CN112293037B - Method for detecting lawn growth state by mowing robot and mowing robot - Google Patents
Method for detecting lawn growth state by mowing robot and mowing robot Download PDFInfo
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- CN112293037B CN112293037B CN202011043244.XA CN202011043244A CN112293037B CN 112293037 B CN112293037 B CN 112293037B CN 202011043244 A CN202011043244 A CN 202011043244A CN 112293037 B CN112293037 B CN 112293037B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D69/00—Driving mechanisms or parts thereof for harvesters or mowers
- A01D69/02—Driving mechanisms or parts thereof for harvesters or mowers electric
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/0098—Plants or trees
Abstract
The invention relates to a method for detecting a lawn growth state by a mowing robot and the mowing robot. The method comprises the following steps: s1, obtaining the working current of the mowing robot in the mowing process; and S2, obtaining the lawn growth state of the mowing area according to the working current and a first corresponding relation, wherein the first corresponding relation is the corresponding relation between the current and the lawn growth state. The mowing robot provided by the invention detects the growth state of the lawn by detecting the working current in the mowing process, does not need to add visual equipment and is low in cost.
Description
Technical Field
The invention relates to the field of mowing robots, in particular to a method for detecting a growth state of a lawn by a mowing robot and the mowing robot.
Background
The automatic mower does not need to be operated by an administrator, can automatically plan a mowing path and completes mowing operation of the lawn. Under the general condition, the lawn can be different growth states due to different illumination, moisture, soil, fertility and the like, and the growth states of the lawn can be detected by visual equipment such as a camera in the conventional lawnmowers, but for the conventional visual-free lawnmowers, the complexity of the equipment is greatly improved by adding the visual equipment, the cost of the lawnmowers is greatly increased, and how to realize the visual-free lawn mowing robot is an urgent problem to be solved.
Disclosure of Invention
The present invention provides a method for detecting a growing state of a lawn by a mowing robot and the mowing robot.
The technical scheme adopted by the invention for solving the technical problems is as follows: a method for constructing a mowing robot to detect the growth state of a lawn comprises the following steps:
s1, obtaining the working current of the mowing robot in the mowing process;
and S2, obtaining the lawn growth state of the mowing area according to the working current and a first corresponding relation, wherein the first corresponding relation is the corresponding relation between the current and the lawn growth state.
Further, in the method for detecting a growth state of a lawn by a mowing robot according to the present invention, the step S1 includes:
and acquiring the real-time current of a mowing motor in the mowing operation process of the mowing robot, and taking the average value of the real-time current in unit time or unit distance as the working current.
Further, in the method for detecting a growth state of a lawn by a mowing robot according to the present invention, the step S1 includes: obtaining working current and position information in the mowing operation process of the mowing robot;
the method further comprises the following steps after the step S2: s3, drawing a lawn growth state diagram according to the position information and the lawn growth state, wherein the lawn growth state diagram comprises at least two growth levels, and the higher the growth level is, the better the corresponding lawn growth state diagram is.
Further, in the method for detecting a growth state of a lawn by a mowing robot according to the present invention, after the step S3, the method further includes:
and S4, dividing the mowing area corresponding to the lawn growth state diagram into a plurality of mowing sub-areas according to the growth level, and executing a corresponding mowing strategy in each mowing sub-area within a preset time in the future.
Further, in the method for detecting a lawn growth state by a mowing robot according to the present invention, the dividing the mowing area corresponding to the lawn growth state diagram into a plurality of mowing areas according to the growth level in step S4 includes:
and dividing the lawn with the same growth grade and continuously distributed in the mowing area corresponding to the lawn growth state diagram into a mowing area.
Further, in the method for detecting a growing state of a lawn by a mowing robot according to the present invention, the step S4 of executing a corresponding mowing strategy for each of the mowing sub-areas includes:
the higher the growth grade of the mowing subarea is, the shorter the corresponding mowing period is; the lower the growth level of the mowing subarea is, the longer the corresponding mowing period is; and/or
The higher the growth level of the mowing area is, the lower the mowing height is; the lower the growth level of the mowing area, the higher the mowing height.
Further, in the method for detecting a growth state of a lawn by a mowing robot according to the present invention, after the step S4, the method further includes:
s5, after the preset time in the future, re-executing the steps S1 to S4.
Further, in the method for detecting a growing state of a lawn by a mowing robot according to the present invention, the mowing robot avoids a mowing area with a low growing level during a non-mowing operation traveling process or a charging station returning process.
Further, in the method for detecting a growth state of a lawn by a mowing robot according to the present invention, after the step S4, the method further includes:
and S6, calculating mowing power consumption according to the growth level and the area of each mowing subarea, and selecting the mowing subarea with the mowing power consumption smaller than the current effective power consumption of the mowing robot to perform mowing operation, wherein the current effective power consumption is the difference value between the current power consumption and the return power consumption of the mowing robot, and the return power consumption refers to the power consumption required by the mowing robot to return to the charging station.
