CN112715133B - Intelligent mower system and mowing method - Google Patents
Intelligent mower system and mowing method Download PDFInfo
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- CN112715133B CN112715133B CN202011585460.7A CN202011585460A CN112715133B CN 112715133 B CN112715133 B CN 112715133B CN 202011585460 A CN202011585460 A CN 202011585460A CN 112715133 B CN112715133 B CN 112715133B
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- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
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Abstract
The application provides an intelligent mower system and a mowing method. According to the method and the device, the working state data of different positions in the working area of the automatic walking equipment are collected through traversing, so that the working condition information required by each position is adjusted according to the working state data. Therefore, the automatic walking equipment can adjust the operation devices of the automatic walking equipment respectively aiming at different positions in the process of traversing operation, and different operation effects can be realized respectively aiming at operation requirements of different areas. The working mode of the working device can be flexibly adjusted, so that an ideal working effect is respectively brought to each working range in the working area.
Description
Technical Field
The application relates to the field of garden tools, in particular to an intelligent mower system and a mowing method.
Background
In the existing automatic walking equipment such as an intelligent mower, a closed coil is usually pre-embedded in the lawn boundary to be used as an electronic fence to define a boundary line. Thus, the traveling robot can perform mowing work while keeping operating only in the work area by detecting the electromagnetic field signal of the closed coil. However, the intelligent level of the control mode of the automatic walking equipment is low, coils need to be laid in advance, the coils are inconvenient to replace after being worn, and effective calibration of a working area is difficult to achieve by damaged coils.
Therefore, some lawn mowers in the existing products adopt image recognition, inertial navigation and other ways to construct an electronic map, and carry out path planning according to the electronic map to realize efficient mowing operation. The automatic walking equipment adopting the control mode can accurately acquire self positioning in work only by the aid of the navigation function of the machine. For some complex occasions, the working area and the position of the obstacle marked in the electronic map are changed frequently. After the change, the automatic walking equipment is abnormally positioned or encounters an obstacle which cannot pass through the originally calibrated walking path. At this time, the existing automatic traveling apparatus cannot well complete a predetermined plan, and even it is difficult to stably and safely move.
The existing automatic walking equipment needs to set the mowing height depending on the experience of a user in the mowing process. This arrangement is liable to cause an unreasonable grass cutting height setting due to lack of contrast with the actual growth of grass. Particularly, in some large-scale grass fields planted in different areas, because turf with different densities or different types is planted in different directions in a working area, when grass is mowed by using the automatic walking equipment, grass mowing heights which are different in growth conditions need to be set for the types of the turf planted in different directions and corresponding trimming requirements respectively.
In order to solve the problem of repairing different areas according to different mowing heights, in the prior art, independent automatic walking equipment which is arranged according to the requirements of the areas is generally required to be configured for the different mowing areas with different mowing height requirements. The method can obviously increase the number of the automatic walking equipment required in the working area, improve the use cost of users and is not beneficial to later equipment maintenance.
Disclosure of Invention
The intelligent mower system comprises a mower body, a working area, a traveling device, a control device and a control device, wherein the mower body is provided with a working area, the working area is provided with a working condition information storage device, the control device is provided with a control device, and the control device is provided with a control device. The technical scheme is specifically adopted in the application.
First, in order to achieve the above object, a mowing method for an automatic walking device is provided, which includes the steps of: in the process that the automatic walking equipment traverses the working area for the first time, acquiring working state data corresponding to different positions in the working area, and recording working condition information corresponding to each position according to the working state data; and in the process that the automatic walking equipment traverses the working area to execute operation, the working condition information corresponding to the current position of the automatic walking equipment is called, and the operation device in the automatic walking equipment is adjusted according to the working condition information.
Optionally, the mowing method as in any of the above, wherein the job status data comprises: the running data of the operation device in the automatic walking equipment and the sensing data of the sensing device in the automatic walking equipment.
Optionally, the mowing method according to any of the above, wherein the operation data of the working device includes, but is not limited to: the current, voltage, power consumption, output torque and rotating speed of the driving motor of the working device.
