CN114616973B - Mower and control method of mower - Google Patents
Mower and control method of mower Download PDFInfo
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- CN114616973B CN114616973B CN202011437651.9A CN202011437651A CN114616973B CN 114616973 B CN114616973 B CN 114616973B CN 202011437651 A CN202011437651 A CN 202011437651A CN 114616973 B CN114616973 B CN 114616973B
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- mower
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- driving
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/64—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis mounted on a vehicle, e.g. a tractor, or drawn by an animal or a vehicle
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvester Elements (AREA)
Abstract
The application relates to a mower and a control method of the mower, belonging to the technical field of automatic control, wherein the mower comprises: casing, removal subassembly, removal drive assembly, detection component and control assembly, control assembly is used for: when the detection component detects that the mower moves towards the zone boundary and the distance between the mower and the zone boundary is smaller than or equal to a first distance threshold value, the movement driving component is controlled to reduce the driving speed; when the detection component detects that the mower reaches or passes the zone boundary, controlling the mower to turn, so that the turned mower moves in a direction away from the zone boundary; the problem that the mower still keeps the original speed to continue walking when approaching the region boundary at the highest point of the slope or the slope descending slope, and the mower leaves the region boundary when reaching the region boundary at the highest point of the slope or the slope descending slope is solved; ensuring that the mower does not cross the boundary of the area.
Description
Technical Field
The application relates to a mower and a control method of the mower, and belongs to the technical field of automatic control.
Background
Currently, lawnmowers typically have a function of moving themselves within a work area to mow grass. In order to limit the operation of the mower within a specified working area, the area boundary of the working area is usually provided with a boundary line, which can emit a boundary signal; accordingly, the mower is provided with a sensing component for sensing the boundary signal, and the mower can move based on the sensing result of the sensing component.
In one typical control scheme, the mower determines whether the area boundary is reached based on the signal strength of the boundary signal; if so, the moving direction is adjusted to move the mower into the working area.
Disclosure of Invention
The application provides a mower and a control method of the mower, which can solve the defect that the mower still keeps the original speed to continue walking when approaching to the region boundary at the highest point of a slope or the slope down-slope, and the mower gets out of the region boundary when reaching the region boundary at the highest point of the slope or the slope down-slope. The application provides the following technical scheme:
in a first aspect, there is provided a mower that moves and/or works within a work area defined by an area boundary, the mower comprising:
a housing;
the moving assembly is positioned on the shell and used for driving the mower to move;
the mobile driving assembly is used for driving the mobile assembly to operate;
the detection component is used for detecting the position relation between the mower and the area boundary;
and the control assembly is respectively and electrically connected with the mobile driving assembly and the detection assembly and is used for:
when the detection component detects that the mower moves towards the area boundary and the distance between the mower and the area boundary is smaller than or equal to a first distance threshold value, the movement driving component is controlled to reduce the driving speed;
when the detection assembly detects that the mower reaches or passes the zone boundary, the mower is controlled to turn, so that the mower after turning moves in a direction away from the zone boundary.
Optionally, the detection assembly includes: the at least two boundary induction components are used for inducing the magnetic field intensity of the area boundary, and the control component determines the position relationship between the mower and the area boundary according to the magnetic field intensity induced by the boundary induction components;
correspondingly, when the detection component detects that the mower moves towards the area boundary and the distance between the mower and the area boundary is smaller than or equal to a first distance threshold value, the movement driving component is controlled to reduce the driving speed, and the method comprises the following steps:
and when the magnetic field intensity sensed by the at least two boundary sensing assemblies is greater than or equal to a preset threshold value, controlling the movable driving assembly to reduce the driving speed.
Optionally, the at least two boundary sensing assemblies are symmetrically disposed with respect to the central axis and located at the front end of the housing.
Optionally, the detecting component detects that the mower reaches or crosses the zone boundary, including: at least one of the boundary sensing components reaches or crosses the region boundary.
Optionally, the mower comprises a mowing mechanism; when the detection assembly detects that the mower reaches or crosses the zone boundary, the mowing range of the mowing mechanism covers the zone boundary.
