U.S. patent application number 16/244894 was filed with the patent office on 2019-05-16 for autonomous mower.
The applicant listed for this patent is Positec Power Tools(Suzhou) Co., ltd.. Invention is credited to Fangshi Liu, Yong Shao, Jiaofeng Tian, Xiahong Zha.
Application Number | 20190141886 16/244894 |
Document ID | / |
Family ID | 53680810 |
Filed Date | 2019-05-16 |
United States Patent
Application |
20190141886 |
Kind Code |
A1 |
Liu; Fangshi ; et
al. |
May 16, 2019 |
AUTONOMOUS MOWER
Abstract
An autonomous mower including a housing; a mowing module, a
traveling module, an information collection device, an energy
module, a control module and the control module includes an
identification unit, and an alarm module. The autonomous mower has
a security patrol working mode in which the identification unit
analyzes and judges whether an abnormal object exists in the
working area according to the information collected by the
information collection device; if the abnormal object exists, the
control module controls the alarm module to send an alarm signal to
the outside. Therefore, the autonomous mower can achieve a security
patrol function in addition to having a function of trimming the
lawn. The autonomous mower has multiple uses, so as to save the
cost.
Inventors: |
Liu; Fangshi; (Suzhou,
CN) ; Shao; Yong; (Suzhou, CN) ; Zha;
Xiahong; (Suzhou, CN) ; Tian; Jiaofeng;
(Suzhou, CN) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Positec Power Tools(Suzhou) Co., ltd. |
Suzhou |
|
CN |
|
|
Family ID: |
53680810 |
Appl. No.: |
16/244894 |
Filed: |
January 10, 2019 |
Related U.S. Patent Documents
|
|
|
|
|
|
Application
Number |
Filing Date |
Patent Number |
|
|
15112934 |
Jul 20, 2016 |
|
|
|
PCT/CN2015/071207 |
Jan 21, 2015 |
|
|
|
16244894 |
|
|
|
|
Current U.S.
Class: |
701/23 |
Current CPC
Class: |
A01D 34/003 20130101;
B60L 2250/10 20130101; A01D 2101/00 20130101; A01D 42/00 20130101;
B08B 5/02 20130101; B08B 3/02 20130101; B60L 2260/32 20130101; B08B
1/002 20130101; G05D 1/0011 20130101; B08B 13/00 20130101; A01D
34/008 20130101; G05D 2201/0208 20130101; G05D 1/0242 20130101;
B08B 1/005 20130101; G05D 1/0238 20130101; B08B 1/04 20130101; B60L
2200/40 20130101 |
International
Class: |
A01D 34/00 20060101
A01D034/00; B08B 1/04 20060101 B08B001/04; B08B 1/00 20060101
B08B001/00; A01D 42/00 20060101 A01D042/00; G05D 1/02 20060101
G05D001/02; B08B 3/02 20060101 B08B003/02; B08B 5/02 20060101
B08B005/02; B08B 13/00 20060101 B08B013/00; G05D 1/00 20060101
G05D001/00 |
Foreign Application Data
Date |
Code |
Application Number |
Jan 21, 2014 |
CN |
201410027369.1 |
Mar 14, 2014 |
CN |
201410096054.2 |
Claims
1. An autonomous traveling device which automatically travels and
works in a working area including: a housing; a working module
received in said housing and performing predetermined work; a
traveling module supporting said housing; an image acquisition
device disposed on said housing, including a lens; an energy module
providing energy for working and traveling of said autonomous
traveling device; a control module connecting and controlling said
working module, said traveling module said image acquisition device
and said energy module, to achieve automatic traveling and
automatic working of said autonomous traveling device; and a
cleaning control unit; wherein the autonomous traveling device
comprises a semi-automatic cleaning mode in which said cleaning
control unit controls an alarm module to make an alarm according to
a preset program for reminding a user to clean the lens.
2. An autonomous traveling device as claimed in claim 1, wherein
the cleaning control unit compares a real-time image acquired by
the image acquisition device when the autonomous mower is in a
preset position with a reference image and when judging that they
are different, controls the alarm module to make an alarm.
3. An autonomous traveling device as claimed in claim 2, wherein
the reference image is an image collected in a particular scenario
when the lens is clean.
4. An autonomous traveling device as claimed in claim 2, wherein a
shooting position of the real-time image is identical to the preset
position which ensures that the scenario of the real-time image is
identical to that of the reference image.
5. An autonomous traveling device as claimed in claim 2, wherein
the real-time image is collected each time before the autonomous
traveling device starts from a charging station or a starting
station.
6. An autonomous traveling device as claimed in claim 2, wherein
the reference image is an image collected in the position of the
charging station or the starting station when the lens is
clean.
7. An autonomous traveling device as claimed in claim 1 wherein the
alarm module is a sound system, a luminous system or a mobile
device transmitted to the user through communication.
8. The autonomous traveling device according to claim 1, farthing
including a cleaning device for keeping said lens clean, said
cleaning device including a shielding sheet disposed on said lens
which can be moved to shield or expose said lens, and said
shielding sheet is provided thereon with a cleaning element that
cleans said lens when said shielding sheet is moved.
9. The autonomous traveling device according to claim 8, said
cleaning element is a cleaning brush or flaky cleaning plate.
10. The autonomous traveling device according to claim 8, said
cleaning element is detachably installed on said shielding
sheet.
11. The autonomous traveling device according to claim 1, further
including a cleaning device for keeping said lens clean, said
cleaning device including a microfan disposed on said lens which
produces air currents to clean said lens.
12. The autonomous traveling device according to claim 11, said
microfan including fan blades made of piezoelectric material, and
high-frequency vibration of said fan blades produces said air
currents.
