CN107340770B - Mower steering method - Google Patents
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- CN107340770B CN107340770B CN201710450870.2A CN201710450870A CN107340770B CN 107340770 B CN107340770 B CN 107340770B CN 201710450870 A CN201710450870 A CN 201710450870A CN 107340770 B CN107340770 B CN 107340770B
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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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Abstract
The invention relates to a steering method of a mower, which is mainly characterized in that after the mower reaches a boundary or collides with an obstacle, the mower starts a left-turn gravity center right shift algorithm or a right-turn gravity center left shift algorithm; the steering method of the mower not only can ensure that the mower is steered regularly at the boundary or in contact with obstacles, but also can ensure that the mowing path is regular, and reduce the overall mowing repetition rate.
Description
Technical Field
The invention relates to the field of mowers, in particular to a steering method of a mowers.
Background
At present, the number of lawn mowers used in China is increasing, but the turning of the lawn mowers in the current market is random and can not be consistent after the lawn mowers reach the boundary in the using process, so that the mowing paths are disordered and have no sequence, and the mowing repetition rate is increased.
Disclosure of Invention
In order to solve the above problems, an object of the present invention is to provide a turning method for a lawn mower, which can ensure that the turning of the lawn mower is regular in the boundary or collision obstacle, and the mowing path is regular, thereby reducing the overall mowing repetition rate.
The technical scheme of the invention is as follows:
a method of steering a lawnmower comprising the steps of:
s1: starting the mower;
s2: the method comprises the following steps that a mower acquires and records current position data information, whole mowing area boundary position data information and position data information of a charging station;
s3: the mower travels straight and mows the grass until reaching a boundary or colliding with an obstacle;
s4: after the mower reaches the boundary or collides with the obstacle, taking the head direction of the mower as a reference direction, recording position data information of the head direction of the mower, and simultaneously recording the times N of the mower reaching the boundary and colliding with the obstacle, wherein N is a positive integer greater than or equal to 1;
s5: according to the position data information of the head direction recorded in the step S4 and the boundary position data information recorded in the step S2, the mower starts a left-turn gravity center right shift algorithm or a right-turn gravity center left shift algorithm, if the right-turn gravity center left shift algorithm is started, the record N is an odd number, and if the left-turn gravity center right shift algorithm is started, the record N is an even number;
s6: and (3) enabling the mower to walk straight and mow, enabling the right-turning gravity center to shift left if the mower reaches the boundary or collides with an obstacle again, and enabling the left-turning gravity center to shift right if the number N is an odd number, and repeating the steps until the whole mowing area is mowed completely.
Preferentially, in step S5, if the mower is in the edge zone of the mowing area at the beginning, if the mower has only the mowing area on the left side relative to the head direction of the mower, the mower starts the right-turn gravity center left-shift algorithm, and if the mower has only the mowing area on the right side relative to the head direction of the mower, the mower starts the left-turn gravity center right-shift algorithm; if the mower is initially in a non-edge zone of the mowing area, i.e., there is a mowing area on both the left and right sides relative to the direction of the mower head, the mower randomly starts a right turn center of gravity left shift algorithm or a left turn center of gravity right shift algorithm.
Preferably, the right-turn center of gravity left shift algorithm includes the following steps:
s7: after the head of the mower reaches a boundary or collides with an obstacle, a left driving wheel of the mower moves forwards, a right driving wheel of the mower moves backwards, and the speed of the left driving wheel is lower than that of the right driving wheel;
s8: the mower is turned to the right by the left and right driving wheels, and when the head of the mower completes reverse and parallel steering with respect to step S7, the left and right driving wheels of the mower stop moving.
Preferably, the left-turn center of gravity right shift algorithm comprises the following steps:
s9: after the head of the mower reaches a boundary or collides with an obstacle, a right driving wheel of the mower moves forwards, a left driving wheel of the mower moves backwards, and the speed of the right driving wheel is lower than that of the left driving wheel;
s10: the mower is rotated to the left by the left and right driving wheels, and when the head of the mower completes reverse and parallel steering relative to step S9, the left and right driving wheels of the mower stop moving.
Preferably, in any step from step S1 to step S10, the lawn mower automatically detects the remaining power, and if the power of the lawn mower is not enough, the lawn mower stops mowing, records the current position data information of the lawn mower and the position data information of the head direction of the lawn mower, and then directly goes to the nearest charging station to charge according to the position data information of the charging station recorded in step S2; after charging is finished, the mower returns to the position recorded when the electric quantity is not enough, the direction of the head of the mower is adjusted to be consistent with the recorded position when the electric quantity is not enough, and then the mower starts mowing.
