CN112650206A - Intelligent mower walking control method and intelligent mower - Google Patents
Intelligent mower walking control method and intelligent mower Download PDFInfo
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- 238000001514 detection method Methods 0.000 claims description 33
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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
- G05D1/0223—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
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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
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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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- 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
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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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The invention provides a control method for walking of an intelligent mower and the intelligent mower, wherein the method comprises the following steps: the intelligent mower moves and works in a working area, and when the intelligent mower moves in the working area, the current driving direction of the intelligent mower is detected; detecting the offset between the current driving direction and a preset driving direction; and when the offset is greater than or equal to a preset threshold value, adjusting the current driving direction according to the offset, so that the offset between the adjusted current driving direction and the preset driving direction is smaller than the preset threshold value, and further enabling the intelligent mower to move linearly. Therefore, the driving direction of the intelligent mower can be adjusted in real time in the walking process, the driving direction of the intelligent mower is controlled to be kept as constant as possible, and then the linear driving of the intelligent mower is ensured, so that the cut green land looks more neat.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a walking control method of an intelligent mower and the intelligent mower.
Background
Along with the more and more public greenery patches in city, adopt intelligent robot that mows to carry out automatic mowing operation, replace artifical mowing mode to improve mowing efficiency. The intelligent mowing robot needs to keep running straight in the mowing process, and therefore the mowed lawn looks neat. However, in the traveling process, the center of gravity of the intelligent mowing robot may shift, and the intelligent mowing robot travels in a direction of the center of gravity, so that the mowing robot gradually shifts to one side, and the lawn to be mowed is poor in regularity, which is not favorable for mowing work of the intelligent mowing robot.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the first purpose of the invention is to provide a control method for walking of the intelligent mower.
The second purpose of the invention is to provide an intelligent mower.
A third object of the invention is to propose another intelligent lawn mower.
A fourth object of the invention is to propose a computer-readable storage medium.
In order to achieve the above object, a first embodiment of the present invention provides a method for controlling walking of an intelligent lawn mower, including:
the intelligence lawn mower removes and work in the work area, its characterized in that includes:
detecting a current driving direction of an intelligent mower when the intelligent mower moves in a working area;
detecting the offset between the current driving direction and a preset driving direction;
and when the offset is greater than or equal to a preset threshold value, adjusting the current driving direction according to the offset, so that the offset between the adjusted current driving direction and the preset driving direction is smaller than the preset threshold value, and further enabling the intelligent mower to move linearly.
In one embodiment, the preset driving direction is used for controlling the intelligent mower to drive in a straight line.
In one embodiment, the preset driving direction and the preset threshold are preset by the intelligent lawn mower itself.
In one embodiment, adjusting the current driving direction according to the offset amount includes: and determining the adjustment direction and the adjustment amount according to the offset.
In one embodiment, after detecting the offset between the current driving direction and the preset driving direction, the method further includes:
and when the offset is smaller than a preset threshold value, controlling the intelligent mower to move along the current driving direction.
In one embodiment, adjusting the current driving direction according to the offset amount includes:
and performing proportional-integral-derivative PID control on the offset so as to enable the offset between the adjusted current driving direction and the preset driving direction to be smaller than a preset threshold value.
In one embodiment, detecting the current driving direction of the smart lawn mower comprises:
and detecting the current course angle of the intelligent mower.
In one embodiment, the detecting the current driving direction of the intelligent lawn mower comprises:
and detecting the current driving direction of the intelligent mower through a six-axis sensor carried by the intelligent mower.
In one embodiment, the detecting the current driving direction of the intelligent lawn mower comprises:
the current driving direction of the intelligent mower is detected through a nine-shaft sensor carried by the intelligent mower.
In one embodiment, the method further comprises:
acquiring a geomagnetic signal detected by a geomagnetic sensor carried by the intelligent mower;
and determining the current driving direction according to the geomagnetic signal and the signal detected by the nine-axis sensor.
