Self-walking equipment for narrow channel operation

Abstract

The invention provides self-walking equipment for narrow channel operation. A sensing device used for detecting the real-time position of the boundary of an operation area relative to a machine body is arranged in self-walking equipment, so that when it is judged that the self-walking equipment approaches the narrow channel area, the self-walking equipment is driven to run along the boundary of one side of the narrow channel area, and then the self-walking equipment is driven to turn around after the self-walking equipment is driven away from the narrow channel area; and continuously translating for a certain distance along the direction parallel to the previous path to continuously traverse other parts in the narrow channel area. The narrow channel area is identified and detected through various types of sensing devices, traversal operation of the self-walking area in the area can be accurately controlled, and therefore the overall trimming effect of a lawn is ensured.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent lawn mowing equipment, and in particular to a self-propelled equipment for narrow channel operations. Background Art

[0002] In the current boundaryless mowing solutions of automatic lawn mowers, RTK technology, UWB positioning technology, LiDAR positioning technology, visual detection and other means are mainly used to determine the boundaries of the grassland. In the current lawn mower solutions, passing through narrow channels is more of a function, and traversal mowing of narrow channel areas cannot be performed. Using traversal mowing in narrow channels as a function point requires that the running trajectory of the equipment can completely cover the entire narrow channel area. The existing boundary line avoidance algorithm will cause the automatic lawn mower to turn around randomly in the narrow channel, or it can only pass through the area with an irregular randomly generated path, and it is impossible to accurately control the traversal process of the device in the area.

[0003] Solutions based on RTK, UWB, and LiDAR can determine the distance between the lawn mower and the grass boundary. The premise is that a person needs to remotely control the lawn mower or take the lawn mower's mapping module to walk along the trajectory that the lawn mower needs to operate in advance. At this time, the lawn mower or mapping module will create a working map for the lawn mower according to the positioning coordinates when it walks along the grass boundary. The narrow channels in this working map can be obtained by judging the relationship between points and lines, and between line segments and line segments of each boundary coordinate in the global map.

[0004] After determining the boundary of the grassland, there are currently two solutions for the intelligent lawn mower to traverse and mow the working area within the boundary. One is planned traversal mowing: after the grassland boundary is manually delineated, the lawn mower automatically generates a traversal planning path based on the work map. The other is random traversal mowing: when the machine runs to the grassland boundary, it is confirmed to have reached the grassland boundary through the above-mentioned boundaryless positioning solution, and then the machine runs in a straight line to the next grassland boundary after a random angle, and completes the traversal of the entire grassland through the accumulation of time and running space.

[0005] When current automatic mowing equipment is doing lawn mowing operations, if there is a narrow and long channel in the grass, such as a 5m long and 1m wide channel, it is difficult for the mower to enter the narrow channel, and it is impossible to accurately control the mower to safely pass through the narrow channel while completing the safe mowing operation of the entire grass area inside the narrow channel. Summary of the invention

[0006] In view of the shortcomings of the prior art, the present application provides a self-propelled device for narrow channel operation. The present application flexibly identifies the narrow channel boundary through a variety of sensing detection technologies, and through a special execution method for traversing the path of the narrow channel area, it can ensure that the device traverses the narrow channel and achieves a relatively uniform operation effect. The present application specifically adopts the following technical solutions.

[0007] First, to achieve the above-mentioned purpose, a self-propelled device for narrow channel operation is proposed, which includes: a sensor device, which is used to detect the real-time position of the boundary of the working area relative to the body; an operating device, which is synchronously operated during the operation of the self-propelled device to mow the lawn; a travel drive device, which is used to drive the self-propelled device to operate in the working area and adjust the operating direction; a control unit, which is connected to the sensor device, the operating device and the travel drive device, and is used to: based on the boundary of the working area determined by the detection of the sensor device, when it is determined that the self-propelled device is close to the narrow channel area, drive the self-propelled device to operate along the boundary of one side of the narrow channel area until the self-propelled device leaves the narrow channel area; then, drive the self-propelled device to turn around and run along the previous operation path for a preset distance until the self-propelled device leaves the narrow channel area from the other side; repeat the previous step until the distance between the self-propelled device and the boundary of the other side of the narrow channel area reaches a safe distance, and drive the self-propelled device to leave the narrow channel area.

