Automatic lawnmower

Abstract

Automatic lawnmower, including the following: a case; a movement module; an energy module; a task execution module comprising a cutting assembly and configured to perform mowing operations; wherein the cutting assembly comprises a main cutting unit and an auxiliary cutting unit; wherein the auxiliary cutting unit is arranged on one side opposite the main cutting unit; A control module electrically connected to the motion module, the task execution module, and the power module, and configured to control the motion module to drive the automatic lawnmower to move, and to control the task execution module to perform the work task; wherein the automatic lawnmower is configured to move clockwise along the boundary of the work area to form a first path of movement, and to move counterclockwise along the boundary of the work area to form a second path of movement, wherein the auxiliary cutting area of ​​the auxiliary cutting unit, when the automatic lawnmower moves along the first path of movement, and the main cutting area of ​​the main cutting unit, when the automatic lawnmower moves along the second path of movement, are tangential or overlapping in the latitudinal direction of the automatic lawnmower.

Description

FIELD OF THE INVENTION

[0001] The present disclosure relates to an automatic lawn mower. STATE OF THE ART

[0002] Automatic lawn mowers are capable of automatically completing tasks such as lawn maintenance and are becoming increasingly popular among consumers. When an automatic lawn mower is operating, it is limited to activities within the work area enclosed by a boundary. The existing automatic lawn mower is equipped with one or more blade discs on the bottom of the machine body, and metal blades are installed on the blade discs. The blade discs rotate to form a cutting area. Since the rotational speed of the blade on the single mower blade disc is high, it can cause injury to people, so a high level of protection is required, resulting in a large blade protection distance, so that the grass near the boundary cannot be cut, that is, complete trimming of the boundary is not possible.

[0003] Therefore, a technical problem with the existing automatic lawn mower is to achieve complete trimming of the boundary while ensuring the safety of the lawn mower. DISCLOSURE OF THE INVENTION

[0004] In order to overcome the deficiencies of the prior art, a problem to be solved by the present disclosure is to achieve complete trimming of the boundary while ensuring the safety of the lawn mower.

[0005] According to the present disclosure, the object is achieved by the following embodiment: An operation control method of an automatic lawn mower, wherein the automatic lawn mower comprises a main cutting unit and an auxiliary cutting unit, and the cutting area of ​​the auxiliary cutting unit extends at least flush with the housing (shell) of the automatic lawn mower. The method comprises: Performing detection of a specific object (monitoring for specific objects) in the normal working mode of the auxiliary cutting unit; determining whether a specific object has been detected; switching to an obstacle working mode based at least on the detection of the specific object; and maintaining the normal working mode of the auxiliary cutting unit based at least on the fact that the specific object is not detected.

[0006] In the above-mentioned operation control method of an automatic lawn mower, determining whether a certain object has been detected includes: determining whether the detected object is a living object; and determining that a certain object has been detected in response to the detected object being a living object.

[0007] In the above-mentioned operation control method of an automatic lawn mower, determining whether a specific object has been detected further comprises: detecting the distance between the living object and the automatic lawn mower; switching to an obstacle work mode based at least on the detection of the specific object comprises: switching the normal work mode to the obstacle work mode in response to a distance smaller than the preset distance threshold.

[0008] In the above-mentioned operation control method of an automatic lawn mower, determining whether a specific object has been detected includes: detecting the relative speed between the living object and the automatic lawn mower; and switching to an obstacle work mode based at least on the detection of the specific object includes: switching the normal work mode to the obstacle work mode in response to a relative speed greater than the preset speed threshold.

[0009] In the above-mentioned operation control method of an automatic lawn mower, the automatic lawn mower in the obstacle work mode performs at least one of the following actions: changing the working state of the auxiliary cutting unit; changing the movement method of the automatic lawn mower; warning.

[0010] Furthermore, the change in the working state of the auxiliary cutting unit includes at least one of the following measures: Controlling the auxiliary cutting unit so that it does not operate; reducing the operating speed of the auxiliary cutting unit.

[0011] Furthermore, changing the movement mode of the automatic lawn mower includes at least one of the following actions: controlling the automatic lawn mower so that it does not move; controlling the automatic lawn mower so that it reverses and changes direction of travel to move away from the specified object.

[0012] The operation control method of an automatic lawn mower further comprises: performing detection of a specific object in the obstacle work mode; determining whether a specific object has been detected; maintaining the obstacle work mode based at least on the detection of the specific object; and resuming the normal work mode of the auxiliary cutting unit based at least on the fact that the specific object is not detected.

[0013] Further, resuming the normal working mode of the auxiliary cutting unit at least based on the fact that the specific object is not detected comprises: resuming the normal working mode of the auxiliary cutting unit at least based on a working speed of the auxiliary cutting unit that is not 0; and / or determining whether the holding time of the obstacle working mode exceeds the preset safety time, and resuming the normal working mode of the auxiliary cutting unit at least based on the fact that the holding time does not exceed the preset safety time.

[0014] In the above-mentioned operation control method of an automatic lawn mower, the detection of a specific object is carried out by at least one of the following methods: infrared sensing, image recognition, ultrasonic / radar ranging, depth imaging.

[0015] The operation control method of an automatic lawn mower further includes: detecting the ambient temperature of the automatic lawn mower; allowing the auxiliary cutting unit to operate in response to an ambient temperature within a preset temperature range.

[0016] The operation control method of an automatic lawn mower further includes: detecting the ambient illuminance of the automatic lawn mower; and controlling the auxiliary cutting unit to enter the normal working mode in response to an ambient illuminance less than the illuminance threshold.

[0017] An operation control device of an automatic lawn mower, wherein the automatic lawn mower comprises a main cutting unit and an auxiliary cutting unit, and the cutting area of ​​the auxiliary cutting unit extends at least flush with the housing of the automatic lawn mower. The device comprises: a detection unit for detecting a specific object in the normal working mode of the auxiliary cutting unit; a determination unit for determining whether a specific object has been detected; a switching unit for switching to an obstacle working mode based at least on the detection of the specific object; and a holding unit for maintaining the normal working mode of the auxiliary cutting unit based at least on the fact that the specific object is not detected.