13. The autonomous traveling device according to claim 1, further
including a cleaning device for keeping said lens clean, said
cleaning device including a transparent cover that surrounds said
image acquisition device therein and a cleaning element that cleans
said transparent cover.
14. The autonomous traveling device according to claim 13, said
cleaning element including a cleaning brush fixed to one side of
said image acquisition device opposite to said lens, said
transparent cover is rotatable around said image acquisition
device, and when said transparent cover rotates around said image
acquisition device, said cleaning brush can clean said transparent
cover.
15. The autonomous traveling device according to claim 14, said
cleaning brush is detachably installed on one side of said image
acquisition device opposite to said lens.
16. The autonomous traveling device according to claim 15, said
transparent cover is driven through a motor, and automatically
rotates around said image acquisition device.
17. The autonomous traveling device according to claim 13, said
cleaning element including a cleaning brush for cleaning said
transparent cover, and said cleaning brush is located on an outer
side of said transparent cover facing said lens.
18. The autonomous traveling device according to claim 17, said
cleaning brush is driven through a motor, and can reciprocate along
the outer side of said transparent cover and automatically clean
said transparent cover.
19. The autonomous traveling device according to claim 13, said
cleaning element including a spray device for cleaning said
transparent cover, and said spray device is located on an outer
side of said transparent cover facing the lens.
20. The autonomous traveling device according to claim 19, said
spray device including a water jet device or an air jet device,
which cleans said transparent cover through sprayed water current
or air current.
Description
CROSS-REFERENCE TO RELATED APPLICATION
[0001] This is a continuation of U.S. patent application Ser. No.
15/112,934, filed Jul. 20, 2016, which is the United States
national phase of International Patent Application No.
PCT/CN2015/071207, filed Jan. 21, 2015, which claims priority to
Chinese Patent Application No. 201410027369.1, filed Jan. 21, 2014,
and Chinese Patent Application No. 201410096054.2, filed Mar. 14,
2014. The entire contents of each of the foregoing priority
applications is hereby incorporated by reference.
TECHNICAL FIELD
[0002] The present invention relates to the field of power tools,
in particular, to an autonomous mower.
BACKGROUND
[0003] As a tool adapted to trim a lawn quickly and efficiently, a
mower is widely used in occasions such as urban greening and family
weeding. The mower further including an autonomous mower. The
autonomous mower can complete the work of mowing the lawn
independently, which requires no artificial direct control and
operations, has low power, small noise and delicate and nice
appearance, and significantly reduces manual operations.
[0004] The autonomous mower obtains video and/or images by
installing an image acquisition device on the mower, and identifies
lawns, obstacles and other objects through colors and/or textures.
The main function of the common mower is to achieve automatic
mowing, and the function is relatively single. At present, people
hope that one device can have many functions to facilitate the use
and can save the cost of purchasing other devices again.
[0005] As is well-known, the image acquisition device generally
including a lens which may lead to unclear images or video in case
of uncleanness. The unclear images or video may lead to the
autonomous mower's misjudgment of autonomous mower the lawns, the
obstacles or the like, with the result that the mower cannot work
normally.
SUMMARY
[0006] In view of this, it is necessary to provide an autonomous
mower having a security patrol working mode.
[0007] The present invention provides an autonomous mower which
automatically travels and works in a working area, including a
housing; a mowing module received in the housing, and performing
predetermined mowing work; a traveling module supporting the
housing and driving the autonomous mower to travel; an information
acquisition device disposed on the housing and used for acquiring
external environment information; an energy module providing energy
for the autonomous mower; and a control module connecting and
controlling the mowing module, the traveling module, the
information acquisition device and the energy module, to achieve
automatic traveling and automatic working of the autonomous mower;
wherein the autonomous mower further including an alarm module for
making an alarm; the control module including an identification
unit which receives the information acquired by the information
acquisition device; the autonomous mower has a safety inspection
working mode in which the identification unit analyzes and judges
whether an abnormal object exists in the working area according to
the information acquired by the information acquisition device; if
the abnormal object exists, the control module controls the alarm
module to send an alarm signal to the outside.
[0008] Preferably, the information acquisition device including an
image acquisition device, and the identification unit analyzes and
judges whether the abnormal object exists in the working area
according to image information acquired by the image acquisition
device.
[0009] Preferably, the identification unit identifies whether an
object is an abnormal object according to the size or contour
presented by the object in the image information.
[0010] Preferably, the identification unit including a face
identification program which identifies a face and judges whether
the identified face is a strange face, and if yes, judges whether
an abnormal object exists in the working area.
[0011] Preferably, the image acquisition device is rotatably fixed
onto the housing.
[0012] Preferably, the autonomous mower further including a driving
device that drives the image acquisition device to make rotational
motion, and the control module controls the rotational motion of
the image acquisition device through the driving device.
[0013] Preferably, the information acquisition device including an
infrared sensor through which the temperature is detected, and the
identification unit judges whether an abnormal object exists in the
working area according to whether the temperature is in a
predetermined range or not.
[0014] Preferably, the alarm module including a luminous alarm
device or a sounding alarm device disposed on the autonomous
mower.
[0015] Preferably, the autonomous mower further including a
wireless communication module which including a Wi-Fi module, a
cellular communication module or a Bluetooth module.
[0016] Preferably, the alarm module transmits images, texts or
audio alarm signals to the outside through the wireless
communication module.
[0017] Preferably, the autonomous mower receives a control
instruction sent by an external device through the wireless
communication module, and controls its own work or travel according
to the control instruction.
[0018] Preferably, when a parameter related to a working
environment satisfies a preset condition, the control module starts
the security patrol working mode.
