CN115443794A - Mower, mowing control method, system and readable storage medium - Google Patents
Mower, mowing control method, system and readable storage medium Download PDFInfo
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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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Abstract
The invention relates to a mower, a mowing control method, a mowing control system and a readable storage medium, wherein the mowing control method comprises the following steps: s10, judging whether the current position point is in a shielding area or a high-precision area in real time, if the position is in the shielding area, executing the step S20; if the current position is in the high-precision area, executing the step S30; s20, marking the current position point, reversing the advancing direction of the current advancing mode, and then executing the step S10; s30, carrying out mowing control according to a current propelling mode according to a preset first mowing mode; s40, judging whether the mowing stopping condition is met currently; and S50, when the mowing stopping condition is met, identifying a sheltering area according to the marked position points, and carrying out mowing control on the sheltering area according to a preset second mowing mode. Through this technical scheme, can avoid leaking the cutting to improve the mowing performance of lawn mower.
Description
Technical Field
The invention relates to the field of mowers, in particular to a mowers, a mow control method, a mow control system and a readable storage medium.
Background
When the lawn mower carries out mowing work, trees, buildings and obstacles are often arranged in a working area, and shielded areas of satellite signals are easily formed around the trees, the buildings and the obstacles. If the satellite signal is shielded by trees, buildings, obstacles and the like, the mower cannot acquire high-precision GPS information and cannot perform accurate positioning, so that missed mowing is possibly caused, and the mowing performance of the mower is reduced.
Disclosure of Invention
The invention aims to solve the technical problem of providing a mower, a mowing control method, a mowing control system and a readable storage medium aiming at the defects that the mowing efficiency and the mowing performance are reduced when the mower enters a sheltered area in the prior art.
The technical scheme adopted by the invention for solving the technical problems is as follows: a mowing control method of a mower is configured, including:
s10, judging whether the current position point is in a shielding area or a high-precision area in real time, and if the current position point is in the shielding area, executing a step S20; if the current position is in the high-precision area, executing the step S30;
s20, marking the current position point, reversing the advancing direction of the current advancing mode, and then executing the step S10;
s30, carrying out mowing control according to a current propelling mode according to a preset first mowing mode;
s40, judging whether the mowing stopping condition is met currently;
and S50, when the mowing stopping condition is met, identifying a sheltered area according to the marked position points, and carrying out mowing control on the sheltered area according to a preset second mowing mode.
Preferably, the step S10 of determining whether the current position point is in the occlusion region or the high-precision region in real time includes:
the method comprises the steps of acquiring an RTK state of a current position point from a GPS module in real time, and determining whether a mower is in a sheltering area or a high-precision area according to the RTK state, wherein the RTK state comprises the following steps: a fixed solution state, a non-fixed solution state, and the non-fixed solution state includes: a floating point solution state, a differential solution state, a single point solution state.
Preferably, in step S20, the advancing manner is:
a manner of pushing along the bow.
Preferably, in step S50, the controlling of mowing the sheltered area according to the preset second mowing manner includes:
s51, expanding the shielding area into a to-be-cut area with a specific shape;
s52, calculating the area of the area to be mowed, and selecting a second mowing mode corresponding to the area to be mowed according to the corresponding relation between a plurality of preset area ranges and the second mowing mode;
and S53, carrying out mowing control on the area to be mowed according to the selected second mowing mode.
Preferably, in step S52, selecting a second mowing manner corresponding to the area to be mowed includes:
if the area of the area to be mowed is larger than a preset value, selecting at least two of a 45-degree mowing mode, a 90-degree mowing mode and a 135-degree mowing mode as second mowing modes;
and if the area of the area to be cut is not larger than the preset value, selecting a fixed point spiral mowing mode as a second mowing mode.
Preferably, the step S40 includes:
and judging whether mowing of the high-precision zone of the current zone is finished.