According to the control method for walking of the intelligent mower provided by the embodiment of the invention, the intelligent mower moves and works in a working area, and when the intelligent mower moves in the working area, the current driving direction of the intelligent mower is detected; detecting the offset between the current driving direction and a preset driving direction; and when the offset is greater than or equal to a preset threshold value, adjusting the current driving direction according to the offset, so that the offset between the adjusted current driving direction and the preset driving direction is smaller than the preset threshold value, and further enabling the intelligent mower to move linearly. Therefore, the driving direction of the intelligent mower can be adjusted in real time in the walking process, the driving direction of the intelligent mower is controlled to be kept as constant as possible, and then the linear driving of the intelligent mower is ensured, so that the cut green land looks more neat.
To achieve the above object, a second embodiment of the present invention provides an intelligent lawn mower, including:
a housing;
the walking module is arranged on the shell and drives the intelligent mower to walk and turn;
the intelligent mower detection system comprises a first detection module, a second detection module and a control module, wherein the first detection module is used for detecting the current driving direction of the intelligent mower when the intelligent mower moves in a working area;
the second detection module is used for detecting the offset between the current driving direction and the preset driving direction;
and the adjusting module is used for adjusting the current driving direction according to the offset when the offset is greater than or equal to a preset threshold value, so that the offset between the adjusted current driving direction and the preset driving direction is smaller than the preset threshold value, and the intelligent mower moves linearly.
In one embodiment, the adjustment module is further configured to:
and when the offset is smaller than a preset threshold value, controlling the intelligent mower to move along the current driving direction.
In one embodiment, the adjusting module is specifically configured to:
and performing proportional-integral-derivative PID control on the offset so as to enable the offset between the adjusted current driving direction and the preset driving direction to be smaller than a preset threshold value.
In one embodiment, the first detection module is specifically configured to:
and detecting the current course angle of the intelligent mower.
In one embodiment, the first detection module comprises a six-axis sensor for detecting a current driving direction of the smart mower.
In one embodiment, the first detection module comprises a nine-axis sensor for detecting a current driving direction of the smart mower.
In one embodiment, the first detection module further comprises a geomagnetic sensor.
According to the intelligent mower provided by the embodiment of the invention, the intelligent mower moves and works in a working area, and when the intelligent mower moves in the working area, the current driving direction of the intelligent mower is detected; detecting the offset between the current driving direction and a preset driving direction; and when the offset is greater than or equal to a preset threshold value, adjusting the current driving direction according to the offset, so that the offset between the adjusted current driving direction and the preset driving direction is smaller than the preset threshold value, and further enabling the intelligent mower to move linearly. Therefore, the driving direction of the intelligent mower can be adjusted in real time in the walking process, the driving direction of the intelligent mower is controlled to be kept as constant as possible, and then the linear driving of the intelligent mower is ensured, so that the cut green land looks more neat. In order to achieve the above object, a third embodiment of the present invention provides an intelligent lawn mower, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method for controlling walking of the intelligent lawn mower as described above when executing the program.
In order to achieve the above object, a fourth aspect of the present invention provides a computer-readable storage medium, wherein when being executed by a processor, the instructions of the storage medium implement the method for controlling walking of an intelligent lawn mower as described above.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic flow chart of a method for controlling walking of an intelligent mower according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an intelligent mower provided by the embodiment of the invention;
fig. 3 is a schematic structural diagram of another intelligent mower provided by the embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The following describes a method for controlling walking of an intelligent mower and the intelligent mower according to an embodiment of the present invention with reference to the accompanying drawings.
Fig. 1 is a schematic flow chart of a method for controlling walking of an intelligent mower according to an embodiment of the present invention. The method for controlling the intelligent mower to walk is applied to the intelligent mower to control the intelligent mower to walk linearly.
As shown in fig. 1, the method for controlling the intelligent mower to walk comprises the following steps:
Wherein the intelligent lawn mower moves and works within the work area. Specifically, the intelligent lawn mower moves and performs mowing operations within a work area.
