CN107340770A - A kind of hay mover forward method - Google Patents
A kind of hay mover forward method Download PDFInfo
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- CN107340770A CN107340770A CN201710450870.2A CN201710450870A CN107340770A CN 107340770 A CN107340770 A CN 107340770A CN 201710450870 A CN201710450870 A CN 201710450870A CN 107340770 A CN107340770 A CN 107340770A
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- hay mover
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- hand rotation
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 230000005484 gravity Effects 0.000 claims abstract description 44
- 230000005012 migration Effects 0.000 claims abstract description 41
- 238000013508 migration Methods 0.000 claims abstract description 41
- 230000005611 electricity Effects 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 3
- 230000003252 repetitive effect Effects 0.000 abstract description 4
- 230000004888 barrier function Effects 0.000 abstract 1
- 241001269238 Data Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
Classifications
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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
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Guiding Agricultural Machines (AREA)
- Harvester Elements (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention is a kind of hay mover forward method, and after predominantly hay mover reaches border or collision obstacle, hay mover starts left-hand rotation center of gravity migration algorithm or right-hand rotation center of gravity migration algorithm to the left to the right；This hay mover forward method can not only ensure hay mover border or touch barrier turn to it is regular, moreover, it is also possible to ensure mow path it is regular, reduce overall mowing repetitive rate.
Description
Technical field
The present invention relates to hay mover field, especially a kind of hay mover forward method.
Background technology
At present, what hay mover used at home is more and more, and still, hay mover in the market is deposited in use
It is more random that border rear steering is reached in hay mover, it is impossible to which consistently, the path that can so cause to mow is in a mess no chapter, does not have
There is succession, increase the repetitive rate of mowing.
The content of the invention
In order to solve the above problems, it is an object of the invention to provide a kind of hay mover forward method, this hay mover steering side
It is regular that method can not only ensure that hay mover turns on border or collision obstacle, moreover, it is also possible to which the path for ensureing to mow has
Rule, reduce overall mowing repetitive rate.
Technical scheme is as follows：
A kind of hay mover forward method, comprises the following steps：
S1：Start hay mover；
S2：Hay mover obtains and records current location data information, whole mowing zone boundary position data and charging station
Position data；
S3：Hay mover is kept straight on and mowed, until reaching border or collision obstacle；
S4：After hay mover reaches border or collision obstacle, using the heading of hay mover as reference direction, and mowing is recorded
The position data of the heading of machine, meanwhile, the times N that hay mover reaches border and collision obstacle is also recorded, N is big
In the positive integer equal to 1；
S5：The boundary position data that hay mover records according to the position data and step S2 of the step S4 headings recorded
Information, hay mover start left-hand rotation center of gravity migration algorithm or right-hand rotation center of gravity migration algorithm to the left to the right, if start right-hand rotation center of gravity to
Left migration algorithm, then it is odd number to record N, if starting left-hand rotation center of gravity, migration algorithm, record N are even number to the right；
S6：Hay mover is kept straight on and mowed, and when hay mover reaches border or collision obstacle again, if now N is odd number, is started
Right-hand rotation center of gravity migration algorithm to the left, if now N is even number, start left-hand rotation center of gravity migration algorithm to the right, so circulation, until
Whole mowing region, which is mowed, completes.
Preferential, in the step S5, if the edge zone in mowing region when hay mover starts, if hay mover phase
For hay mover heading, there is mowing region on the only left side, then hay mover starts right-hand rotation center of gravity migration algorithm to the left, if mowing
Machine has mowing region relative to hay mover heading, only the right, then hay mover starts left-hand rotation center of gravity migration algorithm to the right；Such as
Non-edge area in mowing region when fruit hay mover starts, i.e., cut relative to hay mover heading, left and right both sides
Careless region, then hay mover random start right-hand rotation center of gravity migration algorithm or left-hand rotation center of gravity migration algorithm to the right to the left.