[0019] Preferably, the control module including a path setting unit
which is used for setting a patrol route, and the autonomous mower
patrols according to the patrol route in the security patrol
working mode.
[0020] The present invention further provides an autonomous mower,
including a housing; mowing module received in the housing, and
performing predetermined mowing work; a traveling module supporting
the housing and driving the autonomous mower to travel; an
information acquisition device disposed on the housing and used for
collecting external environment information; an energy module
providing energy for the autonomous mower; and a control module
connecting and controlling the mowing module, the traveling module,
the information acquisition device and the energy module, to
achieve automatic traveling and automatic working of the autonomous
mower; wherein the autonomous mower further including an alarm
module for making an alarm; the control module including an
identification result processing unit; the autonomous mower has a
security patrol working mode in which the identification result
processing unit sends the collected external environment
information to an external device and receives an identification
result analyzed and judged by the external device based on the
information, and the identification result indicates whether an
abnormal object exists in the working area; if the abnormal object
exists, the control module controls the alarm module to send an
alarm signal to the outside.
[0021] Preferably, the autonomous mower including a wireless
communication module through which the identification result
processing unit conducts communication with the external
device.
[0022] Preferably, the information acquisition device including an
image acquisition device, and the external environment information
including image or video information collected by the image
acquisition device.
[0023] Preferably, the information acquisition device including an
infrared sensor, and the external environment information including
temperature information of an outside object detected by the
infrared sensor.
[0024] The autonomous mower including an alarm module for making an
alarm, and the control module including an identification unit; the
autonomous mower has a security patrol working mode in which the
identification unit analyzes and judges whether an abnormal object
exists in a working environment; if the abnormal object exists, the
alarm module sends an alarm signal to the outside. Therefore, the
autonomous mower can achieve a security patrol function in addition
to having a function of trimming the lawn. The autonomous mower has
multiple uses, so as to save the cost.
[0025] In view of this, it is necessary to provide an autonoumous
traveling device that can clean a lens.
[0026] The present invention provides an autonoumous traveling
device, which automatically travels and works in a working area,
including: a housing; a working module received in said housing and
performing predetermined work; a traveling module supporting said
housing; an image acquisition device disposed on said housing,
including a lens; an energy module providing energy for working and
traveling of said autonoumous traveling device; and a control
module connecting and controlling said working module, said
traveling module, said image acquisition device and said energy
module, to achieve automatic traveling and automatic working of
said autonoumous traveling device; wherein said autonoumous
traveling device further including a cleaning device for keeping
said lens clean.
[0027] Preferably, said autonoumous traveling device further
including a cleaning control unit which controls said cleaning
device to clean said lens automatically according to a preset
program.
[0028] Preferably, said cleaning device including a shielding sheet
disposed on said lens which can be moved to shield or expose said
lens, and said shielding sheet is provided thereon with a cleaning
element that cleans said lens when said shielding sheet is
moved.
[0029] Preferably, said cleaning element is a cleaning brush or
flaky cleaning plate.
[0030] Preferably, said cleaning element is detachably installed on
said shielding sheet.
[0031] Preferably, said cleaning device including a microfan
disposed on said lens which produces air currents to clean said
lens.
[0032] Preferably, said microfan including fan blades made of
piezoelectric material, and high-frequency vibration of said fan
blades produces said air currents.
[0033] Preferably, said cleaning device including a transparent
cover that surrounds said image acquisition device therein and a
cleaning element that cleans said transparent cover.
[0034] Preferably, said cleaning element including a cleaning brush
fixed to one side of said image acquisition device opposite to said
lens, said transparent cover is rotatable around said image
acquisition device, and when said transparent cover rotates around
said image acquisition device, said cleaning brush can clean said
transparent cover.
[0035] Preferably, said cleaning brush is detachably installed on
one side of said image acquisition device opposite to said
lens.
[0036] Preferably, said transparent cover is driven through a
motor, and automatically rotates around said image acquisition
device.
[0037] Preferably, said cleaning element including a cleaning brush
for cleaning said transparent cover, and said cleaning brush is
located on an outer side of said transparent cover facing said
lens.
[0038] Preferably, said cleaning brush is driven through a motor,
and can reciprocate along the outer side of said transparent cover
and automatically clean said transparent cover.
[0039] Preferably, said cleaning element including a spray device
for cleaning said transparent cover, and said spray device is
located on an outer side of said transparent cover facing the
lens.
[0040] Preferably, said spray device including a water jet device
or an air jet device, which cleans said transparent cover through
sprayed water current or air current.
[0041] Preferably, said cleaning control unit compares the image
collected by said image acquisition device in the preset position
with a preset reference image, and when judging that they are
different from each other, controls said lens cleaning device to
perform a cleaning task.
[0042] Preferably, said autonoumous traveling device including an
alarm module, and said cleaning control unit compares said image
acquisition device in the preset position with a preset reference
image, and when judging that they are different from each other,
controls said alarm module to send an alert signal.
[0043] The autonoumous traveling device is provided with a cleaning
device for keeping the lens clean, thus avoiding that an image or
video shot by the lens is not clear and preventing that the
autonoumous traveling device's misjudgment of autonoumous traveling
device the lawns, the obstacles or the like caused by the unclear
image or video results in the autonoumous traveling device that
autonoumous traveling device cannot work normally.
