CN115454054A - Mowing control method and system of mower and readable storage medium - Google Patents
Mowing control method and system of mower and readable storage medium Download PDFInfo
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Abstract
The invention relates to a mowing control method, a mowing control system and a readable storage medium of a mower, wherein the mowing control method comprises the following steps: acquiring the GPS coordinates of the current position point in real time from a GPS module, and acquiring the positioning information of the current position point from a positioning module; when the mower enters a second high-precision area from a first high-precision area through a shielding area, according to the GPS coordinates and the positioning information of at least one position point in the first high-precision area and the GPS coordinates and the positioning information of at least one position point in the second high-precision area, re-determining the positioning information of each position point in the shielding area, and generating an actual mowing route in the shielding area; adjusting an uncut area according to the actual mowing route, and replanning the mowing route for the uncut area; and carrying out mowing navigation control according to the re-planned mowing route. Through this technical scheme, can in time mend the cutting to the area of leaking cutting at the in-process of mowing. Therefore, the mowing efficiency and the mowing performance are improved.
Description
Technical Field
The invention relates to the field of mowers, in particular to a mowing control method and system of a mower 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 blocked by trees, buildings, obstacles, etc., the lawn mower cannot acquire highly accurate GPS information, and further cannot calibrate inaccurate information such as position, direction, etc., which may degrade the mowing efficiency and mowing performance of the lawn mower (missed mowing).
Disclosure of Invention
The present invention provides a mowing control method and system for a mower, and a readable storage medium, aiming at the defects of the prior art that mowing efficiency and mowing performance are reduced when the mower enters a sheltered area.
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:
acquiring the GPS coordinates of the current position point in real time from a GPS module, and acquiring the positioning information of the current position point from a positioning module;
when the mower enters a second high-precision area from a first high-precision area through a sheltering area, according to the GPS coordinates and the positioning information of at least one position point in the first high-precision area and the GPS coordinates and the positioning information of at least one position point in the second high-precision area, re-determining the positioning information of each position point in the sheltering area, and generating an actual mowing route in the sheltering area;
adjusting an uncut area according to the actual mowing route, and replanning the mowing route for the uncut area;
and carrying out mowing navigation control according to the re-planned mowing route.
Preferably, the step of re-determining the positioning information of each position point in the occlusion area according to the GPS coordinate and the positioning information of at least one position point in the first high-precision area and the GPS coordinate and the positioning information of at least one position point in the second high-precision area, and generating the actual mowing route in the occlusion area comprises:
determining a course angle of a first position point according to the GPS coordinates of the first position point in the first high-precision area;
determining a course angle of a second position point according to the GPS coordinate of the second position point in the second high-precision area;
calculating course angle deviation values of all position points in the shielding area according to the course angle of the first position point and the course angle of the second position point;
and re-determining the positioning information of each position point in the shielding area according to the course angle deviation value of each position point in the shielding area and the positioning information of the first position point and/or the positioning information of the second position point.
Preferably, the first location point is the last location point within the first high precision zone;
the second location point is a first location point within the second high-precision region.
Preferably, the method further comprises the following steps:
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 zone or a high-precision zone 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, adjusting the uncut area according to the actual mowing route comprises:
identifying a missed cutting area according to the actual mowing route and the mowing route recorded in the shielding area;
and adjusting the current uncut area according to the missed cutting area.
The present invention also constructs a mowing control system of a lawnmower, including:
the acquisition module is used for acquiring the GPS coordinates of the current position point from the GPS module in real time and acquiring the positioning information of the current position point from the positioning module;
the re-determination module is used for re-determining the positioning information of each position point in the occlusion area according to the GPS coordinate and the positioning information of at least one position point in the first high-precision area and the GPS coordinate and the positioning information of at least one position point in the second high-precision area when the mower enters a second high-precision area from a first high-precision area through the occlusion area, and generating an actual mowing route in the occlusion area;
the route planning module is used for adjusting an uncut area according to the actual mowing route and replanning the mowing route for the uncut area;
and the navigation module is used for carrying out mowing navigation control according to the re-planned mowing route.
Preferably, the re-determination module comprises:
the first determining unit is used for determining a course angle of a first position point according to the GPS coordinate of the first position point in the first high-precision area;
the second determining unit is used for determining the course angle of a second position point according to the GPS coordinate of the second position point in the second high-precision area;
the calculation unit is used for calculating course angle deviation values of all position points in the shielding area according to the course angle of the first position point and the course angle of the second position point;
and the third determining unit is used for re-determining the positioning information of each position point in the shielding area according to the course angle deviation value of each position point in the shielding area and the positioning information of the first position point and/or the positioning information of the second position point.
