Garden tool and control method thereof

Abstract

The invention provides a gardening tool and a control method thereof. The gardening tool is controlled to advance along a preset path in a working area; detecting an obstacle in the advancing direction of the gardening tool; acquiring the speed of the obstacle; when the speed of the obstacle is larger than 0, the gardening tool is controlled to stop at the position away from the obstacle by a preset distance; the obstacles in the advancing direction of the gardening tool continue to be detected; and when the preset event is detected within the preset time, controlling the gardening tool to continue to advance along the preset path. By means of the garden tool, when the garden tool encounters a movable obstacle in the mowing operation process, the original advancing path is not changed as far as possible, so that the mowing texture of a lawn is kept consistent as far as possible, and the attractiveness of the lawn is improved.

Description

Technical Field

[0001] The present application relates to the field of communication technology, and in particular to a garden tool and a control method thereof. Background Art

[0002] As people's living standards continue to improve, people have higher and higher requirements for leisure environments. Private gardens, parks, playgrounds and other places have become the best places for people to relax and entertain. However, private gardens, parks, playgrounds and other lawns need to be trimmed from time to time to ensure beauty. At present, lawn mowers are usually used instead of manual trimming.

[0003] Lawn mowers often encounter various obstacles during operation. Existing lawn mower robots can detect obstacles through the detection module set on the robot, and then avoid obstacles to perform mowing operations. When the obstacle disappears from the area, the area where the obstacle is located will form a missed mowing area. The lawn mower needs to be controlled to return to the missed mowing area for make-up mowing. This will not only cause the mowing time and mowing direction of the missed mowing area to be inconsistent with the surrounding area, resulting in inconsistent mowing textures in the area where the obstacle is located and the surrounding area, affecting the aesthetics of the entire lawn, but also increase the entire operation time. Summary of the invention

[0004] In view of the shortcomings of the prior art described above, the purpose of the present application is to provide a garden tool and a control method thereof, which is used to avoid changing the original path as much as possible when encountering a movable obstacle during the mowing operation of the garden tool, thereby keeping the mowing texture of the lawn as consistent as possible and increasing the aesthetics of the lawn.

[0005] To achieve the above objectives and other related objectives, the present application provides a garden tool control method, comprising:

[0006] Control the garden tool to move along a preset path within the working area;

[0007] Detecting obstacles in the direction of travel of the garden tool;

[0008] Get the speed of the obstacle;

[0009] When the speed of the obstacle is greater than 0, the garden tool is controlled to stop at a preset distance from the obstacle;

[0010] Continuing to detect obstacles in the direction of travel of the garden tool;

[0011] When a preset event is detected within a preset time, the garden tool is controlled to continue moving along the preset path.

[0012] In an optional embodiment of the present application, the preset event includes the obstacle moving to a position where the garden tool (10) can pass without changing the previous travel path.

[0013] In an optional embodiment of the present application, the garden tool control method further includes, when an obstacle is detected, determining whether the obstacle is located in a working area, if the obstacle is located in the working area, obtaining the speed of the obstacle; if the obstacle is located outside the working area, ignoring the obstacle.

[0014] In an optional embodiment of the present application, the garden tool control method further includes, after detecting the obstacle, detecting the distance between the garden tool and the obstacle, and judging whether the obstacle is located in the working area based on the positioning of the garden tool, the direction of travel, the distance between the garden tool and the obstacle and the boundary of the working area.

[0015] In an optional embodiment of the present application, when a preset event is detected within a preset time and the garden tool is controlled to move along the preset path, the walking speed of the garden tool is lower than the normal speed of the garden tool.

[0016] In an optional embodiment of the present application, after the garden tool has traveled a certain distance or for a certain period of time, the travel speed of the garden tool returns to a normal speed.

[0017] In an optional embodiment of the present application, the garden tool control method further includes:

[0018] When the preset event is not detected within a preset time, the garden tool is controlled to bypass the obstacle;

[0019] The garden tool is controlled to return to the preset path and move along the preset path.

