CN114557197B - Cutting method for cutter head side-mounted mower in shape like Chinese character 'Hui', storage medium and mower - Google Patents
Cutting method for cutter head side-mounted mower in shape like Chinese character 'Hui', storage medium and mower Download PDFInfo
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- CN114557197B CN114557197B CN202210162553.1A CN202210162553A CN114557197B CN 114557197 B CN114557197 B CN 114557197B CN 202210162553 A CN202210162553 A CN 202210162553A CN 114557197 B CN114557197 B CN 114557197B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D91/00—Methods for harvesting agricultural products
- A01D91/04—Products growing above the soil
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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
- A01D34/835—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes
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Abstract
The invention relates to a cutter head side-mounted mower reverse-character type mowing method, a storage medium and a mower. The method comprises the following steps: s1, acquiring a mowing area map of an area to be mowed; s2, a mower cutter is biased to face the boundary line of the mowing area map, and the mower performs mowing operation along the boundary line of the mowing area map; s3, after the mower moves along the mowing area map for one circle, the mower moves to the mowing area map for a preset width, and mowing operation is performed by keeping the preset width with the previous circle travel path, wherein the preset width is not larger than the cutter head coverage width; s4, repeating the step S3 until the full coverage of the mowing area map is completed. The cutter head side-mounted mower disclosed by the invention uses the back-shaped path to mow, so that the edge missing cutting phenomenon is effectively reduced, and the edge mowing quality is improved.
Description
Technical Field
The invention relates to the field of mowers, in particular to a cutter head side-mounted mower reverse-character type mowing method, a storage medium and a mower.
Background
A robotic lawnmower (lawnmower) includes a planned mower that is capable of autonomously planning a mowing path and performing a mowing operation along the planned path. The cutter head of the existing mower is positioned in the center (or near the center) of the mower body, and based on the safety specification requirement, the cutter head size and the mower body size have a certain proportion, so that the cutter head edge is a certain distance from the mower body edge, the edge of a mowing area cannot be covered by the existing mower, and the edge missing cutting phenomenon occurs.
Disclosure of Invention
The invention aims to solve the technical problem of providing a cutter head side-mounted mower reverse-character type mowing method, a storage medium and a mower.
The technical scheme adopted for solving the technical problems is as follows: a cutting method of a cutter head side-mounted mower in a Chinese character 'Hui' shape is constructed, and the method comprises the following steps:
s1, acquiring a mowing area map of an area to be mowed;
s2, a mower cutter is biased to face the boundary line of the mowing area map, and the mower performs mowing operation along the boundary line of the mowing area map;
s3, after the mower moves along the mowing area map for one circle, the mower moves to a preset width in the mowing area map, and mows with the preset width along the previous circle travel path, wherein the preset width is not larger than the cutter head coverage width;
s4, repeating the step S3 until the full coverage of the mowing area map is completed.
In the method for mowing with the cutter head side mower in the invention, if the cutter head is positioned on the left side of the mower, the left side of the mower faces the boundary line of the mowing area map in the step S2.
In the method for mowing with the cutter head side mower in the back-shaped mower of the invention, if the cutter head is positioned on the right side of the mower, the right side of the mower faces the boundary line of the mower map in the step S2.
In the method for mowing the cutter-head side mower in a zigzag manner, the mowing operation performed by the mower along the boundary line of the mowing area map in the step S2 comprises the following steps:
and if the heights of the area outside the boundary line and the area inside the boundary line of the mowing area map are not consistent, the body boundary of the mower performs mowing operation along the boundary line of the mowing area map.
In the method for mowing the cutter-head side mower in a zigzag manner, the mowing operation performed by the mower along the boundary line of the mowing area map in the step S2 comprises the following steps:
and if the height of the area outside the boundary line of the mowing area map is consistent with that of the area inside the boundary line, the cutter head boundary of the mower performs mowing operation along the boundary line of the mowing area map.
In the cutter-head-side mower-related mowing method according to the present invention, if the mowing area map includes an obstacle area, the mower cutter is offset to one side toward a boundary line of the obstacle area, and the mower performs mowing operation along the boundary line of the obstacle area for one cycle.
Further, in the cutter head side mower-returning type mowing method, if the cutter head is positioned at the left side of the mower, the left side of the mower faces the obstacle area;
if the cutterhead is positioned on the right side of the mower, the right side of the mower faces the obstacle area.
Further, in the method for mowing the cutter-head side mower in a character-back shape, after the step S4, the method further comprises the steps of:
s5, returning the mower to mow along the original path of the formed return-type path.
In addition, the invention also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program is suitable for being loaded by a processor to execute the steps of the cutter head side mower back-word type mowing method.