Optionally, the cutting edge of the mowing mechanism overlaps with a projected position of the mounting position of the detection assembly in a direction perpendicular to the mower; accordingly, the control assembly is configured to:
and when the detection assembly detects that the mower reaches the zone boundary, controlling the mower to turn.
Optionally, in the direction of travel, the cutting edge of the mowing mechanism is located after the mounting position of the detection assembly, and correspondingly, the control assembly is configured to:
and when the detection assembly detects that the mower passes the zone boundary, controlling the mower to turn.
Optionally, the control component is configured to:
and when the detection assembly detects that the mower passes the area boundary and the distance of the mower passing the area boundary is larger than or equal to the installation distance between the cutting edge and the detection assembly, controlling the mower to turn.
Optionally, the control assembly is further configured to:
and after controlling the mower to turn, controlling the mobile driving assembly to increase the driving speed when the detection assembly detects that the distance between the mower and the area boundary is greater than or equal to a second distance threshold value.
In a second aspect, there is provided a control method of a lawn mower for use in the lawn mower provided in the first aspect, the method comprising:
when the detection component detects that the mower moves towards the area boundary and the distance between the mower and the area boundary is smaller than or equal to a first distance threshold value, the movement driving component is controlled to reduce the driving speed;
when the detection assembly detects that the mower reaches or passes the zone boundary, the mower is controlled to turn, so that the mower after turning moves in a direction away from the zone boundary.
The application has the beneficial effects that: controlling the movement driving component to reduce the driving speed when the detection component detects that the mower moves towards the zone boundary and the distance between the mower and the zone boundary is smaller than or equal to a first distance threshold value; when the detection component detects that the mower reaches or passes the zone boundary, controlling the mower to turn, so that the turned mower moves in a direction away from the zone boundary; the problem that the mower still keeps the original speed to continue walking when approaching the region boundary at the highest point of the slope or the slope down-slope, so that the mower can leave the region boundary when reaching the region boundary at the highest point of the slope or the slope down-slope is solved; when the distance between the mower and the regional boundary is smaller than or equal to a first distance threshold value, the mower is controlled to be decelerated, so that the mower cannot cross the regional boundary when approaching the regional boundary at the highest point of a slope or the downhill slope of the slope, and the working safety of the mower is improved.
In addition, when the detection assembly detects that the mower reaches or passes over the area boundary, the mowing range of the mowing mechanism covers the area boundary, so that weeds near the area boundary can be cut, and the mowing effect of the mower is improved.
In addition, by accelerating operation when the distance between the mower and the boundary of the area is greater than or equal to the second distance threshold after steering of the mower is controlled, the working time of the mower can be saved, and the working efficiency can be improved.
The foregoing description is only an overview of the present application, and is intended to provide a better understanding of the present application, as it is embodied in the following description, with reference to the preferred embodiments of the present application and the accompanying drawings.
Drawings
FIG. 1 is a schematic view of a mower according to an embodiment of the present application;
FIG. 2 is another schematic view of a mower according to an embodiment of the present application;
FIG. 3 is a schematic illustration of a movement process of a mower provided in one embodiment of the present application;
fig. 4 is a flowchart of a control method of a mower according to an embodiment of the present application.
Detailed Description
The following describes in further detail the embodiments of the present application with reference to the drawings and examples. The following examples are illustrative of the application and are not intended to limit the scope of the application.
Fig. 1 and 2 are schematic structural views of a mower according to an embodiment of the present application, which moves and/or works within a work area defined by an area boundary. Alternatively, the region boundary may be a region having a gradient, such as: uphill road surfaces or downhill road surfaces, etc.; in other embodiments, the region boundary may be a road surface without a gradient, and the type of the region boundary is not limited in this embodiment. In addition, other regions in the working region may have slopes other than the region boundaries, and the present embodiment does not limit the types of other regions in the working region. The mower provided by the application is an intelligent mower, namely, the mower can automatically complete the mowing task without manual control.
The zone boundaries of the mower may be located on a slope, such as at the highest point of the slope or downhill slope. When the existing intelligent mower approaches to the zone boundary at the highest point of the slope or the downhill slope, if the original speed is still kept to continue walking, the existing intelligent mower can have the defect of exceeding the zone boundary when reaching the zone boundary at the highest point of the slope or the downhill slope. Based on the above, the application provides a mower and a control method thereof.