The beneficial effects of adopting the above technical scheme are as follows:
1. compared with the existing mower steering method, the mower steering method not only ensures that the mower is steered regularly at the boundary or when colliding with obstacles, but also ensures that the mowing path is regular, and reduces the overall mowing repetition rate.
2. According to the turning method of the mower, a left-turning gravity center right-shifting algorithm and a right-turning gravity center left-shifting algorithm are set, the left-turning or right-turning algorithm ensures that the mower can turn left or right at the boundary, and the mower can cut grass along a route parallel to the route before turning after turning is finished, so that the mowing regularity is ensured.
Drawings
FIG. 1 is a flow chart of a mower turning method of the present invention.
FIG. 2 is a schematic diagram of a lawnmower steering method according to the present invention, wherein the lawnmower is steered using a right-turn center-of-gravity left-shift algorithm at the boundary.
FIG. 3 is a schematic diagram of a lawn mower steering method according to the present invention, wherein the lawn mower is steered using a left-turn center-of-gravity right-shift algorithm at the boundary.
Detailed Description
In order to facilitate understanding for those skilled in the art, the present invention will be described in further detail with reference to the accompanying drawings and examples.
Example one
As shown in the attached drawings, the turning method of the mower comprises the following steps:
s1: starting the mower;
s2: the method comprises the following steps that a mower acquires and records current position data information, whole mowing area boundary position data information and position data information of a charging station;
s3: the mower travels straight and mows the grass until reaching a boundary or colliding with an obstacle;
s4: after the mower reaches the boundary or collides with an obstacle, taking the head direction of the mower as a reference direction, recording position data information of the head direction of the mower, and simultaneously recording the number N of times that the mower reaches the boundary, wherein N is a positive integer greater than or equal to 1, and the N is calculated from 1;
s5: the mower starts a left-turn gravity center right shift algorithm or a right-turn gravity center left shift algorithm according to the position data information of the head direction recorded in the step S4 and the boundary position data information recorded in the step S2, if the mower is located in the edge zone of the mowing area at the beginning, if the mower is located in the edge zone of the mowing area relative to the head direction of the mower, only the left mowing area is located on the left side, the mower starts a right-turn gravity center left shift algorithm, and if the mower is located in the mowing area relative to the head direction of the mower, only the right mowing area is located on the right side, the mower starts a left-turn gravity center right shift algorithm; if the mower is in a non-edge zone of a mowing area at the beginning, namely, the mowing area is arranged on the left side and the right side relative to the head direction of the mower, the mower randomly starts a left-turning gravity center right shift algorithm or a right-turning gravity center left shift algorithm; if a right-turn gravity center leftward shift algorithm is started, recording N as an odd number, and if a left-turn gravity center rightward shift algorithm is started, recording N as an even number; the present embodiment starts with an edge zone of the mowing area and the mower has only a left mowing area with respect to the mower head orientation.
S6: and (3) the mower moves straight and mows, when the mower reaches a boundary or collides with an obstacle, if N is an odd number at the moment, starting a right-turning gravity center leftward shifting algorithm, and if N is an even number at the moment, starting a left-turning gravity center rightward shifting algorithm, and repeating the steps until the whole mowing area is mowed completely.
Specifically, the right-turn gravity center left shift algorithm comprises the following steps:
s7: after the head of the mower reaches a boundary or collides with an obstacle, a left driving wheel of the mower moves forwards, a right driving wheel of the mower moves backwards, and the speed of the left driving wheel is lower than that of the right driving wheel;
s8: the mower is turned to the right by the left and right driving wheels, and when the head of the mower completes reverse and parallel steering with respect to step S7, the left and right driving wheels of the mower stop moving.
Specifically, in any step from step S1 to step S8, the lawn mower will automatically detect the remaining power, and if the power of the lawn mower is not enough, the lawn mower will stop mowing, and record the current position data information of the lawn mower and the position data information of the head direction of the lawn mower, and then the lawn mower will directly go to the nearest charging station for charging according to the position data information of the charging station recorded in step S2; after charging is finished, the mower returns to the position recorded when the electric quantity is not enough, the direction of the head of the mower is adjusted to be consistent with the recorded position when the electric quantity is not enough, and then the mower starts mowing.
Example two
In step S5, the lawn mower turning method in the second embodiment is that the lawn mower is initially located in an edge zone of a mowing area, and only the right side of the lawn mower has the mowing area with respect to the head direction of the lawn mower, and the left-turn center-of-gravity shifting algorithm comprises the following steps:
s9: after the head of the mower reaches a boundary or collides with an obstacle, a right driving wheel of the mower moves forwards, a left driving wheel of the mower moves backwards, and the speed of the right driving wheel is lower than that of the left driving wheel;
s10: the mower is rotated to the left by the left and right driving wheels, and when the head of the mower completes reverse and parallel steering relative to step S9, the left and right driving wheels of the mower stop moving.