Optionally, in the mowing method according to any of the above, the sensed data of the sensing device in the automatic walking device includes any one or a combination of the following: temperature data collected by a temperature sensor, humidity receipts collected by a humidity sensor, altitude data collected by a distance sensor, and image data of a work area collected by an image sensor.
Optionally, the mowing method according to any of the above, wherein the operating condition information includes: height, angle and/or position of the working device relative to the body of the self-propelled device.
Optionally, the mowing method according to any of the above descriptions, wherein the step of recording the working condition information corresponding to each position according to the operation status data includes: and dividing the working area into a plurality of working ranges according to the working state data corresponding to each position, and acquiring and recording the working condition information corresponding to each working range.
Optionally, in the mowing method according to any of the above, a difference between the operation status data corresponding to each position in each operation range does not exceed a set threshold.
Optionally, in the mowing method according to any of the above, the operation state data obtained in the process of the automatic walking device traversing its working area for the first time is marked as original operation state data; in the process of executing operation by the automatic walking equipment, the following steps are executed before the working condition information corresponding to the current position of the automatic walking equipment is called: synchronously acquiring operation state data respectively corresponding to each position in a working area, inquiring original operation state data corresponding to the position, and updating the operation state data acquired this time into the original operation state data corresponding to the position when the original operation state data corresponding to the position is not inquired; when the original operation state data corresponding to the position is inquired, comparing the difference value between the operation state data acquired this time and the original operation state data, and triggering to update the operation state data and/or working condition information corresponding to the position when the difference value exceeds a set threshold value, or triggering to prompt that the operation state is abnormal.
Optionally, in the mowing method according to any of the above embodiments, the operating condition information is a preset fixed value, or a manually set numerical value corresponding to each operating range.
Simultaneously, in order to realize above-mentioned purpose, this application still provides an intelligent lawn mower system, and it is used for automatic walking equipment, intelligent lawn mower system includes: the positioning unit is used for acquiring the current position of the automatic walking equipment; the operation state data acquisition unit is used for acquiring the operation state data of the current position of the automatic walking equipment; the storage unit is internally stored with operation state data and/or working condition information respectively corresponding to different positions in a working area of the automatic walking equipment; and the operation device is connected with the storage unit and the positioning unit and used for calling the working condition information corresponding to the current position of the automatic walking equipment and adjusting the height, the angle and/or the position of the operation device relative to the body of the automatic walking equipment according to the working condition information.
Optionally, the intelligent mower system as described in any of the above, wherein the operating condition information is determined by the operating status data corresponding to the position.
Optionally, the intelligent mower system as described in any of the above, further comprising a control unit connected to the positioning unit, the work status data acquisition unit, the storage unit, and the work device, wherein the storage unit is configured to execute any of the above mowing methods.
Optionally, the intelligent mower system as described in any of the above, wherein said operation state data acquiring unit comprises: the current sampling circuit is used for collecting the current of the driving motor of the operation device; the voltage sampling circuit is used for collecting the voltage of the driving motor of the operation device; the power consumption operation circuit is used for calculating the power consumption of the driving motor of the acquisition operation device; the mechanical sensor is used for acquiring the torque output by the driving motor of the operation device; the rotating speed sensor is used for acquiring the rotating speed output by the driving motor of the operation device; the temperature sensor is used for acquiring temperature data of the external environment of the automatic walking equipment; the humidity sensor is used for acquiring humidity data of the external environment of the automatic walking equipment; the distance sensor is used for acquiring height data of plants in the external environment of the automatic walking equipment relative to the body of the automatic walking equipment; and the image sensor is used for acquiring the image data of the plants in the external environment of the automatic walking equipment.
Optionally, in the intelligent lawn mower system as described above, the automatic traveling device is connected to a remote control terminal, and is configured to control the automatic traveling device to operate and divide a working area into a plurality of working ranges, and is further configured to set working condition information corresponding to each working range.
Advantageous effects
According to the method and the device, the working state data of different positions in the working area of the automatic walking equipment are collected through traversing, so that the working condition information required by each position is adjusted according to the working state data. Therefore, the automatic walking equipment can adjust the operation devices of the automatic walking equipment respectively aiming at different positions in the process of traversing operation, and different operation effects can be realized respectively aiming at operation requirements of different areas. The working mode of the working device can be flexibly adjusted, so that an ideal working effect is respectively brought to each working range in the working area.