As shown in fig. 1 and 2, the mower 10 includes at least:
a housing 17;
a moving assembly, located on the housing 17, for driving the mower 10 to move;
a moving driving assembly 11 for driving the moving assembly to operate;
a detection component 12 for detecting a positional relationship between the mower 10 and the boundary of the area;
the control assembly 13 is electrically connected with the movement driving assembly 11 and the detection assembly 12 respectively, and is used for: when the detection component 12 detects that the mower 10 moves towards the zone boundary and the distance between the mower 10 and the zone boundary is smaller than or equal to a first distance threshold value, controlling the movement driving component 11 to reduce the driving speed; when the detection assembly 12 detects that the mower 10 reaches or crosses the zone boundary, the mower 10 is controlled to steer such that the steered mower 10 moves away from the zone boundary.
In the embodiment of the present application, when the mower 10 approaches the zone boundary at the highest point of the slope or the downhill slope, that is, when the detection component detects that the mower 10 moves towards the zone boundary and the distance between the mower 10 and the zone boundary is smaller than or equal to the first distance threshold, the movement driving component is controlled to reduce the driving speed, so that the mower 10 does not cross the zone boundary when approaching the zone boundary at the highest point of the slope or the downhill slope.
Alternatively, control assembly 13 may control mower 10 to continue decelerating within the first distance threshold; alternatively, the mower 10 is controlled to stop decelerating when decelerating to a preset speed, and thereafter, the mower 10 is controlled to move at the preset speed. The preset speed is a speed at which the mower 10 cannot punch out the boundary line under the inertia.
Optionally, the moving assembly includes a wheel body and a driving member for driving the wheel body to rotate, where the wheel body may be a wheel or a belt pulley, and the implementation of the moving assembly is not limited in this embodiment. The wheel body can be provided with a plurality of arrangement methods. In one example, the wheel body includes driving wheels 111 driven by the movement driving assembly 11 and auxiliary wheels 112 of the auxiliary support housing, the number of which may be 1, 2 or more, and the number of the auxiliary wheels may be 1, 2 or more accordingly. In the present embodiment, the mower 10 has 2 driving wheels, which are a right driving wheel located on the right side and a left driving wheel located on the left side. The right and left drive wheels are symmetrically disposed about a central axis of the mower 10. The center of the auxiliary wheel is positioned on the central axis. The right and left drive wheels are preferably located at the rear of the housing and the auxiliary wheels are located at the front.
The movement driving assembly 11 may be a motor, etc., and the present embodiment is not limited to the implementation of the movement driving assembly 11. In this embodiment, the right and left drive wheels are each coupled with a movement drive assembly to achieve differential output to control steering. The mobile drive assembly may be directly coupled to the drive wheel, but a transmission may also be provided between the mobile drive assembly and the drive wheel, such as a planetary gear train or the like as is common in the art. In other embodiments, 2 drive wheels may be provided, and 1 drive assembly is moved, in which case the drive assembly drives the right drive wheel via a first transmission and the left drive wheel via a second transmission. I.e. the same motor drives the right and left driving wheels via different transmission means.
Implementations of the detection assembly 12 include, but are not limited to, at least one of the following:
first kind: the region boundary emits a boundary signal, the detection component 12 is used for detecting the boundary signal, and the boundary signal is used for indicating the position relationship between the detection component 12 and the region boundary; accordingly, the control component 13 is configured to determine the positional relationship according to the signal information of the boundary signal sensed by the detection component 12.
In one example, the detection component 12 includes a boundary sensing component. The boundary sensing assembly includes: magnetic sensors, for example: hall sensor. The magnetic sensor may sense a boundary signal generated by a current in the boundary and send the sensed boundary signal to the control assembly 13. Wherein, the signal information of the boundary signal includes: signal strength of the magnetic field signal. In other implementations, the signal information of the boundary signal further includes a signal direction or other information, and the content of the signal information is not limited in this embodiment.