BRIEF DESCRIPTION OF THE DRAWINGS
[0044] FIG. 1 is a schematic structural diagram of an autonomous
mower according to one embodiment;
[0045] FIG. 2 is a schematic functional module diagram of the
autonomous mower shown in FIG. 1;
[0046] FIG. 3 is a schematic diagram illustrating that a shielding
sheet of a lens cleaning device is in a completely open state
according to one embodiment;
[0047] FIG. 4 is a schematic diagram illustrating that the
shielding sheet of the lens cleaning device is in a partially open
state according to the embodiment shown in FIG. 3;
[0048] FIG. 5 is a schematic diagram illustrating that the
shielding sheet of the lens cleaning device is in a folded state
according to the embodiment shown in FIG. 3;
[0049] FIG. 6 is a schematic diagram of a lens cleaning device of a
microfan according to one embodiment;
[0050] FIG. 7 is a schematic diagram of a transparent cover and a
cleaning device of a cleaning brush according to one
embodiment;
[0051] FIG. 8 is a schematic diagram of a transparent cover and a
cleaning device of a cleaning brush according to another
embodiment; and
[0052] FIG. 9 is a schematic diagram of a transparent cover and a
cleaning device of a spray device according to one embodiment.
DETAILED DESCRIPTION
[0053] Embodiments of the present invention are elaborated below
with reference to the accompanying drawings, to enable the
advantages and features of the present invention to be better
understood by those skilled in the art, thus defining the
protection scope of the present invention more clearly and
definitely. The accompanying drawings merely provide reference and
description, instead of being used to limit the present
invention.
[0054] Referring to FIG. 1 and FIG. 2, one embodiment of the
present invention provides an autonomous mower 100. The autonomous
mower 100 has a housing 110 and an information acquisition device
installed on the housing 110. In one embodiment, the information
acquisition device is an image acquisition device 140. The image
acquisition device 140 shoots a target region of the autonomous
mower 100 so as to form an image. The autonomous mower 100 further
including a working module 120, a traveling module 130, an energy
module 150, a control module 160 and an alarm module 190. The
control module 160 connects and controls the traveling module 130,
the working module 120, the energy module 15 and the image
acquisition device 140.
[0055] In this embodiment, the working module 120 is a mowing
module, which is specifically a cutting component, for example, a
cutting blade. The working module 120 is driven to work by a
cutting motor (not shown). The center of the working module 120 is
located on a central axis of the autonomous mower 100, disposed
below the housing 110, and located between auxiliary wheels and
driving wheels.
[0056] The traveling module 130 including a wheel set and a
traveling motor that drives the wheel set. The wheel set may be set
in many methods. Generally, the wheel set including a driving wheel
driven by the traveling motor and an auxiliary wheel that assists
in supporting the housing 110, the number of the driving wheels may
be one, two or more, and the auxiliary wheel may also be
correspondingly set as one, two or more. In this embodiment, the
number of the driving wheels of the autonomous mower 100 is two,
which are respectively a right driving wheel on the right and a
left driving wheel on the left. The right driving wheel and the
left driving wheel are symmetrically disposed about the central
axis of the autonomous mower 100. The center of the auxiliary wheel
is located on the central axis. The right driving wheel and the
left driving wheel are preferably located in the back of the
housing 110, and the auxiliary wheel is located in the front.
Certainly, in other embodiments, they may also be replaced with
each other.
[0057] In this embodiment, the right driving wheel and the left
driving wheel mate with a driving motor respectively, to achieve
differential output to control steering. The driving motor may be
directly connected with the driving wheel, but it is also possible
to dispose a transmission device between the driving motor and the
driving wheel, such as the planetary gear train common in this
technical field. In other embodiments, it is also possible to set
two driving wheels and one driving motor, and in this case, the
driving motor drives the right driving wheel through a first
transmission device and drives the left driving wheel through a
second transmission device. That is, the same motor drives the
right driving wheel and the left driving wheel through different
transmission devices.
[0058] The image acquisition device 140 is installed to a top
position in the front of the housing 110, and is preferably
disposed in the middle and collects image information of a target
region. In this embodiment, a view-finding range of the image
acquisition device 140 has different viewing angle ranges according
to different acquisition device types, for example, a viewing angle
range from 90 degrees to 120 degrees. Certainly, in a specific
implementation process, a certain angle range in the viewing angle
range can be selected as an actual view-finding range, for example,
a range of 90 degrees in the middle of the viewing angle range of
120 degrees is selected as an actual view-finding range.
[0059] In one embodiment, the image acquisition device 140 is
rotatably fixed onto the housing 110. The autonomous mower 100 is
provided with a driving device that drives the image acquisition
device 140 to make rotational motion. The control module 160 is
connected with the driving device, and can control the image
acquisition device 140 to make rotational motion through the
driving device. Through the rotational motion, the image
acquisition device 140 has multiple perspectives.
[0060] In one embodiment, the image acquisition device 140 of the
autonomous mower 100 may also be installed with an illuminating
lamp. The illuminating lamp can rotate along with the image
acquisition device 140. When the light is dark and a suspicious
object is found, it is possible to make the image shot by the image
acquisition device 140 clearer by turning on the illuminating lamp,
to facilitate identification of the suspicious object, thus
facilitating judgment on how to deal with this.
[0061] The energy module 150 is used for providing energy for
operation of the autonomous mower 100. The energy of the energy
module 150 may be gasoline, battery pack or the like, and in this
embodiment, the energy module 150 including a rechargeable battery
pack disposed in the housing 110. During work, the battery pack
releases electric energy to maintain working and traveling of the
autonomous mower 100. During non-work, the battery can be connected
to an external power source to supplement electric energy.
Particularly, by a more humanized design, when it is detected that
the capacity of the battery is insufficient, the autonomous mower
100 may automatically look for a charging station to supplement
electric energy.
[0062] The control module 160 is used for controlling working and
traveling of the autonomous mower 100. As shown in FIG. 2, the
control module 160 including an identification unit 162. The
identification unit 162 is used for analyzing the image information
acquired by the image acquisition device 140, and identifying
whether an abnormal object exists in a working environment.