[0008] Optionally, in any of the self-propelled devices for narrow channel operations as described above, the sensor device includes any one of the following or any combination of the following sensor devices: a visual detection device, a boundary line signal detection device, a positioning sensor device, and a radar device. In conjunction with the sensor device, the present application may also set any of the following identification and guidance devices at the boundary line position near the narrow channel: such as arranging an RFID radio frequency identification card or a positioning sensor device on the ground to identify the narrow channel area through the interaction of the device or the positioning signal.

[0009] Optionally, a self-propelled device for narrow channel operations as described above, wherein the visual detection device distinguishes the working area from the non-working area based on the texture and / or color information in the field of view image, determines the boundary of the working area, and determines that the self-propelled device is close to the narrow channel area when the boundary of the working area is located on the left and right sides of the field of view image of the self-propelled device respectively.

[0010] When the mower passes through a narrow grass channel on the left or right side, the mower can rotate and move forward according to the normal random mowing plan. Only when the grass boundary is detected on the left and right sides in front of the mower and the mower determines that the machine can enter the grass area in the middle through the visual image or the radiation position of the boundary signal, the mower will move forward and enter this area. When the machine runs a certain distance in the narrow channel and can detect the end of the narrow channel, it is considered that the device has passed the narrow channel area at this time, and then the traversal mechanism can be triggered according to the route of walking in the narrow channel this time, so that the device gradually traverses the entire channel area in a reciprocating translation manner.

[0011] Optionally, a self-propelled device for narrow channel operations as described above, wherein the boundary line signal detection device and / or the radar device determines the boundary of the operating area based on the interactive signal radiated by the boundary line, and determines that the self-propelled device is approaching the narrow channel area when boundary line interactive signals in two directions are detected and the corresponding distances reach the narrow channel area standard.

[0012] Optionally, a self-propelled device for narrow channel operation as described above, wherein the positioning sensor device determines that the self-propelled device is approaching a narrow channel area when the distance between both sides of the self-propelled device and the boundary line reaches the narrow channel area standard based on the real-time positioning position of the self-propelled device.

[0013] Optionally, a self-propelled device for narrow channel operations as described above, wherein the narrow channel area standard is that the distance between the self-propelled device and the working area boundaries on both sides is not less than 1.5 times the width or length of the self-propelled device body.

[0014] Optionally, a self-propelled device for narrow channel operations as described above, wherein when the self-propelled device is driven to run from the starting point of the narrow channel along the boundary of one side of the narrow channel area: first adjust the walking direction of the self-propelled device so that the distance between the self-propelled device and any one of the working area boundaries on its left or right side reaches a safe distance, and keep the self-propelled device moving forward in the direction of any one of the working area boundaries at a safe distance; the safety distance is the distance to ensure that the front wheels of the self-propelled device do not exceed the grass boundary when running forward or rotating left or right.

[0015] Optionally, a self-propelled device for narrow channel operations as described above, wherein the preset distance for translation along the last operating path is any of the following widths: the body width of the self-propelled device, the distance between the running wheels of the self-propelled device, the operating width of the operating device in the self-propelled device, 0.5m or any other preset fixed width.

[0016] Optionally, a self-propelled device for narrow channel operations as described above, wherein before driving the self-propelled device to turn around, the self-propelled device is driven to run at least twice a preset distance along the boundary of a single working area.

[0017] Optionally, a self-propelled device for narrow channel operation as described above, wherein, for the interval distance, preset distance, and safety distance, the self-propelled device verifies the interval distance, preset distance, and safety distance according to the amplitude or phase of the interactive signal radiated by the boundary line, or the position relationship of the distance to the fuselage corresponding to the corresponding pixel in the field of view image, or the positioning position of the fuselage determined by the positioning sensor device. Beneficial Effects

[0018] The present application provides a self-propelled device for narrow channel operations. A sensor device is provided in the self-propelled device for detecting the real-time position of the boundary of the operation area relative to the fuselage. Therefore, when it is determined that the self-propelled device is approaching a narrow channel area, the self-propelled device is driven to run along the boundary of one side of the narrow channel area first, and then waits for it to leave the narrow channel area before driving the self-propelled device to turn around and continue to move a certain distance in a direction parallel to the previous path to continue traversing other parts of the narrow channel area. The present application can accurately control the self-propelled area to perform traversal operations in the area through the identification and detection of the narrow channel area by various types of sensor devices, thereby ensuring the overall mowing effect of the lawn.

