WO2021175331A1 - Autonomous mobile gardening robot, and operation method for same - Google Patents

Abstract

An operation method for an autonomous mobile gardening robot, used to mow a lawn in an operation range (100) defined by a boundary. The method comprises the following steps: traveling toward a first boundary (110) in a first direction; upon detecting the first boundary (110) for the first time, traveling backward, and in the process of traveling backward, turning according to a preset radius, such that a backward traveling direction of the robot is consistent with a second direction, wherein the second direction is opposite to the first direction; switching to travel toward the first boundary (110) in the first direction again; and upon detecting the boundary for the second time, switching to travel in the second direction until a next boundary (130) is detected. The method reduces lawn damage by performing a turn while traveling backward, thereby achieving an effect of not tearing up the lawn. In addition, cutting is performed again in an opposite direction after the turning and traveling backward are complete, thereby reducing missing regions, and ensuring operation efficiency. Further disclosed is an autonomous mobile gardening robot capable of implementing the operation method.

Description

Translated fromChinese

自移动园艺机器人及其工作方法Self-moving gardening robot and its working method

本申请要求了申请日为2020年03月06日，申请号为202010151949.7的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims the priority of the Chinese patent application whose application date is March 06, 2020 and the application number is 202010151949.7, the entire content of which is incorporated into this application by reference.

技术领域Technical field

本发明涉及智能控制领域，特别是涉及一种自移动园艺机器人及其工作方法。The invention relates to the field of intelligent control, in particular to a self-moving gardening robot and a working method thereof.

背景技术Background technique

智能割草机具备自动行走功能，能够自主完成修剪草坪的工作，无须人为直接控制和操作，大幅度降低人工操作，是一种适合家庭庭院、公共绿地等场所进行草坪修剪维护的工具。The intelligent lawn mower has an automatic walking function, can complete the work of mowing the lawn independently, without direct human control and operation, and greatly reduces manual operation. It is a tool suitable for lawn mowing and maintenance in home gardens, public green spaces and other places.

传统轮式割草机，如专利文献EP1745686所揭示的，左侧前后两轮与右侧前后两轮分别独立驱动以提供足够的牵引力，左右两侧差速转向。发明人在实施该传统技术时发现，这种割草机随机行走，即沿直线在工作范围内行走，遇边界后随机转向，转向时存在磨草风险；另外转向处的草可能不能被及时切割，导致切割效率低。In a conventional wheeled lawn mower, as disclosed in Patent Document EP1745686, the left front and rear wheels and the right front and rear wheels are independently driven to provide sufficient traction, and the left and right sides are steered differentially. When implementing the traditional technology, the inventor discovered that this lawn mower walks randomly, that is, walks in a straight line within the working range, and turns randomly after encountering a boundary. There is a risk of grass grinding when turning; in addition, the grass at the turning point may not be cut in time. , Resulting in low cutting efficiency.

发明内容Summary of the invention

基于此，有必要提供一种使工作效率高且避免转向时磨草的自移动园艺机器人的工作方法。Based on this, it is necessary to provide a working method for a self-moving gardening robot that has high working efficiency and avoids grazing when turning.

一种自移动园艺机器人的行走方法，用于在边界限定的工作范围内工作，包括以下步骤：A walking method of a self-moving gardening robot, which is used to work within a working range defined by a boundary, and includes the following steps:

沿第一方向朝所述边界行走；Walking toward the boundary in the first direction;

第一次侦测到所述边界时后退行走，且后退过程中按预定半径转向，使所述机器人后退方向与第二方向一致，其中所述第二方向与第一方向相反；When the boundary is detected for the first time, it walks backward, and turns according to a predetermined radius during the backward process, so that the backward direction of the robot is consistent with the second direction, wherein the second direction is opposite to the first direction;

切换至重新以第一方向朝向所述边界行走；Switch to walking toward the boundary in the first direction again;

第二次侦测到所述边界时切换至沿第二方向行走直到侦测到下一边界。When the boundary is detected for the second time, switch to walking in the second direction until the next boundary is detected.

上述工作方法，采取后退过程中同步转向的方式能够减小对草坪的磨损，以实现不磨草的效果，同时后退转向完成后再次反向工作以减小漏割区域，保证工作效率，从而实现工作效率高且避免转向时磨草。The above working method can reduce the wear on the lawn by synchronous steering during the backward process, so as to achieve the effect of not grinding the grass. At the same time, after the backward steering is completed, the reverse work is performed again to reduce the missing cut area and ensure the work efficiency. High work efficiency and avoid grazing when turning.

在其中一个实施例中，所述后退行走中的转向半径为1m-5m。In one of the embodiments, the turning radius in the backward walking is 1m-5m.

在其中一个实施例中，所述第一次侦测到所述边界时后退行走，且后退过程中按预定半径转向，使所述机器人后退方向与第二方向一致，其中所述第二方向与第一方向相反的步骤中，使所述机器人后退至后退方向与垂直于所述边界的第二方向一致，具体包括：In one of the embodiments, when the boundary is detected for the first time, the robot walks backward, and turns according to a predetermined radius during the backward process, so that the backward direction of the robot is consistent with the second direction, wherein the second direction is the same as the In the step opposite to the first direction, making the robot retreat until the retreat direction is consistent with the second direction perpendicular to the boundary, which specifically includes:

使自移动园艺机器人沿两个相切的圆弧路径后退距离S，所述Make the self-moving gardening robot retreat along two tangent circular arc paths by a distance S, the

其中，R为转向半径，L为工作宽度。在其中一个实施例中，使所述机器人后退方向与垂直于所述边界的第二方向一致，其中所述第二方向与第一方向相反的步骤中，自移动园艺机器人后退过程加速行走。Among them, R is the turning radius and L is the working width. In one of the embodiments, the retreating direction of the robot is made to be consistent with the second direction perpendicular to the boundary, wherein in the step where the second direction is opposite to the first direction, the self-mobile gardening robot accelerates walking during the retreating process.

在其中一个实施例中，所述自移动园艺机器人为智能割草机。In one of the embodiments, the self-mobile gardening robot is an intelligent lawn mower.

在其中一个实施例中，所述智能割草机为轮式或履带式智能割草机。In one of the embodiments, the intelligent lawn mower is a wheeled or crawler intelligent lawn mower.

