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CN-116998301-B - Automatic mower

CN116998301BCN 116998301 BCN116998301 BCN 116998301BCN-116998301-B

Abstract

The invention relates to a robotic mower capable of autonomously moving and performing mowing in a preset working area, which comprises a mower body, a moving module, a mowing assembly, an image acquisition device, a view angle projection device and a target object, wherein the mower body is provided with a front end, the moving module drives the robotic mower to move, the mowing assembly performs mowing action on grass in the working area, the image acquisition device is arranged on the top of the front end of the mower body and is configured to acquire images in the advancing direction of the mower body, the area covered by the view angle projection device in the horizontal plane of the preset height is the view area of the image acquisition device, the view area comprises a first view boundary far from the front end of the mower body and a second view boundary close to the front end of the mower body along the advancing direction of the mower body, the image acquisition device is installed according to preset installation parameters, the distance between the first view boundary and the front end of the mower body is larger than or equal to the response distance of the robotic mower, the response distance is needed by the robotic mower to avoid the target object, and the target object comprises the boundary and the obstacle.

Inventors

  • PAUL ANDRO
  • Davide Dolph
  • FEDERICO TESTORIN
  • Emanuel conti
  • DU JIANG
  • LI XINGHONG
  • WANG SHUO
  • WANG KAI

Assignees

  • 苏州宝时得电动工具有限公司

Dates

Publication Date
20260508
Application Date
20230411
Priority Date
20220414

Claims (20)

