US 12,457,924 B2
Smart mowing system
Hongwei Wang, Nanjing (CN); Dezhong Yang, Nanjing (CN); and Qing Gao, Nanjing (CN)
Assigned to Nanjing Chervon Industry Co., Ltd., Nanjing (CN)
Filed by Nanjing Chervon Industry Co., Ltd., Nanjing (CN)
Filed on Apr. 22, 2022, as Appl. No. 17/726,955.
Application 17/726,955 is a continuation of application No. PCT/CN2020/128717, filed on Nov. 13, 2020.
Claims priority of application No. 201911120236.8 (CN), filed on Nov. 15, 2019; application No. 201911362084.2 (CN), filed on Dec. 26, 2019; application No. 201911362095.0 (CN), filed on Dec. 26, 2019; application No. 201911362972.4 (CN), filed on Dec. 26, 2019; and application No. 201911362973.9 (CN), filed on Dec. 26, 2019.
Prior Publication US 2022/0240444 A1, Aug. 4, 2022
Int. Cl. A01D 34/00 (2006.01); G05D 1/00 (2024.01); A01D 101/00 (2006.01)
CPC A01D 34/008 (2013.01) [G05D 1/0212 (2013.01); G05D 1/0259 (2013.01); G05D 1/0891 (2013.01); A01D 2101/00 (2013.01)] 19 Claims
OG exemplary drawing
 
1. 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°.