Such as: referring to fig. 3, a boundary signal transmitting assembly 31 is disposed on a boundary of a working area where the mower 10 is located, and the boundary signal transmitting assembly 31 is used for transmitting a boundary signal; accordingly, the detection component 12 may sense the boundary signal. The boundary signal may be a magnetic field signal, which is sensed by the sensing assembly 12 accordingly; alternatively, the boundary signal may be an optical signal, and accordingly, the detection assembly 12 senses the optical signal; alternatively, the boundary signal may be an acoustic signal, and accordingly, the detecting component 12 senses the acoustic signal, and the present embodiment is not limited to the signal type of the boundary signal and the component type of the detecting component 12. In this embodiment, a boundary signal is described as an example of a magnetic field signal.
In one example, the number of boundary sensing assemblies is at least two, and the at least two boundary sensing assemblies are disposed at both sides of the housing 17, respectively. At this time, the control unit 13 is configured to: the positional relationship of mower 10 to the boundary of the area is determined based on the strength of the magnetic field sensed by the boundary sensing assembly.
Wherein the magnetic field strength and the distance between mower 10 and the boundary of the area are in a negative correlation, i.e. the stronger the magnetic field strength, the smallest the distance between mower 10 and the boundary of the area; the smaller the magnetic field strength, the greatest the distance between mower 10 and the boundary of the area. Based on the above-described negative correlation, when the detection module 12 detects that the mower 10 moves toward the boundary of the area and the distance between the mower 10 and the boundary of the area is less than or equal to the first distance threshold, the control module 13 controls the movement driving module 11 to reduce the driving speed, including: and when the magnetic field intensity sensed by the at least two boundary sensing assemblies is greater than or equal to a preset threshold value, controlling the movable driving assembly to reduce the driving speed.
When the preset threshold is a first distance threshold from the boundary of the region, the magnetic field strength sensed by the detection assembly 12 is detected.
Accordingly, when detection assembly 12 detects that mower 10 reaches or crosses an area boundary, control assembly 13 controls the steering of mower 10, including: the control assembly 13 controls the steering of the mower 10 when at least one of the at least two boundary sensing assemblies reaches or crosses a boundary of the area.
For the magnetic field signals emitted by the region borders, the magnetic field signals differ in the direction of the magnetic field within the working region and in the direction of the magnetic field outside the working region. Based thereon, when detection assembly 12 detects that mower 10 reaches or crosses an area boundary, control assembly 13 controls the steering of mower 10, including: the control assembly 13 controls the direction of the mower 10 when the direction of the magnetic field sensed by the at least one boundary sensing assembly changes or the direction of the magnetic field changes for a certain period of time.
Optionally, at least two boundary sensing assemblies are symmetrically disposed with respect to the central axis and located at the front end of the housing 17. Since the mower 10 normally travels forward, by symmetrically disposing the boundary sensing assemblies at the front end of the housing 17, it is ensured that the mower 10 can recognize the region boundary in time, and the problem that the mower 10 moves out of the working region is avoided.
Second kind: the detection component 12 is an image acquisition device, and at this time, the detection component 12 sends the acquired ground image to the control component 13. Accordingly, the control assembly 13 uses an image recognition algorithm to determine the positional relationship between the mower 10 and the boundary of the area.
The image recognition algorithm may be based on machine learning for boundary recognition; or, the region recognition is performed based on feature matching, and the algorithm type of the image recognition algorithm is not limited in this embodiment.
Third kind: the detecting component 12 is a positioning sensor, and at this time, the detecting component 12 acquires the current positioning position in real time and sends the positioning position to the control component 13. Accordingly, the control component 13 compares the location position with the boundary position of the pre-stored region boundary; the positional relationship between the mower 10 and the region boundary is determined based on the comparison result.
Alternatively, the positioning sensor may be a component that implements positioning based on a global positioning system (Global Positioning System, GPS); alternatively, the embodiment does not limit the implementation manner of the positioning sensor for a component that implements positioning based on Real-time kinematic (RTK) carrier phase difference technology.
It should be noted that, the detecting assembly 12 may be implemented in other types, and the present embodiment does not limit the manner in which the detecting assembly 12 detects the positional relationship between the mower 10 and the boundary of the area.