Preferably, the method further comprises the following steps:
the area determination 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.
The present invention also provides a mowing control system of a lawnmower, comprising a processor which, when executing a computer program, realizes the steps of the mowing control method of the lawnmower described above.
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.
According to the technical scheme provided by the invention, firstly, the positioning information of each position point of the occlusion area is re-determined by utilizing the GPS coordinates and the positioning information of the position points of the high-precision areas in front of and behind the occlusion area, and an actual mowing route is generated. And then, determining an uncut area according to the actual mowing route, and replanning the mowing route, so that the missed cutting area can be timely subjected to complementary cutting in the mowing process. Therefore, the mowing efficiency and the mowing performance are improved.
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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 grass cutting control method of a grass cutter 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, acquiring a GPS coordinate of the current position point in real time from a GPS module, and acquiring positioning information of the current position point from a positioning module;
in this step, it should be noted that the GPS module is a satellite positioning module (i.e. a mobile station), which can use a differential positioning (RTK) method to obtain the GPS coordinates of the current location point of the lawn mower. The positioning module can be an inertial navigation module, and the inertial navigation module can obtain information such as speed, yaw angle and position in a navigation coordinate system by measuring the acceleration of the carrier in an inertial reference system, integrating the acceleration with time and transforming the acceleration into the navigation coordinate system on the basis of the Newton's law of mechanics.
S20, when the mower enters a second high-precision area from a first high-precision area through a sheltering area, re-determining the positioning information of each position point in the sheltering area according to the GPS coordinates and the positioning information of at least one position point in the first high-precision area and the GPS coordinates and the positioning information of at least one position point in the second high-precision area, and generating an actual mowing route in the sheltering area;
in this step, first, the sheltered zone may be, for example, an area in the mower work area that is sheltered from trees, buildings, obstacles, and the like. Also, the occlusion zone can be identified based on satellite signal quality, the number of satellites, the RTK status, etc. in the GPS information.
When the mower enters the sheltering area from the first high-precision area and enters the second high-precision area after mowing according to the planned path in the sheltering area, the positioning information of each position point in the sheltering area can be re-determined according to the GPS coordinates and the positioning information of the position points in the high-precision area due to the fact that the precision of the GPS coordinates of the two high-precision areas is high, and then an actual mowing route can be drawn according to the positioning information re-determined by each position point in the sheltering area.
S30, adjusting an uncut area according to the actual mowing route, and re-planning a mowing route for the uncut area;
in this step, it should be noted that, after the lawn mower works for a long time, the error of each sensor in the inertial navigation module may cause the output positioning information (position, direction, etc.) to be inaccurate. In addition, since the accuracy of the GPS coordinates acquired in the shielded area is not high, and the positioning information cannot be calibrated, the positioning information of each position point in the shielded area is inaccurate. When mowing is performed according to the originally planned route by using the inaccurate positioning information, the mowing route recorded by the system is inevitably deviated from the actual mowing route, namely, the mowing missing situation occurs.
After the actual mowing route is determined, an uncut area can be determined according to the actual mowing route and the mowing route recorded by the system, and then the mowing route is re-planned for the uncut area.
And S40, carrying out mowing navigation control according to the re-planned mowing route.
According to the technical scheme of the embodiment, the positioning information of each position point of the shielding area is re-determined by using the GPS coordinates and the positioning information of the position points of the high-precision areas in front of and behind the shielding area, and an actual mowing route is generated. And then determining the uncut area and re-planning a mowing route, so that the missed cutting area can be timely subjected to additional cutting in the mowing process, and the additional cutting is not required after mowing is finished. Therefore, the mowing efficiency and the mowing performance are improved.
Further, in an optional embodiment, the manner of re-determining the positioning information of each position point in the occlusion region is as follows:
determining a course angle of a first position point according to the GPS coordinate of the first position point in the first high-precision area;
determining a course angle of a second position point according to the GPS coordinate of the second position point in the second high-precision area;
calculating course angle deviation values of all position points in the shielding area according to the course angle of the first position point and the course angle of the second position point;
and re-determining the positioning information of each position point in the shielding area according to the course angle deviation value of each position point in the shielding area and the positioning information of the first position point and/or the positioning information of the second position point. .