还提出一种自移动园艺机器人，包括：A self-moving gardening robot is also proposed, including:

壳体；case;

行走组件，用于带动所述自移动园艺机器人行走和转向；Walking components, used to drive the self-mobile gardening robot to walk and turn;

工作组件，设置在壳体的下方；The working components are arranged under the shell;

界限侦测模块，用于侦测工作时的边界并发出侦测信号；The boundary detection module is used to detect the boundary during work and send out detection signals;

控制模块，与所述行走组件和界限侦测模块电性连接，其中所述控制模块用于：控制所述机器人沿第一方向朝所述边界行走；第一次侦测到所述边界时后退，且后退过程同时按预定半径转向，使所述机器人后退方向与垂直于所述边界的第二方向一致，其中所述第二方向与第一方向相反；切换至重新以第一方向朝向所述边界行走；第二次侦测到所述边界时切换至沿第二方向远离所述边界行走直到侦测到下一边界。The control module is electrically connected to the walking component and the boundary detection module, wherein the control module is used to: control the robot to walk toward the boundary in a first direction; back when the boundary is detected for the first time , And the retreat process turns at a predetermined radius at the same time, so that the retreat direction of the robot is consistent with the second direction perpendicular to the boundary, wherein the second direction is opposite to the first direction; switch to the first direction again to face the Border walking; when the border is detected for the second time, switch to walking away from the border in the second direction until the next border is detected.

上述机器人，可实现后退过程中同步转向的方式能够减小对草坪的磨损，以实现不磨草的效果，同时后退转向完成后再次反向工作以减小漏割区域，保证工作效率，从而实现工作效率高且避免转向时磨草。The above-mentioned robot can realize synchronous steering during the backward process, which can reduce the wear on the lawn to achieve the effect of not grinding the grass. At the same time, after the backward steering is completed, the robot will work in the reverse direction to reduce the missing cutting area and ensure the work efficiency. High work efficiency and avoid grazing when turning.

在其中一个实施例中，所述行走组件包括前轮组和后轮组，所述前轮组包括分别设置在壳体的前端两侧的两个驱动轮，定义为前驱动轮；所述前轮组包括分别设置在壳体的后端的两侧的两个驱动轮，定义为后驱动轮，其中每个驱动轮分别具有独立悬挂结构及驱动马达。In one of the embodiments, the walking assembly includes a front wheel set and a rear wheel set, the front wheel set includes two drive wheels respectively arranged on both sides of the front end of the housing, defined as front drive wheels; The wheel set includes two driving wheels respectively arranged on both sides of the rear end of the casing, which are defined as rear driving wheels, wherein each driving wheel has an independent suspension structure and a driving motor.

在其中一个实施例中，所述独立独悬挂结构包括转动连接于所述壳体的单纵臂、连接所述单纵臂与所述壳体的弹簧阻尼，所述驱动轮固定于所述单纵臂，驱动马达与所述驱动轮组装在一起。In one of the embodiments, the independent independent suspension structure includes a single longitudinal arm rotatably connected to the housing, a spring damper connecting the single longitudinal arm and the housing, and the drive wheel is fixed to the single longitudinal arm. The trailing arm, the drive motor and the drive wheel are assembled together.

在其中一个实施例中，所述后退过程中行走组件的转向半径为1m-5m。In one of the embodiments, the turning radius of the walking assembly during the backward process is 1m-5m.

附图说明Description of the drawings

图1为本发明一实施例的割草方法的流程图。Fig. 1 is a flowchart of a mowing method according to an embodiment of the present invention.

图2为本发明一实施例的割草方法的切割过程的示意图。Fig. 2 is a schematic diagram of a cutting process of a mowing method according to an embodiment of the present invention.

图3为本发明一实施例的割草机方法中，后退距离的计算原理图。Fig. 3 is a schematic diagram of calculating the backward distance in the lawn mower method according to an embodiment of the present invention.

图4为本发明一实施例的智能割草机的侧视图。Fig. 4 is a side view of an intelligent lawn mower according to an embodiment of the present invention.

图5为本发明一实施例的智能割草机的俯视图。Fig. 5 is a top view of a smart lawn mower according to an embodiment of the invention.

图6为本发明一实施例的智能割草机的后视图。Fig. 6 is a rear view of the smart lawn mower according to an embodiment of the present invention.

图7为图4中B-B向的剖视图。Fig. 7 is a cross-sectional view taken along the line B-B in Fig. 4.

图中的相关元件对应编号如下：The corresponding numbers of the relevant components in the figure are as follows:

100、工作范围；110、第一边界；120、第二边界；130、第三边界；140、第四边界；200、智能割草机；210、壳体；220、行走组件；221、前驱动轮；222、后驱动轮；230、切割组件；231、切割刀盘；240、界限侦测模块；250、控制模块；260、独立悬挂结构；261、单纵臂；262、弹簧阻尼；263、上固定座；264、下固定座；265、轴承；266、纵臂固定轴；267、压紧螺钉；270、驱动马达。100. Working range; 110, the first boundary; 120, the second boundary; 130, the third boundary; 140, the fourth boundary; 200, the intelligent lawn mower; 210, the housing; 220, the walking component; 221, the front drive Wheel; 222, rear drive wheel; 230, cutting assembly; 231, cutting blade; 240, limit detection module; 250, control module; 260, independent suspension structure; 261, single trailing arm; 262, spring damping; 263, Upper fixing seat; 264, lower fixing seat; 265, bearing; 266, trailing arm fixing shaft; 267, compression screw; 270, drive motor.

具体实施方式Detailed ways

为了便于理解本发明，下面将参照相关附图对本发明进行更全面的描述。附图中给出了本发明的优选实施方式。但是，本发明可以以许多不同的形式来实现，并不限于本文所描述的实施方式。相反的，提供这些实施方式的目的是为了对本发明的公开内容理解得更加透彻全面。In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present invention are shown in the accompanying drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is for a more thorough and comprehensive understanding of the disclosure of the present invention.

需要说明的是，当部被称为“固定于”另一个部，它可以直接在另一个部上也可以存在居中的部。当一个部被认为是“连接”到另一个部，它可以是直接连接到另一个部或者可能同时存在居中部。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的，并不表示是唯一的实施方式。It should be noted that when a part is called "fixed to" another part, it can be directly on the other part or there may be a central part. When a part is considered to be "connected" to another part, it can be directly connected to the other part or there may be a central part at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only, and are not meant to be the only embodiments.