[0018] Further, resuming the normal working mode of the auxiliary cutting unit at least based on the fact that the specific object is not detected comprises: resuming the normal working mode of the auxiliary cutting unit at least based on a working speed of the auxiliary cutting unit that is not 0; and / or determining whether the holding time of the obstacle working mode exceeds the preset safety time, and resuming the normal working mode of the auxiliary cutting unit at least based on the fact that the holding time does not exceed the preset safety time.

[0019] In the above-mentioned operation control device of an automatic lawn mower, the determination unit serves to determine whether the detected object is a living object; and to determine that a certain object has been detected in response to the detected object being a living object.

[0020] In the above-mentioned operation control device of an automatic lawn mower, the detection unit further serves to detect the distance between the living object and the automatic lawn mower; and the switching unit further serves to change the normal working mode to the obstacle working mode in response to a distance smaller than the preset distance threshold.

[0021] In the above-mentioned operation control device of an automatic lawn mower, the detection unit further serves to detect the relative speed between the living object and the automatic lawn mower; and the switching unit further serves to change the normal working mode to the obstacle working mode in response to a relative speed greater than the preset speed threshold.

[0022] In the above-mentioned operation control device of an automatic lawn mower, in the obstacle work mode, the automatic lawn mower performs at least one of the following actions: changing the working state of the auxiliary cutting unit; changing the movement method of the automatic lawn mower; warning.

[0023] Furthermore, the change in the working state of the auxiliary cutting unit includes at least one of the following measures: Controlling the auxiliary cutting unit so that it does not operate; reducing the operating speed of the auxiliary cutting unit.

[0024] Furthermore, changing the movement mode of the automatic lawn mower includes at least one of the following actions: controlling the automatic lawn mower so that it does not move; controlling the automatic lawn mower so that it reverses and changes direction of travel to move away from the specified object.

[0025] In the operation control method of an automatic lawn mower, the detection unit further serves to perform detection of a specific object in the obstacle work mode; the determination unit further serves to determine whether a specific object has been detected; the holding unit further serves to maintain the obstacle work mode based at least on the detection of the specific object; and the switching unit further serves to resume the normal work mode of the auxiliary cutting unit based at least on the fact that the specific object is not detected.

[0026] In the above-mentioned operator control device of an automatic lawn mower, the detection of a specific object is carried out by at least one of the following methods: infrared sensing, image recognition, ultrasonic / radar ranging, depth imaging.

[0027] In the above-mentioned operation control device of an automatic lawn mower, the detection unit further serves to detect the ambient temperature of the automatic lawn mower; and the holding unit further serves to allow the operation of the auxiliary cutting unit in response to an ambient temperature within a preset temperature range.

[0028] In the above-mentioned operation control device of an automatic lawn mower, the detection unit further serves to detect the ambient illuminance of the automatic lawn mower; and the switching unit further serves to control the auxiliary cutting unit to switch to the normal working mode in response to an ambient illuminance lower than the illuminance threshold.

[0029] An automatic lawn mower comprises: a housing; a main cutting unit; an auxiliary cutting unit whose cutting area extends at least flush with the housing of the automatic lawn mower; and, the above operation control device used to control the normal working mode or the obstacle working mode of the auxiliary cutting unit.

[0030] An electronic device includes: a memory used to store executable computer instructions; and a processor used to execute the executable computer instructions stored in the memory to perform the above operation control method of an automatic lawn mower.

[0031] A computer-readable storage medium having computer program instructions stored thereon and, when the computer program instructions are executed by a computer device, operable to carry out the above operation control method of an automatic lawn mower.

[0032] Compared with the prior art, the advantageous effects of the present disclosure are as follows: By controlling the operation of an automatic lawn mower having an auxiliary cutting unit by detecting a specific object, it is possible to achieve complete trimming of the boundary while ensuring the safety of the lawn mower. Description of the drawings

[0033] These and / or other aspects and advantages of the present disclosure will become clearer and more readily understood from the following detailed description of the embodiments of the present disclosure in conjunction with the accompanying drawings, in which: Fig. 1 shows an automatic work system 100 according to a first embodiment of the present disclosure in a schematic representation, Fig. 2 shows an automatic lawn mower according to the first embodiment of the present disclosure in a schematic structural view; Fig. 3 shows a first arrangement example of the main cutting unit and the auxiliary cutting unit of the automatic lawn mower of the present disclosure in a schematic representation, Fig. 4 shows a second arrangement example of the main cutting unit and the auxiliary cutting unit of the automatic lawn mower of the present disclosure in a schematic representation, Fig. 5 shows a third arrangement example of the main cutting unit and the auxiliary cutting unit of the automatic lawn mower of the present disclosure in a schematic representation, Fig. 6 is a schematic flowchart of the operation control method of the automatic lawn mower of the present disclosure, Fig. 7 is a schematic diagram of the sensor setting of the automatic lawn mower of the present disclosure, Fig. 8 is a schematic block diagram of the operation control device of the automatic lawn mower of the present disclosure, Fig. 9 is a schematic block diagram of an electronic device of the present disclosure. CONCRETE EMBODIMENTS

[0034] Exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. It should be understood that the described embodiments represent a portion of the embodiments of the present application, rather than all of the embodiments, and it should be understood that the present application is not limited to the exemplary embodiments described herein. Overview of the automatic lawn mower

[0035] Fig. Figure 1 shows a schematic representation of an automatic work system 100 according to a first embodiment of the present disclosure. In this embodiment, the automatic work system 100 includes an automatic lawn mower 1. Furthermore, the aforementioned automatic work system 100 further includes a charging station 2 used to charge the automatic lawn mower 1.

[0036] As in Fig. 1, the automatic lawn mower 1 is used to work in a predetermined working area.

[0037] The structure of the automatic lawn mower 1 in the present embodiment is shown in Fig. 2. The automatic lawn mower 1 comprises a housing 3, a motion module, a task execution module, a power module, a control module, and so on. The motion module includes a wheel set 5 driven by a drive motor to set the automatic lawn mower 1 in motion. The task execution module includes a cutting assembly 7 that performs mowing work. The power module contains a battery pack (not shown in the figure) that provides electrical power for the movement and operation of the automatic lawn mower 1. The control module is electrically connected to the motion module, the task execution module, and the power module to control the motion module to drive the automatic lawn mower 1 to move and to control the task execution module to perform the work task. Example operating control procedure

[0038] In order to achieve the purpose of edge trimming, the automatic lawn mower of the present disclosure further comprises an auxiliary cutting unit for edge trimming in addition to the main cutting unit in the cutting assembly 7, as shown in Fig. 2. And to completely trim the boundary, the cutting area of ​​the auxiliary cutting unit extends at least to the body of the automatic lawn mower, such as the body 3, as shown in Fig. 2 shown.

