CN112612280B - Mower and control method thereof - Google Patents

Mower and control method thereof Download PDF

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Publication number
CN112612280B
CN112612280B CN202011549714.XA CN202011549714A CN112612280B CN 112612280 B CN112612280 B CN 112612280B CN 202011549714 A CN202011549714 A CN 202011549714A CN 112612280 B CN112612280 B CN 112612280B
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China
Prior art keywords
mower
planned path
path
speed
module
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CN202011549714.XA
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Chinese (zh)
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CN112612280A (en
Inventor
徐伟
庄宪
朱彦亮
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Globe Jiangsu Co Ltd
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Globe Jiangsu Co Ltd
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Priority to CN202011549714.XA priority Critical patent/CN112612280B/en
Publication of CN112612280A publication Critical patent/CN112612280A/en
Priority to US17/555,491 priority patent/US20220197295A1/en
Priority to EP21909313.5A priority patent/EP4268042A4/en
Priority to PCT/CN2021/139509 priority patent/WO2022135317A1/en
Priority to EP23207591.1A priority patent/EP4293468A3/en
Priority to ES21216244T priority patent/ES2963141T3/en
Priority to EP21216244.0A priority patent/EP4020112B1/en
Priority to US18/321,798 priority patent/US20230292657A1/en
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Publication of CN112612280B publication Critical patent/CN112612280B/en
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Harvester Elements (AREA)

Abstract

The invention provides a mower and a control method thereof, wherein the mower is used for self-propelled mowing in a working area, the mower comprises a positioning module, a path planning module and a control module, the positioning module is used for providing position information of the mower, the positioning module is also used for providing current position information of the mower in the working area in real time, the path planning module is used for providing a planning path of the mower for self-propelled mowing in the working area, the control module is connected with the positioning module and the path planning module, the control module is used for judging whether the mower deviates from the planning path according to the position information and the planning path, determining the offset between the current position and the planning path, and determining a grass leakage area when the offset is larger than a preset threshold value. Compared with the prior art, the mower can automatically determine the mowing missing area when deviating from a planned path.

Description

Mower and control method thereof
Technical Field
The present invention relates to a mower and a control method of the mower.
Background
A lawnmower is a garden tool for cutting lawns, vegetation, etc., and typically includes a self-propelled assembly, a cutter assembly, and a power source, which may be a gasoline engine, a battery pack, etc. Battery-operated mowers are popular with users because of low noise and zero pollution. The existing intelligent mower can automatically mow a lawn along a preset planning path. However, lawns are often not very smooth. When the mower passes over a concave ground or a convex ground, wheels of the mower may slip, so that a movement track of the mower deviates from a planned path, and a mowing leakage area is formed. The operation workers need to actively intervene, and the mower is controlled to carry out grass supplementing operation on the grass leakage cutting area, so that the workload of the operation workers is increased.
In view of the above, it is desirable to provide a mower that solves the above-described problems.
Disclosure of Invention
It is an object of the present invention to provide a mower that automatically determines a missed mowing area when it deviates from a planned path.
In order to achieve the above object, the present invention provides a mower, the mower is configured to perform self-propelled mowing in a working area, the mower includes a positioning module, a path planning module and a control module, the positioning module is configured to provide position information of the mower, the positioning module is further configured to provide current position information of the mower in the working area in real time, the path planning module is configured to provide a planned path of the mower performing self-propelled mowing in the working area, the control module is connected with the positioning module and the path planning module, the control module determines whether the mower deviates from the planned path according to the position information and the planned path, determines an offset between the current position and the planned path, and determines a grass leakage area when the offset is greater than a preset threshold.
As a further improvement of the invention, the control module controls the mower to repair the grass leakage area after determining that the grass leakage area appears.
As a further improvement of the invention, the control module controls the mower to retreat or turn after determining that the grass leakage area appears, and the grass leakage area is repaired.
As a further improvement of the present invention, the control module adjusts the advancing direction of the mower to return the mower to the planned path after determining that the mower deviates from the planned path.
As a further improvement of the invention, the positioning module comprises an RTK differential real-time positioning module.
