Intelligent mowing system

Patent metadata

Field	Value
Publication number	US-11076529-B2
Application number	US-202016874964-A
Country	US
Kind code	B2
Filing date	May 15, 2020
Priority date	Nov 16, 2017
Publication date	Aug 3, 2021
Grant date	Aug 3, 2021

Abstract

An intelligent mowing system includes a base station to receive at least one kind of satellite positioning signal sent by a satellite system at a fixed location and an intelligent lawn mower. A mobile station group is mounted on the intelligent lawn mower and communicated with the base station to receive at least one kind of satellite positioning signal sent by the satellite system during a walking process of the intelligent lawn mower. The mobile station group includes at least a first mobile station and a second mobile station arranged at intervals that determines the position of the intelligent lawn mower. A controller is configured to control the intelligent lawn mower to generally walk within a predetermined line width.

First claim

What claimed is:

1. An intelligent mowing system, comprising:
a base station configured to receive a satellite positioning signal sent by a satellite system, the satellite system at a fixed location; and
an intelligent lawn mower, comprising:
a cutting blade for cutting grass;
a deck for supporting the cutting blade;
at least one wheel rotatably supported by the deck;
a first drive motor configured to provide a first torque to the at least one wheel;
a second cut motor configured to provide a second torque to the cutting blade; and
a display interface configured to display a mowing path in a map area;

wherein the intelligent mowing system further comprises a mobile station group mounted on the intelligent lawn mower and communicated with the base station, the mobile station group being used to receive the satellite positioning signal sent by the satellite system during a movement process of the intelligent lawn mower, the mobile station group comprises a first mobile station and a second mobile station arranged at intervals, and a position and a direction of movement of the intelligent lawn mower is determined by the first mobile station and the second mobile station arranged at intervals;
a lawn mower position generation module configured to communicate with the display interface to selectively display the position of the intelligent lawn mower in the map area of the display interface; and
a controller electrically connected to or communicated with the display interface and the lawn mower position generation module, the controller being configured to control the movement process of the intelligent lawn mower to move within a predetermined line width according to a relative positional relationship between the position and direction of movement of the intelligent lawn mower and the mowing path.

2. The intelligent mowing system of claim 1 , wherein the predetermined line width is greater than or equal to a distance between the first mobile station and the second mobile station.

3. The intelligent mowing system of claim 2 , wherein the intelligent mowing system further comprises a path calibration module, the path calibration module being communicationally connected to the lawn mower position generation module and obtaining a path offset state of the intelligent lawn mower based on the satellite positioning signal and a preset algorithm in the lawn mower position generation module.

4. The intelligent mowing system of claim 3 , wherein, when the path calibration module determines that the position of the intelligent lawn mower does not conform to the mowing path, the path offset state where the mobile station group is located within the predetermined line width of the mowing path is defined as a direction offset state, the path offset state where only one mobile station is located within the predetermined line width of the mowing path is defined as a partial offset state, and the path offset state where the mobile station group is located entirely outside the predetermined line width of the mowing path is defined as a complete offset state.

5. The intelligent mowing system of one of claim 4 , wherein the path calibration module stores an algorithm to control the intelligent lawn mower to slow down or stop traveling in the direction offset state and calibrate the direction of movement of the intelligent lawn mower to a corresponding direction of the mowing path.

6. The intelligent mowing system of claim 5 , wherein the path calibration module stores an algorithm to control the intelligent lawn mower to slow down and change a traveling direction towards the mowing path in the complete offset state and then repeat the obtaining of the path offset state.

7. The intelligent mowing system of claim 6 , wherein the path calibration module stores an algorithm to control the intelligent lawn mower to slow down in the partial offset state and then repeat the obtaining of the path offset state once switched to the direction offset state or the complete offset state.

8. The intelligent mowing system of claim 7 , wherein the path calibration module determines the direction offset state to be an online state, a converging state or a diverging state based on the position and direction of movement of the intelligent lawn mower and sets a calibration scheme for the online state to be speed down and calibrate direction and a calibration scheme for the converging state to be stop and calibrate direction, and a calibration scheme for the diverging state is to be stop and change direction and calibrate direction.

9. The intelligent mowing system of claim 3 , wherein when the path calibration module determines that the position of the intelligent lawn mower does not conform to the mowing path, the path calibration module calculates a curve or straight line calibration path and controls the intelligent lawn mower to return to the mowing path.

10. The intelligent mowing system of claim 3 , wherein the path calibration module determines the path offset state of the intelligent lawn mower according to an angle or distance between the intelligent lawn mower and the mowing path.

11. The intelligent mowing system of claim 3 , wherein the path calibration module determines the path offset state of the intelligent lawn mower according to a relationship between a latitude and longitude coordinates of the intelligent lawn mower and a latitude and longitude coordinates of the predetermined line width.

12. The intelligent mowing system of claim 1 , wherein the intelligent lawn mower further comprises a position sensor, the position sensor is communicationally connected to the controller, and detects the position and the direction of movement of the intelligent lawn mower, and the position sensor is selectively used in one or a combination of Gyro sensor, accelerometer, inertial measurement unit, barometer, magnetometer, and communication equipment.

13. An intelligent mowing system, comprising:
a mobile terminal provided with a display interface configured to display a mowing path in a map area;
an intelligent lawn mower, comprising:
a cutting blade for cutting grass;
a deck for supporting the cutting blade;
at least one wheel rotatably supported by the deck;
a drive motor configured to provide a first torque to the at least one wheel;

wherein the intelligent mowing system comprises a mobile station group mounted on the intelligent lawn mower and communicated with a base station, the mobile station group being used to receive a satellite positioning signal sent by a satellite system during a movement process of the intelligent lawn mower, the mobile station group comprises a first mobile station and a second mobile station arranged at intervals, and a position and direction of travel of the intelligent lawn mower is determined by the first mobile station and the second mobile station arranged at intervals;
a lawn mower position generation module configured to communicate with the display interface of the mobile terminal to selectively display the position of the intelligent lawn mower in the map area of the display interface; and
a controller electrically connected to or communicated with the display interface and the lawn mower position generation module, the controller being configured to control the intelligent lawn mower to move within a predetermined line width according to a relative positional relationship between the position and direction of travel of the intelligent lawn mower and the mowing path.

14. The intelligent mowing system of claim 13 , wherein the predetermined line width is greater than or equal to a distance between the first mobile station and

Assignees

• Nanjing Chervon Ind Co Ltd

Inventors

• Chen Weipeng
• Wang Hongwei
• Yang Dezhong
• Kou Weibin

Classifications

• G01S19/47

  the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial · CPC title

• G01S19/53

  Determining attitude · CPC title

• A01D34/78

  electric · CPC title

• A01D2101/00

  Lawn-mowers · CPC title

• G01S19/14

  specially adapted for specific applications · CPC title