CN110389579A - The control method and device of grass trimmer - Google Patents
The control method and device of grass trimmer Download PDFInfo
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- CN110389579A CN110389579A CN201810362730.4A CN201810362730A CN110389579A CN 110389579 A CN110389579 A CN 110389579A CN 201810362730 A CN201810362730 A CN 201810362730A CN 110389579 A CN110389579 A CN 110389579A
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- 244000025254 Cannabis sativa Species 0.000 title claims abstract description 131
- 238000000034 method Methods 0.000 title claims abstract description 47
- 239000000523 sample Substances 0.000 claims abstract description 174
- 238000004146 energy storage Methods 0.000 claims abstract description 31
- 230000004888 barrier function Effects 0.000 claims description 46
- 230000006870 function Effects 0.000 claims description 31
- 238000004590 computer program Methods 0.000 claims description 12
- 238000002604 ultrasonography Methods 0.000 claims description 9
- 230000005611 electricity Effects 0.000 claims description 8
- 238000012544 monitoring process Methods 0.000 claims description 5
- 230000005428 wave function Effects 0.000 abstract description 7
- 230000002452 interceptive effect Effects 0.000 abstract description 3
- 238000004904 shortening Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 16
- 230000005540 biological transmission Effects 0.000 description 9
- 230000000694 effects Effects 0.000 description 5
- 238000001514 detection method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009194 climbing Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
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- 239000012535 impurity Substances 0.000 description 1
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- 239000007787 solid Substances 0.000 description 1
- 238000009966 trimming Methods 0.000 description 1
- 239000011800 void material Substances 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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Abstract
The control method and device of grass trimmer provided by the invention, the control signal for being used to indicate ultrasonic probe detecting function and opening or closing that master board receiving control apparatus is sent, the switching signal that control ultrasonic probe opens or closes is generated according to control signal, and ultrasonic probe is opened or closed according to switching signal, wherein, control equipment includes the energy storage device of the terminal being wirelessly connected with the master board, the ultrasonic probe, machine-operated arrangements or the grass trimmer.The control signal sent by any of the above-described control equipment, the control for realizing the working condition to the ultrasonic probe of grass trimmer avoids and singly wraps the problem of shortening cruise duration, interfering grass trimmer to work normally under the reduction of probe service life and special operation condition scene caused by avoiding obstacles by supersonic wave function often opens.
Description
Technical field
The present invention relates to intelligent grass-removing technical field more particularly to the control methods and device of a kind of grass trimmer.
Background technique
Existing intelligent grass-removing has the function of automatically walk, can carry out cutting operation within the set range, when with barrier
It can detour automatically after hindering object to contact, while have the function of certain climbing capacity and auto-returned charging, be suitable for house
The places such as front yard garden, public lawn carry out the trimming maintenance on lawn.
The intelligent grass-removing that can be realized automatic obstacle avoidance functions at present is usually mounted with ultrasonic sensor, supersonic sensing
Device is the sensor developed using the characteristic of ultrasonic wave.Ultrasonic wave is high with frequency, wavelength is short, diffraction phenomenon is few, direction
Property it is good and ray can be become and the features such as direction propagation.Ultrasonic wave, which encounters impurity or interface, can generate significant reflection, shape
At echo, Doppler effect can be generated by encountering mobiles.Therefore, ultrasonic sensor can be used for measuring intelligent grass-removing in work
When making at a distance from barrier, when intelligent grass-removing is close to barrier can with sensed in advance, and in advance make evacuation or around
Capable movement, avoids and collides with barrier and lead to the damage inside grass trimmer.
However, the above-mentioned avoiding obstacles by supersonic wave function of existing intelligent grass-removing is often in the open state, i.e. ultrasonic sensor
It is in running order always after intelligent grass-removing booting, it cannot achieve user's autonomous control or machine automatically control the function
It opens or closes.Avoiding obstacles by supersonic wave function is in normally open, on the one hand power consumption is caused to increase, and single wrap shortens cruise duration；Separately
On the one hand it can shorten the service life of ultrasonic probe.In addition, (such as big rainy day, detecting head surface under certain particular job scenes
Adhere to barrier, cross-border line returns charging station etc.), avoiding obstacles by supersonic wave function will affect the normal operation of machine if on,.
Summary of the invention
The present invention provides the control method and device of a kind of grass trimmer, avoids single caused by avoiding obstacles by supersonic wave function often opens
Wrap the problem of shortening cruise duration, interfering grass trimmer to work normally under the reduction of probe service life and special operation condition scene.
The first aspect of the present invention provides a kind of control method of grass trimmer, and the grass trimmer includes master board and ultrasound
Wave probe, the master board are connect with the ultrasonic probe, which comprises
The control signal that the master board receiving control apparatus is sent, the control signal are used to indicate the ultrasonic wave
The detecting function of probe opens or closes；
The master board is generated and is opened for control that the ultrasonic probe opens or closes according to the control signal
OFF signal；
The master board opens or closes the ultrasonic probe according to the switching signal.