In different application scenarios, the manner of detecting the current driving direction of the intelligent lawn mower is not limited, and the following are exemplified:
as an example, a current driving direction of the smart mower is detected by a six-axis sensor mounted on the smart mower.
The six-axis sensor comprises a three-axis gyroscope and a three-axis acceleration sensor. The three-axis gyroscope can measure the angular velocities of the intelligent mower in three axial directions (an X axis, a Y axis and a Z axis) in a three-dimensional space. The three-axis acceleration sensor can measure the acceleration of the intelligent mower in three axial directions (an X axis, a Y axis and a Z axis) in a three-dimensional space.
Specifically, the intelligent mower carries out attitude calculation on three axial accelerations and angular velocities uploaded by the six-axis sensor to obtain the current driving direction of the intelligent mower. More descriptions of obtaining the driving direction by performing attitude calculation based on the acceleration and the angular velocity in the three axial directions are described in detail in the related art.
The detection frequency may be set according to the output frequency of the six-axis sensor, for example, the output frequency of the six-axis sensor is 100HZ, and the detection frequency is set to 100 HZ.
As another example, the current driving direction of the smart mower is detected by a nine-axis sensor mounted on the smart mower.
The nine-axis sensor comprises a three-axis gyroscope, a three-axis acceleration sensor and a three-axis geomagnetic sensor. The three-axis gyroscope can measure the angular velocities of the intelligent mower in three axial directions (an X axis, a Y axis and a Z axis) in a three-dimensional space. The three-axis acceleration sensor can measure the acceleration of the intelligent mower in three axial directions (an X axis, a Y axis and a Z axis) in a three-dimensional space. The triaxial geomagnetic sensor can measure the magnitude of magnetic fields in three axial directions.
Specifically, the intelligent mower carries out attitude calculation on the acceleration, the angular velocity and the magnetic field of the three axial directions uploaded by the nine-axis sensor to obtain the current driving direction of the intelligent mower. More descriptions of obtaining the driving direction by performing attitude calculation based on the acceleration, the angular velocity and the magnetic field in the three axial directions are described in detail in the related art.
The detection frequency may be set according to the output frequency of the six-axis sensor, for example, the output frequency of the nine-axis sensor is 100HZ, and the detection frequency is set to 100 HZ.
As another example, a geomagnetic signal detected by a geomagnetic sensor mounted on the intelligent lawn mower is acquired; and determining the current driving direction according to the geomagnetic signal and the signal detected by the nine-axis sensor.
Specifically, the geomagnetic signals detected by the nine-axis sensors may not be accurate enough, and in order to more accurately determine the current driving direction of the intelligent mower, the intelligent mower is specially equipped with a geomagnetic sensor with higher detection precision to detect the geomagnetic signals. When the current driving direction of the intelligent mower is calculated, attitude calculation is carried out by adopting geomagnetic signals detected by the geomagnetic sensor and three axial accelerations and angular velocities detected by the nine-axis sensor to obtain the current driving direction of the intelligent mower.
Further, detecting the current driving direction of the intelligent lawn mower comprises: and detecting the current course angle of the intelligent mower.
It should be noted that the current heading angle of the intelligent mower obtained based on the six-axis sensor is a relative heading angle relative to the geomagnetic field. The current heading angle of the intelligent mower obtained based on the nine-axis sensor is an absolute heading angle relative to the geomagnetic field.
And 102, detecting the offset between the current driving direction and a preset driving direction.
The preset driving direction is used for controlling the intelligent mower to drive linearly. It can be understood that, when the intelligent mower runs in the same or almost the same running direction as the preset running direction, the intelligent mower can be controlled to keep running straight during running.