In this embodiment, the control module 13 is used to control the operation of the movement driving module 11 and the detecting module 12. Such as: control of the driving direction and driving speed of the movable driving assembly 11, control of the start and stop of the detecting assembly 12, etc., of course, the control assembly 13 may also control the operation of other components in the mower 10, such as: the operation of the mowing mechanism on the mower 10 is controlled, etc., and the embodiment is not limited to the specific control of the control unit 13.
In this embodiment, by controlling the mower to slow down when the distance between the mower and the area boundary is smaller than or equal to the first distance threshold, the mower 10 can not rush out of the area boundary due to too high speed when reaching the area boundary, and the safety of the mower 10 is improved.
Such as: referring to the path of movement of the mower 10 shown in fig. 3, wherein the dashed single arrow indicates that the mower 10 moves at the original movement speed, the solid single arrow indicates that the mower 10 continues to move at a reduced speed, and as can be seen from fig. 3, after determining that the distance from the boundary of the area at the position 32 reaches the first distance threshold d, the movement is reduced. In this way, the mower 10 does not speed too fast when reaching the zone boundary and does not overrun the zone boundary when approaching the zone boundary at the highest point of the slope or downhill slope.
Alternatively, since the original moving speed of the mower 10 is less than or equal to the preset speed, the problem of rushing out of the boundary of the area does not occur; thus, the control assembly 13 also serves to: when the detection component 12 detects that the mower 10 moves towards the area boundary and the distance between the mower 10 and the area boundary is smaller than or equal to a first distance threshold value, determining whether the current moving speed is larger than a preset speed; if yes, controlling the mobile driving assembly 11 to reduce the driving speed; if not, when the detection assembly 12 detects that the mower 10 reaches or crosses the zone boundary, the mower 10 is controlled to turn so that the turned mower 10 moves in a direction away from the zone boundary.
Alternatively, in the present embodiment, the control unit 13 controls the movement driving unit 11 to decrease the driving speed, and keeps the driving direction of the movement driving unit 11 unchanged.
The driving direction of the movement driving assembly 11 refers to a direction in which the mower 10 is driven to move. In other words, the driving direction of the movement driving assembly 11 is the traveling direction of the mower 10.
The mower 10 is provided with a mowing mechanism. Optionally, the mowing mechanism comprises at least one cutting member 121; such as cutterhead. The mowing mechanism is driven by a cutting motor 122. The mowing mechanism is mounted on the chassis of the mower 10 and can be arranged at one side of the central axis of the longitudinal direction of the housing 17; alternatively, it may be disposed on the central axis; in other embodiments, the mowing mechanism may be mounted to the front end of the mower 10, and the present embodiment is not limited to the mounting location and implementation of the mowing mechanism.
Alternatively, the cutting motor 122 includes a set of motors, the movement driving assembly 11 includes a set of motors, and the two sets of motors are different.
To ensure that weeds near the zone boundary are cut, in this embodiment, the mowing area of the mowing mechanism covers the zone boundary when the detection assembly detects that the mower 10 reaches or crosses the zone boundary. Based on this, when detection assembly 12 detects that mower 10 reaches or crosses a zone boundary, control assembly 13 controls the steering of mower 10 including, but not limited to, the following:
first scenario: the cutting edge of the mower mechanism overlaps the projected position of the mounting location of the detection assembly 12 in a direction perpendicular to the mower 10. At this time, the detection assembly 12 detects that the zone boundary is reached, which means that the cutting edge of the mowing mechanism also reaches the zone boundary, and it is ensured that weeds near the zone boundary are cut. Accordingly, the control component 13 is configured to control the steering of the mower 10 when the detection component 12 detects that the mower 10 reaches the boundary of the area.
The second scenario: in the direction of travel, the cutting edge of the mowing mechanism is located behind the mounting position of the detection assembly 12. Because the detection assembly 12 detects the position of the mower 10 relative to the boundary of the area, and is essentially the position of the detection assembly 12 relative to the boundary of the area, when the detection assembly 12 reaches the boundary of the area, the cutting edge of the mowing mechanism does not reach the boundary of the area yet, and the mower 10 needs to ensure that the cutting edge of the mowing mechanism reaches the boundary of the area after the detection assembly 12 passes the boundary of the area, so as to cut weeds near the boundary of the area. Accordingly, the control assembly 13 is configured to: when detection assembly 12 detects that mower 10 crosses a zone boundary, mower 10 is controlled to steer.