The invention also discloses a control method of the mower, the mower is used for self-propelled mowing in a working area, the mower comprises a positioning module and a path planning module, the positioning module is used for providing the position information of the mower, and the path planning module is used for providing the planned path of the mower, and the control method is characterized by comprising the following steps:
providing a planned path for the mower to self-walk mowing in the working area;
acquiring current position information of the mower in the working area;
judging whether the mower deviates from the planned path or not according to the current position information and the planned path, and determining the offset between the current position and the planned path;
and when the deviation is larger than a preset threshold value, determining that the grass leakage area appears.
As a further improvement of the invention, the method further comprises the steps of: and after the grass leakage area is determined, the grass leakage area is repaired.
As a further improvement of the present invention, the step of repairing the grass leakage area includes the steps of: and controlling the mower to retreat or turn, and supplementing the grass leakage area.
As a further improvement of the present invention, the method further comprises: after determining that the mower deviates from the planned path, adjusting the advancing direction of the mower so as to enable the mower to return to the planned path.
As a further improvement of the invention, the positioning module comprises an RTK differential real-time positioning module.
The beneficial effects of the invention are as follows: the mower can automatically determine the mowing missing area when deviating from a planned path.
Drawings
Fig. 1 is a schematic diagram of the operation of a prior art mower.
Fig. 2 is a schematic diagram of a planned path.
Fig. 3 is a schematic block diagram of a mower according to a first embodiment of the present invention.
Fig. 4 is a block diagram of an information acquisition module of the mower of fig. 1.
FIG. 5 is a schematic view of the mower of the present invention performing mowing when a mowing missing area occurs.
Fig. 6 is a schematic view of another embodiment of the mower of the present invention for mowing when a mowing missing area occurs.
Fig. 7 is a schematic block diagram of a mower according to a second embodiment of the present invention.
Fig. 8 is a flowchart of a mower control method according to a first embodiment of the present invention.
Fig. 9 is a flowchart of a mower control method according to a second embodiment of the present invention.
Fig. 10 is a flowchart of a mower control method according to a third embodiment of the present invention.
Fig. 11 is a flowchart of a mower control method according to a fourth embodiment of the present invention.
Fig. 12 is a flowchart of step S1.
Fig. 13 is a flowchart of step S2.
Fig. 14 is a flowchart of another embodiment of step S2.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
The existing intelligent mower can automatically complete lawn trimming work generally, manual control, operation and the like of a user are not needed, so that the workload of the user can be greatly reduced, and the intelligent mower is widely favored by the user. Referring to fig. 1, a conventional intelligent mower 600 is generally provided with a GPS positioning module. In this manner, the intelligent mower 600 can position itself through the cooperation of the GPS positioning module and the satellites 610 to obtain the position information. The intelligent mower 600 can then automatically mow within a predetermined lawn area 630 under the guidance of the navigation module. In order to further improve the positioning accuracy, the intelligent mower 600 may further perform real-time positioning through an RTK positioning module, so as to improve the positioning accuracy through a carrier phase dynamic real-time differential method.
Referring to fig. 1, the RTK positioning module generally includes a base station receiver 620 and a mobile receiver (not shown). The base station receiver 620 receives the GPS signals transmitted from the satellites 610 and transmits the received GPS signals and coordinate information of the base station to the mobile receiver. The mobile receiver is disposed on the intelligent mower 600 and is configured to receive GPS signals transmitted by the satellites 610. The mobile receiver performs data processing based on the GPS signal received by itself and the GPS signal and position information transmitted by the base station receiver 520, thereby giving centimeter-level positioning data. In use, the mobile receiver is first used to drive around the edge of the lawn area 630 one turn, and boundary line map information of the lawn area 630 is generated and stored in the intelligent mower 600. Further, the mobile receiver may also be used to travel around the obstacles in the lawn area 630 once, and record the boundary curves of the respective obstacles, and store them in the map information of the intelligent mower 600. The obstacle may be a pool, flower bed, bush, or the like. Next, the intelligent mower 600 generates a work area map from the boundary line map and the obstacle boundary curve. Referring to fig. 2, finally, the intelligent mower 600 plans the self-propelled path 640 according to the map of the working area, and works according to the planned self-propelled path 640, thereby completing the autonomous mowing task.