[0039] In one example, the auxiliary cutting unit of the automatic lawn mower of the disclosure may be a trimmer head. It includes a wire winder, a trimmer line wound around the wire winder, and a drive motor that drives the wire winder to rotate. A cutting element of the auxiliary cutting unit may be a flexible material, such as a trimmer line, or a metal material with a non-cutting edge. Furthermore, the cutting energy of the auxiliary cutting unit connector is preferably less than 2 joules. In other embodiments, the auxiliary cutting unit may also be a pruning shear and the like.

[0040] When the auxiliary cutting unit is actually arranged because the auxiliary cutting unit is used for edge trimming, it is usually arranged at the edge position of the housing, and several examples are conceivable for its positional relationship relative to the main cutting unit.

[0041] Fig. 3 shows a first arrangement example of the main cutting unit and the auxiliary cutting unit of the automatic lawn mower of the present disclosure in a schematic diagram. As in Fig. 3, the main cutting unit 7 is arranged in the central region of the entire automatic lawn mower, while the auxiliary cutting unit 17 is arranged at a central side edge of the automatic lawn mower. During cutting, an auxiliary cutting region of the auxiliary cutting unit 17 and a main cutting region of the main cutting unit 7 are arranged to be tangential or overlapped in the width direction of the automatic lawn mower (namely, in a direction perpendicular to the traveling direction of the automatic lawn mower) to prevent an uncut portion. In this embodiment, the front of the automatic lawn mower is provided with a swivel wheel 19, and in order to prevent interference with the operation of the auxiliary cutting unit, the gap between the cutting region of the auxiliary cutting unit 17 and the moving region of the swivel wheel 19 is greater than 5 mm.

[0042] Fig. 4 shows a second arrangement example of the main cutting unit and the auxiliary cutting unit of the automatic lawn mower of the present disclosure in a schematic diagram. As in Fig. 4, in this example, the auxiliary cutting unit 17 is arranged on the same side as the main cutting unit 7 at the front end of the automatic lawn mower, also, when cutting, the auxiliary cutting area of ​​the auxiliary cutting unit and the main cutting area of ​​the main cutting unit are tangential or overlapped in the width direction of the automatic lawn mower (ie, the direction perpendicular to the traveling direction of the automatic lawn mower), and the distance between the cutting area of ​​the auxiliary cutting unit 17 and the moving area of ​​the swivel wheel 19 of the automatic lawn mower is greater than 5 mm.

[0043] Fig. 5 shows a third arrangement example of the main cutting unit and the auxiliary cutting unit of the automatic lawn mower of the present disclosure in a schematic diagram.As shown in Fig. 5, in this example, the auxiliary cutting unit 17 is arranged on the opposite side of the main cutting unit 7 at the front end of the automatic lawn mower. When cutting, the automatic lawn mower moves clockwise along the boundary of the working area to form a first moving path and counterclockwise along the boundary of the working area to form a second moving path. The auxiliary cutting area of ​​the auxiliary cutting unit when the automatic lawn mower moves along the first moving path and the main cutting area of ​​the main cutting unit when the automatic lawn mower moves along the second moving path are tangential or overlap in the width direction of the automatic lawn mower. The distance between the cutting area of ​​the auxiliary cutting unit 17 and the moving area of ​​the swivel wheel 19 of the automatic lawn mower is more than 5 mm.

[0044] As mentioned above, although the automatic lawn mower of the present disclosure uses an auxiliary cutting unit for edge trimming, the cutting energy of the auxiliary cutting unit is preferably limited to prevent injuries to other objects or the human body. However, these injuries still cannot be completely avoided, especially to the human body, and it is necessary to prevent the auxiliary cutting unit from contacting the human body as much as possible. If the auxiliary cutting unit touches other hard objects during cutting, this may also cause damage to the auxiliary cutting unit itself.

[0045] Based on this, the disclosure further proposes an operation control method for the automatic lawn mower provided with an above-mentioned auxiliary cutting unit.

[0046] Fig. 6 shows a schematic flowchart of the operation control method of the automatic lawn mower of the present disclosure. As mentioned above, the automatic lawn mower includes a main cutting unit and an auxiliary cutting unit for edge trimming, and the cutting area of ​​the auxiliary cutting unit extends at least flush with or beyond the housing of the automatic lawn mower.

[0047] As in Fig. As shown in Figure 6, the operation control method of an automatic lawn mower includes: S510. Performing detection of a specific object in the normal working mode of the auxiliary cutting unit; S520. Determining whether a specific object has been detected; S530. Switching to an obstacle working mode based at least on the detection of the specific object; and S540. Maintaining the normal working mode of the auxiliary cutting unit based at least on the fact that the specific object is not detected.

[0048] Step S510: Perform detection of a specific object in the normal working mode of the auxiliary cutting unit.

[0049] The normal working mode of the auxiliary cutting unit refers to the working mode in which the auxiliary cutting unit performs the edge trimming process normally. Since the cutting area of ​​the auxiliary cutting unit extends at least flush with the body of the automatic lawn mower during the edge trimming process, it is necessary to detect a specific object to prevent the auxiliary cutting unit from damaging the specific object or from being damaged by the specific object.

[0050] In the operation control method of the automatic lawn mower according to the embodiment of the present disclosure, the specific object may be a living object, such as a person, an animal, or a moving object that may affect the operation of the automatic lawn mower, such as an object whose moving speed is greater than a certain predetermined threshold. Those skilled in the art can understand that the term "living object" in the embodiments of the present disclosure refers not only to living objects, but may also refer to other moving objects to distinguish them from fixed obstacles and the like in the working environment of the automatic lawn mower.

[0051] Step S520. Determining whether a specific object has been detected. In the operation control method of an automatic lawn mower according to the embodiment of the application, determining whether a specific object has been detected includes: determining whether the detected object is a living object; and determining that a specific object has been detected in response to the detected object being a living object.