Optionally, the control equipment includes any in following:
Terminal, the ultrasonic probe, machine-operated arrangements or the grass trimmer being wirelessly connected with the master board
Energy storage device；
Optionally, the control equipment is the ultrasonic probe, and the control signal is ultrasonic probe transmission
Echo-signal；The control signal that the master board receiving control apparatus is sent, comprising:
The master board receives the echo-signal that the ultrasonic signal that the ultrasonic probe is sent is reflected by barrier；
The master board obtains the grass trimmer at a distance from barrier according to the echo-signal；
If the distance is less than pre-determined distance, the master board determines that the echo-signal is used to indicate the ultrasound
The detecting function of wave probe is closed.
Optionally, the ultrasonic signal that the master board receives that the ultrasonic probe is sent is returned by what barrier reflected
Before wave signal, further includes:
The master board obtains the sending time of the ultrasonic probe transmitting ultrasonic signal；
The master board obtains the grass trimmer at a distance from barrier according to the echo-signal, comprising:
The master board according to the sending time, the receiving time of the echo-signal and ultrasonic wave in air
Spread speed, obtain the grass trimmer at a distance from barrier.
Optionally, the grass trimmer further includes temperature sensor, and the temperature sensor is connect with the master board；Institute
Master board is stated according to the sending time, the receiving time of the echo-signal and the aerial propagation speed of ultrasonic wave
Degree, before obtaining the grass trimmer at a distance from barrier, further includes:
The master board obtains the temperature parameter of the current environment of the temperature sensor monitoring；
The master board determines the aerial spread speed of the ultrasonic wave according to the temperature parameter.
Optionally, the control equipment is the ultrasonic probe, and the control signal is ultrasonic probe transmitting
Ultrasonic signal；The control signal that the master board receiving control apparatus is sent, comprising:
The master board obtains the sending time of the ultrasonic signal of the ultrasonic probe transmitting, and in the transmission
Time point starts timer；
If the master board does not receive the echo letter that the ultrasonic probe is sent after the timer expiry
Number, then the master board determines that the ultrasonic signal is used to indicate the detecting function closing of the ultrasonic probe.
Optionally, after the control signal that the master board receiving control apparatus is sent, the method also includes:
The master board obtains the shut-in time for closing the ultrasonic probe；
The master board is according to the shut-in time, the BURN-THROUGH RANGE of the ultrasonic probe and the mowing
The travel speed of machine, determines reboot time；
The master board is according to the reboot time, in the preset time period before the reboot time described in opening
Ultrasonic probe.
Optionally, the control equipment is the energy storage device of the grass trimmer, and the control signal is the energy storage device
The low battery signal of transmission；The control signal that the master board receiving control apparatus is sent, comprising:
The master board obtains the low battery signal that the energy storage device is sent；The low battery signal is the mowing
Machine current electric quantity is less than the signal that the energy storage device is sent when default electricity；
The master board determines that the low battery signal is used to indicate the ultrasonic wave and visits according to the low battery signal
The detecting function of head is closed.
The second aspect of the present invention provides a kind of control device of grass trimmer, comprising:
Receiving module, for the control signal that receiving control apparatus is sent, the control signal is used to indicate the ultrasound
The detecting function of wave probe opens or closes, and the control equipment includes any in following: wireless with the master board
The terminal of connection, the ultrasonic probe, machine-operated arrangements or the grass trimmer energy storage device；
Generation module, for what is opened or closed according to the control signal, generation for controlling the ultrasonic probe
Switching signal；
Execution module, for opening or closing the ultrasonic probe according to the switching signal.
The third aspect of the present invention provides a kind of control device of grass trimmer, comprising:
Memory；Processor；And computer program；
Wherein, computer program storage in the memory, and is configured as being executed such as the by the processor
On the one hand described in any item methods are opened or closed with controlling the detecting function of ultrasonic probe.
The fourth aspect of the present invention provides a kind of computer readable storage medium, is stored thereon with computer program, described
Computer program is executed by processor to realize such as the described in any item methods of first aspect.