In addition, the invention also provides a mower, which comprises a memory and a processor;
the memory stores a computer program;
and the processor executes the steps of the cutter head side mower back-word type mowing method by calling the computer program stored in the memory.
The cutter head side mower word-returning type mowing method, the storage medium and the mower have the following beneficial effects: the cutter head side-mounted mower disclosed by the invention uses the back-shaped path to mow, so that the edge missing cutting phenomenon is effectively reduced, and the edge mowing quality is improved.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIGS. 1a, 1b and 1c are schematic views of the cutterhead positions;
fig. 2 is a flowchart of a cutting method of a cutter head side-mounted mower in a character-back shape provided by the embodiment of the invention;
fig. 3a and fig. 3b are schematic diagrams of boundary line positions of a map of a mowing area of a cutter head side mower according to an embodiment of the present invention;
FIG. 4a is a schematic diagram of a first Hui-shaped coverage area provided by an embodiment of the present invention;
FIG. 4b is a schematic diagram of a first and second outline-shaped coverage areas provided by an embodiment of the present invention;
fig. 5 is a schematic view of an obstacle region provided by an embodiment of the present invention.
Detailed Description
For a clearer understanding of technical features, objects and effects of the present invention, a detailed description of embodiments of the present invention will be made with reference to the accompanying drawings.
In a preferred embodiment, the cutterhead-side mower-type mowing method of the present embodiment is applied to a cutterhead-side mower, which means that a cutterhead for mowing is not located at a center position (near a center position) of the mower, that is, the cutterhead is located at a left side or a right side of the mower. Referring to fig. 1a, a prior art cutterhead 20 is centrally located within a mower 10. Referring to fig. 1b, the cutterhead 20 is located on the left side of the mower 10 in this embodiment. Referring to fig. 1c, the cutterhead 20 is located on the right side of the mower 10 in this embodiment. Referring to fig. 2, the method for mowing the cutter head side mower in a Chinese character 'hui' shape comprises the following steps:
s1, acquiring a mowing area map of an area to be mowed.
Specifically, the mower acquires a mowing area map of an area to be mowed, and identifies a boundary line of the mowing area map, wherein the boundary line refers to the outermost boundary of the whole mowing area map. The mower can acquire the mowing area map of the area to be mowed in various modes, and alternatively, the mowing area map is stored in a storage unit of the mower, and the mower reads the mowing area map from the storage unit; or the mower can collect the information of the area to be mowed through a sensor carried by the mower, such as a laser sensor, an ultrasonic sensor, a distance sensor, a camera and the like, and then obtain a mowing area map according to the information of the area to be mowed; or the mower comprises a communication module, the mower is in communication connection with an external terminal, and a mowing area map sent by the external terminal is received.
S2, the cutter head of the mower is offset to face the boundary line of the mowing area map, and the mower performs mowing operation along the boundary line of the mowing area map.
Specifically, the offset orientation of the mower deck includes a left offset and a right offset, the offset orientation of the mower deck refers to a reference to a forward travel direction of the mower, the center of a coverage area formed by the left offset deck is located at the left side of a center line of the mower, and the center of a coverage area formed by the right offset deck is located at the right side of the center line of the mower. The offset side of the mower cutter faces the boundary line of the mowing area map, so that the mower cutter is closer to the boundary line of the mowing area map, the mowing coverage area of the cutter is closer to the boundary line of the mowing area map, and the edge leakage cutting phenomenon is reduced. Alternatively, referring to fig. 3a, where 30 is a mowing area map, 40 is a borderline of the mowing area map, and the cutterhead is positioned on the left side of the mower, the left side of the mower faces the borderline of the mowing area map. Alternatively, referring to fig. 3b, where 30 is a mowing area map, 40 is a borderline of the mowing area map, and the cutterhead is positioned on the right side of the mower, the right side of the mower faces the borderline of the mowing area map.
Further, the starting position of the mower of the embodiment is located at the boundary line of the mowing area map, and if the mower is not located at the boundary line of the mowing area map, the mower first travels to the boundary line of the mowing area map. When the cutter head of the mower is biased to face the boundary line of the mowing area map, the mower performs mowing operation along the boundary line of the mowing area map.
And S3, after the mower moves along the mowing area map for one circle, the mower moves to the mowing area map for a preset width, and mowing operation is performed by keeping the preset width with the previous circle travel path, wherein the preset width is not larger than the cutter head coverage width.