[0063] The identification unit 162 identifies whether an object is
an abnormal object according to the size or contour presented by
the object in the image information. A specific implementation mode
is as follows: the identification unit 162 is provided with a
particular program, and judges from the image information whether
the abnormal object exists in the working environment. In one
embodiment, the particular program in the identification unit 162
judges whether content in the image information achieves the
particular size or particular contour through an algorithm such as
image segmentation or image extraction, so as to judge whether the
abnormal object exists in the working environment.
[0064] The identification unit 162 can compare the content in the
image information obtained in real time with content in a storage
unit, so as to judge whether the abnormal object exists in the
working environment. In one embodiment, the autonomous mower 100 is
provided with a storage unit which stores features of the abnormal
object or features of a non-abnormal object, and the identification
unit 162 compares the image information with content in the storage
unit through an image matching algorithm, judges that the abnormal
object exists in the working environment when the features of the
abnormal object are present, and judges that the abnormal object
exists in the working environment when other features of the
non-abnormal object are present.
[0065] In one embodiment, the identification unit 162 including a
face identification program which judges whether the working
environment is invaded by someone. A specific implementation
process is as follows: the identification unit 162 detects whether
there is a face in the image obtained in real time through the face
identification program (e.g., a template-based matching algorithm,
a singular value-based feature algorithm, a subspace analysis
algorithm, a principal component analysis algorithm and so on). If
a detection result is that the image including a face, it indicates
that the working environment is invaded. In one embodiment, the
autonomous mower is provided with a storage unit inside which
stores, face image of users and particular member. After the
identification unit 162 detects that the image including a face,
the identification unit 162 compares features of the face with face
features set in the storage unit, and if they are different, it
indicates that the working environment is invaded by a stranger.
Through face comparison, the autonomous mower 100 becomes more
intelligent, and can distinguish strangers from non-strangers. Only
when a stranger appears, will the alarm module 190 send an alarm
signal to the outside.
[0066] In one embodiment, the information acquisition device is an
infrared sensor. The autonomous mower 100 detects the temperature
through the infrared sensor, and the identification unit 162 judges
whether the abnormal object exists in the working environment
according to whether the temperature is in a predetermined range.
The autonomous mower 100 detects the temperature of the object
appearing in the working environment through the infrared sensor,
and if the detected temperature is in the predetermined range, for
example, 36.0.degree. C.-37.8.degree. C., the identification unit
162 judges that the abnormal object exists in the working
environment. In this embodiment, the predetermined temperature
range is set with the assumption that the abnormal object is human
being, and when the abnormal object is another animal or object,
the predetermined temperature range may be changed
correspondingly.
[0067] When the identification unit 162 judges that the abnormal
object exists in the image information, the alarm module 192 may
send an alarm signal to the outside. In one embodiment, the
autonomous mower 100 may be provided with an alarm device, for
example, a sounding device (police whistle), a luminous device and
so on, and after the alarm module 190 receives information of the
abnormal object, the alarm device is started to make an alarm. In
one embodiment, the autonomous mower 100 is not provided with an
alarm device, and after the alarm module 190 receives information
of the abnormal object, a wireless communication module 170 can be
started, and an alarm signal is sent to an external device 200
through the wireless communication module 170. The alarm signal may
be an image acquired in real time, text reminding information of
the abnormal object, an Email of text alarm prompt content or
special audio or the like. The external device may be a personal
mobile device such as a computer, a mobile phone or a remote
controller.
[0068] In one embodiment, the wireless communication module 170 may
be a wi-fi communication module or a cellular mobile communication
module or a Bluetooth module. The autonomous mower 100 not only can
transmit the image information or alarm signal to the external
device 200 through the wireless communication module 170, but also
can receive control information of the external device 200 through
the wireless communication module 170. The autonomous mower 100 can
work and travel according to the control information of the
external device 200, for example, it controls whether the
autonomous mower 100 is in a mowing working mode or a security
patrol mode, it controls whether the autonomous mower 100 stops,
and it controls whether the image acquisition device 140 moves such
as rotating.
[0069] In one embodiment, the autonomous mower 100 transmits the
information collected by the information acquisition device to the
external device 200 through the wireless communication module 170.
The external device 200 makes a corresponding control instruction
according to the received information. The control module 160 of
the autonomous mower 100 including an identification result
processing unit 164 which receives the control instruction sent by
the external device 200 through the wireless communication module
170, and the autonomous mower 100 controls its own travel or work
according to the control instruction, for example, it controls
whether the autonomous mower 100 is in a mowing working mode or a
security patrol mode, it controls whether the autonomous mower 100
stops, and it controls whether the autonomous mower 100 moves such
as rotating.
[0070] Through cooperation between the identification unit 162 and
the alarm module 190, the autonomous mower 100 can achieve a
function of security patrol, that is, the autonomous mower 100 not
only has a working mode of trimming the lawn like an ordinary
autonomous mower, but also has a security patrol working mode.
[0071] In the security patrol working mode, the patrol route of the
autonomous mower 100 may be different from its mowing path. In one
embodiment, the control module 160 is provided with a path setting
unit 166. The path setting unit 166 can set the rule of the
patrolled path according to requirements of the working
environment: for example, some places easy to be invaded by
abnormal objects are patrolled multiple times at a fixed point, or
patrolled in a particular time, and so on.