[0020] In an optional embodiment of the present application, the garden tool will not hit the obstacle when bypassing the obstacle.

[0021] In an optional embodiment of the present application, the garden tool control method further includes:

[0022] When the speed of the obstacle is equal to 0, the speed of the garden tool is reduced.

[0023] Hitting obstacles,

[0024] Get around obstacles;

[0025] Control the garden tool to return to the preset path.

[0026] In an optional embodiment of the present application, after the garden tool hits an obstacle, the garden tool stops and turns.

[0027] In an optional embodiment of the present application, the garden tool control method further includes:

[0028] Controlling the garden tool to slow down and hit an obstacle;

[0029] After hitting the obstacle, the garden tool is controlled to move in an arc to bypass the obstacle.

[0030] In an optional embodiment of the present application, the garden tool includes a detection module for detecting obstacles, and the detection module includes one of a visual detection module, a radar detection module, an ultrasonic detection module, and an infrared detection module, and a combination thereof.

[0031] In an optional embodiment of the present application, the garden tool includes a lawn mower.

[0032] In order to achieve the above-mentioned purpose and other related purposes, the present application also provides a garden tool, which is characterized by comprising:

[0033] body;

[0034] A walking mechanism, installed at the bottom of the fuselage;

[0035] A detection module, mounted on the body, for detecting obstacles in the direction of travel of the garden tool, and detecting the speed of the obstacle and the distance between the obstacle and the garden tool;

[0036] A control module, the control module is connected to the walking mechanism and the detection module, and the control module is configured as follows:

[0037] Controlling the garden tool to move along a preset path within the working area, and receiving the detection result of the detection module;

[0038] When the speed of the obstacle is greater than 0, the garden tool is controlled to stop at a preset distance from the obstacle;

[0039] Continuing to detect obstacles in the direction of travel of the garden tool;

[0040] When a preset event is detected within a preset time, the garden tool is controlled to move along the preset path.

[0041] In an optional embodiment of the present application, it also includes:

[0042] The storage module is configured to store a work area map and a control program of the garden tool.

[0043] In an optional embodiment of the present application, it further includes: a positioning module configured to be able to position the garden tool based on a satellite navigation signal.

[0044] In an optional embodiment of the present application, a path planning module is further included, which is configured to be able to perform path planning according to a working area map of the garden tool.

[0045] In an optional embodiment of the present application, the detection module includes one of a visual detection module, a radar detection module, an ultrasonic detection module, and an infrared detection module, or a combination thereof.

[0046] The garden tool and control method of the present application control the garden tool to move along a preset path in the working area; detect obstacles in the direction of movement of the garden tool; obtain the speed of the obstacle; when the speed of the obstacle is greater than 0, control the garden tool to stop at a preset distance from the obstacle; continue to detect obstacles in the direction of movement of the garden tool; when a preset event is detected within a preset time, control the garden tool to continue to move along the preset path. By using the present application, when a movable obstacle is encountered during the mowing operation of the garden tool, the original path of movement can be kept unchanged as much as possible, thereby keeping the mowing texture of the lawn as consistent as possible and increasing the aesthetics of the lawn. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 A schematic diagram of the RTK differential positioning method is shown.

[0048] Figure 2 The structural block diagram of the garden tool of the present application is shown.

[0049] Figure 3 A schematic flow chart of the garden tool control method of the present application is shown.

[0050] Figure 4 A schematic diagram showing a garden tool moving along a preset path and performing obstacle detection.

[0051] Figure 5 A schematic diagram showing a garden tool stopped at a preset distance from an obstacle.

[0052] Figure 6 Schematic diagram showing the extent to which an obstacle is moved to allow the garden tool to pass without changing the previously travelled path.

[0053] Figure 7 A schematic diagram showing detour around an obstacle when the obstacle has not been moved to such an extent that the garden tool can pass through without changing the previously travelled path. DETAILED DESCRIPTION

[0054] The following describes the implementation of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific implementations, 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 application.

