Auto mowing system

• US 9,820,433 B2
• Filed: 12/27/2013
• Issued: 11/21/2017
• Est. Priority Date: 12/28/2012
• Status: Active Grant

• Current Assignee: Positec Power Tools Company Limited (Positec Group Limited)
• Original Assignee: Positec Power Tools Company Limited (Positec Group Limited)
• Inventors: Borinato, Gianni
• Primary Examiner(s): CHEUNG, CALVIN K
• Application Number:
  US14/758,424
• Publication Number:
  US 20150366129A1
• Time in Patent Office: 1,425 Days
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: A01D 2101/00 Lawn-mowers
• CPC Class Codes: A01D 34/008 for automated or remotely controlled operation
• CPC Class Codes: B60L 2200/22 Microcars, e.g. golf cars
• CPC Class Codes: B60L 2260/32 Auto pilot mode
• CPC Class Codes: B60L 53/60 Monitoring or controlling charging stations
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0225 involving docking at a fixed facility, e.g. base station or loading bay parking aids B62D15/027
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0261 using magnetic plots
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: Y02T 10/70 Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/7072 Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
• CPC Class Codes: Y02T 90/12 Electric charging stations
• CPC Class Codes: Y02T 90/14 Plug-in electric vehicles
• CPC Class Codes: Y02T 90/16 Information or communication technologies improving the operation of electric vehicles

Abstract

A robotic mowing system that includes a station and a robotic mower. The robotic mower has a controller and a memorizer, the memorizer stores a working procedure, and after receiving a start command input by a user, the controller executes the working procedure, so as to control the robotic mower to automatically and repeatedly mow and return to the station to be charged until the controller receives a stop command. In this way, the user does not need to input working parameters, and costs are relatively low.

Claims

1. A robotic mowing system comprising:

a station comprising an ultrasonic generator and an infrared generator; and

a robotic mower comprising a controller, a memorizer, a power source, a drive motor, an ultrasonic receiver, and an infrared receiver;

wherein the ultrasonic generator and the ultrasonic receiver are configured to guide the robotic mower to return towards the station; and

wherein the infrared generator and the infrared receiver are configured to guide the robotic mower to connect to the station to be charged.

2. The robotic mowing system according to claim 1, wherein:

the memorizer is configured to store a fixed working procedure; and

after the controller receives a start command and until the controller receives a stop command, the controller is configured to execute the fixed working procedure to control the robotic mower to automatically mow and return to the station to be charged.

3. The robotic mowing system according to claim 2, wherein the memorizer is configured to store a fixed working procedure configured to:

start the drive motor;

control the robotic mower to enter into a predetermined working area;

control the robotic mower to mow according to a predetermined route or a random route;

detect power or a discharge time of the power source;

if the power of the power source is lower than a first predetermined value or the discharge time reaches a first predetermined time, control the robotic mower to return to the station to be charged;

detect the power or a charging time of the power source; and

if the power of the power source reaches a second predetermined value or the charging time reaches a second predetermined time, control the robotic mower to mow again.

4. The robotic mowing system according to claim 3, wherein:

the robotic mowing system further comprises a physical boundary apparatus configured to form a boundary line to define the predetermined working area; and

the robotic mower is configured to work within the predetermined working area.

5. The robotic mowing system according to claim 4, wherein:

the physical boundary apparatus comprises independent wireless generators configured to generate a wireless signal as a boundary signal; and

the robotic mower comprises a wireless receiver configured to detect the boundary signal.

6. The robotic mowing system according to claim 5, wherein:

the wireless generator comprises an infrared generator; and

the wireless receiver comprises an infrared receiver.

7. The robotic mowing system according to claim 3, wherein the robotic mowing system further comprises a virtual boundary apparatus configured to define the predetermined working area of the robotic mower.

8. The robotic mowing system according to claim 7, wherein the virtual boundary apparatus comprises at least one module selected from the group consisting of a global positioning module, a photographic module, and a lawn identification module, wherein:

the global positioning module is configured to perform wireless communication with a positioning satellite and form a virtual boundary by using a predetermined position coordinate sequence;

the photographic module is configured to acquire an image of the robotic mower and a surrounding area and delineate a virtual boundary on the image; and

the lawn identification module is configured to determine whether the ground is a lawn according to a color or dampness of a lawn.

