CN111190209A

CN111190209A - Parallel cutting method and device for mower and mower

Info

Publication number: CN111190209A
Application number: CN202010196313.4A
Authority: CN
Inventors: 龚建飞; 陈凤梧; 董凯; 王斌; 张哲�
Original assignee: Zhejiang YAT Electrical Appliance Co Ltd
Current assignee: Zhejiang YAT Electrical Appliance Co Ltd
Priority date: 2019-10-21
Filing date: 2020-03-19
Publication date: 2020-05-22
Also published as: CN110927766A

Abstract

The application discloses parallel cutting method of a mower, comprising the following steps: sequentially mowing in each mowing subarea by a parallel mowing method; detecting the mowing route state of the mower, and generating corresponding mowing route information according to the mowing route state; sending the mowing route information to a GNSS (global navigation satellite system) so that the GNSS generates a corresponding mowing route correction signal according to the mowing route information; and receiving the mowing line correction signal, and correcting the mowing line according to the mowing line correction signal. The method and the device have the advantages that when the situation that the route deviates when the mower moves linearly in a long distance in the complex terrain is faced, the GNSS is utilized to correct the route of the mower, so that the course stability of the mower is guaranteed, and the purpose of parallel cutting of the mower in the complex terrain is achieved. The application also provides a device for cutting the mower in parallel, the mower and a readable storage medium, and the mower has the beneficial effects.

Description

Parallel cutting method and device for mower and mower

Technical Field

The present disclosure relates to a field of lawn mower, and more particularly, to a method and an apparatus for parallel cutting of a lawn mower, a lawn mower and a readable storage medium.

Background

The automatic mower can finish mowing action without manual operation. Compare other intelligent house, for example, automatic robot etc. of sweeping the floor, the operational environment of automatic lawn mower is more abominable, and it is usually in open-air work, and the meadow roughness differs, and the meadow border is difficult to confirm, takes place during various unexpected situations.

At present, the working mode of the mower is mainly mowing randomly, and the coverage efficiency is low. A small number of lawn mowers improve the mowing efficiency through a parallel mowing mode, but the parallel mowing mode has high requirements on control of the lawn mowers, and the heading stability is difficult to maintain under the condition of complex terrain.

Therefore, how to realize parallel cutting of a mower in a complex terrain is a technical problem to be solved by those skilled in the art at present.

Disclosure of Invention

The application aims to provide a method and a device for parallel cutting of a mower, the mower and a readable storage medium, which are used for realizing the parallel cutting of the mower in complex terrain.

In order to solve the technical problem, the present application provides a method for parallel cutting of a mower, including:

the method comprises the following steps that a mowing machine determines a mowing area and divides the mowing area to obtain corresponding mowing subareas;

sequentially mowing in each mowing subarea by a parallel mowing method;

detecting the mowing route state of the mower, and generating corresponding mowing route information according to the mowing route state;

sending the mowing route information to a GNSS (global navigation satellite system) so that the GNSS generates a corresponding mowing route correction signal according to the mowing route information;

and receiving the mowing line correcting signal, and correcting the mowing line according to the mowing line correcting signal.

Optionally, the mowing in each mowing zone in sequence by using the parallel mowing method includes:

mowing linearly within each of the mowing zones;

judging whether the boundary of the mowing subarea is reached;

if not, continuing to mow along the straight line;

if yes, selecting the next straight line parallel to the straight line in the zone which is not mowed in the mowing sub-zone, and mowing along the next straight line after rotating 180 degrees.

Optionally, mowing linearly within each mowing zone, comprising:

acquiring balance state data of the mower detected by an inclination angle sensor;

and correcting the traveling speed of the mower according to the balance state data.

Optionally, detecting a mowing route state of the mower comprises:

detecting a mowing route state of the mower through a gyroscope.

Optionally, dividing the mowing area to obtain corresponding mowing partitions includes:

dividing the mowing area into strip mowing subareas with preset widths;

adjusting the width of each of the mowing zones according to the flatness of the mowing zone.