[0055] See also Figure 1-7 It should be noted that the illustrations provided in this embodiment are only used to illustrate the basic concept of the present application in a schematic manner, and the drawings only show components related to the present application 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.

[0056] See also Figure 1-7 This embodiment will combine a lawn mower to explain the garden tool and its control method of the present application in detail. The garden tool control method and system of this embodiment can also be applied to other garden tools such as snow blowers and sweepers that are positioned based on satellite navigation information.

[0057] In order to improve positioning accuracy, lawn mowers usually use Figure 1 Positioning is performed using the RTK differential positioning technology shown in the figure. RTK differential positioning technology is a real-time differential GPS technology based on carrier phase observations. It consists of three parts: a base station receiver, a data link, and a mobile station receiver. The receivers of the carrier base station and the mobile station continuously monitor the same satellites, and while the mobile station receives and observes visible satellite signals, the base station sends the carrier phase measurement value to the mobile station receiver via the data link in real time. The mobile station receiver processes its own carrier phase measurement value and the received carrier phase measurement value in real time to calculate its own spatial coordinates and complete high-precision positioning. The positioning accuracy of the carrier phase differential can reach the centimeter level. Figure 1 In the present invention, the base station is used as the reference station and the lawn mower is used as the mobile station. Of course, the lawn mower can also be other lawn mowers that can achieve precise positioning.

[0058] See also Figure 2 The lawn mower 10 includes a body 101 , a walking mechanism 102 , a detection module 11 , a path planning module 12 , a control module 13 , a storage module 14 and a positioning module 15 .

[0059] See also Figure 2As shown, the walking mechanism 102 is installed at the bottom of the fuselage 101. The walking mechanism 102 is connected to the control module 13 and can move under the control command of the control module 13 to drive the lawn mower 10 to move forward, backward and turn. In a specific embodiment, the walking mechanism 102 may include, for example, two driving wheels and one steering wheel. The two driving wheels are arranged at the rear of the fuselage 101, and the steering wheel is installed at the center of the front of the fuselage 101. The steering wheel covers the bottom of the fuselage 101 and is therefore not visible in the figure. The walking mechanism 102 can realize the walking action of the lawn mower 10. It is understandable that the specific form of the walking mechanism 102 is not unique. For example, two steering wheels and two driving wheels may be provided, or two sets of track wheels may be provided on both sides of the fuselage 101. Please refer to Figure 2 As shown, the detection module 11 is at least installed at the front end of the body 101, and the detection module 11 is connected to the control module 13. The detection module 11 is used to detect obstacles in the forward direction of the lawn mower 10, and can detect the speed of the obstacle, the distance between the obstacle and the garden tool and other information and send it to the control module 13.

[0060] In a specific embodiment, the detection module 11 can be provided in two groups, for example, and placed at the front and rear ends of the body 101, respectively, to detect obstacles in the forward or backward direction of the lawn mower 10, and can detect information such as the speed of the obstacle, the distance between the obstacle and the lawn mower, etc., so the specific form of the detection module 11 is not particularly limited. The detection frequency or sampling frequency of the detection module 11 can be determined according to the speed and angle of the lawn mower 10. When the speed of the lawn mower 10 is faster or the angle of the lawn mower 10 changes faster, the detection frequency or sampling frequency of the detection module 11 is greater, that is, more detection data in the operation process is obtained in a unit time.

[0061] The detection module 11 may be a combination of one or more of a visual detection module, a radar detection module, an ultrasonic detection module, and an infrared detection module. Combining multiple types of detection modules can obtain more accurate detection data. In order to detect collisions, the detection module 11 may also include a collision sensor.