9. The robotic mowing system according to claim 3, wherein the controller is configured to control the robotic mower to return to the station along a boundary of the predetermined working area.

10. The robotic mowing system according to claim 3, wherein the controller controls the robotic mower to return directly toward the station.

11. The robotic mowing system according to claim 10, wherein:

the station comprises at least one ultrasonic generator;

the robotic mower comprises at least one ultrasonic receiver; and

the controller adjusts a moving direction of the robotic mower according to a receiving condition of the ultrasonic receiver when the robotic mower goes back, so that the robotic mower returns toward the station.

12. The robotic mowing system according to claim 11, wherein:

the station comprises an ultrasonic generator and an infrared generator;

the robotic mower comprises an ultrasonic receiver and an infrared receiver;

the ultrasonic generator and the ultrasonic receiver are configured to guide the robotic mower to return toward the station; and

the infrared generator and the infrared receiver are configured to guide the robotic mower to connect to the station to be charged.

13. The robotic mowing system according to claim 1, wherein:

the robotic mower further comprises an operation interface operable for a user;

the operation interface comprises only a power button, a start button and a stop button;

the power button is used for turning on/off power of the robotic mower;

the start command is generated when the start button is pressed down; and

the stop command is generated when the stop button is pressed down.

14. A robotic mowing system comprising:

a station; and

a robotic mower having;

a power source;

a drive motor;

a memorizer configured to store a fixed working procedure;

a controller configured to execute the fixed working procedure after receiving a start command input by a user so as to control the robotic mower to automatically mow and return to the station to be charged until the controller receives a stop command; and

a virtual boundary apparatus configured to define a predetermined working area of the robotic mower, wherein the virtual boundary apparatus comprises at least one module selected from the group consisting of a global positioning module, a photographic module, and a lawn identification module, wherein;

the global positioning module is configured to perform wireless communication with a positioning satellite and form a virtual boundary by using a predetermined position coordinate sequence;

the photographic module is configured to acquire an image of the robotic mower and a surrounding area and delineate a virtual boundary on the photograph; and

the lawn identification module is configured to determine whether the ground is a lawn according to a color or dampness of a lawn;

wherein the fixed working procedure is configured to;

start the drive motor;

control the robotic mower to enter into the predetermined working area;

control the robotic mower to mow according to a predetermined route or a random route;

detect power or a discharge time of the power source;

control the robotic mower to return to the station to be charged when the power of the power source is lower than a first predetermined value or the discharge time reaches a first predetermined time;

detect the power or a charging time of the power source; and

control the robotic mower to mow again when the power of the power source reaches a second predetermined value or the charging time reaches a second predetermined time.

15. A robotic mowing system comprising:

a station comprising an ultrasonic generator and an infrared generator; and

a robotic mower having;

a power source;

a drive motor;

an ultrasonic receiver;

an infrared receiver;

a memorizer configured to store a fixed working procedure; and

a controller configured to execute the fixed working procedure after receiving a start command input by a user so as to control the robotic mower to automatically mow and return to the station to be charged until the controller receives a stop command;

wherein the controller is configured to control the robotic mower to return directly toward the station;

wherein the controller is configured to adjust a moving direction of the robotic mower according to a receiving condition of the ultrasonic receiver when the robotic mower goes back, so that the robotic mower returns toward the station;

wherein the fixed working procedure is configured to;

start the drive motor;

control the robotic mower to enter into a predetermined working area;

control the robotic mower to mow according to a predetermined route or a random route;

detect power or a discharge time of the power source;

control the robotic mower to return to the station to be charged when the power of the power source is lower than a first predetermined value or the discharge time reaches a first predetermined time;

detect the power or a charging time of the power source; and

control the robotic mower to mow again when the power of the power source reaches a second predetermined value or the charging time reaches a second predetermined time;

wherein the ultrasonic generator and the ultrasonic receiver are configured to guide the robotic mower to return toward the station; and

wherein the infrared generator and the infrared receiver are configured to guide the robotic mower to connect to the station to be charged.