[0052] In addition, the distance between the living object and the automatic lawn mower can be further determined based on the fact that the object is a living object, to further determine whether the living body will interact with the automatic lawn mower, so as to reduce the misoperation rate of the automatic lawn mower

[0053] In the operation control method of an automatic lawn mower according to the embodiment of the application, determining whether a specific object has been detected further includes: detecting the distance between the living object and the automatic lawn mower; switching to an obstacle work mode based at least on the detection of the specific object includes: switching the normal work mode to the obstacle work mode in response to a distance smaller than the preset distance threshold.

[0054] In the operation control method of an automatic lawn mower according to the embodiment of the application, determining whether a specific object has been detected includes: detecting the relative speed between the living object and the automatic lawn mower; and switching to an obstacle work mode based at least on the detection of the specific object includes: switching the normal work mode to the obstacle work mode in response to a relative speed greater than the preset speed threshold.

[0055] Step S530. Switch to an obstacle work mode based at least on the detection of the specific object.

[0056] That is, after detecting a specific object that may affect the cutting work of the automatic lawn mower, the working mode of the auxiliary cutting unit must be changed, taking into account the safety of using the automatic lawn mower. In the operation control method of an automatic lawn mower according to the embodiment of the application, in the obstacle working mode of the auxiliary cutting unit, the automatic lawn mower performs at least one of the following actions: changing the working state of the auxiliary cutting unit; changing the movement mode of the automatic lawn mower; and issuing a warning.

[0057] Specifically, changing the working state of the auxiliary cutting unit includes at least one of the following measures: controlling the auxiliary cutting unit so that it does not work; reducing the working speed of the auxiliary cutting unit. Specifically, when controlling the auxiliary cutting unit so that it does not work, the auxiliary cutting unit is controlled to stop its work. Specifically, when the auxiliary cutting unit is in a normal working state, the working speed is faster and may cause injury to a specific object. By reducing its working speed, if the current working speed of the auxiliary cutting unit is less than a preset safety threshold, then the current working speed will not damage the specific object, so as to ensure the safety of the auxiliary cutting unit at work.

[0058] Specifically, changing the movement mode of the automatic lawn mower includes at least one of the following actions: controlling the automatic lawn mower so that it does not move; controlling the automatic lawn mower to reverse to move away from the specific object; and controlling the automatic lawn mower to change its traveling direction to move away from the specific object. Specifically, the automatic lawn mower is controlled to reverse to move away from the specific object, or the automatic lawn mower is controlled to change its traveling direction to move away from the specific object, or the automatic lawn mower is controlled to reverse and change its traveling direction to move away from the specific object.By controlling the automatic lawn mower not to work or moving away from the specific object, the injury of the automatic lawn mower to the specific object can be effectively prevented, so as to improve the safety of the automatic lawn mower's work.

[0059] In order to avoid damage to the specific object or damage to the auxiliary cutting unit by the specific object, the automatic lawn mower can stop the work of the auxiliary cutting unit, reduce the cutting speed of the auxiliary cutting unit, or weaken the cutting energy of the auxiliary cutting unit. In addition, the automatic lawn mower can adopt the movement mode such as changing direction, evading, etc. to avoid the occurrence of damage situations. In addition, the automatic lawn mower can use the warning method to alert the user of the occurrence of unexpected situations, such as sending an alarm signal from the machine or sending a warning message to the user's mobile phone.

[0060] Step S540. Maintaining the normal working mode of the auxiliary cutting unit at least based on the fact that the specific object is not detected. That is, in the event that the specific object is not detected, there is no possibility of the main cutting unit damaging the external object or being damaged by the external object, so the working state of the auxiliary cutting unit can continue.

[0061] Furthermore, the operation control method of an automatic lawn mower according to the embodiment of the disclosure further includes: performing detection of a specific object in the obstacle work mode; determining whether a specific object has been detected; maintaining the obstacle work mode based at least on the detection of the specific object; and resuming the normal work mode of the auxiliary cutting unit based at least on the fact that the specific object is not detected.

[0062] That is, in the obstacle work mode, the presence of the specific object affecting the work of the auxiliary cutting unit can still be detected. If the specific object still exists, the obstacle work mode is maintained, and if the specific object is absent, the auxiliary cutting unit can resume normal operation.

[0063] Specifically, resuming the normal working mode of the auxiliary cutting unit at least based on the fact that the specific object is not detected includes: resuming the normal working mode of the auxiliary cutting unit at least based on a working speed of the auxiliary cutting unit that is not 0; and / or determining whether the hold time of the obstacle working mode exceeds the preset safety time, and resuming the normal working mode of the auxiliary cutting unit at least based on the fact that the hold time does not exceed the preset safety time. Specifically, in the obstacle working mode, if the working speed of the auxiliary cutting unit is consistently below the preset safety threshold and the working speed of the auxiliary cutting unit is not zero, the smart lawn mower can automatically resume normal operation of the auxiliary cutting unit.when the specific object is not present, in particular, the preset safety threshold is a value set according to safety regulations. In particular, in the obstacle working mode, when the working speed of the auxiliary cutting unit is zero, that is, the auxiliary cutting unit stops working, continuously detects the presence of the specific object, and if the presence of the specific object is not detected, it judges the time the auxiliary cutting unit is in the obstacle working mode. If the time the auxiliary cutting unit is in the obstacle working mode is greater than the preset time threshold, the automatic lawn mower can receive the user's instruction to resume normal working mode, in particular, the preset time threshold is set according to safety regulations, preferably the preset time threshold is 10 seconds,Specifically, the automatic lawn mower receives the user's instructions to restore normal working mode, including the user allowing the auxiliary cutting unit to return to normal working mode by restarting the intelligent lawn mower, or the user operating the remote control via a mobile phone, iPad, and other devices to resume normal working mode of the auxiliary cutting unit. Specifically, if the time the auxiliary cutting unit is in obstacle working mode is less than the preset time threshold, that is, when the auxiliary cutting unit detects that a specific object enters the obstacle working mode, the auxiliary cutting unit continuously detects the presence of a specific object, and if it detects that the specific object does not exist, it judges whether the time from the time the auxiliary cutting unit enters the obstacle working mode has elapsed.until the absence of the specific object is determined to be less than the preset time threshold. If the time is judged to be less than the preset time threshold, the auxiliary cutting unit can return to normal working mode on its own. Specifically, the preset time threshold is set according to safety regulations; the preset time threshold is preferably 10 seconds.