In addition, the invention also provides a mowing robot, which comprises a memory and a processor, wherein the memory is in communication connection with the processor;
the memory is used for storing a computer program;
the processor is used for executing the computer program stored in the memory to realize the method for detecting the growth state of the lawn by the mowing robot.
The method for detecting the growth state of the lawn by the mowing robot and the mowing robot have the following beneficial effects: the mowing robot provided by the invention detects the growth state of the lawn by detecting the working current in the mowing process, does not need to add visual equipment and is low in cost.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a flow chart of a method for detecting a growth status of a lawn by a mowing robot according to an embodiment;
FIG. 2 is a flowchart of a method for detecting a lawn growth status by the mowing robot provided by the embodiment;
FIG. 3 is a flowchart of a method for detecting a lawn growth status by the mowing robot provided by the embodiment;
fig. 4 is a flowchart of a method for detecting a growth status of a lawn by a mowing robot according to an embodiment.
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
Example 1
Referring to fig. 1, the mowing robot of the present embodiment is an automatic mowing robot, and can automatically plan a mowing path without manual control, and automatically complete mowing work on a lawn in a certain area. The automatic mowing robot carries the battery pack, the battery pack provides electric energy in the mowing operation process, and the automatic mowing robot can automatically return to a charging station to charge when the electric quantity is insufficient. Specifically, the method for detecting the growth state of the lawn by the mowing robot of the embodiment comprises the following steps:
and S1, obtaining the working current of the mowing robot in the mowing process. The working current of the mowing robot under different loads is different, namely the working current is proportional to the load, the working current is large when the load is large, and the working current is small when the load is small. Because the growth states of the lawns are different, some lawns grow densely and have high height, and the mowing robot under the lawns needs large working current; some lawns grow sparsely and have low height, and the work current required by the mowing robot under the lawns is small. The current detection module for acquiring the working current of the mowing robot can refer to the prior art.
Alternatively, since the current fluctuation occurs during the operation of the mowing robot and the lawn growth state is generally evaluated in a small area, the current value obtained in this embodiment is more stable by obtaining the real-time current of the mowing motor during the mowing operation of the mowing robot and setting the average value of the real-time current per unit time or unit distance as the operation current.
And S2, obtaining the lawn growth state of the mowing area according to the working current and a first corresponding relation, wherein the first corresponding relation is the corresponding relation between the current and the lawn growth state.
Specifically, the mowing robot stores a first corresponding relationship, the first corresponding relationship is a corresponding relationship between a current and a lawn growth state, and the first corresponding relationship is obtained through experiments. In the experimental process, the mowing robot is used for mowing lawns in different growth states, the working current of the mowing robot in the mowing operation process is obtained, after experimental data are obtained, the corresponding relation between the current and the growth states of the lawns is established according to the experimental data, and it can be understood that the first corresponding relation is the corresponding relation between the current intensity and the growth states of the lawns.
The mowing robot of the embodiment detects the growth state of the lawn by detecting the working current in the mowing operation process, does not need to increase visual equipment and is low in cost.
Example 2
Referring to fig. 2, the mowing robot of the present embodiment is an automatic mowing robot, and can automatically plan a mowing path without manual control, and automatically complete mowing work on a lawn in a certain area. The automatic mowing robot carries the battery pack, the battery pack provides electric energy in the mowing operation process, and the automatic mowing robot can automatically return to a charging station to charge when the electric quantity is insufficient. Specifically, the method for detecting the growth state of the lawn by the mowing robot of the embodiment comprises the following steps:
and S11, acquiring working current and position information during the mowing operation of the mowing robot, wherein the working current and the position information are corresponding, namely, each position has corresponding working current. The working current of the mowing robot under different loads is different, namely the working current is proportional to the load, the working current is large when the load is large, and the working current is small when the load is small. Because the growth states of the lawns are different, some lawns grow densely and have high height, and the working current required by the mowing robot under the lawns is large; some lawns grow sparsely and have low height, and the work current required by the mowing robot under the lawns is small. The current detection module for acquiring the working current of the mowing robot can refer to the prior art. The position information can be obtained by using a positioning module installed on the mowing robot, such as a satellite positioning module, a base station positioning module, an inertial positioning module and the like, wherein the satellite positioning module can use a Beidou positioning module.
Alternatively, since the current fluctuation occurs during the operation of the mowing robot and the lawn growth state is generally evaluated in a small area, the current value obtained in this embodiment is more stable by obtaining the real-time current of the mowing motor during the mowing operation of the mowing robot and setting the average value of the real-time current per unit time or unit distance as the operation current.