Furthermore, the method and the device can automatically update the map of the working area in the process of traversing operation, and automatically identify whether the growth conditions of the grasslands at all positions in the working area change or not by comparing the data of the previous and next operation states. Therefore, the grassland growth state can be sensitively detected, and corresponding maintenance can be performed according to different grassland types and different maintenance modes required by the growth state. The application can maintain a whole working area with different operation requirements through the same equipment.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the application.
Drawings
The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application and not limit the application. In the drawings:
FIG. 1 is a map of a work area constructed by the automated walking device of the present application;
FIG. 2 is a flow chart of the automated walking device of the present invention building a map;
FIG. 3 is a schematic illustration of different work areas in the work area of the automated walking device of the present invention;
FIG. 4 is a schematic flow chart of the automatic walking device for map reconstruction according to the present invention;
FIG. 5 is a flow chart of the automated walking device of the present invention for fault alerting;
FIG. 6 is a schematic diagram of the steps of the automatic walking device of the present invention for performing key search.
Detailed Description
In order to make the purpose and technical solutions of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings of the embodiments of the present application. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the application without any inventive step, are within the scope of protection of the application.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The meaning of "and/or" as used herein is intended to include both the individual components or both.
The term "connected" as used herein may mean either a direct connection between components or an indirect connection between components via other components.
The meaning of "up and down" in the present application means that the direction from the ground to the working device in the automatic walking apparatus is up when the user is facing the forward direction of the automatic walking apparatus, and vice versa is down, not the specific limitation of the mechanism of the apparatus of the present application.
Referring to fig. 1 and 2, the present invention provides an intelligent lawn mower system and a mowing method implemented by the system. The intelligent mower system is arranged on automatic walking equipment based on RTK and other positioning technologies. The remote control system realizes the respective operation of each operation range with different operation standards in a working area through the interaction with the base station and the remote control terminal.
An autonomous walking device, such as a lawn mower with autonomous walking function, can be configured to perform positioning based on RTK technology by receiving positioning data from a satellite to record position coordinate information of the autonomous walking device movement. Meanwhile, an operation state data acquisition unit corresponding to a driving motor in the operation device is further arranged in the automatic walking equipment, so that the grass condition information is monitored in real time by acquiring corresponding operation state data. The automatic walking equipment has a mapping mode, a remote control mode and an operation mode, and the three modes can be switched through a remote control terminal. The working device of the automatic walking equipment can take a cutter head driven by a driving motor to operate as a working component, and is also provided with a cutter head lifting motor, wherein the cutter head lifting motor rotates in a forward transmission or reverse rotation mode to adjust the height, the angle and/or the position of the cutter head relative to the machine body of the automatic walking equipment, so that the adjustment of the height of the cutter head relative to the ground is realized, and different mowing effects are realized.
And the base station sends the position information of the base station to the automatic walking equipment in real time in a communication mode to be used as a reference point of the coordinate position in the virtual map. In addition, the base station is also used for acquiring relevant parameter information of the automatic walking equipment and the remote control terminal, uploading the relevant parameter information to the server, and charging the automatic walking equipment and the remote control terminal.
The remote control terminal comprises at least two communication modules, a first key, a second key, a power module, a PCB (printed circuit board), a liquid crystal display screen, a touch pen and the like. The communication module is used for establishing communication connection with the automatic walking equipment and the base station; the first key is used for triggering the automatic walking equipment to enter or exit a low power consumption mode; the second key is used for searching the machine through the key; the remote control terminal can be charged by being placed on the base station.