Preferential, migration algorithm comprises the following steps the right-hand rotation center of gravity to the left：
S7：After hay mover head reaches border or collision obstacle, the left driving wheel of hay mover advances, the right driving wheel of hay mover
Retreat, and the speed of left driving wheel is less than the speed of right driving wheel；
S8：Hay mover turns right in the presence of left driving wheel and right driving wheel, when the head of hay mover is complete with respect to step S7
Into during reverse and parallel steer, the left driving wheel of hay mover and right driving wheel stop motion.
Preferential, migration algorithm comprises the following steps the left-hand rotation center of gravity to the right：
S9：After hay mover head reaches border or collision obstacle, the right driving wheel of hay mover is advanced, the left driving wheel of hay mover
Retreat, and the speed of right driving wheel is less than the speed of left driving wheel；
S10：Hay mover turns left in the presence of left driving wheel and right driving wheel, when the head of hay mover is complete with respect to step S9
Into during reverse and parallel steer, the left driving wheel of hay mover and right driving wheel stop motion.
It is preferential, in the step S1 to step S10 either steps, hay mover all can the remaining electricity of automatic detection, if
There is not much left for hay mover electricity, then hay mover can stop mowing, and record hay mover current location data information and hay mover
Heading position data, then, hay mover is according to the position datas of the step S2 charging stations recorded, directly
Nearest charging station is gone to be charged；After charging complete, hay mover returns again to the position recorded to electricity when there is not much left, and adjusts
The heading of whole hay mover recorded with electricity when there is not much left it is consistent, then, hay mover start mow.
Using having the beneficial effect that for above technical scheme：
1. comparing existing hay mover forward method, this hay mover forward method not only ensures hay mover on border or knocked down
Thing steering is regular, moreover, it is also possible to ensure that the path of mowing is regular, reduces overall mowing repetitive rate.
2. a hay mover forward method set up left-hand rotation center of gravity migration algorithm and right-hand rotation center of gravity migration algorithm to the left to the right, this
Two kinds of algorithms ensure that hay mover can complete leftward or rightward steering at border, moreover, function of being mowed after the completion of turning to
It is enough to be mowed along the route parallel with the route before turning, it ensure that the regularity of mowing.
Brief description of the drawings
Fig. 1 is the flow chart of hay mover forward method of the present invention.
Fig. 2 showing using the migration algorithm steering to the left of right-hand rotation center of gravity on border for hay mover forward method hay mover of the present invention
It is intended to.
Fig. 3 showing using the migration algorithm steering to the right of left-hand rotation center of gravity on border for hay mover forward method hay mover of the present invention
It is intended to.
Embodiment
For the ease of it will be appreciated by those skilled in the art that being carried out below in conjunction with accompanying drawing and embodiment to the present invention further
It is described in detail.
Embodiment one
As shown in drawings, hay mover forward method, comprise the following steps：
S1：Start hay mover；
S2：Hay mover obtains and records current location data information, whole mowing zone boundary position data and charging station
Position data；
S3：Hay mover is kept straight on and mowed, until reaching border or collision obstacle；
S4：After hay mover reaches border or collision obstacle, using the heading of hay mover as reference direction, and mowing is recorded
The position data of the heading of machine, meanwhile, the times N that hay mover reaches border is also recorded, N is more than or equal to 1 just
Integer, the present embodiment N calculate since 1；
S5：The boundary position data that hay mover records according to the position data and step S2 of the step S4 headings recorded
Information, hay mover starts left-hand rotation center of gravity migration algorithm or right-hand rotation center of gravity migration algorithm to the left to the right, if at when hay mover starts
In the edge zone in mowing region, if hay mover has mowing region relative to hay mover heading, the only left side, then hay mover
Start right-hand rotation center of gravity migration algorithm to the left, if hay mover has mowing region, then cut relative to hay mover heading, only the right
Careless machine starts left-hand rotation center of gravity migration algorithm to the right；It is if the non-edge area in mowing region when hay mover starts, i.e., relative
In hay mover heading, there is mowing region on left and right both sides, then hay mover random start left-hand rotation center of gravity to the right migration algorithm or
Right-hand rotation center of gravity migration algorithm to the left；If starting right-hand rotation center of gravity, migration algorithm, record N are odd number to the left, turn left if started
Center of gravity migration algorithm to the right, then it is even number to record N；Edge zone in mowing region when the present embodiment hay mover starts, and
Hay mover has mowing region relative to hay mover heading, the only left side.