And S2, obtaining the lawn growth state of the mowing area according to the working current and a first corresponding relation, wherein the first corresponding relation is the corresponding relation between the current and the lawn growth state.
Specifically, the mowing robot stores a first corresponding relationship, the first corresponding relationship is a corresponding relationship between a current and a lawn growth state, and the first corresponding relationship is obtained through experiments. In the experimental process, the mowing robot is used for mowing lawns in different growth states, the working current of the mowing robot in the mowing operation process is obtained, after experimental data are obtained, the corresponding relation between the current and the growth states of the lawns is established according to the experimental data, and it can be understood that the first corresponding relation is the corresponding relation between the current intensity and the growth states of the lawns. Alternatively, in order to make the correspondence between the current intensity and the lawn growth state more accurate, the correspondence between the current intensity and the lawn growth state may be obtained by averaging in a plurality of tests.
S3, drawing a lawn growth state diagram according to the position information and the lawn growth state, wherein the lawn growth state diagram comprises at least two growth levels, and the higher the growth level is, the better the corresponding lawn growth state diagram is.
Specifically, the growth state of the lawn in this embodiment includes at least two growth levels, the working current values corresponding to the different growth levels are different, and the higher the growth level is, the larger the corresponding working current value is; the lower the growth level, the smaller the corresponding operating current value. Optionally, each growth level corresponds to a current range, and the higher the growth level is, the larger the average current value of the corresponding current range is; the lower the growth level, the smaller the average current value of the corresponding current range. And after the mowing operation is finished, acquiring the position information and the lawn growth state of the lawn, wherein the position information can be continuous position information or discrete current detection points, and drawing a lawn growth state diagram according to the position information and the lawn growth state.
The working current and the position information are obtained simultaneously, the lawn growth state of the mowing area is obtained according to the working current and the first corresponding relation, and then the lawn growth state diagram is drawn according to the position information and the lawn growth state, so that reference is provided for later-stage scientific mowing.
Example 3
Referring to fig. 3, on the basis of embodiment 2, in the method for detecting a growth state of a lawn by a mowing robot of the present embodiment, after step S3, the method further includes:
and S4, dividing the mowing area corresponding to the lawn growth state diagram into a plurality of mowing sub-areas according to the growth level, and executing a corresponding mowing strategy in each mowing sub-area within a preset time in the future.
Specifically, the growth level in this embodiment reflects the growth state of the lawn, and the lawn with a high growth level has a good growth state and the lawn with a low growth level has a poor growth state. Further, in this embodiment, dividing the mowing area corresponding to the lawn growth state diagram into a plurality of mowing areas according to the growth level includes: the lawns which are identical in growth level and continuously distributed in the mowing area corresponding to the lawn growth state diagram are divided into mowing sub-areas, so that adjacent lawns which are similar in growth state can be divided into mowing sub-areas through division, and different mowing strategies can be conveniently executed on each mowing sub-area subsequently. It can be understood that the growth process of the lawn is relatively slow, and therefore, it is planned to execute the corresponding mowing strategy for each mowing sub-area within a future preset time, which may be one week, one month, and the like, and which may be selected according to the type of the lawn or the growth state of the lawn.
Alternatively, in the method for detecting a growing state of a lawn by a mowing robot according to the embodiment, the step S4 of executing the corresponding mowing strategy by each mowing sub-area includes: the higher the growth grade of the mowing subarea is, the shorter the corresponding mowing period is; the lower the growth level of the mowing area, the longer the corresponding mowing cycle.
Alternatively, in the method for detecting a growing state of a lawn by a mowing robot according to the embodiment, the step S4 of executing the corresponding mowing strategy by each mowing sub-area includes: the higher the growth grade of the mowing area is, the lower the mowing height is; the lower the growth level of the mowing area, the higher the mowing height.
Alternatively, the method for detecting the growth state of the lawn by the mowing robot of the embodiment further comprises, after the step S4: s5, after the future preset time, re-executing the steps S1 to S4. That is, the operating current of the mowing robot is not acquired every time mowing, a mowing plan can be created for a certain period of time after once acquisition, and after the mowing plan is executed, steps S1 to S4 can be executed again to newly divide the lawn and create a mowing plan again.
According to the embodiment, the mowing subareas are divided according to the growth level of the lawn, so that the dividing process is more visual, and a personalized mowing scheme can be conveniently formulated for each mowing subarea subsequently.
Example 4
Alternatively, in the method for detecting the growth state of the lawn by the mowing robot according to the embodiment, the mowing robot avoids the mowing area with the low growth level during the non-mowing operation traveling process or the charging station returning process, so that the damage to the low-level lawn during the traveling process of the mowing robot is reduced as much as possible, and the low-level lawn grows as quickly as possible.