The mower system takes the position of the base station as the origin, and the base station sends the position information of the base station to the automatic walking equipment in real time in a communication mode to serve as a reference point of a virtual map. When the automatic walking device is operated for the first time, the remote control terminal controls the automatic walking device to enter a mapping mode, the automatic walking device is set to move for a circle clockwise or anticlockwise along the boundary of a mowing working area, in the process, position coordinate information in the moving process is recorded according to satellite positioning data received by the automatic walking device, position coordinates with large errors are eliminated, a series of feature points are selected from remaining position coordinates, error correction is carried out on relative distances between the feature points, the position coordinates with errors exceeding an allowable error range are eliminated, the position coordinates are sequentially connected through a continuous folding line or curve mode and the like to form a closed graph, and boundary position information of a virtual map is generated to establish a virtual boundary. The correction and elimination steps of the characteristic points can reduce the error between the generated virtual boundary and the actual boundary and ensure the precision of the virtual boundary. And then, the automatic walking equipment is further controlled by the remote control terminal to respectively move clockwise or anticlockwise for a circle along the boundary of each obstacle in the working area, so that the position coordinate information of the obstacles is recorded in a similar mode, and the obstacles are sequentially connected in a continuous broken line or curve mode and the like to form a closed graph, so that the position information of the obstacles in the virtual map is generated. So far, the control unit in the automatic walking device can construct a virtual map according to the boundary information and the obstacle information generated in the process, and plan a traversing path of a working area based on the information of each position.
In the process of map construction, the automatic walking equipment can be controlled to start the driving motor of the operation device while traversing the working area, in the traversing process, the automatic walking equipment performs mowing work at the initial default height of the cutter head, monitors sensing parameters of the driving motor of the operation device, such as current, voltage, power consumption, output torque, rotating speed and the like, and records corresponding operation state data through a corresponding current sampling circuit, a voltage sampling circuit, a power consumption operation circuit, a mechanical sensor, a rotating speed sensor and a temperature sensor. Therefore, the lawn type identification and recording device can correspondingly identify and record lawn types corresponding to different positions in the working area by reflecting the change condition of the resistance force borne by the rotation of the cutter head through the parameters such as the current of the driving motor of the working device and the like detected by the working state data acquisition units. In addition, the automatic walking device can be further provided with a temperature sensor, a humidity sensor, a distance sensor, an image sensor and the like, so that the grass condition information of each position point is generated through the processing of the data such as the temperature and the humidity detected by the sensors, the height of the plants in the external environment of the automatic walking device relative to the body of the automatic walking device, the images of the plants in the external environment of the automatic walking device and the like, the density of the grass on each position in the working area is correspondingly marked, and the grass cutting height corresponding to each position is correspondingly and manually set aiming at different grass densities in an interactive mode through a remote control terminal or a base station. The mowing height may be recorded as condition information in a corresponding position of the virtual map.
The invention can construct the virtual map of the mowing working area shown in fig. 3 together through the remote control terminal according to the position information of the virtual map and the operation state data corresponding to each position and reflecting grass condition information. A user can correspondingly divide the working area by referring to the grass condition information, and the positions where the working state data are close are divided into a working range according to the working state data corresponding to the positions in the working area, so that the whole working area is divided into a plurality of working ranges, and the initial mowing height corresponding to each working range is obtained and recorded to be used as working condition information to drive the cutterhead lifting motor to correspondingly adjust the mowing height of the cutterhead. The control unit arranged in the remote control terminal can also automatically adjust the mowing height of the cutter head according to the reference lawn information.
And after the virtual map is generated, the remote control terminal controls the automatic walking equipment to enter an operation mode. Under the operation mode, the automatic walking equipment refers to the position coordinate information in the moving process in real time to obtain the working condition information corresponding to the current position of the automatic walking equipment, and the operation device in the automatic walking equipment is adjusted according to the working condition information to carry out mowing according to different operation standards corresponding to different areas. In the process, when the lawn mower walks to different grassland areas, the control unit in the automatic walking equipment can automatically drive the cutter head lifting motor to adjust the height of the cutter head of the automatic walking equipment, so that the automatic walking equipment can correspondingly, stably and normally work in a complex field according to the mowing requirements of different grassland areas.
Referring to fig. 3, I, II, and III of the working area are three areas having different grass densities. After the virtual map is generated, the automatic walking equipment is controlled by the remote control terminal to enter an operation mode, in the process of traversing operation, the current change of the driving motor of the operation device of the automatic walking equipment is detected in real time, the operation state data reflecting the grassland density is acquired in real time, when the acquired operation state data correspond to the grassland density in different areas in the virtual map, the height of a cutter head of the automatic walking equipment can be automatically adjusted according to the working condition information corresponding to the grassland density, and the stable and normal operation of the automatic walking equipment in a complex field is realized.