Specifically, control assembly 13 is configured to control the steering of mower 10 when detection assembly 12 detects that mower 10 crosses a boundary of a zone and the distance across the boundary of the zone is greater than or equal to the mounting distance between the cutting edge and detection assembly 12.
In one example, after detection assembly 12 detects that mower 10 crosses a boundary of an area, if control assembly 13 determines that the magnetic field strength is less than or equal to a set point, it determines that the distance that detection assembly 12 crosses the boundary of the area is greater than or equal to the mounting distance between the cutting edge and detection assembly 12.
The set value is the magnetic field strength when the distance between the detection unit 12 and the boundary of the region is the installation distance.
In another example, after detection assembly 12 detects that mower 10 reaches the zone boundary, control assembly 13 integrates the product of the current speed of movement and the length of movement in real time, and when the integration result is greater than or equal to the installation distance, determines that the distance that detection assembly 12 crosses the zone boundary is greater than or equal to the installation distance between the cutting edge and detection assembly 12. At this time, the installation distance between the detection assembly 12 and the cutting edge is pre-stored in the mower 10.
It should be noted that, the control unit 13 may also determine whether the distance of the detection unit 12 crossing the boundary of the area is greater than or equal to the installation distance by using other methods, which are not limited in this embodiment.
Optionally, the control assembly 13 is further configured to: after controlling the steering of the mower 10, the movement driving assembly is controlled to increase the driving speed when the distance between the detection assembly and the boundary of the area is detected to be greater than or equal to the second distance threshold value.
The second distance threshold is the same as or different from the first distance threshold.
The manner in which the control assembly 13 controls the movement drive assembly to increase the drive speed includes, but is not limited to: the control component 13 controls the driving speed of the mobile driving component to continuously increase until the driving speed is increased to the maximum speed; alternatively, the control unit 13 controls the driving speed of the moving driving unit to be stopped when the driving speed of the moving driving unit is increased to the original driving speed, and the original driving speed refers to the driving speed of the moving driving unit before the control unit 13 controls the moving driving unit to reduce the driving speed; alternatively, the control unit 13 controls the driving speed of the moving driving unit to stop when it increases to the target driving speed, which may be set by the user, or transmitted from another device, or stored in advance in the mower 10, and the setting manner of the target driving speed is not limited in this embodiment.
Referring to fig. 3, after steering mower 10, detection assembly 12 is controlled to increase the driving speed (indicated by the bold solid arrow) when the distance from the boundary of the area is detected to be greater than or equal to second distance threshold d'.
Alternatively, the driving direction of the moving driving assembly may be controlled to be changed or maintained during the control of the driving speed of the moving driving assembly by the control assembly 13.
It should be noted that the mower 10 may further include other components, such as: the energy module 14, the communication module 15, and the like, the structure of the mower 10 will not be described one by one in this embodiment.
The energy module 14 may be removably or fixedly mounted to the housing and may include gasoline, a battery pack, etc. In operation, the battery pack releases electrical energy to maintain the mower 10 in operation and walking. When not in operation, the battery may be connected to an external power source to supplement electrical energy; the mower 10 may also automatically find a base station to supplement power when a shortage of power is detected.
The communication module 15 is used for communicating with external devices, such as: receiving a message sent externally, or sending a message to the outside.
In summary, in the mower provided by the embodiment, when the detection component detects that the mower moves towards the area boundary and the distance between the mower and the area boundary is smaller than or equal to the first distance threshold, the movement driving component is controlled to reduce the driving speed; when the detection component detects that the mower reaches or passes the zone boundary, controlling the mower to turn, so that the turned mower moves in a direction away from the zone boundary; the problem that the mower still keeps the original speed to continue walking when approaching the region boundary at the highest point of the slope or the slope down-slope, so that the mower can leave the region boundary when reaching the region boundary at the highest point of the slope or the slope down-slope is solved; and when the distance between the mower and the regional boundary is smaller than or equal to a first distance threshold value, controlling the mower to decelerate, so that the mower cannot cross the regional boundary when approaching the regional boundary at the highest point of the slope or the downhill slope of the slope.