Example 5
Referring to fig. 4, based on embodiment 3, the automatic mowing robot of this embodiment carries the battery pack, the battery pack provides electric energy during mowing operation, and the automatic mowing robot can automatically return to the charging station for charging when the electric quantity is insufficient, so that when the electric quantity of the battery pack decreases to the return electric quantity, the mowing robot stops mowing and returns to the charging station for charging. In the process, if the mowing robot returns to a charging station for charging when a mowing subarea is not finished, mowing operation on the subarea can be restarted after charging is finished, and a mowing phenomenon is repeated. To solve this problem, the method for detecting the lawn growth state by the mowing robot of the embodiment further includes, after step S4:
and S6, calculating mowing power consumption according to the growth level and the area of each mowing subarea, and selecting the mowing subarea with the mowing power consumption smaller than the current effective power consumption of the mowing robot to perform mowing operation, wherein the current effective power consumption is the difference value between the current power consumption and the return power consumption of the mowing robot, and the return power consumption refers to the power consumption required by the mowing robot to return to the charging station.
According to the embodiment, before mowing a certain mowing subarea, the mowing power consumption is calculated according to the growth level and the area of each mowing subarea, so that the situation of repeated mowing is avoided, and the mowing quality is ensured.
Example 6
The mowing robot of the embodiment comprises a memory and a processor, wherein the memory is in communication connection with the processor. The memory is used for storing a computer program; the processor is used for executing the computer program stored in the memory to realize the lawn mowing robot growth state detecting method of the embodiment.
The mowing robot of the embodiment detects the growth state of the lawn by detecting the working current in the mowing operation process, does not need to increase visual equipment and is low in cost.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes and modifications made within the scope of the claims of the present invention should be covered by the claims of the present invention.
Claims (8)
1. A method for detecting the growth state of a lawn by a mowing robot is characterized by comprising the following steps:
s1, obtaining working current and position information in the mowing operation process of the mowing robot;
s2, obtaining the lawn growth state of the mowing area according to the working current and a first corresponding relation, wherein the first corresponding relation is the corresponding relation between the current and the lawn growth state;
s3, drawing a lawn growth state diagram according to the position information and the lawn growth state, wherein the lawn growth state diagram comprises at least two growth levels, and the higher the growth level is, the better the corresponding lawn growth state diagram is;
and S4, dividing the mowing area corresponding to the lawn growth state diagram into a plurality of mowing sub-areas according to the growth level, and executing a corresponding mowing strategy in each mowing sub-area within a preset time in the future.
2. The method for detecting a growth status of a lawn by a robot lawnmower according to claim 1, wherein the step S1 comprises:
and acquiring the real-time current of a mowing motor in the mowing operation process of the mowing robot, and taking the average value of the real-time current in unit time or unit distance as the working current.
3. The method for detecting lawn growth status by a mowing robot as claimed in claim 1, wherein the dividing of the mowing area corresponding to the lawn growth status map into a plurality of mowing areas according to the growth levels in step S4 comprises:
and dividing the lawn with the same growth grade and continuously distributed in the mowing area corresponding to the lawn growth state diagram into a mowing area.
4. The method for detecting lawn growth status of a mowing robot as claimed in claim 1, wherein the step S4 of executing the corresponding mowing strategy for each of the mowing sub-areas comprises:
the higher the growth grade of the mowing subarea is, the shorter the corresponding mowing period is; the lower the growth level of the mowing subarea is, the longer the corresponding mowing period is; and/or
The higher the growth level of the mowing area is, the lower the mowing height is; the lower the growth level of the mowing area, the higher the mowing height.
5. The method for detecting a lawn growth status by a mowing robot as claimed in claim 1, further comprising, after the step S4:
s5, after the preset time in the future, re-executing the steps S1 to S4.
6. The lawn mowing robot method according to claim 1, wherein the mowing robot avoids a mowing area with a low growth level during a non-mowing operation traveling process or a returning to a charging station process.
7. The method for detecting a lawn growth status by a mowing robot as claimed in claim 1, further comprising, after the step S4:
and S6, calculating mowing power consumption according to the growth level and the area of each mowing subarea, and selecting the mowing subarea with the mowing power consumption smaller than the current effective power consumption of the mowing robot to perform mowing operation, wherein the current effective power consumption is the difference value between the current power consumption and the return power consumption of the mowing robot, and the return power consumption refers to the power consumption required by the mowing robot to return to the charging station.
8. A lawn mowing robot comprising a memory and a processor, the memory communicatively coupled to the processor;
the memory is used for storing a computer program;
the processor is used for executing the computer program stored in the memory to realize the lawn mowing robot lawn growth state detecting method according to any one of claims 1 to 7.
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| CN100485567C (en) * | 2007-09-21 | 2009-05-06 | 浙江大学 | Grass cutter intelligence control system |
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| CN102884911A (en) * | 2011-07-18 | 2013-01-23 | 上海热流环境科技有限公司 | Energy-saving method of mowing robot |
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