However, when the intelligent mower 600 performs autonomous mowing, due to the influence of the uneven ground, the skidding wheel, etc., the movement track of the intelligent mower 600 is easily deviated, so that the mowing area is not mowed, and a mowing missing area is formed.
Referring to fig. 3, the present invention discloses a mower 100, which includes an information acquisition module 10 and a control module 20. The information collection module 10 is configured to collect current coordinate information of the mower 100, and determine whether the mower 100 deviates from the planned path 101 according to the coordinate information, so as to form a mowing missing area 102 (as shown in fig. 5). The planned path 101 may be a navigation path set manually, a navigation path planned by a computer system, or a navigation path pre-stored in the mower 100. The control module 20 controls the operating state of the mower 100 according to whether the mower 100 deviates from the planned path 101. When the mower 100 deviates from the planned path 101, the control module 20 controls the mower 100 to return to the planned path 101 to perform a mowing operation on the missed mowing area 102.
Referring to fig. 4, the information collecting module 10 includes a position collecting unit 11 and a path judging unit 12. The position acquisition unit 11 is configured to acquire current coordinate information of the mower 100. In this embodiment, the coordinate information refers to the coordinates of the center point of the cutter assembly of the mower 100. In this embodiment, the position acquisition unit 11 is a RTK (real time kinematic) positioning module. By a means ofThe path determination unit 12 determines whether the mower 100 deviates from the planned path 101 according to the coordinate information, and forms a mowing missing area 102. Referring to FIG. 5, when the minimum distance d between the coordinate information and the planned path 101 is greater than the distance threshold d min When it is determined that the mower 100 deviates from the planned path 101. The distance threshold d min Can be set by the user as required.
Referring to fig. 5, when the mower 100 deviates from the planned path 101, the control module 20 controls the mower 100 to move forward along the direction 103 to return to the planned path 101, and the position of the mower 100 on the planned path 101 is the position B. The control module 20 then controls the mower 100 to return to the pre-deflection position a along the planned path 101 at a first speed and to advance to the pre-return position B along the planned path 101 at a second speed. When the mower 100 is returned from the pre-return position B to the pre-offset position a along the planned path 101 at a first speed, the cutter assembly of the mower 100 operates to perform a mowing operation on the missed mowing area 102. When the mower 100 advances along the planned path 101 from the pre-deviation position a to the pre-return position B at a second speed, the cutter assembly of the mower 100 stops or operates at a low speed. By the arrangement, the electric quantity of the mower 100 can be effectively saved, so that the working time of the mower 100 is prolonged. Preferably, the first speed is less than the second speed, and the first speed is a speed of the mower 100 during normal operation. By this arrangement, the time for the mower 100 to perform the mowing operation can be effectively shortened, and the operation efficiency of the mower 100 can be improved. Of course, it will be appreciated that in other embodiments, it may also be provided that: when the mower 100 is reversed from the pre-return position B to the pre-offset position a along the planned path 101 at a first speed, the cutter assembly of the mower 100 is stopped or operated at a low speed; when the mower 100 advances along the planned path 101 from a pre-self-offset position a to a pre-return position B at a second speed, the cutter assembly of the mower 100 operates. At this time, the first speed is greater than the second speed.
Referring to fig. 6, in other embodiments, the mower 100 may be further configured to: when the mower 100 deviates from the planned path 101, the control module 20 controls the mower 100 to retract at the second speed to gradually retract to the position A before the deviation occurs, and then controls the mower 100 to move along the planned path 101 at the first speed so as to mow. The first speed is the speed at which the mower 100 is operating normally. Preferably, the second speed is greater than the first speed. And, when the mower is retracted to the position a before the offset occurs, the cutter assembly of the mower 100 stops working or works at a low speed, thereby saving electricity.
Compared with the prior art, the mower 100 of the invention can automatically adjust the walking direction of the mower 100 when deviating from the planned path 101 so as to repair the mowing area 102, thereby reducing the labor intensity of operators.