[0062] See also Figure 2As shown, the path planning module 12 is connected to the control module 13. The path planning module 12 is used to plan the working path of the lawn mower 10 in the working area 30 according to the working area map of the lawn mower 10. For the same working area map, planning can be performed based on different travel angles and working widths, thereby forming a working area map with different paths. In addition, the path planning module 12 can also plan an obstacle avoidance path based on the information of the obstacle. The lawn mower 10 can bypass the obstacle according to the obstacle avoidance path and return to the preset working path. When planning the working path, obstacles in the predetermined working area 30 will be avoided. However, unexpected obstacles may appear in the working area 30, such as humans, pets, toys, etc.

[0063] See also Figure 2 As shown, the storage module 14 is used to store the working area map and control program of the lawn mower 10. The positioning module 15 can locate the lawn mower 10 based on the satellite navigation signal. As an example, the positioning module 15 can be based on Figure 1 The illustrated RTK differential positioning technology is used to position the lawn mower 10 .

[0064] See also Figure 3 The present application introduces a garden tool control method applied to a lawn mower 10. The garden tool control method includes:

[0065] Step S10: controlling the gardening tool to move along a preset path 31 in the working area 30, and detecting obstacles in the moving direction of the gardening tool.

[0066] like Figure 4 As shown, the lawn mower 10 can pre-plan the working path in the working area 30 through the path planning module 12. When the lawn mower 10 is working, it can move along the pre-planned working path, that is, the preset path 31. The preset path 31 is shown in FIG. Figure 4-Figure 7 As shown by the horizontal dotted line in the figure, a relatively simple preset path 31 is shown. In actual application, the preset path 31 of the lawn mower 10 needs to be set according to the shape of the working area 30 and the distribution of buildings in the working area 30, so there may be a large number of curved paths.

[0067] When the lawn mower 10 moves along the preset path 31, the detection module on the lawn mower 10 can perform real-time detection on the area in the direction of the lawn mower 10. The detection frequency or sampling frequency of the detection module 11 can be determined according to the speed and angle of the lawn mower 10. When the speed of the lawn mower 10 is faster or the angle of the lawn mower 10 changes faster, the detection frequency or sampling frequency of the detection module 11 is greater, that is, more detection data in the operation process is obtained in a unit time.

[0068] Step S20, when it is detected that there is an obstacle in the direction of travel of the garden tool, it is also necessary to determine whether the obstacle is located in the working area 30. When the detection module 11 detects that there is an obstacle 20 in the direction of travel of the lawn mower 10, that is, on the predetermined path 31, and the obstacle 20 is located in the working area 30, the control module 13 can obtain the speed of the obstacle 20 and the distance between the obstacle 20 and the lawn mower 10 based on the detection data of the detection module 11. When there is an obstacle 20 in the direction of travel of the lawn mower 10, but the obstacle is outside the working area 30, the obstacle is ignored and the process returns to step S10. The speed of the obstacle 20 refers to the speed of the obstacle 20 relative to the ground, and the speed of the obstacle 20 can be used to determine whether the obstacle 20 is a moving object or a non-moving object.

[0069] It should be noted that the garden tool only determines the obstacle 20 located in the working area 30. If the obstacle 20 is located outside the working area 30, even if the garden tool detects the obstacle, it will be ignored. This can avoid the obstacle 20 outside the working area 30 interfering with the work of the garden tool. The position determination of the obstacle 20 can be determined by detecting the distance of the obstacle relative to the garden tool, the current position of the garden tool and the boundary of the working area 30.

[0070] Taking the detection module 11 using a visual detection module as an example, the speed of the obstacle 20 and the distance between the obstacle 20 and the lawn mower 10 can be obtained by comparing the movement of points between two frames of images captured by the visual detection module and using the existing optical flow method or the multi-view pose estimation method based on the basic matrix and the random matrix, which will not be elaborated here.

[0071] Taking the detection module 11 as an example, the distance between the obstacle 20 and the lawn mower 10 can be estimated based on the delay time between the radar transmission pulse and the echo pulse, and the speed of the obstacle 20 relative to the ground can be calculated based on the Doppler effect.