[0019] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent from the description, or may be understood by practicing the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are used to provide a further understanding of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings: Figure 1 It is a schematic diagram of the operation mode of an existing self-propelled device in a narrow channel in a random traversal mode; Figure 2 It is a schematic diagram of an existing self-propelled device performing traversal operations in a traditional narrow channel passing mode; Figure 3 This is a schematic diagram of the installation and detection method of the self-propelled device of this application on the top visual detection device Figure 4 It is a schematic diagram of the self-propelled device of the present application realizing a narrow channel traversal operation through a boundary line signal detection device; Figure 5 It is a schematic diagram of the self-propelled device of the present application realizing narrow channel traversal operation through a positioning sensor device; Figure 6 It is a schematic diagram of the self-propelled device of the present application realizing narrow channel traversal operation through a radar device; Figure 7 It is a schematic diagram of the path traversed by the self-propelled device in the present application inside a narrow channel.

[0021] In the figure, 101 represents a sensor device; 102 represents a self-propelled device. DETAILED DESCRIPTION

[0022] In order to make the purpose and technical solution of the embodiment of the present application clearer, the technical solution of the embodiment of the present application will be clearly and completely described in conjunction with the drawings of the embodiment of the present application. Obviously, the described embodiment is a part of the embodiment of the present application, not all of the embodiments. Based on the described embodiment of the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0023] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as generally understood by those skilled in the art to which this application belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless defined as herein.

[0024] The meaning of "and / or" described in this application means that the situations where each exists alone or both exist at the same time are included.

[0025] The meaning of "inside" and "outside" mentioned in this application refers to the direction relative to the working area itself, that is, the direction pointing to the inside of the working area is inside, and the opposite direction is outside; it is not a specific limitation on the device mechanism of this application.

[0026] The meaning of "left and right" in this application refers to that when the user is facing the direction of travel of the self-propelled device, the user's left is left and the user's right is right, rather than a specific limitation on the device mechanism of this application.

[0027] The term “connection” as used in this application may mean a direct connection between components or an indirect connection between components via other components.

[0028] The meaning of "up and down" mentioned in this application refers to that when the user is facing the forward direction of the self-propelled device, the direction from the working ground to the top of the self-propelled device body is up, and the opposite is down, rather than a specific limitation on the device mechanism of this application.

[0029] Figure 1 as well as Figure 2 It is an existing self-propelled device. After entering a narrow channel-shaped working area, it will directly turn according to the detection signal of the boundary line, and continue to turn in the opposite direction after reaching the boundary line on the other side, and repeat this process until it leaves the narrow channel area. Under this driving mode, the path of the device through the narrow channel area each time is relatively random. It is possible to turn directly through the area once, resulting in a large area being unable to effectively obtain mowing effects; it is also possible to repeatedly turn back, resulting in over-mowing of a few areas.

[0030] refer to Figure 3 In view of the drawbacks of the above-mentioned existing guiding technologies, this application proposes a self-propelled device for narrow channel operations, which includes: The sensor device 101 is used to detect the real-time position of the boundary of the working area relative to the fuselage; The working device is generally arranged in the middle of the chassis of the self-propelled equipment and is used to operate synchronously with the operation of the equipment to mow the lawn; Travel drive device, used to drive the self-propelled equipment to run in the working area and adjust the running direction; The control unit is connected to the sensor device, the working device and the travel drive device, and is used to: based on the working area boundary determined by the detection of the sensor device 101, when it is determined that the self-propelled device is close to the narrow channel area, drive the self-propelled device to run along the boundary of one side of the narrow channel area until the self-propelled device leaves the narrow channel area; then, drive the self-propelled device to turn around, and return along the last running path by a preset distance until the self-propelled device leaves the narrow channel area from the other side; repeat the above-mentioned return running steps until the distance between the self-propelled device and the boundary on the other side of the narrow channel area reaches a safe distance, and the process is completed. Figure 7 The traversal path shown realizes the traversal operation of the entire narrow channel area. At this time, the self-propelled device can be driven out of the narrow channel area to continue the traversal operation of other conventional areas.