The present invention also constructs a mowing control system of a lawnmower, including:
the area judgment module is used for judging whether the current position point is in a shielding area or a high-precision area in real time;
the marking and modifying module is used for marking the current position point when the vehicle is in the shielding area and reversing the advancing direction of the current advancing mode;
the first mowing control module is used for mowing and controlling according to a current propulsion mode according to a preset first mowing mode when the robot is in a high-precision area;
the condition judgment module is used for judging whether the mowing stopping condition is met currently;
and the second mowing control module is used for identifying the sheltering area according to the marked position points and carrying out mowing control on the sheltering area according to a preset second mowing mode when the mowing stopping condition is met.
Preferably, the area determination module is configured to obtain an RTK status of the current position point from the GPS module in real time, and determine whether the mower is in the sheltering zone or the high-precision zone according to the RTK status, where the RTK status includes: a fixed solution state, a non-fixed solution state, and the non-fixed solution state includes: a floating point solution state, a differential solution state, a single point solution state.
The invention also provides a lawn mower comprising a processor which, when executing a computer program, implements the steps of the mowing control method of the lawn mower described above.
The present invention also provides a readable storage medium storing a computer program, wherein the computer program realizes the steps of the mowing control method of the mower described above when executed by a processor.
In the technical scheme provided by the invention, whether the current position point is in the sheltering area or the high-precision area is judged in real time, if the current position point is in the sheltering area, the current position point is identified, and the advancing direction of the current advancing mode is reversed to avoid the sheltering area, namely, the high-precision area is firstly mowed according to a preset first mowing mode. When the mowing stopping condition is judged to be met, the sheltering area is identified according to the marked position points, and mowing is carried out on the sheltering area according to a preset second mowing mode, so that missed mowing is avoided, and the mowing performance of the mower is improved.
Drawings
In order to illustrate the embodiments of the invention more clearly, the drawings that are needed in the description of the embodiments will be briefly described below, it being apparent that the drawings in the following description are only some embodiments of the invention, and that other drawings may be derived from those drawings by a person skilled in the art without inventive effort. In the drawings:
FIG. 1 is a flow chart of a first embodiment of a mowing control method of a mowing machine according to the present invention;
fig. 2 is a logical structure diagram of a first embodiment of the mowing control system of the mower according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a flowchart of a first embodiment of a mowing control method of a mower according to the present invention, where the mowing control method of the embodiment is applied to a processor of the mower, and the mower further includes a GPS module and a positioning module. The mowing control method of the embodiment includes:
s10, judging whether the current position point is in a shielding area or a high-precision area in real time, and if the current position point is in the shielding area, executing a step S20; if the current position is in the high-precision area, executing the step S30;
in this step, it should be noted that the sheltered area may be, for example, an area sheltered by trees, buildings, obstacles, etc. in the working area of the mower. Also, the occlusion region can be identified based on satellite signal quality, the number of satellites, the RTK status, etc. in the GPS information.
S20, marking the current position point, reversing the advancing direction of the current advancing mode, and then executing the step S10;
in this step, it should be noted that, the current position point is marked, so that a shielding area is identified on the electronic map according to the mark point; the advancing direction of the current propelling mode is reversed, namely, the current position point is taken as a boundary point, so that the advancing direction is reversed, and the mowing in the sheltered area can be avoided.
S30, carrying out mowing control according to a current propelling mode according to a preset first mowing mode;
in this step, the first mowing manner may be any one of the following: a 45-degree mowing manner, a 90-degree mowing manner, and a 135-degree mowing manner. All of these mowing methods belong to the straight line mowing methods, and it should be noted that, when the mower is used for creating the map, a coordinate system on an XY plane is established according to the determined boundary line and the position coordinates of the charging base station, and the position of the charging base station is taken as the origin of coordinates. Under the 45-degree mowing mode, the advancing direction of the mower forms an angle of 45 degrees with the positive direction of the X axis; under the 90-degree mowing mode, the advancing direction of the mower forms an angle of 90 degrees with the positive direction of the X axis; in the 135 degree grass cutting mode, the advancing direction of the grass cutter forms an angle of 135 degrees with the positive direction of the X axis.
S40, judging whether mowing stopping conditions are met or not at present, and if yes, executing a step S50; if not, executing the step S10;
and S50, identifying a sheltering area according to the marked position points, and carrying out mowing control on the sheltering area according to a preset second mowing mode.