In this embodiment, when the intelligent mower walks in a working area, the intelligent mower needs to go straight, turn and the like to realize comprehensive coverage of the working area, specifically, after turning each time, the intelligent mower needs to be controlled to go straight, and the driving direction detected after the intelligent mower turns is determined as the preset driving direction, so that the intelligent mower can keep running straight after turning. In other embodiments, the preset driving direction may be preset by the intelligent mower itself. For example, the intelligent lawn mower provides an interactive interface in which a user inputs a preset driving direction, and the intelligent lawn mower receives the input and configures the preset driving direction locally. For another example, the intelligent mower stores a boundary map of the work area, and sets a preset traveling direction according to the boundary map, so that the intelligent mower travels straight along the boundary of the work area according to the boundary map. It should be noted that the number of the preset driving directions may be one or more, for example, when the boundary map is a polygon formed by a plurality of boundaries, the preset driving direction of the intelligent lawn mower driving on each boundary needs to be preset.
The smaller the offset between the current driving direction and the preset driving direction is, the closer the current driving direction is to the preset driving direction is; on the contrary, the larger the offset between the current driving direction and the preset driving direction is, the more the current driving direction deviates from the preset driving direction.
Specifically, a preset threshold is calibrated according to a large amount of test data, and the preset threshold is used for judging whether the current driving direction is close to the preset driving direction. When the offset between the current driving direction and the preset driving direction is smaller than a preset threshold value, controlling the intelligent mower to move along the current driving direction; when the offset between the current driving direction and the preset driving direction is larger than the preset threshold value, the current driving direction needs to be adjusted, and the intelligent mower is controlled to drive in a straight line according to the adjusted driving direction.
And 103, when the offset is greater than or equal to a preset threshold, adjusting the current driving direction according to the offset, so that the offset between the adjusted current driving direction and the preset driving direction is smaller than the preset threshold, and further enabling the intelligent mower to move linearly.
Specifically, when the offset between the current driving direction and the preset driving direction is greater than a preset threshold value, it indicates that the current driving direction deviates from the preset driving direction, and if the driving direction of the intelligent mower is not corrected in time, the mowing operation cannot be finished according to the mowing sensor. In order to ensure that the intelligent mower can run in a straight line as far as possible in the running process, when the offset between the current running direction and the preset running direction of the intelligent mower is larger than the preset threshold, the current running direction is adjusted according to the offset, so that the offset between the adjusted current running direction and the preset running direction is smaller than the preset threshold, the intelligent mower can move in a straight line, and the cut green land looks more neat.
Specifically, adjusting the current driving direction according to the offset amount includes: and determining the adjustment direction and the adjustment amount according to the offset. The adjusting direction is leftward relative to the preset direction or rightward relative to the preset direction, and the adjusting amount is a specific adjusting angle. For example, offset by 5 ° to the left, or by 5 ° to the right.
In this embodiment, in different application scenarios, the manner of adjusting the current driving direction according to the offset is different, for example, as follows:
as an example, the offset amount is subjected to proportional-integral PI control so that the offset amount between the adjusted current running direction and a preset running direction is smaller than a preset threshold value.
As another example, the offset amount is subjected to proportional-derivative PD control such that the offset amount between the adjusted current running direction and a preset running direction is smaller than a preset threshold value.
As still another example, in order to improve the control effect, the adjusted heading angle is brought closer to the preset heading angle, and the offset is subjected to proportional-integral-derivative PID control so that the offset between the adjusted current driving direction and the preset driving direction is smaller than a preset threshold.
In this embodiment, the first detection module includes at least one of a nine-axis sensor and a six-axis sensor for detecting the current driving direction of the intelligent mower, and preferably, the first detection module further includes a geomagnetic sensor for determining the current driving direction of the intelligent mower according to a geomagnetic signal detected by the geomagnetic sensor and a signal detected by the nine-axis sensor or the six-axis sensor; the second detection module comprises an MCU (microprogrammed control unit) and is used for detecting and/or calculating the offset between the current driving direction and the preset driving direction of the intelligent mower.