[0064] In the operation control method of an automatic lawn mower according to the embodiment of the disclosure, the detection of a specific object is performed by at least one of the following methods: infrared sensing, image recognition, ultrasonic / radar ranging, depth imaging.

[0065] For example, the infrared sensor can be used to detect whether there is a person near the automatic lawn mower using infrared human body sensing technology, so that within a certain range of the person's distance from the machine, the auxiliary cutting unit will switch from the normal working mode to the obstacle working mode.

[0066] Another example is the use of image recognition technology, which can detect whether a person or part of the human body is near the automatic lawn mower, and when the person or part of the human body is within a certain range of the automatic lawn mower, the auxiliary cutting unit will switch from normal working mode to obstacle working mode.

[0067] According to another example, by using ultrasonic / radar distance measurement technology, by identifying the distance of a moving object (including a person or object) from the device and its approach speed, the auxiliary cutting unit can be switched from the normal working mode to the obstacle working mode when the moving object is at a certain distance and has a certain approach speed.

[0068] According to another example, depth imaging technology (TOF or other technology) can be used to map the environment in three dimensions, identify the human body or part of the human body, and when it is detected that the person or part of the human body is close to the machine, the auxiliary cutting unit switches from normal working mode to obstacle working mode.

[0069] Of course, one skilled in the art can understand that the operation control method of the automatic lawn mower according to the embodiment of the present disclosure can also make comprehensive use of the above-mentioned two or more technologies for controlling the working state of the automatic lawn mower by identifying the proximity between a person or a moving object and the automatic lawn mower, for example, including an approach distance and an approach speed.

[0070] Fig. Figure 7 shows a schematic diagram of the sensor setting of the automatic lawn mower of the present disclosure. As shown in Fig. As shown in Figure 7, two or more sensors 21 (such as the above-mentioned infrared induction, image recognition, ultrasonic radar ranging, and depth imaging sensors) may be provided on a side of the automatic lawn mower provided with the auxiliary cutting unit. And as shown in Fig. As shown in Figure 8, by providing more than two sensor channels, it can be guaranteed that no error detection by the sensor occurs.

[0071] In addition, the automatic lawn mower can be equipped with a temperature sensor, so that when it detects that the ambient temperature is close to human body temperature, the working mode of the auxiliary cutting unit is switched to avoid misjudgment.

[0072] In addition, the automatic lawn mower can be equipped with a light sensor, so that when the light intensity is less than the set value, the auxiliary cutting unit of the automatic lawn mower will work normally, such as starting the normal working mode at night, to prevent the light from affecting the detection accuracy of other sensors, such as infrared sensors.

[0073] Therefore, the operation control method of an automatic lawn mower according to the embodiment of the disclosure further includes: detecting the ambient temperature of the automatic lawn mower; allowing the auxiliary cutting unit to operate in response to an ambient temperature within a preset temperature range.

[0074] The operation control method of an automatic lawn mower according to the embodiment of the disclosure further includes: detecting the ambient illuminance of the automatic lawn mower; and controlling the auxiliary cutting unit to enter the normal working mode in response to an ambient illuminance less than the illuminance threshold. Example control device and automatic lawn mower

[0075] Fig. 8 shows a schematic block diagram of the operation control device of the automatic lawn mower of the present disclosure.

[0076] Here, the Fig. 8 is mounted on the above-described automatic lawn mower having a main cutting unit and an auxiliary cutting unit for edge trimming, and the cutting area of ​​the auxiliary cutting unit extends at least flush with the housing of the automatic lawn mower.

[0077] As in Fig. 8, the operation control device 600 includes: a detection unit 610 for performing detection of a specific object in the normal working mode of the auxiliary cutting unit; a determination unit 620 for determining whether a specific object has been detected; a switching unit 630 for switching to an obstacle working mode based at least on the detection of the specific object; and a holding unit 640 for maintaining the normal working mode of the auxiliary cutting unit based at least on the fact that the specific object is not detected.

[0078] In one example, in the above-mentioned automatic lawn mower operation control device 600, the determination unit 620 is for determining whether the detected object is a living object; and for determining that a specific object has been detected in response to the detected object being a living object.

[0079] In one example, in the above-mentioned automatic lawn mower operation control device 600, the detection unit 620 further serves to detect the distance between the living object and the automatic lawn mower; and the switching unit 630 further serves to change the normal work mode to the obstacle work mode in response to a distance smaller than the preset distance threshold.

[0080] In one example, in the above-mentioned automatic lawn mower operation control device 600, the detection unit 620 further serves to detect the relative speed between the living object and the automatic lawn mower; and the switching unit 630 further serves to change the normal work mode to the obstacle work mode in response to a relative speed greater than the preset speed threshold.

[0081] In one example, in the above-mentioned automatic lawn mower operation control device 600, in the obstacle work mode, the automatic lawn mower performs at least one of the following actions: changing the working state of the auxiliary cutting unit; changing the movement manner of the automatic lawn mower; warning.

[0082] In one example, in the operation control method 600 of an automatic lawn mower, the detection unit 610 is further for performing detection of a specific object in the obstacle work mode; the determination unit 620 is further for determining whether a specific object has been detected; the holding unit 640 is further for maintaining the obstacle work mode based at least on the detection of the specific object; and the switching unit 630 is further for resuming the normal work mode of the auxiliary cutting unit based at least on the fact that the specific object is not detected.

[0083] In one example, in the above-mentioned operator control device 600 of an automatic lawn mower, the detection of a particular object is performed by at least one of the following methods: infrared sensing, image recognition, ultrasonic / radar ranging, depth imaging.

[0084] In one example, in the above-mentioned automatic lawn mower operation control device 600, the detection unit 610 further serves to detect the ambient temperature of the automatic lawn mower; and the holding unit 640 further serves to permit the operation of the auxiliary cutting unit in response to an ambient temperature within a preset temperature range.

[0085] In one example, in the above-mentioned automatic lawn mower operation control device 600, the detection unit 610 further serves to detect the ambient illuminance of the automatic lawn mower; and the switching unit 630 further serves to control the auxiliary cutting unit to switch to the normal working mode in response to an ambient illuminance lower than the illuminance threshold.