  1. 1. A robotic lawnmower capable of autonomously moving within a predetermined work area and performing mowing work, comprising: A body having opposite body front and body rear ends along a forward direction of the robotic lawnmower; The moving module drives the automatic mower to move; a mowing assembly for cutting grass in the work area; the image acquisition device is arranged at the top of the front end of the machine body and used for acquiring images in the advancing direction of the machine body; Wherein, the The area covered by the image acquisition device in the horizontal plane with the preset height is a visual field area of the image acquisition device, the visual field area comprises a first visual field boundary far away from the front end of the automatic mower and a second visual field boundary close to the front end of the automatic mower along the advancing direction of the automatic mower, the visual field area comprises a third visual field boundary positioned at the left side of the advancing direction and a fourth visual field boundary positioned at the right side of the advancing direction along the advancing direction of the automatic mower, and the distance between the third visual field boundary and the fourth visual field boundary is 1.2 to 3 times of the width of the automatic mower; Wherein, the The image acquisition device is configured to be installed according to preset installation parameters, so that the first visual field boundary is a first distance from the front end of the machine body, the second visual field boundary is a second distance from the front end of the machine body, the first distance, the second distance and the distance between the third visual field boundary and the fourth visual field boundary are respectively determined based on the installation parameters of the image acquisition device, the internal parameters of the image acquisition device and a preset height h3, and the value range of the preset height h3 is more than or equal to 0mm and less than or equal to 150mm; Wherein, the The first distance is greater than or equal to a response distance of the robotic lawnmower, the response distance being a distance required by the robotic lawnmower to avoid a target object, the target object including a boundary and an obstacle, and, The second distance is less than or equal to 500mm.
  2. 2. The robotic lawnmower of claim 1, wherein, The response distance comprises at least one of a braking distance and an image recognition distance; The image acquisition device is provided with image recognition time, and the image recognition distance is the driving distance of the automatic mower in the image recognition time.
  3. 3. The robotic lawnmower of claim 2, wherein, The first distance is greater than or equal to the sum of the braking distance of the automatic mower and the image recognition distance; the braking distance is at least related to the braking time and the running speed of the automatic mower, and the image recognition distance is related to the image recognition time of the image acquisition device and the running speed of the automatic mower.
  4. 4. The robotic lawnmower of claim 3, wherein, The value range of the running speed is 0.25 m/s-0.5 m/s; the value range of the braking time is 50ms-2s; the braking distance is 12.5mm-1000mm; the value range of the image recognition time is 50ms-500ms, and the image recognition distance is 125mm-250mm.
  5. 5. The robotic lawnmower of claim 1, wherein, The installation parameters at least comprise an installation height h1, an installation distance x0 and an installation angle, wherein the installation height h1 is the height of the image acquisition device from the horizontal ground, the installation distance x0 is the horizontal distance of the image acquisition device from the front end of the machine body, the installation angle comprises a lens rotation angle a3, and the lens rotation angle a3 is an included angle formed between the central axis of the lens of the image acquisition device and the vertical direction; The internal parameters of the image acquisition device include a vertical field angle a2.
  6. 6. The robotic lawnmower of claim 1, wherein the second distance is less than or equal to a predetermined blind zone threshold.
  7. 7. The robotic lawnmower of claim 5, wherein the mounting height h1 has a value in the range of 150mm < h1 < 500mm.
  8. 8. The robotic lawnmower of claim 7, wherein the vertical field of view angle a2 has a value in the range of 45 ° to a2 ° to 90 °.
  9. 9. The robotic lawnmower of claim 7, wherein the lens rotation angle a3 has a value in the range of 0≤a3≤75 °.
  10. 10. The robotic lawnmower of claim 7, wherein the mounting distance x0 has a value in the range of 0≤x0≤220 mm.
  11. 11. The robotic lawnmower of claim 7, wherein, The installation angle also comprises a horizontal installation angle a1, and the horizontal installation angle a1 is an included angle between a vertical line and a horizontal line of the central axis of the lens of the image acquisition device; The value range of the installation height h1 is 218 mm-434 mm; The value range of the installation distance x0 is more than or equal to 0 and less than or equal to 83mm; The value range of the horizontal installation angle a1 is more than or equal to 0 degree and less than or equal to 86 degrees; the value range of the vertical field angle a2 is 45 degrees or more and a2 is or less than 90 degrees; The value range of the lens rotation angle a3 is 52 degrees or more and a3 or less and 68 degrees or less.
  12. 12. The robotic lawnmower of claim 7, wherein, The installation angle also comprises a horizontal installation angle a1, and the horizontal installation angle a1 is an included angle between a vertical line and a horizontal line of the central axis of the lens of the image acquisition device; the value range of the installation height h1 is 200mm or more and h1 or less than 400mm or less; the value range of the installation distance x0 is more than or equal to 0 and less than or equal to 40mm; The value range of the horizontal installation angle a1 is 30 degrees or more and a1 is or less than 45 degrees; the value range of the vertical field angle a2 is 60 degrees or more and a2 or less than 80 degrees; the value range of the lens rotation angle a3 is 30 degrees-3 degrees-45 degrees.
  13. 13. The robotic lawnmower of claim 7, wherein the response distance has a range of values from 135mm to 1250mm.
  14. 14. The robotic lawnmower of claim 7, wherein the first distance is greater than or equal to 800mm.
  15. 15. The robotic lawnmower of claim 7, wherein the second distance is less than or equal to 0, wherein the body has a projection on a horizontal plane of a preset height, the second distance less than zero comprising a second field of view boundary within the projection range.
  16. 16. The robotic lawnmower of claim 6, wherein the dead zone threshold has a value in the range of 50mm to 500mm.
  17. 17. The robotic lawnmower of any one of claims 5-16, wherein the internal parameters of the image capture device further comprise a horizontal field angle a4, the horizontal field angle a4 of the image capture device ranging from 60 ° to 160 ° or the internal parameters of the image capture device further comprise a horizontal field angle a4, and the ratio of the horizontal field angle a4 to the vertical field angle a2 is 4:3 or 16:9.
  18. 18. The robotic lawnmower of claim 1, wherein the body width has a value in the range 400mm to 550mm.
  19. 19. The robotic lawnmower of claim 1, wherein, The distance between the third view boundary and the fourth view boundary is determined based on the installation parameter, the internal parameter of the image acquisition device and the preset height h 3; Wherein, the The installation parameters at least comprise an installation height h1, the internal parameters of the image acquisition device comprise a horizontal field angle a4, and the horizontal field angle a4 is configured to determine the detection distance of the image acquisition device along the width direction of the machine body.
  20. 20. The robotic lawnmower of claim 19, wherein, The value range of the installation height h1 is 150mm or more and h1 or less than 500mm or less; the value range of the preset height h3 is more than or equal to 0mm and less than or equal to 150mm; The horizontal view angle a4 of the image acquisition device has a value range of 60 degrees to a4 degrees to 160 degrees.