In this step, since the positioning accuracy of the shaded area is not high, the grass cutting control is performed in the shaded area by using the second grass cutting method different from the first grass cutting method, and the second grass cutting method has a higher repeated grass cutting rate at the same position point than the first grass cutting method, so that missing cutting can be avoided.
In the technical scheme of the embodiment, whether the current position point is in the sheltering area or the high-precision area is judged in real time, if the current position point is in the sheltering area, the current position point is identified, the advancing direction of the current advancing mode is reversed to avoid the sheltering area, and the high-precision area is mowed according to a preset first mowing mode. When the mowing stopping condition is judged to be met, the sheltering area is identified according to the marked position points, and mowing is carried out on the sheltering area according to a preset second mowing mode, so that missed mowing is avoided, and the mowing performance is improved.
Further, in an optional embodiment, the step S10 of determining whether the current position point is in the occlusion region or the high-precision region in real time includes: the method comprises the steps of acquiring an RTK state of a current position point from a GPS module in real time, and determining whether a mower is in a sheltering area or a high-precision area according to the RTK state, wherein the RTK state comprises the following steps: a fixed solution state, a non-fixed solution state, and the non-fixed solution state includes: a floating point solution state, a differential solution state, a single point solution state. In this embodiment, the GPS information acquired from the GPS module includes an RTK state in addition to the GPS coordinates, and the RTK state includes four types: a fixed solution state, a floating solution state, a differential solution state, and a single point solution state. If the RTK state of a position point is a fixed solution state, the position point is in a high-precision area; if the RTK state of one position point is the other three states (non-fixed solution state), the position point is in the occlusion region. Therefore, whether the position point is in the shielding area or the high-precision area can be judged according to the RTK state corresponding to the position point.
Further, in an optional embodiment, the advancing manner in step S20 is: a manner of pushing along the bow. In this embodiment, the mower is propelled in a bow-shaped manner, specifically, in the bow-shaped propelling manner, the mower first performs linear mowing in the current advancing direction, until the mower advances to the boundary point or the mark point, and then turns clockwise (or counterclockwise) for 90 degrees and performs linear mowing for a distance, and then turns clockwise (or counterclockwise) for 90 degrees and performs linear mowing again until the mower advances to the boundary point or the mark point again, at this time, the mower turns counterclockwise (or clockwise) for 90 degrees and performs linear mowing for a distance, and then turns counterclockwise (or clockwise) for 90 degrees and performs linear mowing again, and so on until the mowing stopping condition is satisfied.
In practical applications, it is found that a sheltered area formed by trees, buildings, obstacles, and the like is not necessarily a regular area, and in order to conveniently plan a mowing route of the sheltered area, in an optional embodiment, the mowing control on the sheltered area in step S50 according to a preset second mowing manner specifically includes:
s51, expanding the shielding area into a to-be-cut area with a specific shape;
in this step, the specific shape may be, for example, a rectangle, a square, a circle, etc., and the shielding region is completely within the region to be cut. Preferably, in order to avoid repeated mowing, the area of the determined area to be mowed is as small as possible while the area contains the sheltered area when the expansion processing is carried out;
s52, calculating the area of the area to be cut, and selecting a second mowing mode corresponding to the area to be cut according to the corresponding relation between the preset multiple groups of area ranges and the second mowing mode;
and S53, carrying out mowing control on the area to be mowed according to the selected second mowing mode.
In this embodiment, for a blocking area that may be irregular in shape, the blocking area may be expanded into a to-be-cut area with a specific shape, for example, the identified blocking area is an irregular polygon, and after the identified blocking area is expanded, a rectangular to-be-cut area may be obtained. And then, selecting a corresponding second mowing mode according to the area of the area to be mowed, and mowing according to the selected mowing mode.