Referring to fig. 7, the present invention also discloses a mower 200 according to a second embodiment for self-propelled mowing in a working area. The mower 200 includes a positioning module 210, a path planning module 220, and a control module 230. The positioning module 210 is configured to position the mower 200 in real time, so as to obtain current position information of the mower 200 in the working area. In this embodiment, the positioning module 210 is an RTK differential real-time positioning module. The path planning module 220 is configured to provide a planned path for self-propelled mowing of the mower 200 within the work area. The control module 230 is connected to the positioning module 210 and the path planning module 220. The control module 230 determines whether the mower 200 deviates from the planned path according to the position information and the planned path. When an offset occurs between the position information and the planned path, it is determined that the mower 200 deviates from the planned path. And when the offset is larger than a preset threshold value, determining that a mowing missing area occurs. At this time, the control module 230 controls the mower 200 to repair the mowing missing area.
Further, when it is determined that a missed mowing area is present, the control module 230 controls the mower 200 to retract or steer to patch the missed mowing area. The control module 230 then controls the mower 200 to adjust the heading so that the mower 200 returns to the planned path.
Referring to fig. 8, the present invention also discloses a mower control method 300 for controlling a mower to mow in a working area in a self-propelled manner. The mower control method 300 comprises the following steps:
s310: a planned path for the mower to walk within the work area is provided.
S320: and controlling the mower to self-walk and cut grass along the planned path.
At this time, the mower walks along the planned path under the guidance of the navigation module and mows the lawn. The planned path can be a navigation path set by people, can be a navigation path planned by a computer system or a control system of the mower, and can be a navigation path prestored in the mower.
S330: and acquiring the current position information of the mower in the working area.
At this time, the mower obtains current position information of the mower through the positioning module. The positioning module is an RTK real-time positioning module. The current position information of the mower generally refers to coordinates of a center point of a cutter assembly of the mower.
S340: and judging whether the mower deviates from the planned path according to the current position information and the planned path.
S350: an offset between the current location and the planned path is determined.
S360: and when the offset is larger than a preset threshold value, determining that the weeping area appears.
Referring to fig. 4, the mower compares the position information obtained in real time by the positioning module with the planned path, so as to obtain a minimum distance d between the current position and the planned path, and judges whether the mower deviates from the planned path according to the distance d. When the distance d is greater than the distance threshold d min When in use, thenJudging that the mower deviates from the planned path; otherwise, judging that the mower does not deviate from the planned path. And after the mower is judged to deviate from the planned path, the mower generates a mowing missing area according to the current position information and the planned path.
Referring to fig. 9, the invention also discloses a mower control method 400, which comprises the following steps:
s410: a planned path for the mower to walk within the work area is provided.
S420: and controlling the mower to self-walk and cut grass along the planned path.
At this time, the mower walks along the planned path under the guidance of the navigation module and mows the lawn. The planned path can be a navigation path set by people, can be a navigation path planned by a computer system or a control system of the mower, and can be a navigation path prestored in the mower.
S430: and acquiring the current position information of the mower in the working area.
At this time, the mower obtains current position information of the mower through the positioning module. The positioning module is an RTK real-time positioning module. The current position information of the mower generally refers to coordinates of a center point of a cutter assembly of the mower.
S440: and judging whether the mower deviates from the planned path according to the current position information and the planned path.
S450: an offset between the current location and the planned path is determined.
S460: and when the offset is larger than a preset threshold value, determining that the weeping area appears.
S470: and controlling the mower to mow the mowing leakage area.
Referring to fig. 5, the mower compares the position information obtained in real time by the positioning module with the planned path, so as to obtain a minimum distance d between the current position and the planned path, and determines whether the mower deviates from the planned path according to the distance d. When the distance d is greater than the distance threshold d min When the mower deviates from the planned path, judging that the mower deviates from the planned path; otherwise, judging that the mower does not existDeviating from the planned path. And after the mower is judged to deviate from the planned path, the mower generates a mowing missing area according to the current position information and the planned path. Then, the mower is guided by the navigation module to mow the mowing missing area.
Referring to fig. 10, the invention further discloses a mower control method 500, comprising the following steps:
s510: a planned path for the mower to walk within the work area is provided.
S520: controlling the mower to self-walk along the planned path for mowing.