The control method and device of grass trimmer provided in an embodiment of the present invention, the use that master board receiving control apparatus is sent
In the control signal that instruction ultrasonic probe detecting function opens or closes, control ultrasonic probe is generated according to control signal and is beaten
Open or close the switching signal closed, and ultrasonic probe opened or closed according to switching signal, wherein control equipment include with it is described
The energy storage device of terminal, the ultrasonic probe, machine-operated arrangements or the grass trimmer that master board is wirelessly connected.Pass through
The control signal that any of the above-described control equipment is sent, realizes the control of the working condition to the ultrasonic probe of grass trimmer, avoids
Avoiding obstacles by supersonic wave function is singly wrapped caused by often opening to be shortened, under probe service life is reduced and special operation condition scene cruise duration
The problem of interfering grass trimmer to work normally.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of grass trimmer provided in an embodiment of the present invention；
Fig. 2 is the flow diagram one of the control method of grass trimmer provided in an embodiment of the present invention；
Fig. 3 is the flow diagram two of the control method of grass trimmer provided in an embodiment of the present invention；
Fig. 4 is the flow diagram three of the control method of grass trimmer provided in an embodiment of the present invention；
Fig. 5 is the flow diagram four of the control method of grass trimmer provided in an embodiment of the present invention；
Fig. 6 is the structural schematic diagram one of the control device of grass trimmer provided in an embodiment of the present invention；
Fig. 7 is the structural schematic diagram two of the control device of grass trimmer provided in an embodiment of the present invention；
Fig. 8 is the structural schematic diagram three of the control device of grass trimmer provided in an embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those skilled in the art are not having
Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
Fig. 1 is the structural schematic diagram for the grass trimmer that one embodiment of the invention provides, as shown in Figure 1, provided in this embodiment
Grass trimmer 100 includes master board 101, ultrasonic probe 102, energy storage device 103.Wherein, master board 101 respectively with ultrasound
Wave probe 102, energy storage device 103 connect.
Ultrasonic probe 102 is for emitting the echo that ultrasonic signal and received ultrasonic signal are reflected by barrier
Signal, and echo-signal is sent to master board 101.
Energy storage device 103 is used to monitor in real time the current electric quantity of grass trimmer 100, and in current electric quantity deficiency to main control
Plate 101 sends low battery signal, so that master board 101 returns to charging station according to default recurrence route.
Optionally, grass trimmer 100 further includes machine-operated arrangements 104, and machine-operated arrangements 104 and master board 101 connect
It connects, the machine-operated arrangements 104 of the present embodiment can be touch display equipment, be also possible to machine operation button, to this this reality
Example is applied to be not especially limited.
Optionally, grass trimmer 100 further includes temperature sensor 105, and temperature sensor 105 is connect with master board 101, temperature
Degree sensor 105 is used to detect the temperature parameter under 100 current operating environment of grass trimmer, and the temperature parameter is sent to master control
Making sheet 101.Skilled person will appreciate that at different temperatures, the aerial spread speed of ultrasonic wave is different, and temperature is got over
Height, spread speed are faster.By the way that temperature sensor is arranged on grass trimmer, the control precision of grass trimmer master board is improved.
Based on above-mentioned grass trimmer, the present invention provides a kind of control method of grass trimmer, existing in the prior art to solve
Avoiding obstacles by supersonic wave function is singly wrapped caused by often opening to be shortened, do under the reduction of probe service life and special operation condition scene cruise duration
Disturb the problem of machine works normally.In order to keep the above objects, features and advantages of the present invention more obvious and easy to understand, tie below
Closing the drawings and specific embodiments, the present invention is described in detail.
Fig. 2 is the flow diagram one of the control method of grass trimmer provided in an embodiment of the present invention, as shown in Figure 1, this reality
The control method for applying the grass trimmer of example offer specifically comprises the following steps:
The control signal that S201, master board receiving control apparatus are sent；
Control signal is used to indicate opening or closing for the detecting function of ultrasonic probe.
The control equipment of the present embodiment includes any in following:
The energy storage device of the terminal, ultrasonic probe, machine-operated arrangements or the grass trimmer that are wirelessly connected with master board；
The terminal of the present embodiment can be mobile terminal, such as smart phone, tablet computer etc., and user is by logging in movement
The application program of terminal executes corresponding operation, realizes the long-range control to the ultrasonic probe of grass trimmer；The end of the present embodiment
End is also possible to fixed terminal, such as the computer equipment of master control room.Type the present embodiment of terminal is not especially limited.
In addition, being wirelessly connected between terminal and the master board of grass trimmer, specific connection type has WIFI connection, bluetooth
Connection etc., the present embodiment is not especially limited the mode of wireless connection, as long as being able to achieve the master board of terminal and grass trimmer
It is in communication with each other.
Specifically, different types of control equipment corresponds to different control signals: if control equipment be with master board without
The terminal of line connection, then controlling signal is the control instruction for opening or closing ultrasonic probe that terminal is sent；If controlling equipment
For ultrasonic probe, then controlling signal is the echo-signal that ultrasonic probe is sent, alternatively, the ultrasonic wave of ultrasonic probe transmitting
Signal；If control equipment is machine-operated arrangements, signal is controlled as what machine-operated arrangements were sent and opens or closes ultrasonic wave
The control instruction of probe；If controlling the energy storage device that equipment is grass trimmer, controlling signal is the electricity letter that energy storage device is sent
Number.