In a specific embodiment, in step S52, selecting a second mowing manner corresponding to the area to be mowed includes: if the area of the area to be mowed is larger than a preset value, selecting at least two of a 45-degree mowing mode, a 90-degree mowing mode and a 135-degree mowing mode as second mowing modes; if the area of the zone to be mowed is not greater than the predetermined value, the spot spiral mowing manner is selected as the second mowing manner, and regarding the spot spiral mowing manner, in the spot spiral mowing mode, the initial mowing position of the mower is determined first, for example, the center point of the zone to be mowed is taken as the initial mowing position, when the mower starts to mow from the initial mowing position, mowing is performed from inside to outside along the spiral manner, and the distance between two adjacent circular arcs on the mowing path is smaller than or equal to the mowing width (the cutter width of the mower) of the mower. In this embodiment, if the area to be cut is large, mowing may be performed by combining a plurality of mowing manners, for example, mowing once in a 90-degree mowing manner and then mowing once in a 45-degree mowing manner in the area to be cut, so as to avoid missed cutting. If the area of the area to be cut is small, the fixed-point spiral mowing mode can be used for mowing, and the mowing mode can also avoid missed cutting.
Further, in an alternative embodiment, in the case that the working area of the mower is relatively large, zone mowing may be performed, that is, the working area is divided into a plurality of zones in advance, and the mower may mow the zone by zone while in operation. Based on this, step S40 includes: and judging whether mowing of the high-precision zone of the current zone is finished. In the embodiment, whether the mowing stopping condition is met is determined by judging whether mowing of the high-precision zone of the current subarea is finished, and mowing of the sheltered zone of the subarea is carried out if mowing of the high-precision zone of the current subarea is finished.
Fig. 2 is a logic structure diagram of a first mowing control system of the mower according to the embodiment of the present invention, the mowing control system of the embodiment includes an area determining module 10, a marking and modifying module 20, a first mowing control module 30, a condition determining module 40, and a second mowing control module 50, wherein the area determining module 10 is configured to determine whether a current location point is in an occlusion area or a high precision area in real time; the marking and modifying module 20 is configured to mark a current position point when the mobile terminal is in the occlusion area, and reverse a forward direction of a current propulsion mode, where the propulsion mode is, for example, a mode of propulsion along a Chinese character 'gong'; the first mowing control module 30 is configured to, when the vehicle is in the high-precision zone, perform mowing control according to a current propulsion mode according to a preset first mowing mode; the condition judging module 40 is used for judging whether the mowing stopping condition is met currently; the second mowing control module 50 is configured to identify the sheltered area according to the marked multiple position points when the mowing suspension condition is met, and perform mowing control on the sheltered area according to a preset second mowing manner.
Further, the area determination module 10 is configured to obtain an RTK status of the current location point from the GPS module in real time, and determine whether the lawn mower is in the occlusion area or the high-precision area according to the RTK status, where the RTK status includes: a fixed solution state, a non-fixed solution state, and the non-fixed solution state includes: a floating point solution state, a differential solution state, a single point solution state.
Further, after the second mowing control module 50 identifies the sheltered area, the sheltered area can be expanded into a to-be-mowed area with a specific shape, the area of the to-be-mowed area is calculated, and the second mowing manner corresponding to the to-be-mowed area is selected according to the corresponding relationship between the preset multiple groups of area ranges and the second mowing manners. Specifically, if the area of the area to be mowed is larger than a preset value, at least two of a 45-degree mowing mode, a 90-degree mowing mode and a 135-degree mowing mode are selected as a second mowing mode; and if the area of the area to be cut is not larger than the preset value, selecting a fixed point spiral mowing mode as a second mowing mode.
The present invention also constitutes a lawn mower comprising a processor which, when executing a computer program, carries out the steps of the mowing control method of the lawn mower described above.
It should be understood that in the embodiments of the present Application, the Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, and the like. The general-purpose processor may be a microprocessor, any conventional processor, and the like.
Moreover, since the processor can implement the steps of any one of the mowing control methods of the mowing machine provided by the embodiments of the present invention when executing the computer program, the beneficial effects that can be achieved by any one of the mowing control methods of the mowing machine provided by the embodiments of the present invention can be achieved, and the details are given in the foregoing embodiments and will not be repeated herein.
The present invention also constitutes a readable storage medium storing a computer program which, when executed by a processor, implements the steps of the mowing control method of the lawnmower described above.