[0031] In the present application, the sensor device provided by the self-propelled device may optionally adopt any of the following sensor devices or any combination thereof: A visual detection device, which can collect environmental images in the direction of equipment operation, identify grass areas and non-grass areas through the color range of pixels in the image or the texture characteristics of the pixel area, and then, based on the actual mapping relationship between the pixel position of the boundary line between the two and the ground in front of the equipment, when boundary points are detected on both sides of the image area, but the working area directly in front of the equipment meets the characteristics of grass, it is considered that the equipment has reached a narrow channel, thereby triggering the control unit to drive the travel drive device to make the equipment run along one side of the boundary line, and during the operation, the pixel position of the boundary line is always maintained in a certain area in the working area image to accurately control the running direction of the equipment, and when the equipment turns around and reciprocates, the pixel area corresponding to the boundary line can be adjusted accordingly to meet the guidance requirements of the narrow channel traversal path; The boundary line signal detection device can detect the radio frequency signal of the boundary line buried near the working area, and trigger the same narrow area operation strategy when it senses that the radiation signal of the boundary line is received on both the left and right sides of the device but the working area directly in front of the device is still passable; at this time, the device runs along one side of the boundary line, and during the operation, the signal strength radiated by the boundary line on this side is always maintained at a fixed level to accurately control the walking direction of the device this time. When the device turns around and reciprocates, the radiation intensity standard corresponding to the boundary line can be adjusted accordingly to meet the guidance requirements of the narrow channel traversal path; A positioning sensor device, which can detect the coordinate position of the working area and the vehicle body through positioning signals or interaction with identification guide devices set near the working area, and trigger the aforementioned narrow area operation strategy when it is detected that both the left and right sides of the device are close to the boundary of the working area but the working area directly in front of the device is still passable; at this time, the device runs along one side of the boundary line, and during the operation, the device will always be kept at an appropriate position parallel to the boundary by comparing the positioning coordinates with the boundary coordinates, or by detecting the interactive guidance signal to accurately control the walking direction of the device this time. When the device turns around and reciprocates, the spacing standard corresponding to the boundary line or the strength level of the interactive guidance signal can be adjusted accordingly to meet the guidance requirements of the narrow channel traversal path; A radar device can emit radar signals to the boundary lines buried near the working area and detect the specific position of the boundary lines relative to the vehicle body based on the signal echo generated by the signal at the boundary line position. When it senses that the echo signals of the boundary lines are received on both the left and right sides of the device but the working area directly in front of the device is still passable, the same narrow area operation strategy is triggered; at this time, the device runs along one side of the boundary line, and during the operation, the intensity of the echo signal returned by the boundary line on this side is always maintained at a fixed position to accurately control the walking direction of the device this time. When the device turns around and runs back and forth, the echo intensity standard corresponding to the boundary line can be adjusted accordingly to adapt to the guidance requirements of the narrow channel traversal path.

[0032] In conjunction with the above-mentioned types of sensing devices, the present application may also set any of the following identification and guidance devices at the boundary line position near the narrow channel, such as placing an RFID radio frequency identification card or a positioning sensor device on the ground to identify the narrow channel area through the interaction of equipment or positioning signals.

[0033] During the specific implementation process, the present application can connect the visual detection device to the corresponding GPU unit or the remote linkage detection module to identify the texture and / or color information corresponding to the haystack in the field of view image, thereby distinguishing the working area from the non-working area based on the information, and determining that the area between the two is the working area boundary, and when the working area boundary is located on the left and right sides of the field of view image of the self-propelled device, it is determined that the self-propelled device is approaching a narrow channel area.

[0034] During the process of traversal mowing by a self-propelled device, when the mower passes through a narrow grass channel on the left or right side, the mower can still rotate and move forward according to the normal random mowing scheme. The narrow channel mechanism provided in the present application will only move forward and enter this area when the grass boundary is detected on the left and right sides in front of the mower at the same time and the mower determines that the grass area between the left and right boundaries can be entered by the machine through visual images or the radiation position of boundary signals. When the machine runs a certain distance in the narrow channel and can detect the end of the narrow channel, it is considered that the device has passed the narrow channel area at this time, and then the traversal mechanism can be triggered according to the route of this walking in the narrow channel, so that the device gradually traverses through the entire channel area in a reciprocating translation manner.