Specifically, the cutter cover width refers to the width of a cover area formed when the cutter of the mower cuts grass, and the cutter cover width can be obtained through the cutter size. The mower performs mowing operation along the boundary line of the mowing area map, and forms a first back-shaped coverage area after one circle along the mowing area map, and referring to fig. 4a, a first back-shaped coverage area formed by the mower is shown as 50. The mower is adjusted after the mower moves along the mowing area map for one circle, so that the mower moves to the mowing area map for a preset width, and the mower and the previous circle moving path keep the preset width to mow in the moving process, so that two continuous rectangular coverage areas can be kept continuous, and continuous coverage of the mowing areas is realized. The mower moving into the mowing area map means that the mower starts moving from the boundary line of the mowing area map into the mowing area map.
When the preset width is equal to the cutter head coverage width, referring to fig. 4b, 50 is a first rectangular coverage area formed by the mower, 60 is a second rectangular coverage area formed by the mower, and it can be seen that the rectangular coverage area gradually covers the whole mowing area map from outside to inside. It can be understood that when the preset width is smaller than the cutter head coverage width, the adjacent double-square coverage areas overlap to a certain extent, so that missed cutting caused by mower path errors can be effectively avoided.
S4, repeating the step S3 until the full coverage of the mowing area map is completed.
Specifically, the mower forms a back-shaped coverage area along the mowing area map every time, then moves to the mowing area map for a preset width to form a new back-shaped coverage area, each back-shaped coverage area expands once into the mowing area map, and the mower is executed in a circulating mode until the whole mowing area map is covered.
The cutter head side-mounted mower of the embodiment uses the back-shaped path to mow, so that edge missing cutting phenomenon is effectively reduced, and edge mowing quality is improved.
In the method for mowing the cutter-head side mower in a zigzag manner in some embodiments, the mowing operation performed by the mower along the boundary line of the mowing area map in step S2 includes: if the height of the area outside the boundary line of the mowing area map is not consistent with that of the area inside the boundary line, the mower body boundary performs mowing operation along the boundary line of the mowing area map. Specifically, the fact that the border line outside area of the mowing area map is not consistent with the border line inside area in height includes that the border line outside area of the mowing area map is higher than the border line inside area, or the border line outside area of the mowing area map is lower than the border line inside area, at this time, the mower cannot cross the border line of the mowing area map, or else may topple. In this case, in order to bring the mowing coverage area as close to the boundary line of the mowing area map as possible, it is required that the body boundary of the mower be aligned with the boundary line of the mowing area map, and that the mowing operation be performed along the boundary line of the mowing area map. According to the mower, the boundary of the mower body is aligned with the boundary of the mowing area map, so that the mowing coverage area is as close to the boundary of the mowing area map as possible, the edge missing cutting phenomenon is reduced to the greatest extent, and the edge mowing quality is improved.
In the method for mowing the cutter-head side mower in a zigzag manner in some embodiments, the mowing operation performed by the mower along the boundary line of the mowing area map in step S2 includes: if the outside area and the inside area of the boundary line of the mowing area map are in high agreement, the cutter head boundary of the mower performs mowing operation along the boundary line of the mowing area map. The height of the area outside the boundary line of the mowing area map is consistent with that of the area inside the boundary line, which means that the mower can travel to the area outside the boundary line of the mowing area map, and at the moment, the boundary of the cutter head of the mower can be aligned with the boundary line of the mowing area map, namely one side of the mowing coverage area of the cutter head of the mower is aligned with the boundary line of the mowing area map, and the boundary of the cutter head of the mower performs mowing operation along the boundary line of the mowing area map. The mowing coverage area of the mower cutter head of the embodiment completely reaches the boundary line of a mowing area map, so that the edge missing cutting phenomenon is completely eliminated, and the edge mowing quality is improved.
In the method for mowing the grass by the cutter head side mower in the mode of the embodiment, if the mowing area map contains an obstacle area, the cutter head of the mower is offset to one side towards the boundary line of the obstacle area, and the mower performs mowing operation for one circle along the boundary line of the obstacle area. Specifically, the mower acquires a map of a mowing area including an obstacle area, and identifies a boundary line of the obstacle area. Referring to fig. 5, 70 is a boundary line of an obstacle region. Alternatively, if the cutterhead is positioned to the left of the mower, the left side of the mower is directed to the obstacle area. If the cutterhead is located on the right side of the mower, the right side of the mower faces the obstacle area. The mower performs mowing operation for one circle along the boundary line of the obstacle area, and completes mowing operation on the edge of the obstacle. The cutter head side mower of the embodiment enables one side of the cutter head of the mower to face the boundary line of the obstacle area, can effectively reduce the edge cutting leakage phenomenon of the obstacle area, and improves the edge cutting quality of the obstacle area.