The other steps are the same as in the first embodiment.
EXAMPLE III
In step S5, the lawn mower turning method in the third embodiment starts the lawn mower in the non-edge zone of the mowing area, and the mowing area is located on both the left and right sides of the head direction of the lawn mower. The other steps are the same as in the first embodiment.
The technical solutions in the embodiments of the present invention are clearly and completely described above 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.
Claims (2)
1. A method of turning a lawnmower, comprising the steps of:
s1: starting the mower;
s2: the method comprises the following steps that a mower acquires and records current position data information, whole mowing area boundary position data information and position data information of a charging station;
s3: the mower travels straight and mows the grass until reaching a boundary or colliding with an obstacle;
s4: after the mower reaches the boundary or collides with the obstacle, taking the head direction of the mower as a reference direction, recording position data information of the head direction of the mower, and simultaneously recording the times N of the mower reaching the boundary and colliding with the obstacle, wherein N is a positive integer greater than or equal to 1;
s5: according to the position data information of the head direction recorded in the step S4 and the boundary position data information recorded in the step S2, the mower starts a left-turn gravity center right shift algorithm or a right-turn gravity center left shift algorithm, if the right-turn gravity center left shift algorithm is started, the record N is an odd number, and if the left-turn gravity center right shift algorithm is started, the record N is an even number;
s6: the mower moves straight and mows, when the mower reaches the boundary again or collides with an obstacle, if N is an odd number at the moment, the right-turning gravity center leftward shift algorithm is started, if N is an even number at the moment, the left-turning gravity center rightward shift algorithm is started, and the steps are circulated until the whole mowing area is mowed;
in step S5, if the mower is located in the edge zone of the mowing area at the beginning, if the mower has only a mowing area on the left side relative to the head direction of the mower, the mower starts a right-turn center-of-gravity left-shift algorithm, and if the mower has only a mowing area on the right side relative to the head direction of the mower, the mower starts a left-turn center-of-gravity right-shift algorithm; if the mower is in a non-edge zone of a mowing area at the beginning, namely, the mowing area is arranged on the left side and the right side relative to the head direction of the mower, the mower randomly starts a left-turning gravity center right shift algorithm or a right-turning gravity center left shift algorithm;
the right-turn center of gravity left shift algorithm comprises the following steps:
s7: after the head of the mower reaches the boundary, the mower stops firstly, and stops firstly, then moves straight and retreats and then stops if the head of the mower collides with the obstacle; then the left driving wheel moves forward, the right driving wheel of the mower moves backward, and the speed of the left driving wheel is less than that of the right driving wheel;
s8: the mower rotates rightwards under the action of the left driving wheel and the right driving wheel, and when the head of the mower is turned in the opposite direction and in parallel relative to the completion of the step S7, the left driving wheel and the right driving wheel of the mower stop moving;
the left-turn gravity center right shift algorithm comprises the following steps:
s9: after the head of the mower reaches the boundary, the mower stops firstly, and stops firstly, then moves straight and retreats and then stops if the head of the mower collides with the obstacle; the right driving wheel of the mower moves forward, the left driving wheel of the mower moves backward, and the speed of the right driving wheel is less than that of the left driving wheel;
s10: the mower is rotated to the left by the left driving wheel and the right driving wheel, and when the head of the mower is turned in the opposite direction and in parallel relative to the completion of the step S9, the left driving wheel and the right driving wheel of the mower stop moving.
2. The lawn mower steering method according to claim 1, wherein in any one of the steps S1-S10, the lawn mower automatically detects the remaining power, stops mowing if the power of the lawn mower is not enough, records the current position data information of the lawn mower and the position data information of the head direction of the lawn mower, and then directly goes to the nearest charging station to charge according to the position data information of the charging station recorded in the step S2; after charging is finished, the mower returns to the position recorded when the electric quantity is not enough, the direction of the head of the mower is adjusted to be consistent with the recorded position when the electric quantity is not enough, and then the mower starts mowing.
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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 |
| CN109871012B (en) * | 2019-01-29 | 2022-04-12 | 宁波大叶园林设备股份有限公司 | Steering method of intelligent mower at boundary |
| CN113064408B (en) * | 2019-12-13 | 2023-03-10 | 苏州宝时得电动工具有限公司 | Autonomous robot, control method thereof, and computer storage medium |
| CN112293038B (en) * | 2020-09-28 | 2021-09-10 | 深圳拓邦股份有限公司 | Method for preventing lawn from being worn by fixed-point mowing and automatic mower |
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