Optionally, the lawn mower determines a mowing area, comprising:

travel along a physical barrier and record a first travel route;

when the first travel route is overlapped, determining an area enclosed by the first travel route as the mowing area.

Optionally, the lawn mower determines a mowing area, comprising:

traveling along the electronic induction obstacle and recording a second traveling route;

when the second travel route coincides, determining an area surrounded by the second travel route as the mowing area.

The present application further provides a device of lawn mower parallel cutting, the device includes:

the determining and dividing module is used for determining a mowing area by the mower and dividing the mowing area to obtain a corresponding mowing subarea;

the mowing module is used for sequentially mowing in each mowing subarea by using a parallel mowing method;

the detection module is used for detecting the mowing route state of the mower and generating corresponding mowing route information according to the mowing route state;

the sending module is used for sending the mowing route information to a GNSS (global navigation satellite system) so that the GNSS generates a corresponding mowing line correction signal according to the mowing route information;

and the correction module is used for receiving the mowing line correction signal and correcting the mowing line according to the mowing line correction signal.

The present application further provides a lawn mower, the lawn mower comprising:

a memory for storing a computer program;

a processor for implementing the steps of the method of parallel cutting of a lawnmower according to any one of the above when the computer program is executed.

The present application also provides a readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the method of parallel cutting of a lawnmower according to any one of the above claims.

The application provides a parallel cutting method of a mower, which comprises the following steps: the method comprises the following steps that a mowing machine determines a mowing area and divides the mowing area to obtain corresponding mowing subareas; sequentially mowing in each mowing subarea by a parallel mowing method; detecting the mowing route state of the mower, and generating corresponding mowing route information according to the mowing route state; sending the mowing route information to a GNSS (global navigation satellite system) so that the GNSS generates a corresponding mowing route correction signal according to the mowing route information; and receiving the mowing line correction signal, and correcting the mowing line according to the mowing line correction signal.

According to the technical scheme, when the mower mows, the mowing route information of the mower is sent to the GNSS, so that the GNSS generates a corresponding mowing route correction signal, the mowing route is corrected according to the mowing route correction signal, when the route deviates when the mower linearly moves in a long distance in a complex terrain, the route of the mower is corrected by the GNSS, the course of the mower is further ensured to be stable, and the purpose of parallel cutting of the mower in the complex terrain is achieved. This application still provides a device, lawn mower and readable storage medium of lawn mower parallel cutting simultaneously, has above-mentioned beneficial effect, no longer gives unnecessary details here.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

FIG. 1 is a flow chart of a method for parallel cutting of a mower according to an embodiment of the present disclosure;

FIG. 2 is a schematic view of a mowing area division provided by an embodiment of the present application;

FIG. 3 is a schematic view of a mowing area division provided by an embodiment of the present application;

FIG. 4 is a schematic view of a mowing area division provided by an embodiment of the present application;

FIG. 5 is a flow chart of an actual representation of S102 of a method of parallel cutting for a lawnmower of FIG. 1;

FIG. 6 is a block diagram of a parallel cutting device of a lawn mower according to an embodiment of the present disclosure;

FIG. 7 is a block diagram of another embodiment of a parallel cutting device for a lawn mower;

fig. 8 is a structural diagram of a lawn mower according to an embodiment of the present disclosure.

Detailed Description

The core of the application is to provide a method and a device for parallel cutting of a mower, the mower and a readable storage medium, which are used for realizing the parallel cutting of the mower in complex terrain.

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Referring to fig. 1, fig. 1 is a flowchart illustrating a parallel cutting method of a lawn mower according to an embodiment of the present disclosure.

The method specifically comprises the following steps:

s101: the method comprises the following steps that a mowing machine determines a mowing area and divides the mowing area to obtain corresponding mowing subareas;

the parallel cutting method is used for solving the problems that the requirement on control of the mower is high based on a parallel cutting mode, and the course stability is difficult to maintain under the condition of complex terrain;

optionally, in order to facilitate the determination of the mowing area and reduce the business requirement for the operator, the determination of the mowing area may be completed by setting a physical barrier, that is, the mowing machine mentioned herein determines the mowing area, which may specifically be:

travel along a physical barrier and record a first travel route;

when the first travel route coincides, the area surrounded by the first travel route is determined to be a mowing area.