In the method for mowing the cutter-head side mower in a reversed character shape in some embodiments, after step S4, the method further includes the steps of: s5, returning the mower to mow along the original path of the formed return-type path. Specifically, when the mower gradually approaches the center of the mowing area map from outside to inside through the coverage areas in the shape of the Chinese character 'hui', a center miss phenomenon may occur. In order to solve the center missed cutting phenomenon, after the mower completes the forward mowing operation according to the embodiment, the mower returns to the original path of the formed back-up type path to mow the grass, namely turns 180 degrees at the end point of the forward mowing path, and returns to the original path of the formed back-up type path to mow the grass. Alternatively, because the center missed cut phenomenon only occurs at the center of the map of the mowing area, when the mower returns along the original path, the mower does not need to return to the starting point along the original path, and only a preset number of return fonts are needed to be executed, for example, one return font or two return fonts are returned along the original path of the return font. Because the mower of the embodiment is a mower with the cutter head arranged at the side, when the mower returns along an original path, the cutter head coverage area just covers the other side of the path, thereby solving the phenomenon of center missed cutting and improving the mowing quality.
In a preferred embodiment, the computer readable storage medium of the present embodiment stores a computer program adapted to be loaded by a processor to perform the steps of the reel-side mower reel-type mowing method of the above embodiment.
In a preferred embodiment, the mower of the present embodiment comprises a memory and a processor, the memory having a computer program stored therein. The processor performs the steps of the reel-side mower reel-type mowing method of the above embodiment by calling a computer program stored in the memory. The cutter head side-mounted mower of the embodiment uses the back-shaped path to mow, so that edge missing cutting phenomenon is effectively reduced, and edge mowing quality is improved.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative elements and steps are described above generally in terms of functionality in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. The software modules may be disposed in Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The above embodiments are provided to illustrate the technical concept and features of the present invention and are intended to enable those skilled in the art to understand the content of the present invention and implement the same according to the content of the present invention, and not to limit the scope of the present invention. All equivalent changes and modifications made with the scope of the claims should be covered by the claims.
Claims (5)
1. The mowing method of the cutter head side mower in a Chinese character 'Hui' shape is characterized by comprising the following steps of:
s1, acquiring a mowing area map of an area to be mowed;
s2, a mower cutter is biased to face the boundary line of the mowing area map, and the mower performs mowing operation along the boundary line of the mowing area map;
s3, after the mower moves along the mowing area map for one circle, the mower moves to a preset width in the mowing area map, and mows with the preset width along the previous circle travel path, wherein the preset width is not larger than the cutter head coverage width;
s4, repeating the step S3 until the full coverage of the mowing area map is completed;
s5, returning the mower to mow along the original path of the formed return-type path, and executing a preset number of return-type shapes when the mower returns along the original path;
if the cutter head is positioned at the left side of the mower, the left side of the mower faces the boundary line of the mowing area map in the step S2; if the cutter head is positioned on the right side of the mower, the right side of the mower faces the boundary line of the mowing area map in the step S2;
if the mowing area map contains an obstacle area, the mower cutter is biased to face the boundary line of the obstacle area, and mowing operation is performed by the mower along the boundary line of the obstacle area for one circle;
if the cutter head is positioned at the left side of the mower, the left side of the mower faces the obstacle area; if the cutterhead is positioned on the right side of the mower, the right side of the mower faces the obstacle area.
2. The reel-side mower-related mowing method of claim 1, wherein the mowing operation performed by the mower along the boundary line of the mowing area map in step S2 comprises:
and if the heights of the area outside the boundary line and the area inside the boundary line of the mowing area map are not consistent, the body boundary of the mower performs mowing operation along the boundary line of the mowing area map.
3. The reel-side mower-related mowing method of claim 1, wherein the mowing operation performed by the mower along the boundary line of the mowing area map in step S2 comprises:
and if the height of the area outside the boundary line of the mowing area map is consistent with that of the area inside the boundary line, the cutter head boundary of the mower performs mowing operation along the boundary line of the mowing area map.
4. A computer readable storage medium, characterized in that it stores a computer program adapted to be loaded by a processor for performing the steps of the reel-side mower-of-cut method of any one of claims 1 to 3.
5. A mower comprising a memory and a processor;
the memory stores a computer program;
the processor performs the steps of the reel-side mower-related mowing method of any one of claims 1 to 3 by calling the computer program stored in the memory.
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| CN202210162553.1A CN114557197B (en) | 2022-02-22 | 2022-02-22 | Cutting method for cutter head side-mounted mower in shape like Chinese character 'Hui', storage medium and mower |
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| CN202210162553.1A CN114557197B (en) | 2022-02-22 | 2022-02-22 | Cutting method for cutter head side-mounted mower in shape like Chinese character 'Hui', storage medium and mower |
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| CN115443793B (en) * | 2022-08-18 | 2024-04-30 | 深圳拓邦股份有限公司 | Mower and mower path planning method |
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