[0035] by Figure 4For example, the present application can realize the aforementioned traversal process of the narrow channel area through the electromagnetic signal detection probes 105, 106, and 107 on the self-propelled equipment, in cooperation with the electromagnetic wire boundary circles 108 and 109 near the narrow channel. Specifically, the electromagnetic signal detection probe can detect the electromagnetic field strength on the boundary signal line. When the probe is close to the boundary electromagnetic signal line, the electromagnetic field signal strength is large, and when the probe is far from the boundary signal, the geomagnetic field signal strength is small. According to the signal strength of the boundary line detected by the three signal heads and the actual distance between the machine and the boundary, the machine can know the distance between the machine and the boundary and the relative relationship between the front of the vehicle and the boundary line according to the signal strength value. When the lawn mower passes through a narrow channel during the random traversal process, the machine will rotate an angle to move forward, and the distance running forward will detect the grass boundary on the other side. This time it can be judged that the machine is in a narrow channel. At this time, the machine can start to move along a signal boundary to carry out mowing operations, ensuring that the electromagnetic signal detected by the probe on this side is the strongest and remains in a stable signal strength range. In this state, when the lawn mower runs forward for a certain distance, the machine can judge that it has reached the end of the narrow channel according to the weakening of the electromagnetic signal strength of the boundary coil, and actively adjust the distance from the boundary signal to turn around and operate, and guide the lawn mower to run parallel to one side of the boundary line according to another signal strength. In this way, the narrow channel can be completely traversed by repeating the cycle. The number of narrow channels in this operating area can be counted during the machine operation. In the next traversal operation, the traversal operation of the narrow channel can be completed according to the number of narrow channels counted during the previous traversal operation. After exceeding this data, the machine will detect a narrow channel again and will run directly forward through this area, thereby improving the efficiency of random traversal mowing.

[0036] by Figure 5 For example, the present application can also perform narrow channel traversal navigation based on the RTK high-precision positioning antenna 110. This solution adopts a high-precision positioning solution based on the global satellite positioning system. When using a lawn mower using this solution, the machine needs to be remotely controlled to create an operation map along the lawn boundary. When the operation map is completed, based on the operation map and the positioning of the lawn mower, the narrow channel operation environment existing in the current map is judged, and the lawn mower is driven to reciprocate along the narrow channel edge line in parallel to enter and exit the area based on the precise navigation of RTK, and traverse and mow the lawn area of ​​the narrow channel.

[0037] by Figure 6For example, the present application can also use 104 to realize traversal and navigation of narrow channel areas. The laser radar can be a single-line laser radar or a multi-line laser radar. The laser radar sensor outputs laser point cloud data of the surrounding environment, and uses the SLAM method to map and locate the lawn mower in the working environment. Based on the working map and the positioning of the lawn mower, the narrow channel working environment existing in the current map can be accurately judged, and then the lawn mowing operation of the narrow channel can be increased according to the same traversal method as mentioned above.

[0038] In addition, in order to prevent the equipment from treating the narrow area between the complete working areas formed by the trees or debris on both sides as a narrow channel for reciprocating traversal, and then repeatedly operating in the area to damage the lawn. The present application also preferably adds a step of determining the spacing between the boundaries of the working area according to the interactive signal radiated by the boundary line according to the boundary line signal detection device and / or the radar device. Thus, the self-propelled device can only determine that the self-propelled device is close to the narrow channel area when the boundary line interactive signals in two directions are detected at the same time and the corresponding distance between the two boundary lines reaches the narrow channel area standard. The narrow channel area standard can usually be set to the distance between the self-propelled device and the working area boundaries on both sides relative to each other, and the spacing distance is not less than 1.5 times the width or length of the fuselage of the self-propelled device.

[0039] In order to avoid reciprocating rolling of the lawn at the entrance of the narrow channel during the traversal process, the present application also preferably drives the self-propelled device to run at least twice the preset distance along the boundary of the single working area before driving the self-propelled device to turn around each time. At this time, performing a U-turn can reserve a sufficient turning radius for the equipment to avoid repeated rolling of the entrance of the channel.

[0040] During the specific operation process, the positioning sensor device determines that the self-propelled device is close to the narrow channel area when the distance between the two sides of the self-propelled device and the boundary line reaches the standard of the narrow channel area according to the real-time positioning position of the self-propelled device. When the self-propelled device is driven to run from the starting point of the narrow channel along the boundary of one side of the narrow channel area: first adjust the walking direction of the self-propelled device so that the distance between the self-propelled device and any boundary of the working area on its left or right side reaches a safe distance, and keep the self-propelled device moving forward along the direction of any boundary of the working area at a safe distance; the safe distance is the distance to ensure that the front wheel of the self-propelled device will not exceed the boundary of the grass when running forward or rotating left or right. Then, after the device passes through the narrow channel area and reaches the working area on the other side, the device can be driven to turn around and move along the last running path to the boundary on the other side by a preset distance, and continue mowing the grass next to the narrow channel that has just been mowed. The translation distance can be set to any of the following widths according to the requirements of the mowing operation: the body width of the self-propelled device, the distance between the running wheels of the self-propelled device, the working width of the working device in the self-propelled device, 0.5m or any other preset fixed width. In this way, it can be ensured that each reciprocating path will not overlap in a large area to repeatedly cut the grass and cause damage to the grass. On the other hand, the mowing effect of the area between the walking tracks can be ensured by limiting the interval between the two reciprocating paths to be too far.