In addition, when the detection assembly detects that the mower reaches or passes over the area boundary, the mowing range of the mowing mechanism covers the area boundary, so that weeds near the area boundary can be cut, and the mowing effect of the mower is improved.
In addition, by accelerating operation when the distance between the mower and the boundary of the area is greater than or equal to the second distance threshold after steering of the mower is controlled, the working time of the mower can be saved, and the working efficiency can be improved.
Fig. 4 is a flowchart of a control method of a mower according to an embodiment of the present application, where the method is applied to the mower shown in fig. 1 and 2, and a main body of execution of each step is illustrated as a control module 13 in the mower. The method at least comprises the following steps:
in step 401, when the detection component detects that the mower moves towards the boundary of the area and the distance between the mower and the boundary of the area is smaller than or equal to the first distance threshold, the movement driving component is controlled to reduce the driving speed.
In one example, a boundary signal transmitting component is provided on the boundary of the region, the boundary signal transmitting component being for transmitting a boundary signal (magnetic field signal). The detection assembly comprises at least two boundary induction assemblies which are respectively arranged at two sides of the shell, wherein the at least two boundary induction assemblies are used for inducing the magnetic field intensity of the boundary of the area, and the magnetic field intensity is used for indicating the position relationship between the mower and the boundary of the area. Accordingly, when the detection component detects that the mower moves towards the zone boundary and the distance between the mower and the zone boundary is smaller than or equal to the first distance threshold, the control of the movement driving component to reduce the driving speed comprises the following steps: and when the magnetic field intensity sensed by the at least two boundary sensing assemblies is greater than or equal to a preset threshold value, controlling the movable driving assembly to reduce the driving speed.
When the detection assembly detects that the mower reaches or crosses the zone boundary, the mower is controlled to steer, such that the steered mower moves away from the zone boundary, step 402.
When the detection assembly comprises at least two boundary sensing assemblies, controlling the direction of the mower to turn when the detection assembly detects that the mower reaches or crosses the boundary of the area, comprising: the mower is controlled to steer when at least one of the boundary sensing assemblies reaches or crosses the boundary of the area.
In this embodiment, the mower includes a mowing mechanism; when the detection assembly detects that the mower reaches or crosses an area boundary, the mowing area of the mowing mechanism covers the area boundary.
In one scenario, the cutting edge of the mower mechanism overlaps the projected position of the mounting position of the detection assembly in a direction perpendicular to the mower; at this time, when the detection assembly detects that the mower reaches the region boundary, the mower is controlled to turn.
In another scenario, the cutting edge of the mowing mechanism is located behind the mounting location of the detection assembly in the direction of travel. At this time, when the detection assembly detects that the mower crosses the zone boundary, the mower is controlled to turn.
Optionally, after controlling the steering of the mower, the movement driving assembly is controlled to increase the driving speed when the detection assembly detects that the distance between the mower and the boundary of the area is greater than or equal to a second distance threshold.
The related description of the present embodiment is detailed in the above embodiments.
In summary, in the control method of the mower provided by the embodiment, when the detection component detects that the mower moves towards the area boundary and the distance between the mower and the area boundary is smaller than or equal to the first distance threshold, the movement driving component is controlled to reduce the driving speed; when the detection component detects that the mower reaches or passes the zone boundary, controlling the mower to turn, so that the turned mower moves in a direction away from the zone boundary; the problem that the mower still keeps the original speed to continue walking when approaching the region boundary at the highest point of the slope or the slope down-slope, so that the mower can leave the region boundary when reaching the region boundary at the highest point of the slope or the slope down-slope is solved; and when the distance between the mower and the regional boundary is smaller than or equal to a first distance threshold value, controlling the mower to decelerate, so that the mower cannot cross the regional boundary when approaching the regional boundary at the highest point of the slope or the downhill slope of the slope.
