an optional manual push rod (the push rod may be a directional control mechanism, such as a rod with a steering wheel, etc.) to provide additional support and control to the operator in certain situations (such as complex lawn boundaries, insufficient operator strength, etc.). To ensure that users can correctly and conveniently install and use the manual push rod, detailed installation steps and precautions will be displayed on the display panel of the lawn mower.

[0076] These steps may include: opening a specific part of the mower to install the push rod bracket, inserting the push rod into the bracket and securing it, adjusting the push rod length to accommodate operators of different heights, etc. Through intuitive graphics and text instructions, users can quickly master the installation method and quickly complete the installation and configuration of the manual push rod when needed.

[0077] Embodiment seven:

[0078] This embodiment describes in detail the structure of a lawn mower capable of executing any of the above methods for establishing a edging map. The lawn mower not only integrates a high-precision positioning system and data processing capabilities, but is also equipped with a humanized operation auxiliary device to meet the diverse needs of users.

[0079] The main structure of the lawn mower:

[0080] The main body of the mower is made of strong and durable materials, with sufficient load-bearing capacity and stability to cope with various complex terrains and working environments. A high-performance control system is integrated inside the main body, which can receive and process data from various sensors and execute corresponding operating instructions.

[0081] Push rod and edge module:

[0082] As described in the above embodiment, the lawn mower in this embodiment is equipped with a push rod and a detachably mounted edge trimming module. The push rod design conforms to the ergonomic principle, making it easy for the operator to easily control the moving direction and speed of the lawn mower. The push rod may also be provided with an adjustment mechanism, allowing the operator to adjust the length and angle of the push rod according to his or her height and habits.

[0083] The trimming module is a device specifically used to perform trimming operations. It can be installed on the mower by simply plugging and unplugging. The trimming module integrates blades, motors and other components, and can automatically perform trimming operations under the command of the control system. When it is necessary to create a trimming map, the operator only needs to install the trimming module on the mower and operate it according to the preset method.

[0084] Support module:

[0085] In order to further improve the operator's comfort and work efficiency, as described in the above embodiment, the lawn mower in this embodiment is also equipped with a power-assist module. The power-assist module detects the operator's thrust on the lawn mower and applies a set power-assist in the thrust direction, thereby reducing the force required for the operator to push the lawn mower. This function is particularly important when working for a long time or encountering complex terrain, and can effectively relieve the operator's fatigue.

[0086] Other auxiliary devices:

[0087] In addition to the above main structures, the lawn mower in this embodiment may also include other auxiliary devices, such as a display panel, a control system panel, a battery pack, etc. The display panel is used to display the current operation status, power information, error prompts, etc. The control system panel provides an operation interface, allowing the user to input instructions, adjust parameters, etc. The battery pack provides power support for the lawn mower to ensure that it can work continuously and stably.

[0088] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0089] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A method for establishing a edging map for a lawn mower, characterized in that: The following steps are involved: Obtain the operator's instructions for starting to build a border map; Real-time detection of the trajectory coordinates of the operator controlling the movement of the lawn mower; The trajectory coordinates are recorded as the trimming area where the lawn mower is to trim.

2. The method according to claim 1, characterized in that The following steps are also included: Get the signal that the user inserts the edge module; The specific instructions for obtaining the operator's instructions to start building the edge map are: Obtaining an edge-making instruction from an operator to start an edge-making operation, and using the edge-making instruction as a mapping instruction; The real-time detection of the trajectory coordinates of the operator controlling the movement of the lawn mower is specifically: Real-time detection of the trajectory coordinates of the operator controlling the lawn mower to move for edging.

3. The method according to claim 2, characterized in that The following steps are also included: Real-time detection of the edge quality of the edge beating module under the trajectory coordinates; The trajectory coordinates whose edge trimming quality meets the set quality range are recorded as the edge trimming area to be trimmed by the lawn mower.

4. The method according to claim 3, characterized in that The following steps are also included: When the edge trimming quality does not meet the set quality range, a prompt message is displayed on the display interface of the lawn mower or the display interface of the external terminal to prompt the operator to re-edge until the edge trimming quality meets the set quality range.

5. The method according to claim 2, characterized in that The real-time detection of the trajectory coordinates of the operator controlling the movement of the lawn mower is as follows: Real-time detection of the trajectory coordinates of the operator pushing the lawn mower to move.

6. The method according to claim 5, characterized in that The following steps are also included: Real-time detection of the operator's thrust on the mower; Control the mower to apply a set assist in the thrust direction to reduce the force required by the operator to push the mower.

7. The method according to claim 4, characterized in that The following steps are also included: The operating steps for installing the manual push rod are displayed on the display panel of the lawn mower.

8. A lawn mower, characterized in that: The lawn mower is configured as: An apparatus for executing the method for establishing an edge map as described in any one of claims 1 to 7.

9. The lawn mower according to claim 8, characterized in that Also includes: Push rod, and edge trimming module that can be removably mounted on the mower.

10. The lawn mower according to claim 9, characterized in that Also includes boost module.

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