[0086] Here, those skilled in the art can understand that other details of the operation control device of the automatic lawn mower of the present disclosure are exactly the same as the corresponding details in the previously described operation control method of the automatic lawn mower of the present disclosure, and they are not repeated here to avoid repetition.

[0087] The disclosure further relates to an automatic lawn mower. It comprises: a housing; a main cutting unit; an auxiliary cutting unit whose cutting area extends at least flush with the housing of the automatic lawn mower; and the above-mentioned operation control device, which is used to control the normal working mode or the obstacle working mode of the auxiliary cutting unit.

[0088] Compared with the prior art, the advantageous effects of the present disclosure are as follows: By controlling the operation of an automatic lawn mower having an auxiliary cutting unit by detecting a specific object, it is possible to achieve complete trimming of the boundary while ensuring the safety of the lawn mower. Example electronic device

[0089] The following refers to Fig. 9 to describe the electronic device according to the present disclosure. The electronic device may be an electronic device integrated with the mobile station of the automatic lawn mower or a standalone device independent of the mobile station, and the standalone device may communicate with the mobile station to implement the operation control method of the automatic lawn mower according to the present disclosure.

[0090] Fig. 9 shows a schematic block diagram of an electronic device of the present disclosure.

[0091] As in Fig. As shown in Figure 9, the electronic device 700 includes one or more processors 710 and a memory 720.

[0092] The processor 710 may be a central processing unit (CPU) or other form of processing unit with data processing capabilities and / or instruction execution capabilities and may control other components in the electronic device 700 to perform the desired function.

[0093] The memory 720 may include one or more computer program products, and the computer program products may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), and the like. The non-volatile memory may include, for example, read-only memory (ROM), hard disks, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 710 may execute the program instructions to implement the operation control method and / or other desired functions of the automatic lawn mower of each embodiment of the present disclosure described above. Various contents such as detection results of specific objects, work mode data, etc.can also be stored on the computer-readable storage medium.

[0094] In one example, the electronic device 700 may also include an input device 730 and an output device 740. These components are interconnected by a bus system and / or other form of interconnection mechanism (not shown).

[0095] For example, input device 730 may be used to receive user input.

[0096] The output device 740 can output various information directly to the outside or control the mobile station to send signals.

[0097] Of course, for the sake of simplicity, Fig.9 illustrates only some of the components of the electronic device 700 relevant to the present application, omitting components such as buses, input / output interfaces, etc. Furthermore, the electronic device 700 may also include any other suitable components depending on the application. Example computer program product and computer-readable storage medium

[0098] In addition to the above-mentioned method and apparatus, embodiments of the present application may also be computer program products comprising computer program instructions that cause the processor to execute the steps in the operation control method of an automatic lawn mower according to various embodiments of the present disclosure described in the above-mentioned "exemplary operation control method" section of this specification when the computer program instruction is executed by the processor.

[0099] The computer program product can be used to write program code for carrying out the mode of operation of the embodiment of the present application in any combination of one or more programming languages. The programming language includes an object-oriented programming language, such as Java, C++, etc., and also includes a conventional programmatic programming language, such as a "C" language or a similar programming language. The program code can be executed entirely on the user's computing device, partially on the user's device, as a standalone software package, partially on the user's computing device, partially on the remote computing device, or entirely on the remote computing device or server.

[0100] Furthermore, embodiments of the present application may also be a computer-readable storage medium on which computer program instructions are stored, and the computer program instructions are executed by the processor, thereby causing the processor to perform the steps in the operation control method of the automatic lawn mower according to the various embodiments of the present disclosure described in the above-mentioned "Exemplary Operation Control Method" section of this specification.

[0101] The computer-readable storage medium may use any combination of one or more computer-readable media. The readable medium may be either a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but is not limited to, a system, device, or component in electrical, magnetic, optical, electromagnetic, infrared, or semiconductor form, or a combination thereof.More specific examples (not an exhaustive list) include: electrical connection with one or more wires, portable computer hard disk, hard drive, random access memory (RAM), non-volatile random access memory (NVRAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage, magnetic storage, or any suitable combination thereof.

[0102] The basic principles of the present application have been described above in connection with specific embodiments. However, it should be noted that the advantages, benefits, effects, etc. mentioned in the present application are only examples and not limitations, and these advantages, benefits, effects, etc. cannot be considered necessary for every embodiment of the present application. Furthermore, the specific details of the above disclosure are for illustrative and understandable purposes only and are not limiting, and the above disclosures do not limit the application required to adopt the above specific disclosures.

[0103] The block diagrams of components, devices, equipment, and systems referred to in this application are for illustrative purposes only and are not intended to require or imply that they be connected, arranged, or configured in the manner shown in the block diagrams. As one skilled in the art will appreciate, these devices, devices, apparatus, and systems can be connected, arranged, and configured in any manner. Words such as "comprise," "include," "have," etc., are open-ended terms that refer to "including, but not limited to," and are interchangeable. The words "or" and "and," as used herein, refer to the words "and / or" and are interchangeable unless the context clearly dictates otherwise.The term “for example” is used herein to refer to the phrase “for example, but not limited to,” and the two are interchangeable.

[0104] It should also be noted that the devices, equipment, and methods of the present application may be disassembled and / or recombined. Such disassembly and / or recombination are considered equivalent provisions for the purposes of this application.

[0105] The above description of the disclosed aspects is intended to enable any person skilled in the art to make or use the application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Accordingly, the present application is not intended to be limited to the aspects shown herein, but rather to conform to the broadest scope consistent with the principles and novelty features disclosed herein.

[0106] The above descriptions have been provided for illustrative and descriptive purposes. Furthermore, this description is not intended to limit the embodiments of the present application to the form in which they are disclosed herein. Although several example aspects and embodiments have been discussed above, those skilled in the art will recognize some variations, modifications, alterations, additions, and subcombinations thereof.

