# US 11,076,529 B2 · Intelligent mowing system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,076,529 B2 - Document ID: US11076529B2 - Status: Granted - Kind: B2 - Application number: 16/874,964 - Filed: 2020-05-15 - Published: 2020-09-03 - Granted: 2021-08-03 - Earliest claimed: 2017-11-16 - Assignees: Nanjing Chervon Industry Co., Ltd. - Applicants: Nanjing Chervon Industry Co., Ltd. - Inventors: Weipeng Chen; Hongwei Wang; Dezhong Yang; Weibin Kou - Web page: https://patentgrep.com/patent/US11076529B2 ## CPC - A01D 34/008: {for automated or remotely controlled operation} - G01S 19/14: specially adapted for specific applications - G01S 19/43: using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry - G01S 19/47: the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial - G01S 19/49: whereby the further system is an inertial position system, e.g. loosely-coupled - G01S 19/53: Determining attitude - G05D 1/0044: {by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps (maps used for automatic navigation G05D1/0274; flight directors G01C23/005)} - G05D 1/0088: {characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00)} - G05D 1/0219: {ensuring the processing of the whole working surface} - G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)} - G05D 1/0278: {using satellite positioning signals, e.g. GPS} - G05D 1/028: {using a RF signal} - A01D 34/78: electric - A01D 69/02: electric - A01D 2101/00: Lawn-mowers - A01D: HARVESTING; MOWING - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## 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. ## Claims ### Claim 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. ### Claim 2 (depends on 1) 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. ### Claim 3 (depends on 2) 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. ### Claim 4 (depends on 3) 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. ### Claim 5 (depends on 4) 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. ### Claim 6 (depends on 5) 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. ### Claim 7 (depends on 6) 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. ### Claim 8 (depends on 7) 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. ### Claim 9 (depends on 3) 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. ### Claim 10 (depends on 3) 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. ### Claim 11 (depends on 3) 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. ### Claim 12 (depends on 1) 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. ### Claim 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. ### Claim 14 (depends on 13) 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 the second mobile station. ### Claim 15 (depends on 14) The intelligent mowing system of claim 14, 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. ### Claim 16 (depends on 15) The intelligent mowing system of claim 15, wherein, if 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 a predetermined line width of the mowing path is set 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 set as a partial offset state, and the path offset state where the mobile station group is located outside the predetermined line width of the mowing path is set as a complete offset state. ### Claim 17 (depends on 16) The intelligent mowing system of one of claim 16, 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. ### Claim 18 (depends on 17) The intelligent mowing system of claim 17, 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. ### Claim 19 (depends on 18) The intelligent mowing system of claim 18, 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. ### Claim 20 (depends on 19) The intelligent mowing system of claim 19, 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.