[0072] Step S30, determining whether the speed of the obstacle 20 is greater than 0:

[0073] When the speed of the obstacle 20 is greater than 0, step S40 is executed to control the lawn mower 10 to stop at a preset distance from the obstacle 20 (step S40);

[0074] When the speed of the obstacle 20 is equal to 0, the speed of the garden tool is reduced and the obstacle 20 is hit. After hitting the obstacle 20, the garden tool will stop and turn, and then the garden tool is controlled to move in an arc to bypass the obstacle 20 and return to the preset path (step S80). The garden tool is provided with a collision sensor. When the garden tool detects a collision, the garden tool will retreat a certain distance, rotate a certain angle and continue to move forward. The garden tool moves along the arc path and guides the garden tool back to the original planned path. If a collision occurs again during this process, the above steps are performed again until the garden tool returns to the original planned path.

[0075] When the speed of the obstacle 20 is greater than 0, it means that the obstacle 20 is a moving object, and the lawn mower is controlled to stop at a preset distance from the obstacle 20, and a control strategy is executed according to the subsequent movement of the obstacle 20.

[0076] Since the moving speed of a moving object is generally non-uniform and may turn, the garden tool stops moving after detecting a moving obstacle within a predetermined distance to avoid hitting pedestrians or pets. The moving obstacle may move outside the preset path of the lawn mower 10 within a preset time, so that the lawn mower 10 passes through without changing the previous path. Figure 5 As shown, the lawn mower is controlled to stop at a preset distance from the obstacle 20, and a control strategy is executed according to the subsequent movement of the obstacle 20.

[0077] The preset distance may be determined according to the size of the lawn mower 10, and the preset distance may be set to be equivalent to the size of the lawn mower 10, so that when the obstacle 20 does not move to a level that the lawn mower 10 can pass without changing the previous travel path within a preset time, the lawn mower 10 can bypass the obstacle 20 without first colliding with the obstacle 20. As an example, the preset distance is 30 cm-100 cm, such as 30 cm, 40 cm, 50 cm, 60 cm, 70 cm, 80 cm, 90 cm, 100 cm.

[0078] S50, continue to detect obstacles 20 in the direction of travel of the garden tool.

[0079] When the lawn mower 10 stops at a preset distance from the obstacle 20, it is necessary to continue to use the detection module 11 to detect the obstacle 20 in the direction of travel of the lawn mower 10, and perform obstacle avoidance according to the subsequent movement of the obstacle 20 or wait for the obstacle 20 to move out of the travel path and then travel along the previous path.

[0080] Specifically, the movement of the obstacle 20 to a position where the lawn mower 10 passes without changing the previous travel path may be defined as a preset event, and whether the preset event is detected within a preset time is determined:

[0081] When a preset event is detected within a preset time, that is, when it is detected within a preset time that the obstacle 20 moves to a position where the lawn mower 10 can pass without changing the previous path, Figure 6 The lawn mower 10 is controlled to continue to move along the preset path (step S60), thereby avoiding missing grass, affecting the texture consistency of the lawn, and maintaining the aesthetics of the lawn.

[0082] It should be noted that in order to avoid unexpected situations caused by pedestrians or pets suddenly changing their travel paths, when a preset event is detected within a preset time and the garden tool is controlled to continue moving along the preset path, the walking speed of the garden tool must be lower than the normal speed of the garden tool. After the garden tool travels a certain distance or for a certain time, the walking speed of the garden tool returns to normal speed.