S6：Hay mover is kept straight on and mowed, and when hay mover reaches border or collision obstacle, if now N is odd number, is started
Right-hand rotation center of gravity migration algorithm to the left, if now N is even number, left-hand rotation center of gravity migration algorithm, so circulation to the right, until whole
Mowing region, which is mowed, completes.
Specifically, migration algorithm comprises the following steps right-hand rotation center of gravity to the left：
S7：After hay mover head reaches border or collision obstacle, the left driving wheel of hay mover advances, the right driving wheel of hay mover
Retreat, and the speed of left driving wheel is less than the speed of right driving wheel；
S8：Hay mover turns right in the presence of left driving wheel and right driving wheel, when the head of hay mover is complete with respect to step S7
Into during reverse and parallel steer, the left driving wheel of hay mover and right driving wheel stop motion.
Specifically, in step S1 to step S8 either steps, hay mover all can the remaining electricity of automatic detection, if hay mover
There is not much left for electricity, then hay mover can stop mowing, and record the head of hay mover current location data information and hay mover
The position data in direction, then, hay mover are directly gone recently according to the position data of the step S2 charging stations recorded
Charging station charged；After charging complete, hay mover returns again to the position recorded to electricity when there is not much left, and adjusts mowing
The heading of machine recorded with electricity when there is not much left it is consistent, then, hay mover start mow.
Embodiment two
Hay mover forward method in the present embodiment two in step s 5, the border land in mowing region when hay mover starts
Band, and hay mover is relative to hay mover heading, only the right have a mowing region, left-hand rotation center of gravity to the right migration algorithm include with
Lower step：
S9：After hay mover head reaches border or collision obstacle, the right driving wheel of hay mover is advanced, the left driving wheel of hay mover
Retreat, and the speed of right driving wheel is less than the speed of left driving wheel；
S10：Hay mover turns left in the presence of left driving wheel and right driving wheel, when the head of hay mover is complete with respect to step S9
Into during reverse and parallel steer, the left driving wheel of hay mover and right driving wheel stop motion.
Other steps are identical with embodiment one.
Embodiment three
Hay mover forward method in the present embodiment three in step s 5, non-edge in mowing region when hay mover starts
Band, relative to hay mover heading, there is a mowing region on left and right both sides, the hay mover of the present embodiment three start right-hand rotation center of gravity to
Left migration algorithm.Other steps are identical with embodiment one.
Above is with reference to the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Claims (5)
1. a kind of hay mover forward method, it is characterised in that comprise the following steps：
S1：Start hay mover；
S2：Hay mover obtains and records current location data information, whole mowing zone boundary position data and charging station
Position data；
S3：Hay mover is kept straight on and mowed, until reaching border or collision obstacle；
S4：After hay mover reaches border or collision obstacle, using the heading of hay mover as reference direction, and mowing is recorded
The position data of the heading of machine, meanwhile, the times N that hay mover reaches border and collision obstacle is also recorded, N is big
In the positive integer equal to 1；
S5：The boundary position data that hay mover records according to the position data and step S2 of the step S4 headings recorded
Information, hay mover start left-hand rotation center of gravity migration algorithm or right-hand rotation center of gravity migration algorithm to the left to the right, if start right-hand rotation center of gravity to
Left migration algorithm, then it is odd number to record N, if starting left-hand rotation center of gravity, migration algorithm, record N are even number to the right；
S6：Hay mover is kept straight on and mowed, and when hay mover reaches border or collision obstacle again, if now N is odd number, is started
Right-hand rotation center of gravity migration algorithm to the left, if now N is even number, start left-hand rotation center of gravity migration algorithm to the right, so circulation, until
Whole mowing region, which is mowed, completes.
