CN113812251A

CN113812251A - Mowing robot and control method of mowing robot

Info

Publication number: CN113812251A
Application number: CN202010558974.7A
Authority: CN
Inventors: 梅庆枭; 陈伟鹏
Original assignee: Nanjing Chervon Industry Co Ltd
Current assignee: Nanjing Chervon Industry Co Ltd
Priority date: 2020-06-18
Filing date: 2020-06-18
Publication date: 2021-12-21

Abstract

The invention discloses a mowing robot and a control method of the mowing robot, wherein the mowing robot comprises: a mowing element; a body; a drive assembly, a road wheel and a motor; the first detection module detects a first path of the mowing robot in one cycle; the second detection module is used for detecting the motion parameters of the driving assembly in the period and calculating a second path of the mowing robot in the period; the fault judgment module is used for judging whether the difference value between the second route and the first route is greater than or equal to a first preset value or not; the execution module drives the mowing robot to execute a response program; the control module is respectively connected with the fault judgment module and the execution module; and when the difference value between the second journey and the first journey in each cycle of n1 continuous cycles is greater than or equal to the first preset value, the control module controls the execution module to execute the response program.

Description

Mowing robot and control method of mowing robot

Technical Field

The invention relates to an intelligent device, in particular to a mowing robot and a correction method for correcting the distance of the mowing robot.

Background

The phenomenon that the mowing robot slips when walking on the ground is likely to occur due to uneven ground or damp ground, and if the mowing robot is not timely responded, the mowing robot is always in a slipping state, so that the working efficiency of the mowing robot is reduced. Similarly, when the mowing robot walks on a slope with a certain gradient, the mowing robot is prone to sideslip or landslide, and if the mowing robot is not timely responded, the mowing robot is in a state of sideslip or landslide for a long time, and therefore the working efficiency of the mowing robot is reduced.

Disclosure of Invention

In order to overcome the defects in the prior art, the invention aims to provide a mowing robot with more accurate fault judgment and a control method of the mowing robot.

In order to achieve the above object, the present invention adopts the following technical solutions:

a lawn mowing robot comprising: a mowing element; a body for supporting a mowing element; the driving assembly comprises a walking wheel for supporting the body to drive the body to walk on the ground and a motor connected with the walking wheel to drive the walking wheel to rotate; the first detection module is used for detecting the motion parameters of the machine body of the mowing robot in a period and calculating the first path of the mowing robot in the period; the second detection module is used for detecting the motion parameters of the driving assembly in the period and calculating a second path of the mowing robot in the period; the fault judgment module is used for judging whether the difference value between the second route and the first route is greater than or equal to a first preset value or not; the execution module drives the mowing robot to execute a response program; the control module is respectively connected with the fault judgment module and the execution module; when the difference value between the second journey and the first journey in each cycle of n1 continuous cycles is larger than or equal to a first preset value, the control module controls the execution module to execute the response program.

In one embodiment, the control module controls the execution module to execute the response routine when the number of cycles in which the difference between the second journey and the first journey is greater than or equal to a first preset value is greater than or equal to n2 in consecutive n2 to n3 cycles.

In one embodiment, the execution module comprises: and the alarm module is used for sending an alarm signal to a user.

In one embodiment, the execution module includes: and the obstacle avoidance module is used for controlling the mowing robot to perform action response.

In one embodiment, the mowing robot further comprises: the setting module is connected with the fault judging module; the setting module is used for setting the size of the first preset value.

In one embodiment, the fault judgment module further judges whether the difference value between the first route and the second route is greater than or equal to a second preset value; when the difference value between the first journey and the second journey in each cycle of k1 continuous cycles is larger than or equal to a second preset value, the control module controls the execution module to execute the response program.

In one embodiment, the fault judgment module further judges whether the difference value between the first route and the second route is greater than or equal to a second preset value; wherein, when the number of the periods that the difference value between the first journey and the second journey is larger than or equal to the second preset value in the continuous k2 to k3 periods is larger than or equal to k2, the control module controls the execution module to execute the response program.