At this time, the mower walks along the planned path under the guidance of the navigation module and mows the lawn. The planned path can be a navigation path set by people, can be a navigation path planned by a computer system or a control system of the mower, and can be a navigation path prestored in the mower.
S530: and acquiring the current position information of the mower in the working area.
At this time, the mower obtains current position information of the mower through the positioning module. The positioning module is an RTK real-time positioning module. The current position information of the mower generally refers to coordinates of a center point of a cutter assembly of the mower.
S540: judging whether the mower deviates from the planned path according to the current position information and the planned path; if yes, go to step S550; otherwise, go to step S520.
S550: an offset between the current location and the planned path is determined.
S560: judging whether the offset is larger than a preset threshold value or not; if yes, go to step S580; otherwise, step S570 is skipped.
S570: the mower is controlled to adjust the advancing direction and jumps to step S520.
S580: and determining and generating a mowing missing area.
S590: and controlling the mower to mow the mowing leakage area.
Referring to fig. 5, the mower obtains the position information in real time according to the positioning moduleAnd comparing the current position with the planned path so as to acquire an offset d between the current position and the planned path, and judging whether the mower has a mowing missing area according to the offset d. When the offset d is greater than the distance threshold d min Judging that a mowing missing area occurs; otherwise, judging that the mowing missing area does not appear, and controlling the mower to adjust the advancing direction so as to mow continuously according to the planned path. And after judging that the mower has a mowing missing area, the mower generates the mowing missing area according to the current position information and the planned path. Then, the mower is guided by the navigation module to mow the mowing missing area.
In the step S590, the mower may be controlled to reverse or turn to repair the missed mowing area. And then controlling the mower to adjust the advancing direction so as to enable the mower to return to the planned path.
Referring to fig. 11, the invention also discloses a mower control method, which comprises the following steps:
s1: current coordinate information of the mower 100 is acquired, and whether the mower 100 deviates from the planned path 101 is judged according to the coordinate information, so that a mowing missing area 102 is formed.
S2: if the mower 100 deviates from the planned path 101, the mower 100 is controlled to return to the planned path 101 to repair the mowing area 102.
Referring to fig. 12, the step S1 preferably further includes the following steps:
s11: acquiring current coordinate information of the mower 100;
s12: calculating a minimum distance d between the coordinate information and the planned path 101;
s13: if d>d min The mower 100 deviates from the planned path. Preferably, the distance threshold d min Can be set by the user as required.
Referring to fig. 13, preferably, the step S2 further includes the following steps:
s21: the mower is controlled to advance to gradually return to the planned path.
S22: controlling the mower to return to a position before offset along the planned path at a first speed.
S23: and controlling the mower to move forward to a position before returning along the planned path at a second speed.
When the mower 100 is returned to the position a before the offset occurs at a first speed, the cutter assembly of the mower 100 works; when the mower 100 is advanced to the pre-return position B at the second speed, the cutter assembly of the mower 100 is deactivated or operated at a low speed. Preferably, the first speed is less than the second speed. Of course, it is also possible to set up as: when the mower 100 is returned to the position a before the offset occurs at a first speed, the cutter assembly of the mower 100 is stopped or operated at a low speed; when the mower 100 is advanced to the pre-return position B at a second speed, the cutter assembly of the mower 100 is operated; at this time, the first speed is greater than the second speed.
Of course, it is understood that in other embodiments, the step S2 may be the following steps:
s21': controlling the mower 100 to retract at a second speed to gradually return to the position A before the offset occurs;
s22': the mower 100 is controlled to advance along the planned path 101 at a first speed for mowing operations.
At this time, the first speed is generally a speed at which the mower 100 operates normally, and the second speed is greater than the first speed.
In summary, the mower 100 of the present invention can automatically adjust the traveling direction of the mower 100 when deviating from the planned path 101 to perform the mowing operation on the mowing missing area 102, thereby reducing the labor intensity of operators.
The above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present invention.