In the present embodiment, machine-operated arrangements can be touch display equipment, and user can be in the void for touching display equipment
Ultrasonic probe is opened or closed by the selection of preset touch manner in quasi- operation interface, specific touch manner includes single
It hits, double-click, slide, touch manner can be arranged according to personal preference in user, be not especially limited to this present embodiment.Work as touching
It touches after showing that equipment receives touch signal, sends the corresponding control instruction of touch signal to the master board of grass trimmer.Machine
Operation equipment is also possible to be arranged in the switch button on grass trimmer, and user is realized by the switch button to grass trimmer ultrasonic wave
Probe opens or closes.
S202, master board generate the switching signal opened or closed for controlling ultrasonic probe according to control signal；
In book example, master board is true according to the control signal after receiving the control signal that control equipment is sent
Surely the ultrasonic probe of grass trimmer is opened or closed；
If controlling signal designation opens ultrasonic probe, master board generates switching signal 1；
If controlling signal designation closes ultrasonic probe, master board generates switching signal 0.
S203, master board open or close ultrasonic probe according to switching signal.
Master board opens or closes ultrasonic probe according to switching signal 1 or 0, and realization is used under particular job scene
Family autonomous control or grass trimmer automatically control opening or closing for ultrasonic probe, avoid the ultrasonic probe of existing grass trimmer
It singly wraps caused by the normally open and shortens cruise duration, interferes under probe service life is reduced and special operation condition scene and mow
The problem of machine works normally.
The control method of grass trimmer provided in this embodiment, what master board receiving control apparatus was sent is used to indicate ultrasound
The control signal that wave probe detection function opens or closes generates what control ultrasonic probe opened or closed according to control signal
Switching signal, and ultrasonic probe is opened or closed according to switching signal, wherein control equipment include with the master board without
The energy storage device of terminal, the ultrasonic probe, machine-operated arrangements or the grass trimmer that line connects.Pass through any of the above-described control
The control signal that control equipment is sent realizes the control of the working condition to the ultrasonic probe of grass trimmer, avoids ultrasonic wave and keep away
Barrier function is singly wrapped caused by often opening to be shortened, interfere grass trimmer under the reduction of probe service life and special operation condition scene cruise duration
The problem of normal work.
If control equipment is ultrasonic probe, control signal is the echo-signal that ultrasonic probe is sent, master board root
Determine the need for closing the ultrasonic probe of grass trimmer according to echo-signal, if determining and needing by the analysis to echo-signal
The ultrasonic probe for closing grass trimmer then generates the switching signal that ultrasonic probe is closed in instruction, to realize in special operation condition
Under scene (such as heavy rain, detecting head surface adhere to barrier), ultrasonic probe is automatically closed by the master board of grass trimmer
Detecting function.Following embodiments are ultrasonic probe expansion for control equipment, are elaborated to control method of the invention.
Fig. 3 is the flow diagram two of the control method of grass trimmer provided in an embodiment of the present invention, as shown in figure 3, this reality
Apply example offer grass trimmer control method the following steps are included:
S301, master board obtain the sending time of ultrasonic probe transmitting ultrasonic signal；
It should be pointed out that the ultrasonic probe of the present embodiment is currently at open state, ultrasonic probe is periodically
Emit ultrasonic signal, corresponding, master board obtains the ultrasonic signal according to the ultrasonic signal that ultrasonic probe emits
Sending time.
S302, master board receive the echo-signal that the ultrasonic signal that ultrasonic probe is sent is reflected by barrier；
When ultrasonic signal encounters barrier in the investigative range of ultrasonic probe, ultrasonic probe can receive this
The echo-signal that ultrasonic signal is reflected by barrier, at this point, ultrasonic probe sends the echo-signal to master board.It is corresponding
, master board obtains the receiving time of the echo-signal according to the echo-signal.
S303, master board obtain grass trimmer at a distance from barrier according to echo-signal；
Specifically, master board is according to the sending time of ultrasonic signal, the receiving time of echo-signal and ultrasonic wave
Aerial spread speed obtains grass trimmer at a distance from barrier.
Assuming that the sending time of ultrasonic signal is t1, the receiving time of echo-signal is t2, the aerial biography of ultrasonic wave
Broadcasting speed is c, and grass trimmer is S at a distance from barrier, then passes through the available S of formula one:
It should be pointed out that the aerial spread speed of ultrasonic wave is influenced by environment temperature, spread speed is specifically full
Sufficient formula two:
Wherein, c is the aerial spread speed of ultrasonic wave (unit: m/s), and T is environment temperature (unit: K).
As it can be seen that at different ambient temperatures, the aerial spread speed of ultrasonic wave is different.Therefore, in order to ensure master control
Accuracy of the grass trimmer that making sheet is got at a distance from barrier, grass trimmer further include temperature sensor, wherein temperature sensing
Device is connect with master board.