[0107] Some embodiments are disclosed in the following articles: 1. An operation control method of an automatic lawn mower, wherein the automatic lawn mower comprises a main cutting unit and an auxiliary cutting unit and the cutting area of ​​the auxiliary cutting unit extends at least flush with the housing of the automatic lawn mower, characterized in that the method comprises the following: Carrying out the detection of a specific object in the normal working mode of the auxiliary cutting unit; Determine whether a particular object has been detected; Switch to an obstacle work mode based at least on the detection of the specific object; and Maintaining the normal working mode of the auxiliary cutting unit at least based on the fact that the specific object is not detected. 2. The operation control method of an automatic lawn mower according to Article 1, characterized in that determining whether a specific object has been detected comprises: Determine whether the detected object is a living object; and Determining that a particular object has been detected in response to the detected object being a living object. 3. The operation control method of an automatic lawn mower according to Article 2, characterized in that determining whether a particular object has been detected further includes: Detecting the distance between the living object and the automatic lawnmower; wherein switching to an obstacle work mode based at least on the detection of the specific object comprises: Switching from normal work mode to obstacle work mode in response to a distance less than the preset distance threshold. 4. The operation control method of an automatic lawn mower according to Article 2, characterized in that Determining whether a particular object has been detected includes: Detecting the relative speed between the living object and the automatic lawnmower; and wherein switching to an obstacle work mode based at least on the detection of the specific object comprises: Switching from normal working mode to obstacle working mode in response to a relative speed greater than the preset speed threshold. 5. The operation control method of an automatic lawn mower according to Article 1, characterized in that the automatic lawn mower performs at least one of the following actions in the obstacle work mode: Change of the working state of the auxiliary cutting unit; Changing the movement type of the automatic lawn mower; Warning. 6. The operation control method of an automatic lawn mower according to Article 5, characterized in that the change of the working state of the auxiliary cutting unit includes at least one of the following actions: Controlling the auxiliary cutting unit so that it does not operate; Reducing the working speed of the auxiliary cutting unit. 7. The operation control method of an automatic lawn mower according to Article 5, characterized in that changing the movement mode of the automatic lawn mower includes at least one of the following actions: Controlling the automatic lawn mower so that it does not move; Controlling the automatic lawn mower to reverse to move away from the specified object; Control the automatic lawn mower to change direction to move away from the specified object. 8. The operation control method of an automatic lawn mower according to Article 1, characterized in that it further comprises: Performing detection of a specific object in obstacle work mode; Determine whether a particular object has been detected; Maintaining the obstacle work mode based at least on the detection of the specific object; and Resumption of the normal working mode of the auxiliary cutting unit based at least on the fact that the specific object is not detected. 9. The operation control method of an automatic lawn mower according to Article 8, characterized in that the resumption of the normal working mode of the auxiliary cutting unit based at least on the fact that the specific object is not detected comprises: Resuming the normal working mode of the auxiliary cutting unit based at least on a working speed of the auxiliary cutting unit that is not 0; and / or determining whether the hold time of the obstacle work mode exceeds the preset safety time and resuming the normal work mode of the auxiliary cutting unit at least based on the fact that the hold time does not exceed the preset safety time. 10. The operation control method of an automatic lawn mower according to Article 1, characterized in that the detection of a specific object is carried out by at least one of the following methods: infrared sensing, image recognition, ultrasonic / radar ranging, depth imaging. 11. The operation control method of an automatic lawn mower according to Article 1, characterized in that it further comprises: Detecting the ambient temperature of the automatic lawn mower; Allowing the auxiliary cutting unit to operate in response to an ambient temperature within a preset temperature range. 12. The operation control method of an automatic lawn mower according to Article 1, characterized in that it further comprises: Detecting the ambient light intensity of the automatic lawn mower; Controlling the auxiliary cutting unit to enter normal working mode in response to an ambient illuminance less than the illuminance threshold. 13. An operator control device of an automatic lawn mower, wherein the automatic lawn mower comprises a main cutting unit and an auxiliary cutting unit and the cutting area of ​​the auxiliary cutting unit extends at least flush with the housing of the automatic lawn mower, characterized in that the device comprises the following: a detection unit for performing detection of a specific object in the normal working mode of the auxiliary cutting unit; a detection unit for determining whether a particular object has been detected; a switching unit for switching to an obstacle working mode based at least on the detection of the specific object; and a holding unit for maintaining the normal working mode of the auxiliary cutting unit based at least on the fact that the specific object is not detected. 14. The operating control device of an automatic lawn mower according to Article 13, characterized in that the detection unit serves to perform the following tasks: Determine whether the detected object is a living object; and Determining that a particular object has been detected in response to the detected object being a living object. 15. The operating control device of an automatic lawn mower according to Article 14, characterized in that the detection unit also serves to detect the distance between the living object and the automatic lawnmower; and the switching unit further serves to change the normal working mode to the obstacle working mode in response to a distance that is smaller than the preset distance threshold. 16. The operating control device of an automatic lawn mower according to Article 13, characterized in that the detection unit further serves to detect the relative speed between the living object and the automatic lawnmower; and the switching unit further serves to change the normal working mode to the obstacle working mode in response to a relative speed greater than the preset speed threshold. 17. The operating control device of an automatic lawn mower according to Article 13, characterized in that the automatic lawn mower, in the obstacle work mode, performs at least one of the following actions: Change of the working state of the auxiliary cutting unit; Changing the movement type of the automatic lawn mower; Warning. 18. The operating control device of an automatic lawn mower according to Article 13, characterized in that the change of the working state of the auxiliary cutting unit comprises at least one of the following measures: Controlling the auxiliary cutting unit so that it does not operate; Reducing the working speed of the auxiliary cutting unit. 19. The operating control device of an automatic lawn mower according to Article 13, characterized in that changing the type of movement of the automatic lawn mower comprises at least one of the following measures: Controlling the automatic lawn mower so that it does not move; Controlling the automatic lawn mower to reverse to move away from the specified object; Control the automatic lawn mower to change direction to move away from the specified object. 20. The operating control device of an automatic lawn mower according to Article 13, characterized in that the detection unit further serves to carry out the detection of a specific object in the obstacle work mode; the detection unit also serves to determine whether a specific object has been detected; the holding unit further serves to maintain the obstacle working mode based at least on the detection of the specific object; and the switching unit further serves to resume the normal working mode of the auxiliary cutting unit at least based on the fact that the specific object is not detected. 21. The operation control device of an automatic lawn mower according to Article 20, characterized in that the resumption of the normal working mode of the auxiliary cutting unit based at least on the fact that the specific object is not detected comprises: Resuming the normal working mode of the auxiliary cutting unit based at least on a working speed of the auxiliary cutting unit that is not 0; and / or determining whether the hold time of the obstacle work mode exceeds the preset safety time and resuming the normal work mode of the auxiliary cutting unit at least based on the fact that the hold time does not exceed the preset safety time. 22. The operator control device of an automatic lawn mower according to Article 13, characterized in that the detection of a specific object is carried out by at least one of the following methods: infrared sensing, image recognition, ultrasonic / radar ranging, depth imaging. 23. The operating control device of an automatic lawn mower according to Article 13, characterized in that the detection unit further serves to detect the ambient temperature of the automatic lawn mower; and the holding unit further serves to allow the operation of the auxiliary cutting unit in response to an ambient temperature within a preset temperature range. 24. The operating control device of an automatic lawn mower according to Article 13, characterized in that the detection unit further serves to detect the ambient illuminance of the automatic lawn mower; and the switching unit is further for controlling the auxiliary cutting unit to switch to the normal working mode in response to an ambient illuminance that is less than the illuminance threshold. 25. Automatic lawn mower comprising: a housing; a main cutting unit; an auxiliary cutting unit whose cutting area extends at least flush with the housing of the automatic lawn mower; and, the operation control device according to any one of Articles 13 to 23, which is used to control the normal working mode or the obstacle working mode of the auxiliary cutting unit. 26. Electronic device comprising: a memory used to store executable instructions of the computer; and a processor used to execute the computer's executable instructions stored in memory to carry out the operation control method of an automatic lawn mower according to any one of Articles 1 to 12. 27. A computer-readable storage medium storing computer program instructions, wherein, when the computer program instructions are executed by a computer device, operation is possible to carry out the operation control method of an automatic lawn mower according to any one of Articles 1 to 11.