Optionally, in order to improve the accuracy of determining the mowing area and reduce the workload of the worker, the determination of the mowing area may be completed by setting an electronic sensing obstacle, that is, the mowing area determined by the mower mentioned here may specifically be:

when the second travel route is overlapped, the area surrounded by the second travel route is determined as a mowing area.

Optionally, please refer to fig. 2, fig. 2 is a schematic diagram of dividing a mowing area according to an embodiment of the present application, and as shown in fig. 2, the dividing of the mowing area mentioned herein to obtain a corresponding mowing partition may specifically be:

dividing the mowing area into strip mowing subareas with preset widths;

the width of each of the mowing zones is adjusted according to the flatness of the mowing zone.

Optionally, in order to facilitate the GNSS and the control of the driving mechanism on the lawn mower, the mowing area is divided to obtain corresponding mowing partitions, which may be implemented by the following two embodiments:

example 1:

referring to fig. 3, fig. 3 is a schematic diagram of another mowing area division provided by the embodiment of the present application, as shown in fig. 3, a rectangle 2 is drawn, a contour 1 completely falls within the rectangle 2, four sides of the rectangle 2 are all tangent to the contour 1, two mutually perpendicular straight lines are drawn with the center of the rectangle 2 as an intersection point, the two straight lines divide the mowing area into four parts, and the mower performs parallel mowing in the four parts respectively.

The boundary of each subarea at least comprises two mutually perpendicular parts, so that the method is extremely suitable for parallel mowing, the mowing coverage rate at the boundary of each subarea is high, and the cutting coverage rate at the center of the whole mowing area is improved as much as possible.

Example 2:

referring to fig. 4, fig. 4 is a schematic diagram of another mowing area dividing method provided in the embodiment of the present application, as shown in fig. 4, the difference between the embodiment and embodiment 1 is that two straight lines are respectively parallel to two sides of a rectangle 2, at this time, the rectangle 2 is divided into four congruent partitions, and at this time, each partition can be secondarily partitioned by using the same method according to the shape of a contour 1. For example, the rectangular section at the lower left corner is continuously divided into four congruent secondary rectangular sections 3 by two mutually perpendicular straight lines, and the four secondary rectangular sections 3 can be mowed by applying the parallel mowing method. The method has the advantage that mowing coverage at the edge of the contour 1 can be guaranteed to the maximum extent.

S102: sequentially mowing in each mowing subarea by a parallel mowing method;

in this step, the specific method of mowing is a parallel mowing method, and the mower can only mow in a straight line in each subarea, so as to enable the mowing route of the mower to cover the whole mowing area as much as possible and reduce the repeated mowing rate.

S103: detecting the mowing route state of the mower, and generating corresponding mowing route information according to the mowing route state;

in the mowing process, the mower needs to perform linear movement for a long time, and the mowing machine can topple to a certain degree due to factors such as signal transmission errors in the mower, so that the moving route deviates, the mowing route state of the mower is detected, and corresponding mowing route information is generated according to the mowing route state, so that a Global Navigation Satellite System (GNSS) can correct the mowing route.

Alternatively, as mentioned herein, the mowing route state of the mower is detected, which may specifically be that the mowing route state of the mower is detected by a gyroscope, and the gyroscope is capable of detecting a tilting state of the mower and sending a detected signal to the GNSS.

S104: sending the mowing route information to a GNSS (global navigation satellite system) so that the GNSS generates a corresponding mowing route correction signal according to the mowing route information;

when the mowing route information is sent to the GNSS, the GNSS generates a corresponding mowing route correction signal according to the mowing route information;

in a specific embodiment, the driving device of the mower can be directly controlled through the GNSS to correct the route, so that the implementation of a parallel mowing method is ensured, and the mowing course is kept stable.