Optionally, in master board according to the sending time of ultrasonic signal, the receiving time of echo-signal and ultrasound
The aerial spread speed of wave, before obtaining grass trimmer at a distance from barrier, further includes:
Master board obtains the temperature parameter of the current environment of temperature sensor monitoring；Master board is true according to temperature parameter
Determine the aerial spread speed of ultrasonic wave.The grass trimmer got through the above steps is more accurate at a distance from barrier.
If S304, distance are less than pre-determined distance, master board determines that echo-signal is used to indicate the spy of ultrasonic probe
Brake is closed.
It will be understood by those skilled in the art that under special operation condition environment, such as barrier is stained on ultrasonic probe
Or the rainy day, the rain that the barrier or raindrop that the ultrasonic signal of ultrasonic probe transmitting adheres on encountering probe are formed
When curtain, echo-signal is generated at once, causes the erroneous judgement to barrier, influences the normal work of grass trimmer.In order to avoid above-mentioned existing
As whether master board is less than pre-determined distance according to the Distance Judgment of the grass trimmer and barrier that the get distance, if being less than
Pre-determined distance, then master board determines that echo-signal is used to indicate the detecting function closing of ultrasonic probe.
By the way that pre-determined distance is arranged, the real time monitoring to grass trimmer current working environment or ultrasonic probe is realized, true
When determining echo-signal exception, S305 and S306 is executed.
S305, master board generate the switching signal for controlling ultrasonic probe closing according to echo-signal；
S306, master board close ultrasonic probe according to switching signal.
S305, S306 in the present embodiment is identical as S202, S203 implementing principle and technical effect in above-described embodiment,
Details are not described herein again.
Through the foregoing embodiment, it realizes and ultrasonic wave is automatically closed by the master board of grass trimmer under special operation condition scene
The detecting function of probe avoids causing echo-signal frequent due to heavy rain or detecting head surface adherency barrier, influences grass trimmer
It works normally.
If control equipment is ultrasonic probe, control signal is the ultrasonic signal of ultrasonic probe transmitting, master board
The echo-signal of the ultrasonic signal is not received within a preset period of time, then master board determines ultrasonic within a certain period of time
Without barrier in the detectable range of wave probe, then the switching signal that ultrasonic probe is closed in instruction is generated, ultrasound is avoided
The problem of list packet serial number time caused by wave probe barrier avoiding function often opens shortens, probe service life reduces.Below with reference to specific
The control method that embodiment does not receive echo-signal to master board within a preset period of time elaborates.
Fig. 4 is the flow diagram three of the control method of grass trimmer provided in an embodiment of the present invention, as shown in figure 4, this reality
Apply example offer grass trimmer control method the following steps are included:
S401, master board obtain the sending time of the ultrasonic signal of ultrasonic probe transmitting, and in sending time point
Start timer；
In the present embodiment, the build-in attribute of ultrasonic probe includes the BURN-THROUGH RANGE of ultrasonic probe, in the detection
In distance range, it can determine that ultrasonic probe detects echo the latest according to the aerial spread speed of ultrasonic wave under room temperature
Timer is arranged according to the sending time of the receiving time and transmitting ultrasonic signal in the receiving time of signal, master board
Preset duration.
After master board obtains the sending time of the ultrasonic signal of ultrasonic probe transmitting, opening timing device.Timer
Whether overtime it is used to indicate the echo-signal that master board receives.
If master board receives the echo-signal of ultrasonic probe transmission, then master board is true before timer expiry
It is scheduled in the investigative range of ultrasonic probe that there are barriers, further, master board is determined according to the echo-signal and mowed
Machine is greater than pre-determined distance at a distance from barrier, then master board adjusts grass trimmer according to grass trimmer in advance at a distance from barrier
Track route, avoid grass trimmer and barrier from colliding the damage caused inside grass trimmer.
If S402, after timer expiry, master board does not receive the echo-signal of ultrasonic probe transmission, then master control
Making sheet determines that ultrasonic signal is used to indicate the detecting function closing of ultrasonic probe；
After timer expiry, master board does not receive the echo-signal of ultrasonic probe transmission, then master board is true
It is scheduled in the investigative range of ultrasonic probe and barrier is not present, grass trimmer can be automatically closed in master board within a preset period of time
Ultrasonic probe, to extend grass trimmer list packet cruise duration.
S403, master board generate the switching signal for controlling ultrasonic probe closing according to ultrasonic signal；
S404, master board close ultrasonic probe according to switching signal；
S403, S404 are identical as S202, S203 implementing principle and technical effect in above-described embodiment in the present embodiment, this
Place repeats no more.