In the practical use process, the invention can also set a certain threshold value interval aiming at the grassland density of different areas, for example, the operation state data corresponding to the different grass densities planted in the areas I, II and III in FIG. 3 are recorded as a1, a2 and a3 respectively, and a threshold interval delta b is set, when the corresponding operation state data are respectively positioned in three ranges of [ a 1-delta b, a1+ [ delta b ], [ a 2-delta b, a2+ [ delta b ], [ a 3-delta b, a3+ [ delta b ], [ a3+ [ delta b ], can identify the automatic walking equipment and correspondingly adjust the working height of the grass cutter head according to the requirements of different types of grasslands planted in the areas I, II and III, and correspondingly setting working condition information corresponding to the cutter lifting motor according to the mowing heights required by the corresponding areas I, II and III, so that the mowing height of the cutter is adjusted.
Under the condition that all set parameters of the sensors are kept consistent, different grassland types can be identified through the corresponding relation between the motor current and the grassland density. The principle is as follows: the machine is at the operation in-process, and cutter head blade cutting meadow, when meadow density increase, cutter head blade resistance increase, and the motor load increases, and motor current increases consequently can obtain meadow density information through the electric current size to thereby discern the corresponding operating mode information such as height of mowing that sets up this position meadow required of different meadow types through the different meadow densities that correspond.
Referring to fig. 4, when the boundary of the mowing working area or the internal obstacle changes, the automatic walking device is controlled by the remote control terminal to enter a mapping mode, the automatic walking device is set to move for a circle along the boundary of the changing area, and the position information of the changing area is acquired to correspondingly update the position information of the virtual map.
In actual use, the grass conditions in the grass can change correspondingly with the growth of plants and the weather and climate conditions. After the grassland condition changes, when the automatic walking equipment works to a certain position, the working state data acquisition unit detects that the change value of the mowing current and the sensor detection value exceeds a preset threshold (namely, the grassland density change amount at the position exceeds the preset threshold), the automatic walking equipment can be correspondingly triggered to perform data processing on the current state information and the position information, then the data processing is uploaded to the remote control terminal, the user is informed of the change of the grassland condition at the current position through a man-machine interaction interface of the remote control terminal, the user is reminded of optimizing the setting, the mowing height of a change area is adjusted, the grassland condition information of the change area is modified, the working condition information of the corresponding position is updated, and the virtual map is updated.
Referring to fig. 5, when the automatic walking device performs self-checking or a fault or a positioning error occurs during a working process, fault information can be sent to a remote control terminal and a base station through wireless communication to alarm, the base station uploads the fault information to a background server, a system compares the current fault information with a preset program state, if the current fault does not affect the current mowing work, the fault information is recorded, and a user is reminded to perform checking after the mowing work is completed; if the fault affects the normal mowing work, the remote control terminal controls the automatic walking equipment to stop working until the fault is solved, and the alarm signal is eliminated.
Referring to fig. 6, when the field of the mowing working area is limited in sight due to foggy days or shrub shielding and the like, and a user cannot find the automatic walking equipment in time, the user can send a machine finding instruction to the automatic walking equipment through the second key of the remote control terminal, the automatic walking equipment continuously sends an audible and visual alarm prompt after receiving the instruction, uploads self position information to the remote control terminal and the base station and stops working, the position of the automatic walking equipment is prompted by the interface of the remote control terminal, relative position and distance are updated in real time in the moving process, and the machine finding is facilitated through the key of the user.
From this, the automatic walking equipment accessible RTK of this application waits technique to fix a position, when the automatic walking equipment of remote control terminal control found the map, the in-process at automatic walking equipment first traversal work area starts operation device driving motor and carries out the operation, with electric parameters such as the electric current of gathering operation device driving motor, voltage, power, combine the operation state data that other sensors detected, meadow condition information is fed back in real time, supply the user to refer to, make the user can synthesize above-mentioned information and carry out corresponding regulation and setting of operating mode information such as height of mowing.