在本发明的描述中，需要理解的是，术语“长度”、“宽度”、“厚度”、“高 度”、“深度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。In the description of the present invention, it should be understood that the terms "length", "width", "thickness", "height", "depth", "upper", "lower", "front", "rear", " "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise", "Counterclockwise", "Circumferential" and other directions indicated Or the positional relationship is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the pointed device or element must have a specific orientation, be constructed and operated in a specific orientation Therefore, it cannot be understood as a limitation of the present invention.

除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中使用的术语只是为了描述具体的实施方式的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The term "and/or" as used herein includes any and all combinations of one or more related listed items.

传统的自移动园艺机器人的工作过程中，遇边界转向时容易产生磨草现象，且转向处的草容易较多漏割，需要多次反复切割，导致切割效率较低。针对上述问题，本发明提供了一种自移动园艺机器人的工作方法，用于在边界限定的工作范围内割草，能够实现转向不磨草且切割效率高。In the working process of the traditional self-moving gardening robot, the phenomenon of grass grinding is prone to occur when turning when meeting the boundary, and the grass at the turning point is likely to be missed, which requires repeated cutting for many times, resulting in low cutting efficiency. In view of the above-mentioned problems, the present invention provides a working method of a self-moving gardening robot, which is used to mow grass within a working range defined by a boundary, and can realize turning without grazing and high cutting efficiency.

图1为本发明一实施例的自移动园艺机器人的行走方法的流程图，下面结合具体步骤详细描述。Fig. 1 is a flowchart of a walking method of a self-moving gardening robot according to an embodiment of the present invention, which will be described in detail below with reference to specific steps.

S100、沿第一方向朝边界行走。S100. Walk toward the boundary in the first direction.

自移动园艺机器人包括割草机、灌溉机等应用于园艺领域的设备，本实施例自移动园艺机器人优选为智能割草机，此时智能割草机优选为轮式割草机，即行走组件为行走轮系的智能割草机。轮式割草机与草坪的接触面积相对较小，可以减小转向时对草坪的摩擦。在其他的实施例中，智能割草机也可以考虑选用履带式割草机。智能割草机为能够正反向行走的割草机，即可以正向行走及反向行走，其中反向行走为相对于正向而言，具体指不需要掉头的后退行走。Self-mobile gardening robots include lawn mowers, irrigation machines, and other equipment used in the gardening field. In this embodiment, the self-mobile gardening robot is preferably an intelligent lawn mower. In this case, the intelligent lawn mower is preferably a wheeled lawn mower, that is, a walking component. It is an intelligent lawn mower with a walking wheel train. The contact area between the wheel mower and the lawn is relatively small, which can reduce the friction on the lawn when turning. In other embodiments, the smart lawn mower can also be considered as a crawler lawn mower. The intelligent lawn mower is a lawn mower that can walk forward and backward, that is, it can walk forward and backward. The reverse walk is relative to the forward direction, specifically referring to backward walking without turning around.

如图2所示，示意了智能割草机在第一边界110、第二边界120、第三边界 130、第四边界140限定的工作范围100内的切割过程。工作范围100具体为矩形的工作区域，在其他实施例中其工作范围可为不规则形状。以该工作区域完全未被切割为例：智能割草机的初始位置时是位于第二边界120与第三边界130之间的拐角处，智能割草机启动后沿垂直于第一边界110的第一方向朝向第一边界110行走并割草。第一方向如图2中箭头1所示的方向向上。也就是说，智能割草机沿直线行走并逐步靠近第一边界110，第一方向垂直于第一边界110。As shown in Fig. 2, the cutting process of the smart lawn mower within the workingrange 100 defined by thefirst boundary 110, thesecond boundary 120, thethird boundary 130, and thefourth boundary 140 is illustrated. The workingrange 100 is specifically a rectangular working area, and in other embodiments, the working range may be an irregular shape. Take this working area as an example: the initial position of the smart lawn mower is at the corner between thesecond boundary 120 and thethird boundary 130. After the smart lawn mower is started, the edge is perpendicular to thefirst boundary 110. Walk toward thefirst boundary 110 in the first direction and mow the grass. The first direction is upward as indicated byarrow 1 in FIG. 2. That is, the smart lawn mower walks in a straight line and gradually approaches thefirst boundary 110, and the first direction is perpendicular to thefirst boundary 110.

实现智能割草机的直线行走的技术手段本身为本领域技术人员所知，例如可以利用陀螺仪感知智能割草机的行走方向，并控制智能割草机按预定方向行走以实现直线行走，此处不再赘述。类似地，使第一方向垂直于第一边界110同样如此，例如，可以借助设置在第一边界110处的视觉参照物，利用机器视觉定位实现。具体的，可以使智能割草机的纵向中轴线与视觉参照物对齐。还可以是通过实时监测智能割草机与第二边界120之间的间距，通过在前进过程中保持该间距不变来实现垂直于第一边界110行走。The technical means for realizing the straight-line walking of the smart lawn mower itself is known to those skilled in the art. For example, a gyroscope can be used to sense the walking direction of the smart lawn mower and control the smart lawn mower to walk in a predetermined direction to achieve straight-line walking. I won't repeat it here. Similarly, the same is true for making the first direction perpendicular to thefirst boundary 110, for example, it can be achieved by using a machine vision positioning with the aid of a visual reference set at thefirst boundary 110. Specifically, the longitudinal center axis of the smart lawn mower can be aligned with the visual reference object. It is also possible to monitor the distance between the smart lawn mower and thesecond boundary 120 in real time, and to achieve walking perpendicular to thefirst boundary 110 by keeping the distance constant during the advancing process.

上述的四个边界是整个工作区域的外围，通常首尾相连，将工作区域封闭。边界可以是实体边界，也可以是电子边界，即可以由墙壁、篱笆，栏杆等形成边界，也可以由边界信号发生装置发出虚拟边界信号，如电磁信号或光信号。The above-mentioned four boundaries are the periphery of the entire working area, which are usually connected end to end to enclose the working area. The boundary can be a physical boundary or an electronic boundary, that is, a boundary can be formed by walls, fences, railings, etc., or a virtual boundary signal, such as an electromagnetic signal or an optical signal, can be sent by the boundary signal generator.