S405, master board obtain the shut-in time for closing ultrasonic probe；
S406, master board are fast according to the traveling of shut-in time, the BURN-THROUGH RANGE of ultrasonic probe and grass trimmer
Degree, determines reboot time；
S407, master board open ultrasonic probe in the preset time period before reboot time according to reboot time.
It should be pointed out that main after the ultrasonic signal to timer expiry that master board obtains ultrasonic probe transmitting
Control panel was closed in the period of ultrasonic probe, and grass trimmer has been walked a distance in default route, therefore, was determining weight
After opening the time, master board needs open ultrasonic probe in the preset time period before reboot time in advance, avoid mowing
Machine is there are barrier on driving to the route after the BURN-THROUGH RANGE of ultrasonic probe, and grass trimmer has little time to make and keeps away
Movement is allowed to cause to collide.
Control method provided in this embodiment, if master board does not receive returning for ultrasonic signal within a preset period of time
Wave signal, then generate the switching signal that ultrasonic probe is closed in instruction, closes ultrasonic probe according to switching signal, and in determination
Ultrasonic probe is opened in preset time period before reboot time, realization periodically turns on ultrasonic probe, to improve
Single packet cruise duration of grass trimmer.
If controlling the energy storage device that equipment is grass trimmer, control signal is the low battery signal that energy storage device is sent, master control
Making sheet generates the switching signal that ultrasonic probe is closed in instruction according to low battery signal, to realize grass trimmer in low battery situation
The lower detecting function for closing ultrasonic probe, it is ensured that grass trimmer has prestores electricity return charging station enough.Below with reference to specific reality
Example is applied to elaborate to the control method of grass trimmer under low battery operating condition.
Fig. 5 is the flow diagram four of the control method of grass trimmer provided in an embodiment of the present invention, as shown in figure 5, this reality
Apply example offer grass trimmer control method the following steps are included:
S501, master board receive the low battery signal that energy storage device is sent；Low battery signal is grass trimmer current electric quantity
The signal that energy storage device is sent when less than default electricity；
S502, master board determine that low battery signal is used to indicate the detecting function of ultrasonic probe according to low battery signal
It closes；
S503, master board generate the switching signal for controlling ultrasonic probe closing according to low battery signal；
S504, master board close ultrasonic probe according to switching signal.
Specifically, master board determines when the energy storage device that master board receives grass trimmer sends low battery signal
The current location of grass trimmer, and grass trimmer is generated to the recurrence route of charging station, master board is according to the walking for controlling grass trimmer
System returns to charging station according to the recurrence route of generation.
In the present embodiment, master board is after the low battery signal for receiving energy storage device transmission, according to determining recurrence
When route returns to charging station, if ultrasonic probe is still in opening state, master board is according to charging station on returning route
Charging station can be mistaken for barrier by the echo-signal of return, cause grass trimmer that can not independently return to charging station charging.
By above-mentioned control method, master board is used to indicate ultrasonic probe according to the low battery signal generation received
The switching signal of closing, and ultrasonic probe is closed according to switching signal, charging station charging can not be returned to by both having avoided grass trimmer
The problem of, also ensure that grass trimmer there are enough electricity that prestores to return to charging station.
Fig. 6 is the structural schematic diagram of the control device for the grass trimmer that one embodiment of the invention provides, as shown in fig. 6, this reality
Apply the control device 60 of a grass trimmer, comprising:
Receiving module 61, for the control signal that receiving control apparatus is sent, the control signal is used to indicate described super
The detecting function of sonic probe opens or closes, and the control equipment includes any in following: with the master board without
The energy storage device of terminal, the ultrasonic probe, machine-operated arrangements or the grass trimmer that line connects；
Generation module 62, for according to the control signal, generation to be opened or closed for controlling the ultrasonic probe
Switching signal；
Execution module 63, for opening or closing the ultrasonic probe according to the switching signal.
The control device of grass trimmer provided in an embodiment of the present invention can be used for executing master board in above method embodiment
Performed method, it is similar that the realization principle and technical effect are similar, and details are not described herein again.
Fig. 7 is the structural schematic diagram two of the control device of grass trimmer provided in an embodiment of the present invention, as shown in fig. 7, in Fig. 6
Shown on the basis of control device, if the control equipment is the ultrasonic probe, the control signal is the ultrasound
The echo-signal that wave probe is sent, the receiving module, the ultrasonic signal sent specifically for receiving the ultrasonic probe
The echo-signal reflected by barrier；
The control device 60, further includes: obtain module 64, for according to the echo-signal obtain the grass trimmer with
The distance of barrier；
Determining module 65, if being less than pre-determined distance for the distance, it is determined that the echo-signal is used to indicate described
The detecting function of ultrasonic probe is closed.
Optionally, the acquisition module 64, when being also used to obtain the transmission of the ultrasonic probe transmitting ultrasonic signal
Between；
According to the sending time, the receiving time of the echo-signal and the aerial spread speed of ultrasonic wave,
The grass trimmer is obtained at a distance from barrier.