The following describes a method for re-determining location information of each location point in an occlusion area by using a specific embodiment:
the mower enters a second high-precision area from the first high-precision area through the shielding area, the first position point is assumed to be a position point (for example, the last position point) in the first high-precision area, the second position point is a position point (for example, the first position point) in the second high-precision area, the third position point is a position point (any position point) in the shielding area, and the positioning information (x 1, y 1) of the first position point is that the heading angle determined according to the GPS coordinate of the first position point is phi 1; for the second position point, the positioning information (x 2, y 2) of the second position point is determined to be a course angle phi 2 according to the GPS coordinate; for the third location point, the positioning information is (x 3, y 3), and the heading angle determined according to the GPS coordinate is phi 3. Since the first location point and the second location point are both in the high-precision area, and both (x 1, y 1) and (x 2, y 2) are calibrated by using the corresponding GPS coordinates, they are accurate, while the third location point is in the occlusion area, and its corresponding GPS coordinates are inaccurate, and it is impossible to calibrate the positioning information by using the GPS coordinates, so that (x 3, y 3) is inaccurate, and re-determination is required. In addition, it is assumed that the second position point differs from the first position point by n position points, and the third position point differs from the first position point by i (i < n) position points. Since the deviation of the heading angle caused by the zero deviation of the positioning module (e.g., inertial navigation module) is linearly changed, the heading angle deviation value Δ Φ, the lateral mileage deviation value Δ x, and the longitudinal mileage deviation value Δ y of the third position point compared to the first position point can be respectively calculated according to equations 1-3:
Δ Φ = (Φ 2- Φ 1) × i/n; equation 1
Δ x = m × cos (Φ 1+ Δ Φ); equation 2
Δ y = m sin (Φ 1+ Δ Φ); equation 3
Where m is the odometer increment for the mower moving from the first location point to the third location point, which is measurable by the opto-electronic encoder in the positioning module.
Further, the positioning information (x 3', y3', Φ 3 ') of the third location point re-determination can be calculated according to the formulas 4 to 6:
Φ 3' = Φ 1+ Δ Φ; equation 4
x3' = x1+ Δ x; equation 5
y3' = y1+ Δ y; equation 6.
Further, in an optional embodiment, step S10 further 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 zone or a high-precision zone 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 alternative embodiment, the first location point is the last location point within the first high precision zone; the second location point is the first location point within the second high precision region. In this embodiment, since the positioning information of each position point in the occlusion region is re-determined according to the GPS coordinates and the positioning information of the last position point coming out of the first high-precision region and the second position point entering the second high-precision region, the positioning information of each position point in the occlusion region that is re-determined can be obtained in time.
Of course, in other embodiments, the positioning information of each location point in the occlusion area may also be re-determined according to the GPS coordinates and the positioning information of other location points of the high-precision areas before and after the occlusion area, or the positioning information of each location point in the occlusion area may be comprehensively determined according to the GPS coordinates and the positioning information of a plurality of location points of the high-precision areas before and after the occlusion area, so as to improve the accuracy of re-determination of the positioning information.
Further, in an optional embodiment, the adjusting the uncut area according to the actual mowing route in step S30 includes: identifying a missed cutting area according to the actual mowing route and the mowing route recorded in the shielding area; and adjusting the current uncut area according to the uncut area, namely marking the uncut area as the uncut area.
Fig. 2 is a logical structure diagram of a mowing control system according to a first embodiment of the mowing machine of the present invention, and it is first described that the mowing machine includes a mowing control system, including a GPS module, a positioning module (e.g., an inertial navigation module), and the like. The mowing control system of the mower of the embodiment includes: the system comprises an acquisition module 10, a re-determination module 20, a route planning module 30 and a navigation module 40, wherein the acquisition module 10 is used for acquiring the GPS coordinates of the current position point from a GPS module in real time and acquiring the positioning information of the current position point from a positioning module; the re-determination module 20 is configured to, when the mower enters a second high-precision area from a first high-precision area through a blocked area, re-determine the positioning information of each position point in the blocked area according to the GPS coordinate and the positioning information of at least one position point in the first high-precision area and the GPS coordinate and the positioning information of at least one position point in the second high-precision area, and generate an actual mowing route in the blocked area; the route planning module 30 is configured to adjust an uncut area according to the actual mowing route and re-plan a mowing route for the uncut area; the navigation module 40 is used for carrying out mowing navigation control according to the re-planned mowing route.
Further, in an optional embodiment, the mowing control system of the present invention further comprises an area determining module configured to acquire an RTK status of a current position from a GPS module in real time, and determine whether the mower is in an occlusion zone or a high precision zone based on the RTK status, wherein 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, in an optional embodiment, the re-determination module 20 includes a first determination unit, a second determination unit, a calculation unit, and a third determination unit, wherein the first determination unit is configured to determine a heading angle of a first location point in the first high-precision area according to GPS coordinates of the first location point; the second determining unit is used for determining the course angle of the second position point according to the GPS coordinate of the second position point in the second high-precision area; the calculation unit is used for calculating course angle deviation values of all position points in the shielding area according to the course angle of the first position point and the course angle of the second position point; and the third determining unit is used for re-determining the positioning information of each position point in the shielding area according to the course angle deviation value of each position point in the shielding area and the positioning information of the first position point and/or the positioning information of the second position point.