S200、第一次侦测到边界时后退行走，且后退过程中按预定半径转向，使到所述割草机后退方向与垂直于所述边界的第二方向一致，其中所述第二方向与第一方向相反。如图2所示，当智能割草机靠近第一边界110并第一次侦测到第一边界110后，割草机后退且按预定半径转向，其行走路径的方向大致如箭头2所示。上述过程中，割草机后退且同步转向，可避免原地转向导致的磨草。S200. Walk backward when the boundary is detected for the first time, and turn according to a predetermined radius during the backward process, so that the backward direction of the lawn mower is consistent with a second direction perpendicular to the boundary, wherein the second direction is The first direction is opposite. As shown in Figure 2, when the smart lawn mower approaches thefirst boundary 110 and detects thefirst boundary 110 for the first time, the lawn mower retreats and turns according to a predetermined radius, and the direction of its walking path is roughly as shown byarrow 2 . In the above process, the lawn mower retreats and turns synchronously, which can avoid grass grinding caused by turning on the spot.

智能割草机的后退时机可以根据预设程序自动实现；还可以是接收外界指 令后启动，即半自动化工作，如遥控式等形式。具体的，智能割草机上设置有界限侦测模块。界限侦测模块用于监测割草机与边界之间的位置信息，具体可能包括距离、角度，界限内外方位中的一种或几种。界限侦测模块的组成和原理可以从多种现有技术中选取，如可以为红外线式、超声波式、碰撞检测式，磁感应式等等。例如，界限侦测模块可以是距离传感器。当距离传感器检测到割草机与边界之间的距离达到预定标准时，智能割草机的控制模块控制行走组件后退行走且同步转向。智能割草机的转向可通过行走组件的差速运动实现，与汽车的转向原理类似。The retreat timing of the intelligent lawn mower can be realized automatically according to a preset program; it can also be started after receiving an external command, that is, semi-automatic work, such as remote control. Specifically, a limit detection module is provided on the smart lawn mower. The boundary detection module is used to monitor the position information between the lawn mower and the boundary, which may specifically include one or more of the distance, angle, and the inner and outer directions of the boundary. The composition and principle of the limit detection module can be selected from a variety of existing technologies, such as infrared, ultrasonic, collision detection, magnetic induction, and so on. For example, the limit detection module may be a distance sensor. When the distance sensor detects that the distance between the lawn mower and the border reaches a predetermined standard, the control module of the intelligent lawn mower controls the walking component to move backward and turn synchronously. The steering of the intelligent lawn mower can be realized by the differential movement of the walking components, which is similar to the steering principle of the car.

为了进一步地提高转向过程提高不磨草的效果。根据智能割草机自身参数值，比如机长/机宽之比为1-1.3、轮子宽度为40-80mm、轮胎齿深5-12mm等参数综合数值的考虑，其后退过程中的转向半径优选设置为1m-5m。发明人经过研究，对于智能割草机而言，依照上述范围的转向半径转弯即属于“转大弯”，能够有效地减小转向时对草坪的磨损。In order to further improve the steering process, the effect of not grinding grass is improved. According to the parameter values of the intelligent lawn mower itself, such as the ratio of the length/width of the machine is 1-1.3, the width of the wheels is 40-80mm, and the tire tooth depth is 5-12mm, the turning radius during the backward process is optimized. Set to 1m-5m. After research, the inventor found that for the smart lawn mower, turning within the above-mentioned range of turning radius is a "big turn", which can effectively reduce the wear on the lawn when turning.

在一个优选的实施例中，智能割草机后退行走过程加速行走。此处的加速行走是相较于步骤S100中智能割草机的行走速度而言。智能割草机后退过程加速行走，能够迅速地完成转向，减小与草坪的接触时间，减小转向时对草坪的磨损。In a preferred embodiment, the smart lawn mower accelerates the walking during the backward walking process. The accelerated walking here is compared with the walking speed of the smart lawn mower in step S100. The intelligent lawn mower accelerates the walking during the backward process, can quickly complete the steering, reduce the contact time with the lawn, and reduce the wear on the lawn when turning.

智能割草机侦测到边界后转向以继续切割新的待切割区域，然而转向过程中，在智能割草机与边界之间不可避免地会存在漏割区域。After the smart lawn mower detects the boundary, it turns to continue cutting the new area to be cut. However, during the turning process, there will inevitably be a missing cut area between the smart lawn mower and the boundary.

为解决上述问题，本步骤中，控制智能割草机依箭头2所示的行走路径2后退行走，直到后退方向刚好与一第二方向一致。第二方向如图2中箭头3所示方向，方向向下，其与第一方向刚好相反，故也垂直于第一边界110。也就是说，此时智能割草机刚好重新摆正方向，智能割草机的纵向的中轴线垂直于第 一边界110，智能割草机的行走方向背对且垂直于第一边界110。In order to solve the above problems, in this step, the intelligent lawn mower is controlled to move backwards along the walkingpath 2 shown by thearrow 2 until the backward direction is exactly the same as a second direction. The second direction is the direction shown byarrow 3 in FIG. 2, and the direction is downward, which is just opposite to the first direction, so it is also perpendicular to thefirst boundary 110. That is, at this time, the smart lawn mower just re-aligns the direction, the longitudinal center axis of the smart lawn mower is perpendicular to thefirst boundary 110, and the walking direction of the smart lawn mower is opposite to and perpendicular to thefirst boundary 110.

接下来，使智能割草机再次反向行走，即切换回以第一方向朝向第一边界110行走，如图2中箭头3所示的行走路径。通过上述措施，智能割草机在完成后退及转向动作后，再次反向行走切割，充分利用其切割范围，能够切割掉一部分的之前的漏割区域，因此减小了漏割区域，能够提高切割效率。Next, make the smart lawn mower walk in the reverse direction again, that is, switch back to walk toward thefirst boundary 110 in the first direction, as shown by the walking path shown byarrow 3 in FIG. 2. Through the above measures, the smart lawn mower will travel in the reverse direction again after completing the retreat and turning actions, and make full use of its cutting range. It can cut off a part of the previous missing cutting area, thus reducing the missing cutting area and improving cutting. efficient.