2. hay mover forward method according to claim 1, it is characterised in that in the step S5, if hay mover is opened
Edge zone in mowing region during the beginning, if hay mover has mowing region relative to hay mover heading, the only left side, then
Hay mover starts right-hand rotation center of gravity migration algorithm to the left, if hay mover has mowing area relative to hay mover heading, only the right
Domain, then hay mover start left-hand rotation center of gravity migration algorithm to the right；If the non-edge area in mowing region when hay mover starts,
There is mowing region relative to hay mover heading, left and right both sides, then hay mover random start left-hand rotation center of gravity is offset to the right
Algorithm or right-hand rotation center of gravity migration algorithm to the left.
3. hay mover forward method according to claim 2, it is characterised in that right-hand rotation center of gravity migration algorithm bag to the left
Include following steps：
S7：After hay mover head reaches border, hay mover first stops, if collision obstacle, hay mover first stops retrogressing of keeping straight on again,
Stop again；Then left driving wheel advances, and the right driving wheel of hay mover retreats, and the speed of left driving wheel is less than the speed of right driving wheel
Degree；
S8：Hay mover turns right in the presence of left driving wheel and right driving wheel, when the head of hay mover is complete with respect to step S7
Into during in opposite direction and parallel steer, the left driving wheel of hay mover and right driving wheel stop motion.
4. hay mover left-hand rotation center of gravity according to claim 2 is offset to the right, it is characterised in that the left-hand rotation center of gravity is to right avertence
Algorithm is moved to comprise the following steps：
S9：After hay mover head reaches border, hay mover first stops, if collision obstacle, hay mover first stops retrogressing of keeping straight on again,
Stop again；The right driving wheel of hay mover is advanced, and the left driving wheel of hay mover retreats, and the speed of right driving wheel is less than left driving wheel
Speed；
S10：Hay mover turns left in the presence of left driving wheel and right driving wheel, when the head of hay mover is complete with respect to step S9
Into during in opposite direction and parallel steer, the left driving wheel of hay mover and right driving wheel stop motion.
5. according to the hay mover forward method described in claim any one of 1-4, it is characterised in that in the step S1 to step
S10 either steps, hay mover all can the remaining electricity of automatic detection, if there is not much left for hay mover electricity, hay mover can stop
Mow, and record the position data of the heading of hay mover current location data information and hay mover, then, mow
Machine directly goes nearest charging station to be charged according to the position data of the step S2 charging stations recorded；After charging complete,
Hay mover returns again to the position recorded to electricity when there is not much left, and adjusts the heading and electricity when there is not much left of hay mover
What is recorded is consistent, and then, hay mover, which starts, mows.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710450870.2A CN107340770B (en) | 2017-06-15 | 2017-06-15 | Mower steering method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710450870.2A CN107340770B (en) | 2017-06-15 | 2017-06-15 | Mower steering method |
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| CN107340770A true CN107340770A (en) | 2017-11-10 |
| CN107340770B CN107340770B (en) | 2020-09-15 |
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| CN201710450870.2A Active CN107340770B (en) | 2017-06-15 | 2017-06-15 | Mower steering method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109588100A (en) * | 2018-10-31 | 2019-04-09 | 浙江亚特电器有限公司 | Original route return method for intelligent grass-removing |
| CN109871012A (en) * | 2019-01-29 | 2019-06-11 | 宁波大叶园林设备股份有限公司 | A kind of forward method of intelligent grass-removing in boundary |
| CN112293038A (en) * | 2020-09-28 | 2021-02-02 | 深圳拓邦股份有限公司 | Method for preventing lawn from being worn by fixed-point mowing and automatic mower |
| CN113064408A (en) * | 2019-12-13 | 2021-07-02 | 苏州宝时得电动工具有限公司 | Autonomous robot, control method thereof, and computer storage medium |
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