[0041] In the present application, since the automatic walking device needs to repeatedly ensure its running direction during the reciprocating traversal process, the self-propelled device verifies the required spacing distance, preset distance, safety distance, etc. according to the amplitude or phase of the interactive signal radiated by the boundary line, or the position relationship of the distance from the fuselage corresponding to the corresponding pixel in the field of view image, or the positioning position of the fuselage determined by the positioning sensor device, so as to accurately adjust the running direction of the equipment.

[0042] The above is only an implementation method of the present application, and its description is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present application. It should be pointed out that for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present application, which all belong to the protection scope of the present application.

Claims

1. A self-propelled device for narrow channel operation, characterized in that: include: A sensor device for detecting the real-time position of the boundary of the working area relative to the fuselage; A working device that operates synchronously with the operation of the self-propelled device to mow the lawn; Travel drive device, used to drive the self-propelled equipment to run in the working area and adjust the running direction; The control unit is connected to the sensor device, the operating device and the travel drive device and is used to: Based on the boundary of the working area determined by the detection of the sensor device, when it is determined that the self-propelled device is approaching the narrow channel area, the self-propelled device is driven to run along the boundary of one side of the narrow channel area until the self-propelled device leaves the narrow channel area; Then, the self-propelled device is driven to turn around and move along the last running path by a preset distance until the self-propelled device leaves the narrow channel area from the other side; Repeat the previous step until the distance between the self-propelled device and the other side boundary of the narrow channel area reaches a safe distance, and drive the self-propelled device to leave the narrow channel area.

2. The self-propelled device for narrow channel operation according to claim 1, characterized in that: The sensor device includes any one of the following or any combination of the following sensor devices: Visual detection device, boundary signal detection device, positioning sensor device, radar device.

3. The self-propelled device for narrow channel operation according to claim 2, characterized in that: The visual detection device distinguishes the working area from the non-working area based on the texture and / or color information in the field of view image, determines the boundary of the working area, and determines that the self-propelled device is approaching a narrow channel area when the boundary of the working area is located on the left and right sides of the field of view image of the self-propelled device.

4. The self-propelled device for narrow channel operation according to claim 2, characterized in that: The boundary line signal detection device and / or radar device determines the boundary of the working area based on the interactive signal radiated by the boundary line, and determines that the self-propelled equipment is approaching the narrow channel area when boundary line interactive signals in two directions are detected and the corresponding distances reach the narrow channel area standard.

5. The self-propelled device for narrow channel operation according to claim 2, characterized in that: The positioning sensor device determines that the self-propelled device is approaching the narrow channel area when the distance between the two sides of the self-propelled device and the boundary line reaches the narrow channel area standard based on the real-time positioning position of the self-propelled device.

6. The self-propelled device for narrow channel operation according to claims 1-5, characterized in that: The narrow channel area standard is that the distance between the self-propelled device and the working area boundaries on both sides is not less than 1.5 times the width or length of the self-propelled device.

7. The self-propelled device for narrow channel operation according to claims 1-5, characterized in that: When the self-propelled device is driven from the starting point of the narrow channel to run along the boundary of one side of the narrow channel area: First, the moving direction of the self-propelled device is adjusted so that the distance between the self-propelled device and any boundary of the working area on its left or right side reaches a safe distance, and the self-propelled device is kept moving forward in the direction of any boundary of the working area at a safe distance; The safety distance is a distance that ensures that the front wheels of the self-propelled device do not exceed the boundary of the grass when the self-propelled device moves forward or rotates left or right.

8. The self-propelled device for narrow channel operation according to claim 1, characterized in that: The preset distance of translation along the last running path is any of the following widths: the body width of the self-propelled device, the running wheel spacing of the self-propelled device, the working width of the working device in the self-propelled device, 0.5m or any other preset fixed width.

9. The self-propelled device for narrow channel operation according to claims 1-5, characterized in that: Before driving the self-propelled device to turn around, the self-propelled device shall be driven to run at least twice the preset distance along the boundary of the single working area.

10. The self-propelled device for narrow channel operation according to any one of claims 1 to 9, characterized in that: For the interval distance, preset distance, and safety distance, the self-propelled device verifies according to the amplitude or phase of the interactive signal radiated by the boundary line, or the position relationship of the distance to the fuselage corresponding to the corresponding pixel in the field of view image, or the positioning position of the fuselage determined by the positioning sensor device.

Images