According to the control method for walking of the intelligent mower provided by the embodiment of the invention, the intelligent mower moves and works in a working area, and when the intelligent mower moves in the working area, the current driving direction of the intelligent mower is detected; detecting the offset between the current driving direction and a preset driving direction; and when the offset is greater than or equal to a preset threshold value, adjusting the current driving direction according to the offset, so that the offset between the adjusted current driving direction and the preset driving direction is smaller than the preset threshold value, and further enabling the intelligent mower to move linearly. Therefore, the driving direction of the intelligent mower can be adjusted in real time in the walking process, the driving direction of the intelligent mower is controlled to be kept as constant as possible, and then the linear driving of the intelligent mower is ensured, so that the cut green land looks more neat.
Fig. 2 is a schematic structural diagram of an intelligent mower according to an embodiment of the present invention. The intelligent mower comprises a shell and a walking module, wherein the walking module is arranged on the shell and drives the intelligent mower to walk and turn; as shown in fig. 2, the intelligent lawn mower further comprises: a first detection module 11, a second detection module 12 and an adjustment module 13;
the intelligent mower monitoring system comprises a first detection module 11, a second detection module and a control module, wherein the first detection module is used for detecting the current driving direction of the intelligent mower when the intelligent mower moves in a working area;
the second detection module 12 is configured to detect an offset between the current driving direction and a preset driving direction;
and the adjusting module 13 is configured to adjust the current driving direction according to the offset when the offset is greater than or equal to a preset threshold, so that the offset between the adjusted current driving direction and the preset driving direction is smaller than the preset threshold, and the intelligent mower is enabled to move linearly.
In one embodiment, the adjusting module 13 is further configured to: and when the offset is smaller than a preset threshold value, controlling the intelligent mower to move along the current driving direction.
In one embodiment, the adjusting module 13 is specifically configured to:
and performing proportional-integral-derivative PID control on the offset so as to enable the offset between the adjusted current driving direction and the preset driving direction to be smaller than a preset threshold value.
In one embodiment, the first detection module 11 is specifically configured to: and detecting the current course angle of the intelligent mower.
It should be noted that the foregoing explanation of the embodiment of the method for controlling the intelligent lawn mower to walk is also applicable to the intelligent lawn mower of this embodiment, and is not repeated herein.
According to the intelligent mower provided by the embodiment of the invention, the intelligent mower moves and works in a working area, and when the intelligent mower moves in the working area, the current driving direction of the intelligent mower is detected; detecting the offset between the current driving direction and a preset driving direction; and when the offset is greater than or equal to a preset threshold value, adjusting the current driving direction according to the offset, so that the offset between the adjusted current driving direction and the preset driving direction is smaller than the preset threshold value, and further enabling the intelligent mower to move linearly. Therefore, the driving direction of the intelligent mower can be adjusted in real time in the walking process of the intelligent mower, the driving direction of the intelligent mower is controlled to be kept as constant as possible, and then the linear driving of the intelligent mower is ensured, so that the cut green land looks more neat.
Fig. 3 is a schematic structural diagram of an intelligent mower according to an embodiment of the present invention. This intelligent lawn mower includes:
The processor 1002 executes the program to implement the method for controlling walking of the intelligent mower provided in the above-described embodiment.
Further, intelligent lawn mower still includes:
a communication interface 1003 for communicating between the memory 1001 and the processor 1002.
A memory 1001 for storing computer programs that may be run on the processor 1002.
The processor 1002 is configured to implement the method for controlling the intelligent mower to walk according to the above embodiment when executing the program.
If the memory 1001, the processor 1002, and the communication interface 1003 are implemented independently, the communication interface 1003, the memory 1001, and the processor 1002 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 3, but this does not mean only one bus or one type of bus.
Optionally, in a specific implementation, if the memory 1001, the processor 1002, and the communication interface 1003 are integrated on one chip, the memory 1001, the processor 1002, and the communication interface 1003 may complete communication with each other through an internal interface.
The processor 1002 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present invention.