S105: and receiving the mowing line correction signal, and correcting the mowing line according to the mowing line correction signal.

Based on the technical scheme, according to the method for cutting the mower in parallel, when the mower mows, the mowing route information of the mower is sent to the GNSS, so that the GNSS generates the corresponding mowing route correction signal, then the mowing route is corrected according to the mowing route correction signal, when the route deviates when the mower linearly moves for a long distance in a complex terrain, the route of the mower is corrected by the GNSS, the heading of the mower is further guaranteed to be stable, and the purpose that the mower cuts the mower in parallel in the complex terrain is achieved.

With respect to step S102 of the previous embodiment, the parallel mowing method described above may be implemented by executing the steps shown in fig. 5, and the following description is made with reference to fig. 5.

Referring to fig. 5, fig. 5 is a flowchart illustrating an actual representation of S102 in the parallel cutting method of the lawn mower shown in fig. 1.

The method specifically comprises the following steps:

s501: mowing in a straight line in each mowing subarea;

optionally, the mower may generate a behavior such as a slope due to an obstacle on a traveling road, and the mower in this embodiment is further provided with an inclination sensor, the inclination sensor is electrically connected to a driving device of the mower, the inclination sensor detects balance state data of the mower, and transmits the data to a driving mechanism of the mower, and the driving device corrects output power according to the data transmitted by the inclination sensor, so as to stabilize a traveling state of the mower; that is, the mowing in each mowing zone mentioned here is performed along a straight line, which may be specifically:

acquiring balance state data of the mower detected by the inclination angle sensor;

S502: judging whether the boundary of the mowing subarea is reached;

if not, go to step S503; if yes, go to step S504;

s503: continuing to cut grass along a straight line;

s504: and selecting the next straight line parallel to the straight line in the zone which is not mowed in the mowing zone, rotating by 180 degrees and mowing along the next straight line.

Based on the technical scheme, the mowing is carried out in each mowing subarea along a straight line, and whether the boundary of the mowing subarea is reached is judged; if not, continuing to mow along the straight line; if the mowing area reaches the position, the next straight line parallel to the straight line is selected in the non-mowing area in the mowing subarea, the mowing area is rotated by 180 degrees and then mowing is carried out along the next straight line, so that the mowing route of the mower covers the whole mowing area as much as possible, and the repeated mowing rate is reduced.

Referring to fig. 6, fig. 6 is a structural diagram of a parallel cutting device of a lawn mower according to an embodiment of the present disclosure.

The apparatus may include:

the determining and dividing module 100 is used for determining a mowing area by the mower, and dividing the mowing area to obtain a corresponding mowing partition;

a mowing module 200 for mowing in each mowing zone in sequence by a parallel mowing method;

the detection module 300 is configured to detect a mowing route state of the lawn mower, and generate corresponding mowing route information according to the mowing route state;

a sending module 400, configured to send the mowing route information to a GNSS, so that the GNSS generates a corresponding mowing route correction signal according to the mowing route information;

and the correction module 500 is configured to receive the mowing line correction signal and correct the mowing line according to the mowing line correction signal.

Referring to fig. 7, fig. 7 is a structural diagram of another parallel cutting device of a lawn mower according to an embodiment of the present disclosure.

The mowing module 200 may include:

a first mowing sub-module for mowing linearly within each mowing zone;

the judgment submodule is used for judging whether the boundary of the mowing subarea is reached or not;

the second mowing submodule is used for continuing mowing along the straight line if the mowing speed is not the same as the mowing speed;

and the third mowing submodule is used for selecting the next straight line parallel to the straight line in the zone which is not mowed in the mowing subarea if the third mowing submodule is used for mowing along the next straight line after rotating 180 degrees.

The first mowing sub-module may include:

the acquisition unit is used for acquiring the balance state data of the mower detected by the inclination angle sensor;

and the correction unit is used for correcting the traveling speed of the mower according to the balance state data.

The detection module 300 may include:

and the detection submodule is used for detecting the mowing route state of the mower through the gyroscope.