Claims

[1] Automatic lawn mower, comprising: a housing; a movement module; an energy module; a task execution module comprising a cutting assembly and configured to perform mowing operations; wherein the cutting assembly comprises a main cutting unit and an auxiliary cutting unit; wherein the auxiliary cutting unit is arranged on a side opposite the main cutting unit; a control module electrically connected to the movement module, the task execution module, and the power module, and configured to control the movement module to drive the automatic lawn mower to move and to control the task execution module to execute the work task; wherein the automatic lawn mower is configured to move clockwise along the boundary of the work area to form a first movement path and counterclockwise along the boundary of the work area to form a second movement path, wherein the auxiliary cutting area of ​​the auxiliary cutting unit when the automatic lawn mower moves along the first movement path and the main cutting area of ​​the main cutting unit when the automatic lawn mower moves along the second movement path are tangential or overlap in the width direction of the automatic lawn mower. [2] An automatic lawn mower according to claim 1, further comprising a swivel wheel provided at the front side thereof, wherein the gap between the auxiliary cutting portion of the auxiliary cutting unit and a moving portion of the swivel wheel is greater than 5 mm. [3] An automatic lawn mower according to claim 1 or 2, wherein the auxiliary cutting unit is arranged at the front end of the automatic lawn mower. [4] An automatic lawn mower according to any one of claims 1 to 3, further comprising two or more sensors provided on the side provided with the auxiliary cutting unit. [5] An automatic lawn mower according to claim 4, wherein the sensors comprise an infrared sensor, an image recognition sensor, an ultrasonic sensor, a radar ranging sensor, or a depth imaging sensor. [6] Automatic lawn mower according to one of the preceding claims, wherein the control module is further arranged to perform the following tasks: Carrying out object detection in the normal working mode of the auxiliary cutting unit; Determine whether a particular object has been detected; Switch to an obstacle work mode based at least on the detection of the specific object; and maintaining the normal working mode of the auxiliary cutting unit based at least on the fact that no object is detected. [7] Automatic lawn mower according to claim 6, wherein the cutting area of ​​the auxiliary cutting unit extends at least to a point flush with the housing of the automatic lawn mower, or beyond the housing. [8] Automatic lawn mower according to claim 6, wherein the detection of a specific object is performed by at least one of the following methods: infrared sensing, image recognition, ultrasonic / radar ranging, depth imaging. [9] An automatic lawn mower according to claim 1, wherein the auxiliary cutting unit of the automatic lawn mower is a trimmer head or a pruning shear. [10] An automatic lawn mower according to claim 1, wherein a cutting element of the auxiliary cutting unit is a flexible material or a metal material having a non-cutting edge. [11] Automatic lawn mower according to claim 1, wherein the cutting energy of the auxiliary cutting unit is less than 2 joules. [12] Automatic lawn mower, comprising: a housing; a task execution module comprising a cutting assembly and configured to perform mowing operations; wherein the cutting assembly comprises a main cutting unit and an auxiliary cutting unit; wherein the auxiliary cutting unit is arranged on a side opposite the main cutting unit; a control module electrically connected to the task execution module and configured to control the task execution module to execute the work task, comprising: controlling the auxiliary cutting unit to operate when the automatic lawn mower moves along a first movement path; controlling the main cutting unit to operate when the automatic lawn mower moves along a second movement path; wherein the first movement path refers to a path formed by moving the automatic lawn mower clockwise along the boundary of the work area, while the second movement path refers to a path formed by moving the automatic lawn mower counterclockwise along the boundary of the work area. [13] The automatic lawn mower according to claim 12, wherein an auxiliary cutting area of ​​the auxiliary cutting unit when the automatic lawn mower moves along the first moving path and the main cutting area of ​​the main cutting unit when the automatic lawn mower moves along the second moving path are tangential or overlap in the width direction of the automatic lawn mower. [14] An automatic lawn mower according to claim 12 or 13, further comprising a swivel wheel provided at the front side thereof, wherein the gap between the auxiliary cutting portion of the auxiliary cutting unit and a moving portion of the swivel wheel is greater than 5 mm. [15] An automatic lawn mower according to claim 12 or 13, wherein the auxiliary cutting unit is arranged at the front end of the automatic lawn mower. [16] An automatic working system comprising the automatic lawn mower according to any one of the preceding claims. [17] The automatic work system of claim 16, further comprising a charging station configured to supply electrical power to the automatic lawn mower.

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