一优选的实施例中，S200中使割草机后退至后退方向与垂直于所边界的第二方向一致，其中所述第二方向与第一方向相反，具体包括：In a preferred embodiment, in S200, the retreating direction of the lawn mower is consistent with the second direction perpendicular to the boundary, wherein the second direction is opposite to the first direction, which specifically includes:

使智能割草机沿两个相切的圆弧路径后退距离S，所述

其中，R为转向半径，L为工作宽度。也就是说，本实施例中，根据智能割草机的转向半径R、工作宽度L，控制智能割草机通过两次转向实现后退预定距离S，此时可确定为智能割草机刚好重新摆正方向。Make the smart lawn mower retreat distance S along two tangent arc paths, the

Among them, R is the turning radius and L is the working width. That is to say, in this embodiment, according to the turning radius R and the working width L of the smart lawn mower, the smart lawn mower is controlled to retreat a predetermined distance S through two turns. At this time, it can be determined that the smart lawn mower just re-swings. Positive direction.

具体的，智能割草机后退且转向过程中，其运动路径总体如图2中箭头2所示。因此，智能割草机在第二方向上后退的距离定义为S，S可理解为智能割草机后退前后，壳体上的同一点A在第二方向上移动的距离。而在垂直于第二方向的方向上，即图2中左右方向上，智能割草机的壳体上的同一点A在横向移动的距离定义为L。智能割草机横向移动的距离的数值大小设定为刚好等于工作宽度的数值大小，该工作宽度为有效切割宽度，由于智能割草机之间行走的相邻路径之间会由于路径规划的偏差、切割负载的大小以及行走直线度有关存在叠加量，去除该叠加量为该切割的有效切割宽度。也就是说，智能割草机完成后退且转向后，再当沿箭头3或4所示路径切割时，切割范围刚好与沿行走路径1行走切割时的切割范围衔接。这样，转向完成后的切割与转向之前的切割，不存在重复切割，提高切割效率。Specifically, when the smart lawn mower is retreating and turning, the overall movement path is shown byarrow 2 in FIG. 2. Therefore, the distance that the smart lawn mower retreats in the second direction is defined as S, which can be understood as the distance that the same point A on the housing moves in the second direction before and after the smart lawn mower retreats. In the direction perpendicular to the second direction, that is, in the left-right direction in FIG. 2, the distance that the same point A on the casing of the smart lawn mower moves in the lateral direction is defined as L. The numerical value of the lateral movement distance of the intelligent lawnmower is set to be exactly equal to the numerical value of the working width, which is the effective cutting width, because the adjacent paths between the intelligent lawnmowers will have deviations due to path planning. , There is a superimposed amount related to the size of the cutting load and the walking straightness, and the effective cutting width is the effective cutting width after removing the superimposed amount. That is to say, after the smart lawn mower completes backing and turning, when cutting along the path shown byarrow 3 or 4, the cutting range just coincides with the cutting range when walking and cutting along the walkingpath 1. In this way, there is no repeated cutting between the cutting after the steering is completed and the cutting before the steering, and the cutting efficiency is improved.

如图3所示，智能割草机通过两次转向实现图2中箭头2所示的路径。结 合图2，其中，智能割草机刚开始后退时，先按照转向半径R先朝向未切割区域一侧转向，在图2中的切割示意图中，将表现为割草机的后端朝向右侧倾斜，行走路径为如箭头M所示的圆弧路径；然后再按照转向半径R朝向已切割区域一侧转向，在图2中的切割示意图中，将表现为割草机的后端朝向左侧倾斜，行走路径为如箭头N所示的圆弧路径，其中圆弧路径N与M是相切的。As shown in Figure 3, the smart lawn mower achieves the path shown byarrow 2 in Figure 2 through two turns. In combination with Figure 2, when the smart lawn mower just starts to move back, it first turns to the side of the uncut area according to the turning radius R. In the cutting diagram in Figure 2, it will be shown that the rear end of the lawn mower is facing to the right Inclined, the walking path is a circular arc path as shown by arrow M; then turn toward the cut area according to the turning radius R. In the cutting diagram in Figure 2, it will appear as the rear end of the mower facing to the left Inclined, the walking path is a circular arc path as shown by the arrow N, in which the circular arc path N and M are tangent.

如图3所示的原理图，其中虚线圆的大小示意了智能割草机的转向半径的大小，图中d＝L，b＝R，因此

根据勾股定理，可得

进一步地，可得到

由图3可知，当后退距离S时，割草机的行走方向刚好垂直向下，如箭头P所示，因此智能割草机沿两个相切的圆弧路径后退，且保证智能割草机后退距离S，则可智能割草机刚好重新摆正方向。The principle diagram shown in Figure 3, where the size of the dotted circle indicates the size of the turning radius of the smart lawn mower, in the figure d=L, b=R, so

According to the Pythagorean theorem, we can get

Further, you can get

It can be seen from Figure 3 that when the distance S is reversed, the walking direction of the lawn mower is exactly downward, as shown by arrow P. Therefore, the intelligent lawn mower retreats along two tangent arc paths, and the intelligent lawn mower is guaranteed Backward distance S, the smart lawn mower can just re-align the direction.

S300、切换至重新以第一方向朝向所述边界行走。步骤S200结束后，智能割草机横向移动的距离的数值大小设定为刚好等于工作宽度的数值大小。再当切换至重新以第一方向朝向所述边界行走即沿箭头3所示路径切割时，切割范围刚好与沿行走路径1行走切割时的切割范围衔接。这样，转向完成后的切割与转向之前的切割，不存在重复切割，提高切割效率。S300: Switch to walking toward the boundary in the first direction again. After the end of step S200, the numerical value of the lateral movement distance of the smart lawn mower is set to be just equal to the numerical value of the working width. When switching to the first direction to walk toward the boundary again, that is, to cut along the path shown byarrow 3, the cutting range just coincides with the cutting range when walking and cutting along the walkingpath 1. In this way, there is no repeated cutting between the cutting after the steering is completed and the cutting before the steering, and the cutting efficiency is improved.