A lawn mowing robot comprising: a mowing element; a body for supporting a mowing element; the driving assembly comprises a walking wheel for supporting the body to drive the body to walk on the ground and a motor connected with the walking wheel to drive the walking wheel to rotate; the first detection module is used for detecting the motion parameters of the machine body of the mowing robot in a period and calculating the first path of the mowing robot in the period; the second detection module is used for detecting the motion parameters of the driving assembly in the period and calculating a second path of the mowing robot in the period; the fault judgment module is used for judging whether the difference value between the second route and the first route is more than or equal to a preset value or not; the execution module drives the mowing robot to execute a response program; the control module is respectively connected with the fault judgment module and the execution module; wherein, when the number of the periods that the difference value between the second journey and the first journey is larger than or equal to the preset value in the continuous n 1-n 2 periods is larger than or equal to n1, the control module controls the execution module to execute the response program.

A lawn mowing robot comprising: a mowing element; a body for supporting a mowing element; the driving assembly comprises a walking wheel for supporting the body to drive the body to walk on the ground and a motor connected with the walking wheel to drive the walking wheel to rotate; the first detection module is used for detecting the motion parameters of the machine body of the mowing robot in a period and calculating the first path of the mowing robot in the period; the second detection module is used for detecting the motion parameters of the driving assembly in the period and calculating a second path of the mowing robot in the period; the fault judgment module is used for judging whether the difference value between the first route and the second route is greater than or equal to a preset value or not; the execution module drives the mowing robot to execute a response program; the control module is respectively connected with the fault judgment module and the execution module; when the difference value between the first distance and the second distance in each period of k1 continuous periods is greater than or equal to a preset value, the control module controls the execution module to execute the response program.

A lawn mowing robot comprising: a mowing element; a body for supporting a mowing element; the driving assembly comprises a walking wheel for supporting the body to drive the body to walk on the ground and a motor connected with the walking wheel to drive the walking wheel to rotate; the first detection module is used for detecting the motion parameters of the machine body of the mowing robot in a period and calculating the first path of the mowing robot in the period; the second detection module is used for detecting the motion parameters of the driving assembly in the period and calculating a second path of the mowing robot in the period;

the fault judgment module is used for judging whether the difference value between the first route and the second route is greater than or equal to a preset value or not;

the execution module drives the mowing robot to execute a response program;

the control module is respectively connected with the fault judgment module and the execution module;

wherein, when the number of the periods that the difference value between the first journey and the second journey is larger than or equal to the preset value in the continuous k 1-k 2 periods is larger than or equal to k1, the control module controls the execution module to execute the response program.

A control method of a mowing robot comprises a body and a driving assembly, wherein the driving assembly comprises a walking wheel for supporting the body to drive the body to walk on the ground and a motor connected with the walking wheel to drive the walking wheel to rotate, and the control method comprises the following steps: detecting the motion parameters of the machine body of the mowing robot in a period, calculating a first path of the mowing robot in the period, detecting the motion parameters of the driving component in the period, and calculating a second path of the mowing robot in the period; judging whether the difference value between the second distance and the first distance in each period of n1 continuous periods is larger than or equal to a preset value; and when the difference value between the second distance and the first distance in each cycle of n1 continuous cycles is larger than or equal to a preset value, controlling the mowing robot to execute a response program.

A control method of a mowing robot comprises a body and a driving assembly, wherein the driving assembly comprises a walking wheel for supporting the body to drive the body to walk on the ground and a motor connected with the walking wheel to drive the walking wheel to rotate, and the control method comprises the following steps: detecting the motion parameters of the robot body of the mowing robot in a period, calculating a first path of the mowing robot in the period, detecting the motion parameters of a driving assembly in the period, and calculating a second path of the mowing robot in the period, judging whether the number of the periods of which the difference value between the second path and the first path is more than or equal to a preset value in n 1-n 2 continuous periods is more than or equal to n 1; and controlling the mowing robot to execute a response program when the number of the periods of which the difference between the second path and the first path is greater than or equal to n1 in the continuous n 1-n 2 periods is greater than or equal to the preset value.