In addition, when the detection assembly detects that the mower reaches or passes over the area boundary, the mowing range of the mowing mechanism covers the area boundary, so that weeds near the area boundary can be cut, and the mowing effect of the mower is improved.
In addition, by accelerating operation when the distance between the mower and the boundary of the area is greater than or equal to the second distance threshold after steering of the mower is controlled, the working time of the mower can be saved, and the working efficiency can be improved.
Optionally, the present application further provides a computer readable storage medium having a program stored therein, the program being loaded and executed by a processor to implement the control method of the mower of the above method embodiment.
Optionally, the present application further provides a computer product, which includes a computer readable storage medium, where a program is stored, where the program is loaded and executed by a processor to implement the control method of the mower according to the above embodiment of the method.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (9)
1. A mower that moves and/or operates within a work area defined by an area boundary, the mower comprising:
a housing;
the moving assembly is positioned on the shell and used for driving the mower to move;
the mobile driving assembly is used for driving the mobile assembly to operate;
the detection component is used for detecting the position relation between the mower and the area boundary;
a mowing mechanism;
and the control assembly is respectively and electrically connected with the mobile driving assembly and the detection assembly and is used for:
when the detection component detects that the mower moves towards the area boundary and the distance between the mower and the area boundary is smaller than or equal to a first distance threshold value, the movement driving component is controlled to reduce the driving speed;
when the detection assembly detects that the mower reaches or passes the zone boundary, controlling the mower to turn so that the mower after turning moves in a direction away from the zone boundary;
and after controlling the mower to turn, controlling the mobile driving assembly to increase the driving speed when the detection assembly detects that the distance between the mower and the area boundary is greater than or equal to a second distance threshold value.
2. The mower of claim 1, wherein the detection assembly comprises: at least two boundary sensing assemblies, wherein the shell is provided with a longitudinal central axis, the at least two boundary sensing assemblies are respectively arranged at two sides of the shell, and the at least two boundary sensing assemblies are used for sensing
The control component determines the position relation between the mower and the area boundary according to the magnetic field intensity of the area boundary;
correspondingly, when the detection component detects that the mower moves towards the area boundary and the distance between the mower and the area boundary is smaller than or equal to a first distance threshold value, the movement driving component is controlled to reduce the driving speed, and the method comprises the following steps:
and when the magnetic field intensity sensed by the at least two boundary sensing assemblies is greater than or equal to a preset threshold value, controlling the movable driving assembly to reduce the driving speed.
3. The mower of claim 2 wherein the at least two boundary sensing assemblies are symmetrically disposed about the central axis and are located at the front end of the housing.
4. The mower of claim 2, wherein the detection assembly detects that the mower reaches or crosses the zone boundary, comprising: at least one of the boundary sensing components reaches or crosses the region boundary.
5. The mower of claim 1, wherein the mower comprises a mowing mechanism; when the detection assembly detects that the mower reaches or crosses the zone boundary, the mowing range of the mowing mechanism covers the zone boundary.
6. The mower of claim 5 wherein the cutting edge of the mower mechanism overlaps a projected position of the mounting location of the detection assembly in a direction perpendicular to the mower; accordingly, the control assembly is configured to:
and when the detection assembly detects that the mower reaches the zone boundary, controlling the mower to turn.
7. The mower of claim 5 wherein in the direction of travel the cutting edge of the mower mechanism is located behind the mounting location of the detection assembly and, correspondingly, the control assembly is for:
and when the detection assembly detects that the mower passes the zone boundary, controlling the mower to turn.
8. The mower of claim 7, wherein the control assembly is configured to:
and when the detection assembly detects that the mower passes the area boundary and the distance of the mower passing the area boundary is larger than or equal to the installation distance between the cutting edge and the detection assembly, controlling the mower to turn.
9. A control method of a lawn mower for use in a lawn mower according to any one of claims 1 to 8, the method comprising:
when the detection component detects that the mower moves towards the area boundary and the distance between the mower and the area boundary is smaller than or equal to a first distance threshold value, the movement driving component is controlled to reduce the driving speed;
when the detection assembly detects that the mower reaches or passes the zone boundary, the mower is controlled to turn, so that the mower after turning moves in a direction away from the zone boundary.
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