Optionally, the grass trimmer further includes temperature sensor, and the temperature sensor is connect with the master board；Institute
It states and obtains module 64, be also used to:
Obtain the temperature parameter of the current environment of the temperature sensor monitoring；
The determining module 65 is also used to determine the aerial propagation speed of the ultrasonic wave according to the temperature parameter
Degree.
Optionally, if the control equipment is the ultrasonic probe, the control signal is ultrasonic probe hair
The ultrasonic signal penetrated, the acquisition module 64, is specifically used for:
Obtain the sending time of the ultrasonic signal of the ultrasonic probe transmitting；
The execution module 63 is also used to start timer in the sending time point；
The determining module 65, if being also used to after the timer expiry, the master board does not receive described super
The echo-signal that sonic probe is sent, it is determined that the detecting function that the ultrasonic signal is used to indicate the ultrasonic probe closes
It closes.
Optionally, the acquisition module 64, is also used to obtain the shut-in time for closing the ultrasonic probe；
The determining module 65, be also used to according to the BURN-THROUGH RANGE of the shut-in time, the ultrasonic probe with
And the travel speed of the grass trimmer, determine reboot time；
The execution module 63, is also used to the preset time period according to the reboot time, before the reboot time
It is interior to open the ultrasonic probe.
Optionally, the control equipment is the energy storage device of the grass trimmer, and the control signal is the energy storage device
The low battery signal of transmission, the acquisition module 64, is specifically used for:
Obtain the low battery signal that the energy storage device is sent；The low battery signal is that the grass trimmer current electric quantity is small
The signal that the energy storage device is sent when default electricity；
It is described to be also used to determine that the low battery signal is used to indicate according to the low battery signal for the determining module 65
The detecting function of ultrasonic probe is closed.
The control device of grass trimmer provided in an embodiment of the present invention can be used for executing master board in above method embodiment
Performed method, it is similar that the realization principle and technical effect are similar, and details are not described herein again.
Fig. 8 is the structural schematic diagram three of the control device of grass trimmer provided in an embodiment of the present invention, as shown in figure 8, this reality
The control device 80 of the grass trimmer of example offer is provided, comprising:
Memory 81；Processor 82；And computer program；
Wherein, the computer program is stored in the memory 81, and is configured as being executed by the processor 82
Method described in any of the above-described embodiment is opened or closed with controlling the detecting function of ultrasonic probe.
Optionally, memory 81 can also be integrated with processor 82 either independent.
When the memory 81 is independently of the device except processor 82, the control device 80 can also include:
Bus 83, for connecting the memory 81 and processor 82.
The embodiment of the invention also provides a kind of computer readable storage mediums, are stored thereon with computer program, described
Computer program is executed by processor method described in any of the above-described embodiment.Wherein, storage medium can for magnetic disk, CD,
Read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory,
RAM), flash memory (Flash Memory), hard disk (Hard Disk Drive, abbreviation: HDD) or solid state hard disk (Solid-
State Drive, SSD) etc.；Storage medium can also include the combination of the memory of mentioned kind.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (11)
1. a kind of control method of grass trimmer, which is characterized in that the grass trimmer includes master board and ultrasonic probe, described
Master board is connect with the ultrasonic probe, which comprises
The control signal that the master board receiving control apparatus is sent, the control signal are used to indicate the ultrasonic probe
Detecting function open or close；
The master board generates the switch letter opened or closed for controlling the ultrasonic probe according to the control signal
Number；
The master board opens or closes the ultrasonic probe according to the switching signal.
2. the method according to claim 1, wherein the control letter that the master board receiving control apparatus is sent
Number, the control equipment includes any in following: the terminal that is wirelessly connected with the master board, the ultrasonic probe,
The energy storage device of machine-operated arrangements or the grass trimmer.
3. the method according to claim 1, wherein the control equipment is the ultrasonic probe, the control
Signal processed is the echo-signal that the ultrasonic probe is sent；The control signal that the master board receiving control apparatus is sent,
Include:
The master board receives the echo-signal that the ultrasonic signal that the ultrasonic probe is sent is reflected by barrier；
The master board obtains the grass trimmer at a distance from barrier according to the echo-signal；
If the distance is less than pre-determined distance, the master board determines that the echo-signal is used to indicate the ultrasonic wave and visits
The detecting function of head is closed.
4. according to the method described in claim 3, it is characterized in that, the master board receives what the ultrasonic probe was sent
Before the echo-signal that ultrasonic signal is reflected by barrier, further includes:
The master board obtains the sending time of the ultrasonic probe transmitting ultrasonic signal；
The master board obtains the grass trimmer at a distance from barrier according to the echo-signal, comprising:
The master board is according to the sending time, the receiving time of the echo-signal and the aerial biography of ultrasonic wave
Speed is broadcast, obtains the grass trimmer at a distance from barrier.