It should be understood that the readable storage medium may include: various computer-readable storage media that can store program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a magnetic disk, or an optical disk. Moreover, since the computer program stored in the readable storage medium can implement the steps of any mowing control method of the mowing machine provided by the embodiment of the invention when being executed, the beneficial effects that can be achieved by any mowing control method of the mowing machine provided by the embodiment of the invention can be achieved, which are detailed in the previous embodiments and are not repeated herein.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (10)
1. A mowing control method of a lawnmower, comprising:
s10, judging whether the current position point is in a shielding area or a high-precision area in real time, and if so, executing a step S20; if the current position is in the high-precision area, executing the step S30;
s20, marking the current position point, reversing the advancing direction of the current advancing mode, and then executing the step S10;
s30, carrying out mowing control according to a current propelling mode according to a preset first mowing mode;
s40, judging whether the mowing stopping condition is met currently;
and S50, when the mowing stopping condition is met, identifying a sheltering area according to the marked position points, and carrying out mowing control on the sheltering area according to a preset second mowing mode.
2. The method for controlling mowing of the mower according to claim 1, wherein the determining in real time whether the current position point is in the occlusion area or the high-precision area in step S10 includes:
the method comprises the steps of acquiring an RTK state of a current position point from a GPS module in real time, and determining whether a mower is in a sheltering area or a high-precision area according to the RTK state, wherein the RTK state comprises the following steps: a fixed solution state, a non-fixed solution state, and the non-fixed solution state includes: a floating point solution state, a differential solution state, a single point solution state.
3. The method of controlling mowing with a lawnmower according to claim 1, wherein in step S20, the propulsion mode is:
a manner of pushing along the bow.
4. The method for controlling grass cutting of a mower according to claim 1, wherein said controlling grass cutting of said shaded area in a second preset grass cutting mode in step S50 comprises:
s51, expanding the shielding area into a to-be-cut area with a specific shape;
s52, calculating the area of the area to be cut, and selecting a second mowing mode corresponding to the area to be cut according to the corresponding relation between the preset multiple groups of area ranges and the second mowing mode;
and S53, carrying out mowing control on the area to be mowed according to the selected second mowing mode.
5. The method of controlling mowing of the lawnmower according to claim 4, wherein the selecting the second mowing manner corresponding to the area to be mowed in step S52 includes:
if the area of the area to be mowed is larger than a preset value, selecting at least two of a 45-degree mowing mode, a 90-degree mowing mode and a 135-degree mowing mode as second mowing modes;
and if the area of the area to be cut is not larger than the preset value, selecting a fixed point spiral mowing mode as a second mowing mode.
6. The method for controlling mowing of the lawnmower according to claim 1, wherein the step S40 includes:
and judging whether mowing of the high-precision zone of the current zone is finished.
7. A mowing control system of a lawnmower, comprising:
the area judgment module is used for judging whether the current position point is in a shielding area or a high-precision area in real time;
the marking and modifying module is used for marking the current position point when the vehicle is in the shielding area and reversing the advancing direction of the current advancing mode;
the first mowing control module is used for mowing and controlling according to a current propulsion mode according to a preset first mowing mode when the robot is in a high-precision area;
the condition judgment module is used for judging whether the mowing stopping condition is met currently;
and the second mowing control module is used for identifying the sheltering area according to the marked position points and carrying out mowing control on the sheltering area according to a preset second mowing mode when the mowing stopping condition is met.
8. The mowing control system of the mowing machine according to claim 7,
the area judgment module is used for acquiring an RTK state of a current position point from the GPS module in real time, and determining whether the mower is in a sheltering zone or a high-precision zone according to the RTK state, wherein the RTK state comprises: a fixed solution state, a non-fixed solution state, and the non-fixed solution state includes: a floating point solution state, a differential solution state, a single point solution state.
9. A lawnmower comprising a processor, characterized in that the processor, when executing a computer program, implements the steps of the mowing control method of the lawnmower according to any one of claims 1 to 6.
10. A readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the steps of the mowing control method of the lawnmower according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202211007738.1A CN115443794A (en) | 2022-08-22 | 2022-08-22 | Mower, mowing control method, system and readable storage medium |
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| CN202211007738.1A CN115443794A (en) | 2022-08-22 | 2022-08-22 | Mower, mowing control method, system and readable storage medium |
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