一具体的实施例中，如图2所示，其中图2中尺寸单位为mm。智能割草机的5个行走路径依次为箭头1-2-3-4-5所示。其中智能割草机按3m的转弯半径行走切割，其中沿行走路径1到边界110时，按3m的转弯半径转向且后退，行走路径为行走路径2，此时遗漏的切割区域的长度为1.873m。然后再反向直线行走即行走路径3，以切割掉一部分的漏割区域；再反向直线行走，依次完成行走路径4和行走路径5，其中行走路径3和行走路径4所对应的草坪区域相同。实践表明，依照上述参数值对智能割草机进行设定后进行割草，智能割草机在转向时基本没有磨草现象，漏割区域极小，因此需要智能割草机后续重复切割 的区域少，从而提高了切割效率。In a specific embodiment, as shown in Fig. 2, the unit of size in Fig. 2 is mm. The five walking paths of the intelligent lawn mower are shown by arrows 1-2-3-4-5 in sequence. Among them, the smart lawn mower walks and cuts at a turning radius of 3m. When following thewalking path 1 to theboundary 110, it turns and retreats at a turning radius of 3m. The walking path is walkingpath 2. At this time, the length of the missing cutting area is 1.873m . Then walk in a straight line in the reverse direction, ie, walkingpath 3, to cut off a part of the missing cut area; then walk in a straight line in the reverse direction to complete walking path 4 and walking path 5 in turn, where walkingpath 3 and walking path 4 correspond to the same lawn area . Practice has shown that after setting the intelligent lawn mower according to the above parameter values to cut the grass, the intelligent lawn mower basically has no grass grinding phenomenon when turning, and the missing cutting area is very small. Therefore, the subsequent repeated cutting area of the intelligent lawn mower is required. Less, thereby improving the cutting efficiency.

S400、第二次侦测到边界时切换至沿第二方向行走直到侦测到下一边界。S400: Switch to walking in the second direction when the boundary is detected for the second time until the next boundary is detected.

如图2所示，智能割草机依箭头3所示的行走路径切割漏割区域直到再次侦测到第一边界110，然后后退行走，即沿第二方向朝向第二边界120行走。当侦测到第二边界120后，则重复上述步骤S100-S400，如此实现循环切割。As shown in FIG. 2, the smart lawn mower cuts the missing cut area according to the walking path shown byarrow 3 until thefirst boundary 110 is detected again, and then walks backward, that is, walks toward thesecond boundary 120 in the second direction. When thesecond boundary 120 is detected, the above steps S100-S400 are repeated, so as to realize cyclic cutting.

上述割草方法，采取后退过程中同步转向的方式能够减小对草坪的磨损，以实现不磨草的效果，同时为了后退转向完成后再次反向切割以减小漏割区域，保证切割效率，从而实现切割效率高且避免转向时磨草。In the above mowing method, the synchronous turning during the backward process can reduce the wear on the lawn, so as to achieve the effect of not grinding the grass. At the same time, in order to reduce the missing cutting area and ensure the cutting efficiency, the reverse cutting is performed after the backward turning is completed. So as to achieve high cutting efficiency and avoid grazing when turning.

本发明的实施例还提供一种智能割草机200，如图4所示，包括壳体210、行走组件220、切割组件230、界限侦测模块240和控制模块250。其中，行走组件用于带动智能割草机行走和转向，切割组件230设置在壳体10下方，用于切割草坪。界限侦测模块240可设置在壳体10的外侧壁。界限侦测模块240用于监测割草机与边界之间的位置信息，控制模块250用于接收界限侦测模块240的信号，及用于控制行走组件220和切割组件230的工作。The embodiment of the present invention also provides anintelligent lawn mower 200, as shown in FIG. Among them, the walking component is used to drive the smart lawn mower to walk and turn, and thecutting component 230 is arranged under the housing 10 for cutting the lawn. Thelimit detection module 240 may be disposed on the outer side wall of the casing 10. Theboundary detection module 240 is used for monitoring the position information between the lawn mower and the boundary, and thecontrol module 250 is used for receiving signals from theboundary detection module 240 and used for controlling the operation of the walkingassembly 220 and the cuttingassembly 230.

控制模块250与行走组件220和界限侦测模块240电性连接。控制模块250被配置为用于：控制智能割草机沿垂直于边界的第一方向朝边界行走；侦测到所述边界时后退行走，且后退过程同时按预定半径转向，使割草机后退方向与垂直于所述边界的第二方向一致，其中所述第二方向与第一方向相反；切换至重新以第一方向朝向所述边界行走；再次侦测到所述边界时切换至沿第二方向远离所述边界行走直到侦测到下一边界。具体的，控制模块250包括存储器和处理器，其中存储器中储存有计算机程序，所述计算机程序被处理器执行时能够执行前述的步骤S100-S400。处理器可以是嵌入式数字信号处理器(Digital Signal Processor，DSP)、微处理器(Micro Processor Unit，MPU)等，本实施 例中不作具体限制。Thecontrol module 250 is electrically connected to thewalking component 220 and thelimit detection module 240. Thecontrol module 250 is configured to: control the smart lawn mower to walk toward the boundary in a first direction perpendicular to the boundary; when the boundary is detected, walk backward, and turn at a predetermined radius during the backward process to make the lawn mower move backward. The direction is the same as the second direction perpendicular to the boundary, wherein the second direction is opposite to the first direction; switch to walk toward the boundary in the first direction again; switch to move along the first direction when the boundary is detected again Walk away from the boundary in two directions until the next boundary is detected. Specifically, thecontrol module 250 includes a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the aforementioned steps S100-S400 can be executed. The processor may be an embedded digital signal processor (Digital Signal Processor, DSP), a microprocessor (Micro Processor Unit, MPU), etc., which are not specifically limited in this embodiment.

上述智能割草机，能够在边界限定的工作范围内循环切割，其采取后退过程中同步转向的方式，能够减小对草坪的磨损，以实现不磨草的效果，同时为了后退转向完成后再次反向切割以减小漏割区域，保证切割效率，从而实现切割效率高且避免转向时磨草。The above-mentioned smart lawn mower can cut cyclically within the working range limited by the boundary. It adopts the method of synchronous steering during the backward process, which can reduce the wear on the lawn, so as to achieve the effect of not grinding the grass, and at the same time for the purpose of reversing after the completion of the backward steering. Reverse cutting to reduce the missing cutting area and ensure cutting efficiency, so as to achieve high cutting efficiency and avoid grass grinding when turning.