The embodiment also provides a computer readable storage medium, on which a computer program is stored, wherein the program is used for realizing the control method for walking of the intelligent mower when being executed by a processor.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units 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 stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (17)
1. A method of controlling travel of a smart lawn mower that moves and works within a work area, comprising:
detecting a current driving direction of an intelligent mower when the intelligent mower moves in a working area;
detecting the offset between the current driving direction and a preset driving direction;
and when the offset is greater than or equal to a preset threshold value, adjusting the current driving direction according to the offset, so that the offset between the adjusted current driving direction and the preset driving direction is smaller than the preset threshold value, and further enabling the intelligent mower to move linearly.
2. The method of claim 1, wherein the preset driving direction is used for controlling a straight driving of the intelligent mower.
3. The method according to claim 1, characterized in that the preset driving direction and the preset threshold value are preset by the intelligent lawn mower itself.
4. The method of claim 1, wherein adjusting the current direction of travel according to the offset comprises: and determining the adjustment direction and the adjustment amount according to the offset.
5. The method according to claim 1, further comprising, after detecting an offset between the current driving direction and a preset driving direction:
and when the offset is smaller than a preset threshold value, controlling the intelligent mower to move along the current driving direction.
6. The method of claim 1, wherein adjusting the current direction of travel based on the offset comprises:
and performing proportional-integral-derivative PID control on the offset so as to enable the offset between the adjusted current driving direction and the preset driving direction to be smaller than a preset threshold value.
7. The method of claim 1, wherein detecting the current direction of travel of the smart lawn mower comprises:
and detecting the current course angle of the intelligent mower.
8. The method of claim 1, wherein the detecting the current direction of travel of the smart lawn mower comprises:
and detecting the current driving direction of the intelligent mower through a six-axis sensor carried by the intelligent mower.
9. The method of claim 1, wherein the detecting the current direction of travel of the smart lawn mower comprises:
the current driving direction of the intelligent mower is detected through a nine-shaft sensor carried by the intelligent mower.
10. The method of claim 9, further comprising:
acquiring a geomagnetic signal detected by a geomagnetic sensor carried by the intelligent mower;
and determining the current driving direction according to the geomagnetic signal and the signal detected by the nine-axis sensor.
11. An intelligent lawn mower that moves and works within a work area, comprising:
a housing;
the walking module is arranged on the shell and drives the intelligent mower to walk and turn;
the intelligent mower detection system comprises a first detection module, a second detection module and a control module, wherein the first detection module is used for detecting the current driving direction of the intelligent mower when the intelligent mower moves in a working area;
the second detection module is used for detecting the offset between the current driving direction and the preset driving direction;
and the adjusting module is used for adjusting the current driving direction according to the offset when the offset is greater than or equal to a preset threshold value, so that the offset between the adjusted current driving direction and the preset driving direction is smaller than the preset threshold value, and the intelligent mower moves linearly.
12. The intelligent lawn mower of claim 11, wherein the adjustment module is further configured to:
and when the offset is smaller than a preset threshold value, controlling the intelligent mower to move along the current driving direction.
13. The intelligent lawn mower of claim 11, wherein the adjustment module is specifically configured to:
and performing proportional-integral-derivative PID control on the offset so as to enable the offset between the adjusted current driving direction and the preset driving direction to be smaller than a preset threshold value.
14. The intelligent lawn mower of claim 11, wherein the first detection module is specifically configured to:
and detecting the current course angle of the intelligent mower.
15. The intelligent mower of claim 11 wherein the first detection module comprises a six-axis sensor for detecting a current direction of travel of the intelligent mower.
16. The intelligent mower of claim 11 wherein the first detection module comprises a nine-axis sensor for detecting a current direction of travel of the intelligent mower.
17. The intelligent lawn mower of claim 15 or 16, wherein the first detection module further comprises a geomagnetic sensor.
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| CN201910960355.8A CN112650206A (en) | 2019-10-10 | 2019-10-10 | Intelligent mower walking control method and intelligent mower |
| PCT/CN2020/120141 WO2021068928A1 (en) | 2019-10-10 | 2020-10-10 | Intelligent mower traveling control method, and intelligent mower |
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| CN201910960355.8A CN112650206A (en) | 2019-10-10 | 2019-10-10 | Intelligent mower walking control method and intelligent mower |
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