Claims (4)

1. A mower, wherein the mower performs self-propelled mowing in a working area, the mower comprises a positioning module, a path planning module and a control module, the positioning module is used for providing position information of the mower, the positioning module is also used for providing current position information of the mower in the working area in real time, and the current position information is coordinates of a center point of a cutting knife assembly of the mower; the path planning module is used for providing a planned path for the mower to self-walk in the working area, the mower generates a working area map according to the boundary line map and the obstacle boundary curve, and plans the self-walking path according to the working area map; the control module is connected with the positioning module and the path planning module, and is characterized in that the control module judges whether the mower deviates from the planned path according to the position information and the planned path, and judges that the mower deviates from the planned path when the offset occurs between the position information and the planned path; after the control module determines that the mower deviates from the planned path, adjusting the advancing direction of the mower so as to enable the mower to return to the planned path; determining the offset between the current position and the planned path, and determining that a grass leakage area appears when the offset is larger than a preset threshold value; the control module controls the mower to retreat or turn after determining that the grass leakage area appears, and the grass leakage area is repaired; the control module controls the mower to move forward to return to the planned path, and the position of the mower on the planned path is a position B; then, the control module controls the mower to return to a position A before offset along a planned path at a first speed, and then to advance to a position B before return along the planned path at a second speed; when the mower returns to a position A before the offset occurs at a first speed, a cutter assembly of the mower works; when the mower advances to a position B before returning at a second speed, the cutter assembly of the mower stops working or works at a low speed; alternatively, when the mower is returned to the position a before the offset occurs at a first speed, the cutter assembly of the mower is stopped or operated at a low speed; when the mower is advanced to the pre-return position B at a second speed, the cutter assembly of the mower is operated.
2. The mower of claim 1, wherein: the positioning module comprises an RTK differential real-time positioning module.
3. The mower control method comprises the steps that the mower performs self-propelled mowing in a working area, the mower comprises a positioning module, a control module and a path planning module, the positioning module is used for providing position information of the mower, and the path planning module is used for providing a planned path of the mower, and the mower control method is characterized by comprising the following steps:
providing a planned path for the mower to self-walk mowing in the working area;
acquiring current position information of the mower in the working area;
judging whether the mower deviates from the planned path or not according to the current position information and the planned path, and determining the offset between the current position and the planned path;
when the offset occurs between the position information and the planned path, judging that the mower deviates from the planned path; after determining that the mower deviates from the planned path, adjusting the advancing direction of the mower so as to enable the mower to return to the planned path;
when the offset is larger than a preset threshold value, determining that a grass leakage area appears;
after the grass leakage area is determined, controlling the mower to retreat or turn, and supplementing the grass leakage area;
the control module controls the mower to move forward to return to the planned path, and the position of the mower on the planned path is a position B; then, the control module controls the mower to return to a position A before offset along a planned path at a first speed, and then to advance to a position B before return along the planned path at a second speed; when the mower returns to a position A before the offset occurs at a first speed, a cutter assembly of the mower works; when the mower advances to a position B before returning at a second speed, the cutter assembly of the mower stops working or works at a low speed; alternatively, when the mower is returned to the position a before the offset occurs at a first speed, the cutter assembly of the mower is stopped or operated at a low speed; when the mower is advanced to the pre-return position B at a second speed, the cutter assembly of the mower is operated.
4. The mower control method of claim 3, wherein: the positioning module comprises an RTK differential real-time positioning module.
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CN202011549714.XA CN112612280B (en) 2020-12-24 2020-12-24 Mower and control method thereof
US17/555,491 US20220197295A1 (en) 2020-12-22 2021-12-19 Robotic mower, and control method thereof
EP21909313.5A EP4268042A4 (en) 2020-12-22 2021-12-20 Robotic tool system and control method thereof
PCT/CN2021/139509 WO2022135317A1 (en) 2020-12-22 2021-12-20 Robotic tool system and control method thereof
EP23207591.1A EP4293468A3 (en) 2020-12-22 2021-12-21 Robotic mower and control method thereof
ES21216244T ES2963141T3 (en) 2020-12-22 2021-12-21 Lawnmower robot and its control method
EP21216244.0A EP4020112B1 (en) 2020-12-22 2021-12-21 Robotic mower and control method thereof
US18/321,798 US20230292657A1 (en) 2020-12-22 2023-05-23 Robotic tool system and control method thereof

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CN109952857B (en) * 2019-04-22 2024-04-05 山东交通学院 Orchard mower capable of automatically completing mowing operation and method
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