The present invention also constructs a mowing control system of a lawnmower, the mowing control system including a processor, and the processor realizing the steps of the mowing control method of the lawnmower described above when executing a computer program.
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, etc.
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 flash 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 one of the mowing control methods of the mowing machine provided by the embodiments of the present invention when being executed, 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, for details, see the foregoing embodiments, and are not described herein again.
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 tampering, equivalent replacement, improvement, etc. 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 grass cutting control method of a grass cutter, it is characterized by comprising:
acquiring a GPS coordinate of a current position point in real time from a GPS module, and acquiring positioning information of the current position point from a positioning module;
when the mower enters a second high-precision area from a first high-precision area through a sheltering area, according to the GPS coordinates and the positioning information of at least one position point in the first high-precision area and the GPS coordinates and the positioning information of at least one position point in the second high-precision area, re-determining the positioning information of each position point in the sheltering area, and generating an actual mowing route in the sheltering area;
adjusting an uncut area according to the actual mowing route, and replanning the mowing route for the uncut area;
and carrying out mowing navigation control according to the re-planned mowing route.
2. The mowing control method of the mower according to claim 1, wherein the step of re-determining the positioning information of each position point in the occlusion area based on the GPS coordinate and the positioning information of at least one position point in the first high-precision area and the GPS coordinate and the positioning information of at least one position point in the second high-precision area and generating the actual mowing route in the occlusion area comprises:
determining a course angle of a first position point according to the GPS coordinates of the first position point in the first high-precision area;
determining a course angle of a second position point according to the GPS coordinate of the second position point in the second high-precision area;
calculating course angle deviation values of all position points in the shielding area according to the course angle of the first position point and the course angle of the second position point;
and re-determining the positioning information of each position point in the shielding area according to the course angle deviation value of each position point in the shielding area and the positioning information of the first position point and/or the positioning information of the second position point.
3. The method of claim 2, wherein the first position point is a last position point within the first high-precision zone;
the second location point is a first location point within the second high-precision region.
4. The grass cutting control method of a grass cutter according to claim 1, characterized by further comprising:
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 zone or a high-precision zone 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.
5. The mowing control method of the mower according to claim 1, wherein the adjusting of the uncut area according to the actual mowing route comprises:
identifying an undercutting area according to the actual mowing route and the mowing route recorded in the shielding area;
and adjusting the current uncut area according to the missed cutting area.
6. A mowing control system of a lawnmower, comprising:
the acquisition module is used for acquiring the GPS coordinates of the current position point from the GPS module in real time and acquiring the positioning information of the current position point from the positioning module;
the re-determination module is used for re-determining the positioning information of each position point in the occlusion area according to the GPS coordinate and the positioning information of at least one position point in the first high-precision area and the GPS coordinate and the positioning information of at least one position point in the second high-precision area when the mower enters the second high-precision area from the first high-precision area through the occlusion area, and generating an actual mowing route in the occlusion area;
the route planning module is used for adjusting an uncut area according to the actual mowing route and replanning the mowing route for the uncut area;
and the navigation module is used for carrying out mowing navigation control according to the re-planned mowing route.
7. The mowing control system of the lawn mower according to claim 6, wherein the re-determination module comprises:
the first determining unit is used for determining a course angle of a first position point according to the GPS coordinate of the first position point in the first high-precision area;
the second determining unit is used for determining the course angle of the second position point according to the GPS coordinate of the second position point in the second high-precision area;
the calculation unit is used for calculating course angle deviation values of all position points in the shielding area according to the course angle of the first position point and the course angle of the second position point;
and the third determining unit is used for re-determining the positioning information of each position point in the shielding area according to the course angle deviation value of each position point in the shielding area and the positioning information of the first position point and/or the positioning information of the second position point.
8. The mowing control system of the mowing machine according to claim 6, further comprising:
the area determination 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 mowing control system of a lawnmower comprising a processor, characterized in that the processor realizes the steps of the mowing control method of the lawnmower according to any one of claims 1 to 5 when executing a computer program.
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 5.
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| CN116736868A (en) * | 2023-08-11 | 2023-09-12 | 松灵机器人(深圳)有限公司 | Robot movement control method, device, equipment and storage medium |
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| CN116736868A (en) * | 2023-08-11 | 2023-09-12 | 松灵机器人(深圳)有限公司 | Robot movement control method, device, equipment and storage medium |
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