[0072] There are lots of manners in which the autonomous mower 100
starts the security patrol working mode, for example, a user starts
it manually, the autonomous mower 100 is provided with a working
mode select button, and the user manually selects the mowing
working mode or the security patrol working mode through the
button. For example, the user starts the autonomous mower 100
remotely through the external device 200 (a personal mobile device
such as a mobile phone, a computer, a pad or a remote controller),
the control module 160 of the autonomous mower 100 is provided
inside with a client module corresponding to the personal mobile
device, and the personal mobile device chooses to start the mowing
working mode or the security patrol working mode through the
matched client module. For example, the control module 160 of the
autonomous mower 100 is provided with a predetermined program, and
the security patrol working mode or the mowing working mode will be
started automatically when some conditions in the working
environment meet a predetermined condition. In one embodiment, the
starting program set in the control module 160 starts different
working modes of the autonomous mower 100 according to different
time, for example, the autonomous mower 100 starts the mowing
working mode during the daytime, and starts the security patrol
working mode at night; the autonomous mower 100 starts the mowing
working mode in spring and summer, and starts the security patrol
working mode in autumn and winter. In one embodiment, the control
module 160 starts different working modes according to whether the
wireless communication module 170 of the autonomous mower 100 is in
a communication state. When the wireless communication module 170
is in the communication state, it represents that the user is
within a range near the working environment, that is, the
autonomous mower 100 starts the mowing working mode; when the
wireless communication module 170 is in a non-communication state,
it represents that the user may go out, and the autonomous mower
100 starts the security patrol working mode.
[0073] How the autonomous mower 100 works is specifically
introduced below.
[0074] Firstly, the autonomous mower 100 has a function of trimming
the lawn like the common autonomous mower. When the autonomous
mower 100 is required to trim the lawn, it is only necessary to
turn on the corresponding switch, and its work is the same as that
of the common autonomous mower. After the mowing switch of the
autonomous mower 100 is turned on, the autonomous mower 100 can mow
automatically according to a set program. It is also feasible to
control the autonomous mower 100 to perform a mowing operation
through the external device 200 (a personal mobile device such as a
computer, a mobile phone or a remote controller).
[0075] Secondly, the autonomous mower 100 also has a security
patrol function. When the autonomous mower 100 is required to carry
out security patrol, the autonomous mower 100 is adjusted to the
security patrol working mode. The security patrol function of the
autonomous mower 100 and the function of trimming the lawn can be
opened simultaneously, and may also be opened separately. The
security patrol function of the autonomous mower 100 has two
implementation modes, one is a full-automatic patrol working mode,
and the other is a semi-automatic patrol working mode, Users can
choose to use the autonomous mower in whether full-automatic patrol
working mode or semi-automatic patrol working mode based on the
actual needs
[0076] When the autonomous mower 100 works in the full-automatic
patrol working mode, the control module 160 of the autonomous mower
100 will control the traveling module 130 to work and make the
autonomous mower 100 patrol along the patrol path set by the path
setting unit 166. When the autonomous mower 100 is in a traveling
process, the image acquisition device 140 will also work to shoot
surroundings. The image shot by the image acquisition device 140
will be transferred to the identification unit 162, and the
identification unit 162 analyzes the shot image to determine
whether the image acquisition device 140 shoots an abnormal object.
The abnormal object herein can be judged according to the size and
or whether the shot object is moving. For example, when the shot
moving object reaches the specified size, the object is considered
to be an abnormal object, the alarm module 190 sends an alarm
signal to the outside. Herein, the moving object of a specified
size including human beings, cars, dogs and the like, and the
specified size may be more than 30 cm long or tall. In addition,
the image shot by the image acquisition device 140 may also not be
processed by the identification unit 162, but be transferred to the
external device 200 directly through the wireless communication
module 170, and the external device 200 herein, for example, is a
computer, a mobile phone, a remote controller or the like. The
external device 200, after receiving the shot image, may process
the image to judge whether an abnormal object exists, and the image
may also be identified by a operator or a user, to judge whether an
abnormal object exists. After an abnormal object is found, the
alarm module 190 sends an alarm signal to the outside. The alarm
module 190 may send an alarm sound or alarm image or information.
After hearing the alarm sound or seeing the alarm image or
information, the operator or the user may manipulate the autonomous
mower 100 to perform next action through the external device 200.
For example, the user may transmit a control signal to the
autonomous mower 100 through the external device 200, after the
autonomous mower 100 receives the control signal through the
wireless communication module 170, the control signal is processed
by the control module 160, and after processing, the control module
160 will accordingly turn on the camera light to obtain a clear
image, reset alarm, travel to a dangerous object or the like. In
this way, the autonomous mower 100 has functions of making an alarm
after security patrol and finding a danger and processing the
danger by the operator or the like. At the same time, as the
autonomous mower 100 also has the function of trimming the lawn,
the autonomous mower 100 has an advantage of being a multipurpose
device. Thus, only by purchasing one device, can the functions of
trimming the lawn and security patrol be achieved, achieving the
aim of saving the cost.
[0077] When the user selects that the autonomous mower 100 works in
the semi-automatic security patrol working mode, the user can see
image information content displayed by a monitor or the external
device 200 and then send a control command to the autonomous mower
100 through the external device 200, so as to control movement of
the autonomous mower 100, facilitating the user to see a region
that he/she desires to observe. At the same time, the user may also
control the image acquisition device 140 to rotate through the
external device 200 or turn on the camera light to better observe
the region that he/she desires to observe. The wireless
communication module 170 of the autonomous mower 100 will receive
the control signal sent by the external device 200, and may also
transfer the image shot by the image acquisition device 140 to the
external device 200 or the monitor and so on. After processing the
signal received by the wireless communication module 170, the
control module 160 will control the work of the image acquisition
device 140, the traveling module 130, the working module 120 and
other devices according to a processing result. When finding an
abnormal object, the user may control further actions of the image
acquisition device 140, the traveling module 130, the alarm module
190 and the like of the autonomous mower 100 through the external
device 200. For example, the user controls the autonomous mower 100
to stop moving, controls the alarm module 190 to make an alarm or
the like through the external device 200.