[0083] When the preset event is not detected within the preset time, that is, when the obstacle 20 does not move to the position where the lawn mower 10 passes without changing the previous path within the preset time, it proves that the obstacle 20 has stopped moving or the obstacle 20 is moving very slowly. If you continue to wait at this time, it will waste time and affect the mowing efficiency. Therefore, it is necessary to stop waiting and control the lawn mower 10 to move along the path as shown in the figure. Figure 7 The obstacle avoidance path 32 shown in the figure slowly bypasses the obstacle 20, and after the lawn mower 10 bypasses the obstacle 20, the lawn mower 10 continues to be controlled to return to the preset path and move along the preset path (step S70). It can be seen that when the obstacle 20 is a moving object, and the obstacle 20 does not move to the extent that the lawn mower 10 can pass without changing the previous path within the preset time, the lawn mower 10 will slowly bypass the obstacle 20 in an obstacle avoidance manner, and will not collide with the obstacle 20 when bypassing the obstacle 20, which can reduce the damage to the organism (such as a person, an animal) caused by the collision avoidance method, and improve the safety of the lawn mower 10.

[0084] It should be noted that the obstacle avoidance path 32 can be planned by the path planning module 13 according to the position, size and other information of the lawn mower 10, so that the lawn mower 10 can return to the preset path and continue mowing after bypassing the obstacle 20 according to the obstacle avoidance path 32. The area of ​​the obstacle 20 is used as a missed grass area, and after the lawn is mowed, it will return to the missed grass area for additional mowing.

[0085] It should be noted that the preset time can be flexibly set according to actual needs, and should not be too long, which will affect the mowing efficiency of the lawn mower, nor too short, because the obstacle 20 is slow and cannot be completely moved within the preset time to a degree that the lawn mower 10 can pass without changing the previous path. As an example, the preset time is between 5s and 20s, such as 5s, 10s, 15s or 20s.

[0086] In a specific embodiment of the present embodiment, the control strategy when the obstacle 20 is a non-moving object is as follows: when the obstacle 20 is a non-moving object, the lawn mower 10 will first slow down and then hit the obstacle 20 to avoid excessive speed, damage to the lawn mower 10 and cause injury; when the collision sensor detects that the obstacle 20 has been hit, the lawn mower 10 can be controlled to bypass the obstacle 20 by making an arc movement. If the obstacle 20 is bypassed, the lawn mower 10 will be controlled to return to the preset path to continue working. If the obstacle 20 is not bypassed, the lawn mower 10 will continue to make an arc movement until the obstacle 20 is bypassed. After bypassing the obstacle 20, the area of ​​the obstacle 20 is used as a missed grass area. After the lawn is mowed, it will return to the missed grass area for additional mowing. As an example, the speed of the lawn mower 10 can be reduced to less than 0.6m / s, such as 0.2m / s, 0.3m / s, 0.4m / s, 0.5m / s, and 0.6m / s.

[0087] In summary, the present application controls the garden tool to move along a preset path within a working area; detects obstacles in the direction of movement of the garden tool; obtains the speed of the obstacle; when the speed of the obstacle is greater than 0, controls the garden tool to stop at a preset distance from the obstacle; continues to detect obstacles in the direction of movement of the garden tool; and when a preset event is detected within a preset time, controls the garden tool to continue to move along the preset path, so that when the garden tool encounters a movable obstacle during the mowing operation, the original path of movement can be kept as unchanged as possible, thereby keeping the mowing texture of the lawn as consistent as possible and increasing the aesthetics of the lawn.

[0088] It is obvious to those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and that the present application can be implemented in other specific forms without departing from the spirit or essential features of the present application.

[0089] The above embodiments are only used to illustrate the technical solution of the present application and are not intended to limit it. Although the present application has been described in detail with reference to the preferred embodiments, a person skilled in the art should understand that the technical solution of the present application may be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present application.

Claims

1. A garden tool control method, It is characterized in that include: Controlling a gardening tool (10) to move along a preset path (31) within a working area (30); Detecting obstacles (20) in the direction of travel of the garden tool (10); Get the speed of the obstacle (20); When the speed of the obstacle (20) is greater than 0, the garden tool (10) is controlled to stop at a preset distance from the obstacle (20); Continuing to detect obstacles (20) in the direction of travel of the garden tool (10); When a preset event is detected within a preset time, the garden tool (10) is controlled to move along the preset path (31).

2. The garden tool (10) control method according to claim 1, It is characterized in that The preset event includes the obstacle (20) moving to a position where the garden tool (10) can pass without changing the previous travel path.