One of the invention points of the invention is that: when the map is constructed, the automatic walking equipment is set to traverse the working area, the driving motor of the working device is started at the same time, the working state data reflecting the grassland information is recorded in the traversing process, and the corresponding grassland information is displayed on the remote control equipment or the terminal equipment, so that a user can divide the working area into a plurality of working ranges by referring to the grassland information, and different working condition information is correspondingly set in each working range according to the initial mowing height; the built-in control unit of the remote control terminal can also automatically adjust the working condition information according to the requirements of different mowing heights according to the reference lawn information.
The second invention of the invention is that: the intelligent robot that mows is at the operation in-process, real-time detection operation device driving motor's parameter to combine other sensor parameters, obtain meadow information, transfer the operating mode data that corresponds according to meadow information and in order to adjust the height of mowing. When parameters such as current of a driving motor of the operation device and the like detected in the automatic walking equipment are changed remarkably in the traversing operation process, the change of the rotation resistance of the cutter head can be reflected through the parameter change, and therefore the information of the grassland density change is obtained by processing the detected sensor parameters such as temperature, humidity and the like. Therefore, the lawn density information that this application can further acquireed newly, in time adjust the height of mowing.
To sum up, the automatic walking equipment of this application is in the map stage of building, and the work area is traversed, and the operation condition data of each position of collection work area is in order to extract corresponding grass situation information (meadow density). The utility model provides an automatic walking equipment is at the in-process of the operation of mowing, through electric current and other each sensor parameter that real-time supervision operation device driving motor corresponds, obtain meadow density information in real time, when detecting meadow density through above-mentioned each operation state data and change, can be directly according to the corresponding operation parameter of setting for operation device of the operating mode information that preset meadow density corresponds, the height is mowed in the adjustment, perhaps update the operating mode information of this position through the mode of artificial setting. By the method, the mowing height can be adjusted more accurately, and untimely adjustment of the mowing height caused by the problem of positioning accuracy is avoided. Simultaneously, the operation is maintained to the meadow that has multiple type of plant of planting that this application can also be more convenient.
The above are merely embodiments of the present application, and the description is specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the protection scope of the present application.
Claims (10)
1. A method of mowing grass for an autonomous walking device, comprising the steps of: in the process that the automatic walking equipment traverses the working area for the first time, acquiring the operation state data corresponding to different positions in the working area, wherein the operation state data comprises the following steps: the current, voltage, power consumption, output torque and rotating speed of a driving motor of an operation device in the automatic walking equipment and the sensing data of a sensing device in the automatic walking equipment;
recording working condition information corresponding to each position according to the operation state data;
in the process that the automatic walking equipment traverses a working area to execute operation, working condition information corresponding to the current position of the automatic walking equipment is called, and any one or combination of the height, the angle and the position of an operation device in the automatic walking equipment relative to the body of the automatic walking equipment is adjusted according to the working condition information;
when the change numerical value of the operation state data exceeds a preset threshold value, the automatic walking equipment is correspondingly triggered to perform data processing on the current state information and the position information, the current state information and the position information are uploaded to the remote control terminal, the user is informed of the change of the grass condition of the current position through a human-computer interaction interface of the remote control terminal, the user is reminded of optimizing the setting, the mowing height of the change area is adjusted, the grass condition information of the change area is modified, the working condition information of the corresponding position is updated, and the virtual map is updated.
2. The method of mowing according to claim 1, wherein the sensory data of the sensing device in the self-propelled device comprises any one or a combination of the following: temperature data collected by a temperature sensor, humidity receipts collected by a humidity sensor, altitude data collected by a distance sensor, and image data of a work area collected by an image sensor.
3. The method of mowing of claim 1, wherein the operating condition information comprises: any one or a combination of the height, angle, and position of the working device relative to the body of the self-propelled device.
4. The mowing method according to claim 3, wherein the step of recording the working condition information corresponding to each position according to the operation state data comprises the steps of: and dividing the working area into a plurality of working ranges according to the working state data corresponding to each position, and acquiring and recording the working condition information corresponding to each working range.