[0078] The housing of the autonomous mower is provided thereon with
an image acquisition device, the housing is provided therein with a
working module, a traveling module and a control module, and in
this way, the identification unit in the control module can control
the alarm module to make an alarm by analyzing the image shot by
the image acquisition device or the temperature detected by the
infrared sensor. Therefore, the mower may also achieve a function
of security patrol in addition to having the function of trimming
the lawn. The mower has an advantage of being a multipurpose
device, and achieving function of both mowing and monitoring
without manufacturing two devices, thus achieving the advantage of
saving the manufacturing cost.
[0079] The image acquisition device 140 including a lens 142. The
lens 142 is used for shooting a video image in a working area of
the autonomous mower 100. The lens 142 may lead to an unclear image
if not being cleaned, and the unclear image will lead to the
machine's misjudgment of the lawn, the barrier and the like, with
result that the mower cannot work normally. To solve such a
problem, the autonomous mower 100 is provided with a cleaning
device 143 for keeping the lens 142 clean. The user can manually
clean the lens 142 through the cleaning device 143.
[0080] In one embodiment, the autonomous mower 100 is further
provided with a cleaning control unit 168 which controls the
cleaning device 143 to automatically clean the lens 142 according
to a preset program. In this embodiment, the lens 142 can be kept
clean without user participation.
[0081] In one embodiment, the cleaning device 143 including a
shielding sheet 145 disposed on the lens 142 and a cleaning element
147 disposed on the shielding sheet 145. The shielding sheet 145 is
movable relative to the lens 142. When the shielding sheet 145
moves relative to the lens 142, the cleaning element 147 can clean
the lens 142, making the lens 142 become clean, thus shooting a
clear image.
[0082] Referring to FIG. 3 to FIG. 5, the shielding sheet 145
including a first shielding sheet 1451 and a second shielding sheet
1452. The first shielding sheet 1451 and the second shielding sheet
1452 can be folded with or separated from each other, the lens 142
is shielded when the first shielding sheet 1451 and the second
shielding sheet 1452 are folded, and the lens 142 is exposed when
the first shielding sheet 1451 and the second shielding sheet 1452
are separated. It should be noted that the shielding sheet 145 may
also be integral, and may not be necessarily set as two parts. The
first shielding sheet 1451 and the second shielding sheet 1452 may
move up and down and may also move left and right.
[0083] In this embodiment, the cleaning element 147 is a cleaning
brush, which may be set as one or more, and the cleaning element
147 may be disposed on one or both of the first shielding sheet
1451 and the second shielding sheet 1452. The cleaning element 147
may also be a flaky cleaning plate which, in use, can be coated
with a detergent to improve a cleaning effect.
[0084] In one embodiment, the cleaning element 147 is detachably
installed on the shielding sheet 145. After the cleaning element
147 works for a period of time, the user can remove the cleaning
element 147, then install and use it after cleaning it; or after
the cleaning element 147 is damaged, the user can remove the
cleaning element 147 and replace it with a new one.
[0085] As shown in FIG. 3 and FIG. 4, when the image acquisition
device 140 of the autonomous mower 100 is working the first
shielding sheet 1451 and the second shielding sheet 1452 are
separated to expose the lens 142; as shown in FIG. 5, when the
image acquisition device 140 are not working, the first shielding
sheet 1451 and the second shielding sheet 1452 are folded and
shield the lens 142. When it is necessary to clean the lens 142,
the first shielding sheet 1451 and the second shielding sheet 1452
of the shielding sheet 145 are folded along the arrow head
direction shown in FIG. 4, and during folding, the cleaning element
147 can clean the lens 142. Certainly, in the process that the
first shielding sheet 1451 and the second shielding sheet 1452 are
separated along the arrow head direction shown in FIG. 3, the
cleaning element 147 can also clean the lens 142.
[0086] In one embodiment, the cleaning device 143 including a micro
fan 144 disposed on the lens 142. As shown in FIG. 6, an air
current produced through the microfan 144 cleans the lens 142. The
fan needs to be disposed in a manner of mating with the lens 142,
and the size thereof should adapt to the size of the lens 142. The
microfan 144 including blades made of a piezoelectric material, and
the microfan 144 makes high-frequency vibration by a driving
circuit driving the blades, for example, the vibration frequency
reaches 26000 times per second. Through vibration of the
piezoelectric material, the blades may produce air currents, and
the air currents will blow away foul or steam on the lens 142 when
flowing through an air duct, thus achieving a cleaning effect.
Those skilled in the art can think of that the microfan 144 may
also be an ordinary fan, which can also achieve the aim of cleaning
the lens 142 as long as its air current is great enough.
[0087] Those skilled in the art can think of that, besides the
single-duct design shown in FIG. 6, the air duct may be designed in
a diversified manner. For example, through the multiple-duct
design, or when the positional relationship between the microfan
144 and the lens 142 changes, the aim of the present invention can
be achieved as long as wind produced by the microfan 144 can be
blown to the lens 142.
[0088] In one embodiment, the cleaning device 143 including a
transparent cover 146 that surrounds the image acquisition device
140 therein and a cleaning element 147 for cleaning the transparent
cover 146. The transparent cover 146 surrounds the image
acquisition device 140, the foul such as dust cannot directly come
into contact with the lens 142, and thus the effect of keeping the
lens 142 clean can be achieved only by cleaning the transparent
cover 146.