Description

Automatic mower Technical Field The invention relates to a mower, in particular to a self-powered mower. Background The automatic mower can autonomously move in a working area and execute mowing work, so that a user can be released from the boring mowing work, the manpower labor is reduced, and the automatic mower is widely welcome by consumers. The automatic mower autonomously moves and mows in the working area, and not only needs to have the capability of identifying the working area, but also needs to have the capability of identifying obstacles. How to accurately identify the obstacle of the automatic mower and to enable the automatic mower to take reasonable obstacle avoidance measures after the obstacle is identified is a technical problem which needs to be solved by the automatic mower in a more intelligent mode. In order to realize that the mower is controlled in a working area, the current automatic mower mainly limits the movement of the automatic mower by arranging boundary wires capable of emitting electric signals in the edge zone of the corresponding working area, and realizes obstacle detection by a collision sensor, so that the automatic mower can autonomously move in the working area and recognize and react under the condition of not colliding with the obstacle, the safety of a user is particularly facilitated, and the important attention of consumers is paid. Disclosure of Invention In order to overcome the defects of the prior art, the embodiment of the disclosure aims to provide a non-contact obstacle avoidance automatic mower so as to improve the safety and the application range of the mower. The automatic mower capable of moving and performing mowing in a preset working area comprises a mower body, a moving module, a mowing assembly, an image acquisition device and a first distance, wherein the mower body is provided with a front end and a rear end which are opposite to each other along the advancing direction of the automatic mower, the mowing assembly is used for cutting grass in the working area, the image acquisition device is arranged on the top of the front end of the mower body and acquires images in the advancing direction of the mower body, the area covered by the image acquisition device in a horizontal plane with a view angle projected on a preset height is a view area of the image acquisition device, the view area comprises a first view boundary far away from the front end of the mower body and a second view boundary close to the front end of the mower body along the advancing direction of the automatic mower, the image acquisition device is configured to be installed according to preset installation parameters, the first view boundary is a first distance from the front end, the second distance from the front end of the mower body, the first distance is equal to or larger than the first distance from the front end of the mower, and the first distance is equal to or smaller than the first distance from the mower to an obstacle or equal to the obstacle or the obstacle, and the distance is equal to the distance of the obstacle or the distance is smaller than the obstacle. Through the self-defining installation to the image acquisition device for first distance is greater than or equal to the response distance of automatic mower, thereby realize that automatic mower can accomplish in the work area and keep away the barrier and go out the boundary, promoted automatic mower's security. In one embodiment, the response distance comprises at least one of a braking distance and an image recognition distance, wherein the braking distance is a driving distance of the automatic mower to avoid a target object in a braking mode, and the image acquisition device is provided with an image recognition time, and the image recognition distance is the driving distance of the automatic mower within the image recognition time. In one embodiment, the first distance is greater than or equal to the sum of a braking distance of the robotic mower and the image recognition distance, wherein the braking distance is related to at least one motion parameter of braking time and travel speed of the robotic mower, and the image recognition distance is related to image recognition time of the image acquisition device and travel speed of the robotic mower. In one embodiment, the value range of the running speed is 0.25m/s-0.5m/s, the value range of the braking time is 50ms-2s, the value range of the braking distance is 12.5mm-1000mm, the value range of the image recognition time is 50ms-500ms, and the image recognition distance is 125mm-250mm. In one embodiment, the image recognition time is less than or equal to 0.6s. In one embodiment, the braking distance is 25mm. In one of the real-time modes, the image recognition distance is 300mm. In one embodiment, the first distance and the second distance are respectively determined based on an installation parameter of the image acquisition device, an internal param