一些实施例中，智能割草机200为轮式割草机。具体的，如图5所示，行走组件220包括前轮组和后轮组，其中前轮组包括分别设置在壳体10的前端两侧的两个驱动轮，定义为前驱动轮221；所述前轮组包括分别设置在壳体的后端的两侧的两个驱动轮，定义为后驱动轮222。其中，如图6所示，每个驱动轮分别具有独立悬挂结构260及驱动马达270。如此，智能割草机200的四轮全为驱动轮，每个驱动轮均提供牵引力，在大坡度、凹凸不太平的地形中也可保持足够牵引力，不打滑，切割效率高，实现不磨草的效果。In some embodiments, thesmart lawn mower 200 is a wheeled lawn mower. Specifically, as shown in FIG. 5, the walkingassembly 220 includes a front wheel set and a rear wheel set. The front wheel set includes two drive wheels respectively arranged on both sides of the front end of the housing 10, which are defined asfront drive wheels 221; The front wheel set includes two driving wheels respectively arranged on both sides of the rear end of the housing, which are defined asrear driving wheels 222. Wherein, as shown in FIG. 6, each driving wheel has anindependent suspension structure 260 and a drivingmotor 270 respectively. In this way, the four wheels of thesmart lawn mower 200 are all driving wheels, and each driving wheel provides traction. It can maintain sufficient traction even in steep, uneven terrain, non-skidding, high cutting efficiency, and realizing no grass grinding. Effect.

另外，智能割草机的四个驱动轮分别采用独立悬挂。智能割草机行走过程中，当遇到凹凸不平路面时，每个驱动轮能够上下摆动，使得每个驱动轮在行驶时均与地面接触，避免打滑，从而避免磨草。In addition, the four driving wheels of the smart lawn mower are independently suspended. When the smart lawn mower is walking, when it encounters uneven roads, each driving wheel can swing up and down, so that each driving wheel is in contact with the ground when driving, so as to avoid slipping and grazing.

一具体的方案中，如图6所示，以一后驱动轮222处为例介绍独立独悬挂结构260的结构。独立独悬挂结构包括转动连接于壳体的单纵臂261、连接单纵臂261与壳体210的弹簧阻尼262，后驱动轮222固定于单纵臂261，驱动马达270与后驱动轮222装在一起。弹簧阻尼262的一端通过上固定座263固定于壳体110，弹簧阻尼262的另一端通过下固定座264固定在单纵臂261上。其他各驱动轮处，独立独悬挂结构260和驱动马达270的设置方式相同。这样，当遇到凹凸不平路面时，单纵臂261在重力和弹簧阻尼262的共同作用下上下摆动，使得每个驱动轮在行驶时均与地面接触，避免打滑，从而避免磨草。In a specific solution, as shown in FIG. 6, arear driving wheel 222 is taken as an example to introduce the structure of the independentindependent suspension structure 260. The independent suspension structure includes asingle trailing arm 261 rotatably connected to the housing, aspring damper 262 connecting thesingle trailing arm 261 and thehousing 210, therear drive wheel 222 is fixed to thesingle trailing arm 261, and thedrive motor 270 and therear drive wheel 222 are installed. Together. One end of thespring damper 262 is fixed to thehousing 110 through theupper fixing base 263, and the other end of thespring damper 262 is fixed to thesingle trailing arm 261 through thelower fixing base 264. At the other driving wheels, theindependent suspension structure 260 and the drivingmotor 270 are arranged in the same manner. In this way, when encountering uneven roads, thesingle trailing arm 261 swings up and down under the combined action of gravity and the spring damping 262, so that each driving wheel is in contact with the ground during driving, so as to avoid slipping and to avoid grazing.

进一步地，为了提高整机刚性，一优选的方案中，如图7所示，后驱动轮222的单纵臂261通过轴承265转动连接于一纵臂固定轴266，而纵臂固定轴266则通过压紧螺钉267固定于壳体210。类似地，前驱动轮221的单纵臂261也是通过一个轴承265转动连接于另一纵臂固定轴266，而另一纵臂固定轴266则固定于壳体210。这样整机刚性较好，进而实现整机侧向稳定性好的目的。Further, in order to improve the rigidity of the whole machine, in a preferred solution, as shown in FIG. 7, thesingle trailing arm 261 of therear drive wheel 222 is rotatably connected to a trailing arm fixedshaft 266 through abearing 265, and the trailing arm fixedshaft 266 is It is fixed to thehousing 210 by acompression screw 267. Similarly, thesingle trailing arm 261 of thefront driving wheel 221 is also rotatably connected to another trailing arm fixedshaft 266 through abearing 265, and the other trailing arm fixedshaft 266 is fixed to thehousing 210. In this way, the rigidity of the whole machine is better, and the purpose of good lateral stability of the whole machine is realized.

为了保证智能割草机的运动灵活且减轻对草坪的磨损，一些实施例中，智能割草机的整机重量优先为15kg-30kg。In order to ensure the flexible movement of the intelligent lawn mower and reduce the wear on the lawn, in some embodiments, the weight of the entire intelligent lawn mower is preferably 15kg-30kg.

此外，将驱动轮的直径范围控制为200mm-250mm，以实现整机尺寸小的同时还具备一定的越障能力；同时弹簧阻尼262的行程范围20mm-50mm。通过上述手段，智能割草机200的整机尺寸较小，且具有一定的越障能力。经测试，最终实现最大越障高度可达100mm。In addition, the diameter range of the driving wheel is controlled to 200mm-250mm to achieve a small size of the whole machine while also having a certain obstacle crossing ability; at the same time, the travel range of the spring damping 262 is 20mm-50mm. Through the above-mentioned means, the overall size of theintelligent lawn mower 200 is small and has a certain obstacle crossing ability. After testing, the ultimate obstacle crossing height can reach 100mm.

如图6和图7所示，切割组件230包括切割刀盘231，设置在壳体210下方的中间位置。切割组件的切割范围为150mm-400mm。切割组件230具体包括两个切割刀盘231，两个切割刀盘231所形成的切割圆的直径范围为150mm-400mm。在另外的实施例中，切割组件2130可以是单切割刀盘的结构。As shown in FIGS. 6 and 7, the cuttingassembly 230 includes acutting blade 231, which is disposed at an intermediate position under thehousing 210. The cutting range of the cutting assembly is 150mm-400mm. The cuttingassembly 230 specifically includes two cuttingblades 231, and the diameter of the cutting circle formed by the two cuttingblades 231 ranges from 150 mm to 400 mm. In another embodiment, the cutting assembly 2130 may be a structure of a single cutting cutter head.