A control method of a mowing robot comprises a body and a driving assembly, wherein the driving assembly comprises a walking wheel for supporting the body to drive the body to walk on the ground and a motor connected with the walking wheel to drive the walking wheel to rotate, and the control method comprises the following steps: detecting the motion parameters of the machine body of the mowing robot in a period, calculating a first path of the mowing robot in the period, detecting the motion parameters of a driving component in the period, and calculating a second path of the mowing robot in the period, judging whether the difference value between the first path and the second path in each period of k1 continuous periods is more than or equal to a preset value or not; and when the difference value between the first distance and the second distance in each period of k1 continuous periods is greater than or equal to a preset value, controlling the mowing robot to execute a response program.

A control method of a mowing robot comprises a body and a driving assembly, wherein the driving assembly comprises a walking wheel for supporting the body to drive the body to walk on the ground and a motor connected with the walking wheel to drive the walking wheel to rotate, and the control method comprises the following steps: detecting the motion parameters of the robot body of the mowing robot in a period, calculating a first path of the mowing robot in the period, detecting the motion parameters of a driving assembly in the period, and calculating a second path of the mowing robot in the period, judging whether the number of the periods of which the difference value between the first path and the second path is more than or equal to a preset value in k 1-k 2 continuous periods is more than or equal to k 1; and controlling the mowing robot to execute a response program when the number of the periods of which the difference between the first path and the second path is greater than or equal to the preset value is greater than or equal to k1 in the continuous k 1-k 2 periods.

The invention has the advantages that: through the detection and judgment of a plurality of cycles, the fault judgment accuracy of the mowing robot is higher.

Drawings

FIG. 1 is a perspective view of a lawn mowing robot in one embodiment;

FIG. 2 is a plan view of the lawn mowing robot of FIG. 1 traveling within a boundary line area;

FIG. 3 is a block diagram of the lawn mowing robot of FIG. 1;

FIG. 4 is a flow chart of a method of correcting the path of the lawn mowing robot of FIG. 1;

FIG. 5 is a flow chart of another method of modifying the path of the lawn mowing robot of FIG. 1;

fig. 6 is a flowchart of a method of determining a slip phenomenon of the robot lawnmower of fig. 1;

FIG. 7 is a flow chart of another method of determining a hydroplaning phenomenon of the lawn mowing robot of FIG. 1;

fig. 8 is a flowchart of a method of determining a side-slip phenomenon or a landslide phenomenon of the robot lawnmower of fig. 1;

fig. 9 is a flowchart of another method of determining a side-slip phenomenon or a landslide phenomenon of the robot lawnmower of fig. 1.

Detailed Description

The lawn mowing robot 100 shown in fig. 1 is used as an outdoor walking power tool, and is generally used for trimming grass, weeds, and other vegetation outdoors. The mowing robot 100 can automatically walk outdoors without a user pushing the mowing robot with a hand, and the mowing robot 100 can automatically trim the lawn according to a control system of the mowing robot or the user.

As shown in fig. 2, the lawn mowing robot 100 may travel within one boundary line area 200 provided outdoors to cut vegetation. The boundary line region 200 may be bounded by a cable, around which the boundary line region 200 is surrounded. Alternatively, the boundary may be a virtual boundary on the map, and the virtual boundary surrounds the virtual boundary area 200. A charging pile 300 for charging the mowing robot 100 is provided in or on the boundary area 200, and when the mowing robot 100 runs short of electric power, the mowing robot 100 automatically travels to the charging pile 200 to charge.