[0089] As shown in FIG. 7, in this embodiment, the cleaning element
147 is a cleaning brush installed on one side of the image
acquisition device 140 opposite to the lens 142. The cleaning brush
is detachably installed on one side of the image acquisition device
140 opposite to the lens 142, so that the user can remove the
cleaning brush for cleaning or replacement. The transparent cover
146 can rotate around the image acquisition device 140 along the
direction of the arrow shown in FIG. 7. When the transparent cover
146 rotates, the cleaning brush 147 can clean the transparent cover
146. Rotation of the transparent cover 146 may be driven by a
driving motor 180 alone, and may also share the driving motor
existing in the autonomous mower 100.
[0090] As shown in FIG. 8, in one embodiment, the cleaning element
147 is a cleaning brush. The cleaning brush 147 is located on an
outer side of the transparent cover 146 opposite the lens 142. The
cleaning brush 147 is driven through the driving motor 180, and can
reciprocate along the outer side of the transparent cover, so as to
clean the range in which the transparent cover 146 faces the lens
142. Certainly, rotation of the cleaning brush 147 may be driven by
the driving motor 180 alone, and may also share the driving motor
existing in the autonomous mower 100.
[0091] As shown in FIG. 9, in one embodiment, the cleaning element
147 is a spray device. The spray device 147 is located on an outer
side of the transparent cover 146 directly facing the lens 142. The
spray device 147 may be a water jet device or an air jet device,
which cleans the transparent dust cover 146 through a sprayed water
current or air current.
[0092] Cleaning the lens 142 of the image acquisition device 140 of
the autonomous mower 100 can be achieved in many manners, for
example, a pure manual cleaning mode, a semi-automatic cleaning
mode and a full-automatic cleaning mode. A cleaning mode is
introduced below in detail only by taking that the cleaning device
143 including a shielding sheet 145 and a cleaning element 147 as
an example, and cleaning manners in other embodiments are similar
to the implementation process of this embodiment.
[0093] The pure manual cleaning mode: the user manually controls
the shielding sheet 145 to clean the lens, and the cleaning
frequency of the lens 142 can be obtained through experience. For
example, if the autonomous mower 100 works in a certain particular
scenario for a long time, the user can easily know how soon the
cleaning must be made after the lens 142 works, and otherwise, the
effect of shooting the image by the lens 142 may be affected.
Similarly, the cleaning frequency of the lens 142 in different
working scenarios can be obtained through experience. In this way,
during working of the autonomous mower 100, the user periodically
cleans the lens 142 according to a specific scenario, and during
cleaning, it is feasible that the first shielding sheet 1451 and
the second shielding sheet 1452 of the shielding sheet 145 are
folded.
[0094] The semi-automatic cleaning mode: the following problems may
be brought about when the time for cleaning the lens 142 is judged
merely relying on experience: if the cleaning is done too early, at
this point, the image acquisition device 140 may also shoot a clear
enough image, and the working efficiency of the autonomous mower
100 may be affected; if the cleaning is done too late, the working
efficiency of the lens 142 has become low, and danger of the
autonomous mower 100 during work may be increased, which even
causes that the autonomous mower 100 cannot work normally. In one
embodiment, the cleaning control unit 168 compares a real-time
image acquired by the image acquisition device 140 when the
autonomous mower 100 is in a preset position with a preset
reference image, and when judging that they are different, controls
the alarm module 190 to make an alarm. The reference image is an
image collected in a particular scenario when the lens 142 is
clean, and the shooting position is identical to the preset
position, which ensures that the scenario of the real-time image is
identical to that of the reference image. In one embodiment, the
autonomous mower 100 can collect a real-time image to be compared
with the reference image each time before it starts from a charging
station or a starting station, and when judging that they are
different, controls the alarm module 190 to make an alarm. At this
point, the reference image is an image collected in the position of
the charging station or the starting station when the lens 142 is
clean. In this way, the user can stop the mower timely, then
manually operate the shielding sheet 145, and clean the lens 142 by
using the cleaning element 147 thereon. Such a semi-automatic mode,
compared with the pure manual mode, improves the cleaning
efficiency more greatly, and affects the normal work of the
autonomous mower 100 less. The alarm module 190 may be a sounding
system or a luminous system, or a mobile device (such as a mobile
phone or a computer) transmitted to the user through
communication.
[0095] The full-automatic cleaning mode: in one embodiment, the
cleaning control unit 168 compares a real-time image collected by
the image acquisition device 140 when the autonomous mower 100 is
in a preset position with a preset reference image, and when
judging that they are different, controls the shielding sheet 145
to move and clean the lens 142. The reference image is an image
collected in a particular scenario in the case of ensuring that the
lens 142 is clean, and the position where the real-time image is
collected is identical to the preset position, which ensures that
the scenario of the real-time image is identical to that of the
reference image. In this way, automatic cleaning of the lens 142 is
achieved, and efficient work of the mower can be ensured even if
the user does not stop the mower. In one embodiment, the autonomous
mower 100 can collect a real-time image to compare with the
reference image each time before it starts from a charging station
or a starting station, and when judging that they are different,
controls the shielding sheet 145 to move and clean the lens 142. At
this point, the reference image is an image collected in the
position of the charging station or the starting station when the
lens 142 is clean.
[0096] The autonomous mower 100 of the present invention, by
providing a cleaning device 143, not only can manually clean the
lens but also can achieve full-automatic cleaning of the lens,
which can avoid that the image shot by the lens 142 is not clear
and prevent the mower's misjudgment of the lawn, the obstacle and
the like caused by the unclear image results in unnormal work of
the mower.
[0097] The above embodiments merely express several implementation
modes of the present invention, and the description thereof is
relatively specific and detailed, which cannot be thus understood
as limitations to the patent scope of the present invention. It
should be noted that, for those of ordinary skill in the art,
several transformations and improvements can also be made without
departing from the concept of the present invention, which all
belong to 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.
* * * * *