以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the various technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, All should be considered as the scope of this specification.

以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。The above-mentioned embodiments only express several implementation modes of the present invention, and their description is relatively specific and detailed, but they should not be understood as a limitation on the scope of the invention patent. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can be made, and these all fall within the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention should be subject to the appended claims.

Claims (10)

Translated fromChinese

一种自移动园艺机器人的工作方法，用于在边界限定的工作范围内工作，其特征在于，包括以下步骤：A working method of a self-moving gardening robot, which is used to work within a working range defined by a boundary, is characterized in that it includes the following steps:沿第一方向朝所述边界行走；Walking toward the boundary in the first direction;第一次侦测到所述边界时后退行走，且后退过程中按预定半径转向，使所述机器人后退方向与第二方向一致，其中所述第二方向与第一方向相反；When the boundary is detected for the first time, it walks backward, and turns according to a predetermined radius during the backward process, so that the backward direction of the robot is consistent with the second direction, wherein the second direction is opposite to the first direction;切换至重新以第一方向朝向所述边界行走；Switch to walking toward the boundary in the first direction again;第二次侦测到所述边界时切换至沿第二方向行走直到侦测到下一边界。When the boundary is detected for the second time, switch to walking in the second direction until the next boundary is detected.根据权利要求1所述的方法，其特征在于，所述后退行走中的转向半径为1m-5m。The method according to claim 1, wherein the turning radius in the backward walking is 1m-5m.根据权利要求1所述的方法，其特征在于，所述第一次侦测到所述边界时后退行走，且后退过程中按预定半径转向，使所述机器人后退方向与第二方向一致，其中所述第二方向与第一方向相反的步骤中，使所述机器人后退至后退方向与垂直于所述边界的第二方向一致，具体包括：The method according to claim 1, wherein when the boundary is detected for the first time, the robot walks backward, and turns according to a predetermined radius during the backward process, so that the backward direction of the robot is consistent with the second direction, wherein In the step of the second direction being opposite to the first direction, making the robot retreat until the retreat direction is consistent with the second direction perpendicular to the boundary specifically includes:使自移动园艺机器人沿两个相切的圆弧路径后退后退距离S，所述Make the self-mobile gardening robot retreat along two tangent circular arc paths by the distance S, the

其中，R为转向半径，L为工作宽度。Among them, R is the turning radius and L is the working width.根据权利要求1所述的方法，其特征在于，所述第一次侦测到所述边界时后退，且后退过程中按预定半径转向，使所述机器人后退方向与第二方向一致，其中所述第二方向与第一方向相反的步骤中，自移动园艺机器人后退过程加速行走。The method according to claim 1, wherein the backing when the boundary is detected for the first time, and turning according to a predetermined radius during the backing process, so that the backing direction of the robot is consistent with the second direction, wherein In the step where the second direction is opposite to the first direction, the self-mobile gardening robot accelerates walking during the backward process.根据权利要求1-4所述任一权利要求的方法，其特征在于，所述自移动园艺机器人为智能割草机。The method according to any one of claims 1 to 4, wherein the self-mobile gardening robot is an intelligent lawn mower.根据权利要求5所述的方法，其特征在于，所述智能割草机为轮式或履 带式智能割草机。The method according to claim 5, wherein the intelligent lawn mower is a wheeled or crawler intelligent lawn mower.一种自移动园艺机器人，其特征在于，包括：A self-moving gardening robot, characterized in that it comprises:壳体；case;行走组件，用于带动所述自移动园艺机器人行走和转向；Walking components, used to drive the self-mobile gardening robot to walk and turn;工作组件，设置在壳体的下方；The working components are arranged under the shell;界限侦测模块，用于侦测工作时的边界并发出侦测信号；The boundary detection module is used to detect the boundary during work and send out detection signals;控制模块，与所述行走组件和界限侦测模块电性连接，其中所述控制模块用于：控制所述机器人沿第一方向朝所述边界行走；第一次侦测到所述边界时后退行走，且后退过程同时按预定半径转向，使所述机器人后退方向与第二方向一致，其中所述第二方向与第一方向相反；切换至重新以第一方向朝向所述边界行走；第二次侦测到所述边界时切换至沿第二方向远离所述边界行走直到侦测到下一边界。The control module is electrically connected to the walking component and the boundary detection module, wherein the control module is used to: control the robot to walk toward the boundary in a first direction; back when the boundary is detected for the first time While walking and turning back at a predetermined radius during the backing process, the backing direction of the robot is consistent with the second direction, where the second direction is opposite to the first direction; switching to re-walking toward the boundary in the first direction; second When the boundary is detected for the second time, switch to walking away from the boundary in the second direction until the next boundary is detected.根据权利要求7所述的自移动园艺机器人，其特征在于，所述行走组件包括前轮组和后轮组，所述前轮组包括分别设置在壳体的前端两侧的两个驱动轮，定义为前驱动轮；所述前轮组包括分别设置在壳体的后端的两侧的两个驱动轮，定义为后驱动轮，其中每个驱动轮分别具有独立悬挂结构及驱动马达。The self-mobile gardening robot according to claim 7, wherein the walking assembly includes a front wheel set and a rear wheel set, and the front wheel set includes two driving wheels respectively arranged on both sides of the front end of the housing, It is defined as a front drive wheel; the front wheel set includes two drive wheels respectively arranged on both sides of the rear end of the housing, and is defined as a rear drive wheel, wherein each drive wheel has an independent suspension structure and a drive motor.根据权利要求8所述的自移动园艺机器人，其特征在于，所述独立独悬挂结构包括转动连接于所述壳体的单纵臂、连接所述单纵臂与所述壳体的弹簧阻尼，所述驱动轮固定于所述单纵臂，驱动马达与所述驱动轮组装在一起。The self-moving gardening robot according to claim 8, wherein the independent suspension structure comprises a single trailing arm rotatably connected to the housing, and a spring damping connecting the single trailing arm and the housing, The driving wheel is fixed to the single trailing arm, and the driving motor is assembled with the driving wheel.根据权利要求7所述的自移动园艺机器人，其特征在于，所述后退行走中的转向半径为1m-5m。The self-moving gardening robot according to claim 7, wherein the turning radius in the backward walking is 1m-5m.

Images