5. The mowing method according to claim 4, wherein the difference between the operation state data corresponding to each position in each operation range does not exceed a set threshold.
6. The mowing method according to claim 2, wherein the job status data acquired during the first traversal of the working area of the automatic walking device is marked as original job status data;
in the process of executing operation by the automatic walking equipment, the following steps are executed before the working condition information corresponding to the current position of the automatic walking equipment is called: synchronously acquiring operation state data respectively corresponding to each position in a working area, inquiring original operation state data corresponding to the position, and updating the operation state data acquired this time into the original operation state data corresponding to the position when the original operation state data corresponding to the position is not inquired;
when the original operation state data corresponding to the position is inquired, comparing the difference value between the operation state data acquired this time and the original operation state data, and triggering to update the operation state data and/or working condition information corresponding to the position when the difference value exceeds a set threshold value, or triggering to prompt that the operation state is abnormal.
7. The mowing method according to claim 4, wherein the condition information is a preset fixed value or a value manually set to correspond to each of the working ranges.
8. An intelligent lawnmower system for use with an autonomous walking device, the intelligent lawnmower system comprising:
the positioning unit is used for acquiring the current position of the automatic walking equipment;
the operation state data acquisition unit is used for acquiring the operation state data of the current position of the automatic walking equipment, and comprises: the current, voltage, power consumption, output torque and rotating speed of a driving motor of an operation device in the automatic walking equipment and the sensing data of a sensing device in the automatic walking equipment;
the storage unit is internally stored with working condition information respectively corresponding to different positions in a working area of the automatic walking equipment, and the working condition information is determined by working state data corresponding to the positions;
the operation device is connected with the storage unit and the positioning unit and used for calling the working condition information corresponding to the current position of the automatic walking equipment and adjusting any one or the combination of the height, the angle and the position of the operation device relative to the body of the automatic walking equipment according to the working condition information;
a control unit connected to the positioning unit, the work status data acquisition unit, the storage unit, and the work device, the storage unit being configured to perform the mowing method according to any one of claims 1 to 7.
9. The intelligent mower system of claim 8, wherein said operational status data acquisition unit comprises: the current sampling circuit is used for collecting the current of the driving motor of the operation device;
the voltage sampling circuit is used for collecting the voltage of the driving motor of the operation device;
the power consumption operation circuit is used for calculating the power consumption of the driving motor of the acquisition operation device;
the mechanical sensor is used for acquiring the torque output by the driving motor of the operation device;
the rotating speed sensor is used for acquiring the rotating speed output by the driving motor of the operation device;
the temperature sensor is used for acquiring temperature data of the external environment of the automatic walking equipment;
the humidity sensor is used for acquiring humidity data of the external environment of the automatic walking equipment;
the distance sensor is used for acquiring height data of plants in the external environment of the automatic walking equipment relative to the body of the automatic walking equipment;
and the image sensor is used for acquiring the image data of the plants in the external environment of the automatic walking equipment.
10. The intelligent mower system of claim 9, wherein the self-propelled device is connected to a remote control terminal for controlling the self-propelled device to operate and dividing the working area into a plurality of working ranges, and for setting the working condition information corresponding to each working range.
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| CN113419525B (en) * | 2021-06-16 | 2022-07-12 | 上海联适导航技术股份有限公司 | Control method, device, equipment and storage medium for unmanned agricultural machine |
| CN115657648A (en) * | 2021-07-07 | 2023-01-31 | 苏州宝时得电动工具有限公司 | Method and device for controlling self-moving equipment |
| CN118076222A (en) * | 2021-09-29 | 2024-05-24 | 广东美的白色家电技术创新中心有限公司 | Cutter control method, mowing control device and mowing robot |
| CN114946377B (en) * | 2022-04-21 | 2023-08-04 | 潍柴雷沃智慧农业科技股份有限公司 | Grass growth state monitoring method and system of mower |
| CN115542894A (en) * | 2022-08-31 | 2022-12-30 | 深圳市正浩创新科技股份有限公司 | Control method and device of self-moving equipment, self-moving equipment and storage medium |
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