US 12,457,924 B2Granted

Smart mowing system

AssigneeNanjing Chervon Industry Co., Ltd.

InventorsHongwei Wang, Dezhong Yang, Qing Gao

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Abstract

A smart mowing system includes a boundary line, a signal transmitting unit, and a smart mower. The boundary line is configured to plan a working area. The signal transmitting unit is configured to generate a boundary signal to the boundary line. The smart mower includes a first signal receiving module, a second signal receiving module, and a control module. The second signal receiving module is a preset distance away from the first signal receiving module. The control module is configured to determine whether the first signal receiving module is located inside the boundary line, to determine whether the second signal receiving module is located inside the boundary line, and to control the smart mower to walk along the boundary line when the first signal receiving module or the second signal receiving module is located outside the boundary line.

Claims19

Dependent claims

A smart mowing system, comprising:

a smart mower;
a boundary line defining at least a part of a working area of the smart mower;
and
a signal transmitting unit electrically connected to the boundary line and configured to generate a boundary signal and transmit the boundary signal to the boundary line, wherein a magnetic field is generated when the boundary signal flows through the boundary line,
wherein the smart mower comprises:
a first signal receiving module configured to generate a first boundary line induction signal by inducing a change of the magnetic field generated by the boundary signal;
a second signal receiving module configured to generate a second boundary line induction signal by inducing a change of the magnetic field generated by the boundary signal, wherein the second signal receiving module is a preset distance away from the first signal receiving module;
and
a control module configured to:
receive the first boundary line induction signal and the second boundary line induction signal;
determine whether the first signal receiving module is located inside the boundary line according to at least the first boundary line induction signal;
determine whether the second signal receiving module is located inside the boundary line according to at least the second boundary line induction signal;
and
when at least one of the first signal receiving module or the second signal receiving module is located outside the boundary line, control the smart mower to walk basically along the boundary line,
acquire a phase of the first boundary line induction signal, and
determine that the first signal receiving module is located in the working area when a value range of the phase of the first boundary line induction signal is greater than or equal to −90° and less than 90°.

13 more elements

A smart mowing system, comprising:

a smart mower;
a boundary line comprising a first boundary line and a second boundary line adjacent to the first boundary line, wherein a walk passage is defined between the first boundary line and the second boundary line;
and
a signal transmitting unit electrically connected to the boundary line and configured to generate a boundary signal and transmit the boundary signal to the boundary line, wherein a magnetic field is generated when the boundary signal flows through the boundary line;
wherein the smart mower comprises:
a first signal receiving module configured to generate a first boundary line induction signal by inducing a change of the magnetic field generated by the boundary signal;
a second signal receiving module configured to generate a second boundary line induction signal by inducing a change of the magnetic field generated by the boundary signal, wherein the second signal receiving module is a preset distance away from the first signal receiving module;
and
a control module configured to:
receive the first boundary line induction signal and the second boundary line induction signal;
determine whether the first signal receiving module is located inside the boundary line according to at least the first boundary line induction signal;
determine whether the second signal receiving module is located inside the boundary line according to at least the second boundary line induction signal;
and
when at least one of the first signal receiving module or the second signal receiving module is located inside the boundary line, control the smart mower to pass through the walk passage, and
wherein an attitude of the smart mower relative to the boundary line comprises an included angle between a heading direction of the smart mower and the boundary line and at least one of a first vertical distance Y1 between the first signal receiving module and the boundary line or a second vertical distance Y2 between the second signal receiving module and the boundary line.

12 more elements

Dependencies are inferred from the claim text.

Facts

Application: 17/726,955Filed 22 Apr 2022 · continuation
Priority: CN 201911120236.815 Nov 2019
Published: US 2022/0240444 A14 Aug 2022
Granted: 4 Nov 2025
Term ends: Not estimatedThe source records don’t support an estimate.

Classification11 codes

A01D 34/008
Control or measuring arrangements: for automated or remotely controlled operation
G05D 1/0265
Using magnetic or electromagnetic means: using buried wires
G05D 1/0212
Specially adapted to land vehicles: with means for defining a desired trajectory
G05D 1/0259
Specially adapted to land vehicles: using magnetic or electromagnetic means