3. The garden tool (10) control method according to claim 1, It is characterized in that The garden tool control method further comprises: after detecting an obstacle (20), determining whether the obstacle (20) is located in a working area (30); if the obstacle (20) is located in the working area (30), obtaining the speed of the obstacle (20); and if the obstacle (20) is located outside the working area (30), ignoring the obstacle (20).

4. The garden tool (10) control method according to claim 3, It is characterized in that The garden tool control method further comprises, after detecting the obstacle (20), detecting the distance between the garden tool (10) and the obstacle (20), and judging whether the obstacle (20) is located within the working area (30) based on the positioning of the garden tool (10), the direction of travel, the distance between the garden tool (10) and the obstacle (20), and the boundary of the working area (30).

5. The garden tool (10) control method according to claim 1, It is characterized in that When a preset event is detected within a preset time, the garden tool (10) is controlled to move along the preset path (31), and the walking speed of the garden tool (10) is lower than the normal speed of the garden tool (10).

6. The garden tool (10) control method according to claim 5, It is characterized in that After the garden tool has traveled a certain distance or for a certain period of time, the travel speed of the garden tool (10) returns to a normal speed.

7. The garden tool (10) control method according to claim 1, It is characterized in that The garden tool control method also includes: When the preset event is not detected within a preset time, the garden tool (10) is controlled to bypass the obstacle (20); The gardening tool (10) is controlled to return to the preset path (31) and to move along the preset path (31).

8. The garden tool (10) control method according to claim 7, It is characterized in that When the gardening tool (10) bypasses the obstacle (20), it will not collide with the obstacle (20).

9. The garden tool (10) control method according to claim 1, It is characterized in that The garden tool control method also includes: When the speed of the obstacle (20) is equal to 0, reducing the speed of the garden tool (10), Hitting an obstacle (20), Avoid obstacles (20); and The gardening tool (10) is controlled to return to the preset path (31).

10. The garden tool (10) control method according to claim 9, It is characterized in that When the gardening tool (10) hits an obstacle (20), the gardening tool (10) stops and turns.

11. The garden tool (10) control method according to claim 9, It is characterized in that Also includes: After hitting the obstacle (20), the garden tool (10) is controlled to move in an arc to bypass the obstacle (20).

12. The garden tool (10) control method according to claim 1, It is characterized in that The garden tool (10) comprises a detection module for detecting obstacles (20), wherein the detection module comprises one of a visual detection module, a radar detection module, an ultrasonic detection module and an infrared detection module, or a combination thereof.

13. A garden tool, It is characterized in that include: Body (101); A walking mechanism (102) is installed at the bottom of the machine body (101); A detection module (11) is mounted on the body (101), the detection module (11) being used to detect an obstacle (20) in the direction of travel of the garden tool (10), and to detect the speed of the obstacle (20) and the distance between the obstacle (20) and the garden tool (10); A control module (13), the control module (13) being connected to the walking mechanism (102) and the detection module (11), and the control module (13) being configured as follows: Controlling the garden tool (10) to move along a preset path (31) within the working area (30), and receiving the detection result of the detection module (11); When the speed of the obstacle (20) is greater than 0, the garden tool (10) is controlled to stop at a preset distance from the obstacle (20); Continuing to detect obstacles (20) in the direction of travel of the garden tool (10); When a preset event is detected within a preset time, the garden tool (10) is controlled to move along the preset path (31).

14. The garden tool (10) according to claim 13, It is characterized in that Also includes: The storage module (14) is configured to store a work area map and a control program of the garden tool (10).

15. The garden tool (10) according to claim 13, It is characterized in that Also includes: The positioning module (15) is configured to locate the garden tool (10) based on satellite navigation signals.

16. The garden tool (10) according to claim 13, It is characterized in that It also comprises a path planning module (12) configured to be able to perform path planning according to a working area map of the garden tool (10).

Images