5. according to the method described in claim 4, it is characterized in that, the grass trimmer further includes temperature sensor, the temperature
Sensor is connect with the master board；The master board is according to the sending time, the receiving time of the echo-signal
And the aerial spread speed of ultrasonic wave, before obtaining the grass trimmer at a distance from barrier, further includes:
The master board obtains the temperature parameter of the current environment of the temperature sensor monitoring；
The master board determines the aerial spread speed of the ultrasonic wave according to the temperature parameter.
6. the method according to claim 1, wherein the control equipment is the ultrasonic probe, the control
Signal processed is the ultrasonic signal of ultrasonic probe transmitting；The control letter that the master board receiving control apparatus is sent
Number, comprising:
The master board obtains the sending time of the ultrasonic signal of the ultrasonic probe transmitting, and in the sending time
Point starting timer；
If the master board does not receive the echo-signal that the ultrasonic probe is sent, then after the timer expiry
The master board determines that the ultrasonic signal is used to indicate the detecting function closing of the ultrasonic probe.
7. according to the method described in claim 6, it is characterized in that, the control letter that the master board receiving control apparatus is sent
After number, the method also includes:
The master board obtains the shut-in time for closing the ultrasonic probe；
The master board is according to the shut-in time, the BURN-THROUGH RANGE of the ultrasonic probe and the grass trimmer
Travel speed determines reboot time；
The master board opens the ultrasound according to the reboot time in the preset time period before the reboot time
Wave probe.
8. the method according to claim 1, wherein it is described control equipment be the grass trimmer energy storage device,
The control signal is the low battery signal that the energy storage device is sent；The control that the master board receiving control apparatus is sent
Signal, comprising:
The master board receives the low battery signal that the energy storage device is sent；The low battery signal is that the grass trimmer is worked as
Preceding electricity is less than the signal that the energy storage device is sent when default electricity；
The master board determines that the low battery signal is used to indicate the ultrasonic probe according to the low battery signal
Detecting function is closed.
9. a kind of control device of grass trimmer characterized by comprising
Receiving module, for receiving control signal, the control signal is used to indicate the detecting function of the ultrasonic probe
It opens or closes；
Generation module, for generating the switch opened or closed for controlling the ultrasonic probe according to the control signal
Signal；
Execution module, for opening or closing the ultrasonic probe according to the switching signal.
10. a kind of control device of grass trimmer characterized by comprising
Memory；Processor；And computer program；
Wherein, the computer program stores in the memory, and is configured as being executed by the processor as right is wanted
Method described in asking any one of 1 to 8 is opened or closed with controlling the detecting function of ultrasonic probe.
11. a kind of computer readable storage medium, which is characterized in that be stored thereon with computer program, the computer program
It is executed by processor to realize the method according to claim 1.
Priority Applications (8)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810362730.4A CN110389579A (en) | 2018-04-20 | 2018-04-20 | The control method and device of grass trimmer |
| CN202310710177.XA CN116880254A (en) | 2018-04-20 | 2018-04-20 | Control method and device of mower |
| EP18879507.4A EP3605142A4 (en) | 2017-11-14 | 2018-11-14 | Self-moving device and control method therefor |
| PCT/CN2018/115436 WO2019096166A1 (en) | 2017-11-14 | 2018-11-14 | Self-moving device and control method therefor |
| DE202018006349.5U DE202018006349U1 (en) | 2017-11-14 | 2018-11-14 | Self-moving system |
| CN201890000519.1U CN212278869U (en) | 2017-11-14 | 2018-11-14 | From mobile device and intelligent lawn mower |
| US16/613,816 US11614744B2 (en) | 2017-11-14 | 2018-11-14 | Self-moving apparatus and method for controlling same |
| US18/115,747 US20230205224A1 (en) | 2017-11-14 | 2023-02-28 | Self-moving apparatus and method for controlling same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810362730.4A CN110389579A (en) | 2018-04-20 | 2018-04-20 | The control method and device of grass trimmer |
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| CN202310710177.XA Division CN116880254A (en) | 2018-04-20 | 2018-04-20 | Control method and device of mower |
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| CN110389579A true CN110389579A (en) | 2019-10-29 |
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| CN202310710177.XA Pending CN116880254A (en) | 2018-04-20 | 2018-04-20 | Control method and device of mower |
| CN201810362730.4A Pending CN110389579A (en) | 2017-11-14 | 2018-04-20 | The control method and device of grass trimmer |
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Cited By (1)
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|---|---|---|---|---|
| CN112558604A (en) * | 2020-12-02 | 2021-03-26 | 达闼机器人有限公司 | Obstacle avoidance control system, method, storage medium and mobile device |
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| CN116880254A (en) | 2023-10-13 |
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