The determining and partitioning module 100 may include:

the dividing submodule is used for dividing the mowing area into strip mowing partitions with preset widths;

and the adjusting submodule is used for adjusting the width of each strip mowing partition according to the GNSS information.

The determining and partitioning module 100 may include:

a first travel sub-module for traveling along a physical barrier and recording a first travel route;

and the first determining submodule is used for determining the area surrounded by the first travel route as the mowing area when the first travel route is overlapped.

The determining and partitioning module 100 may include:

the second traveling submodule is used for traveling along the electronic induction barrier and recording a second traveling route;

and the second determining submodule is used for determining the area surrounded by the second traveling route as a mowing area when the second traveling route is overlapped.

Since the embodiments of the apparatus portion and the method portion correspond to each other, please refer to the description of the embodiments of the method portion for the embodiments of the apparatus portion, which is not repeated here.

Referring to fig. 8, fig. 8 is a structural diagram of a lawn mower according to an embodiment of the present disclosure.

The lawn mower 800, which may vary significantly due to configuration or performance, may include one or more processors (CPUs) 822 (e.g., one or more processors) and memory 832, one or more storage media 830 (e.g., one or more mass storage devices) storing applications 842 or data 844. Memory 832 and storage medium 830 may be, among other things, transient or persistent storage. The program stored in the storage medium 830 may include one or more modules (not shown), each of which may include a series of instruction operations for the apparatus. Still further, the processor 822 may be configured to communicate with the storage medium 830 to execute a series of instruction operations in the storage medium 830 on the lawn mower 800.

Mower 800 may also include one or more power supplies 828, one or more wired or wireless network interfaces 850, one or more input-output interfaces 858, and/or one or more operating devices 841, such as Windows Server, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM, and the like.

The steps in the method for parallel cutting by a mower described in fig. 1 to 5 are implemented by a mower based on the structure shown in fig. 8.

It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses, apparatuses and modules may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus, device and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of modules is merely a division of logical functions, and an actual implementation may have another division, for example, a plurality of modules or components may be combined or integrated into another apparatus, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.

Modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.

In addition, functional modules in the embodiments of the present application may be integrated into one processing module, or each of the modules may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.

The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a function calling device, or a network device) to execute all or part of the steps of the method of the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

The present application provides a method, an apparatus, a mower and a readable storage medium for parallel cutting of a mower. The principles and embodiments of the present application are explained herein using specific examples, which are provided only to help understand the method and the core idea of the present application. It should be noted that, for those skilled in the art, it is possible to make several improvements and modifications to the present application without departing from the principle of the present application, and such improvements and modifications also fall within the scope of the claims of the present application.

It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

Claims

1. A method of parallel cutting with a lawnmower, comprising:

sequentially mowing in each mowing subarea by a parallel mowing method;

2. The method of claim 1, wherein said mowing sequentially within each of said mowing bays using a parallel mowing process comprising:

mowing linearly within each of the mowing zones;

judging whether the boundary of the mowing subarea is reached;

if not, continuing to mow along the straight line;

3. The method of claim 2, wherein mowing in a straight line within each mowing zone comprises:

4. The method of claim 1, wherein detecting a mowing route status of the lawn mower comprises:

detecting a mowing route state of the mower through a gyroscope.

5. The method of claim 1, wherein dividing the mowing area into corresponding mowing partitions comprises:

dividing the mowing area into strip mowing subareas with preset widths;

6. The method of claim 1, wherein the lawn mower determines a mowing area comprising:

travel along a physical barrier and record a first travel route;

7. The method of claim 1, wherein the lawn mower determines a mowing area comprising:

8. A device for parallel cutting of a mower, comprising:

9. A lawn mower, comprising:

a memory for storing a computer program;

a processor for implementing the steps of the method of parallel cutting of a lawnmower according to any one of claims 1 to 7 when executing the computer program.

10. A readable storage medium, characterized in that the readable storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of the method of parallel cutting of a lawnmower according to any one of claims 1 to 7.