As shown in fig. 1, the mowing robot 100 includes: mowing element 11, housing 12, running assembly 13, first motor 14, and second motor. The grass cutting element 11 is used for cutting grass on the ground. Housing 12 is used to support mowing element 11, running assembly 13, first motor 14, and second motor. The traveling assembly 13 includes a first traveling wheel 131, the first traveling wheel 131 is connected to the first motor 14, and the first motor 14 drives the first traveling wheel 131 to rotate. The traveling assembly 13 further includes a second traveling wheel mounted to the front side of the housing 12, the second traveling wheel not being connected to the first motor 14. That is, the first motor 14 drives only the first road wheel 131 to rotate, and the second road wheel serves the purpose of auxiliary support and walking. It will be appreciated that in other embodiments, the mowing robot 100 may also include a plurality of first motors 14 that drive the first road wheel 131 and the second road wheel, respectively. The second motor is used for driving the mowing element 11 to rotate so as to realize a mowing function. In other embodiments, the mowing robot 100 may comprise only one motor, which drives the walking assembly 13 and also the mowing element 11. In the present embodiment, the first traveling wheel 131 and the first motor 14 that drives the first traveling wheel 131 as a whole are considered as the driving unit 15 for driving the lawn mowing robot 100 to travel on the ground.

As shown in fig. 3, the robot lawnmower 100 further includes a first detection module 161 and a second detection module 162, the first detection module 161 is configured to detect a motion parameter of the main body 10a of the robot lawnmower 100 during a period T and calculate a first distance Δ S1 of the robot lawnmower 100 during the period T, and the second detection module 162 is configured to detect a motion parameter of the driving assembly 15 during the period T and calculate a second distance Δ S2 of the robot lawnmower 100 during the period T. The main body 10a of the mowing robot 100 can be understood as a motion parameter of the whole mowing robot. Specifically, at the time of detection, the first detection module 161 may derive the movement parameter of the body 10a of the robot lawnmower 100 by detecting the movement parameter of the housing 12, or the first detection module 161 may derive the movement parameter of the body 10a of the robot lawnmower 100 by detecting the movement parameter of another part that advances or retreats in synchronization with the housing 12. Specifically, the motion parameter of the fuselage 10a may specifically be the acceleration of the fuselage 10a, the attitude of the fuselage 10a, or the like, and the first distance Δ S1 of the movement of the fuselage 10a is finally calculated. It will be appreciated that during a short length of the cycle T, the first path Δ S1 calculated by detecting the movement parameters of the main body 10a is substantially the same as the actual path of movement of the robot lawnmower 100 during the cycle. The second detection module 162 may calculate the second distance Δ S2 of the robot lawnmower 100 by detecting the motion parameter of the first motor 14, or the second detection module 162 may calculate the second distance Δ S2 of the robot lawnmower 100 by detecting the motion parameter of the first traveling wheel 131.

When the robot lawnmower 100 is normally traveling on the ground, the first path Δ S1 and the second path Δ S2 are substantially the same during the short period T, and the actual path of the robot lawnmower 100 may be calculated from the first path Δ S1 or the second path Δ S2. On the other hand, when the robot lawnmower 100 slips, or landslides while traveling on the ground, the first route Δ S1 and the second route Δ S2 of the robot lawnmower 100 in one cycle T are different. Here, the slip phenomenon means that the first traveling wheel 131 normally rotates by the driving of the first motor 14, but the robot lawnmower 100 stops traveling, or the distance traveled by the robot lawnmower 100 is shorter than the distance traveled by the robot lawnmower 100 driven by the first traveling wheel 131, that is, the first traveling wheel 131 idles. Specifically, when the robot lawnmower 100 is walking outdoors, if the robot lawnmower 100 is walking on uneven ground, the first traveling wheel 131 may be idle by a raised obstacle on the ground, and thus the robot lawnmower 100 is likely to slip. Alternatively, when the robot lawnmower 100 travels on a wet ground, the friction between the ground and the traveling unit 13 is small, and at this time, the first traveling wheel 131 is likely to slip, and at this time, the robot lawnmower 100 may slip. When the robot lawnmower 100 is on a ground surface having a certain slope, particularly, when the ground surface is wet, if the body 10a moves but the first traveling wheel 131 does not rotate, it can be determined that the robot lawnmower 100 may have a landslide phenomenon or a side slip phenomenon.

In this embodiment, the robot lawnmower 100 further includes a failure determination module 17, a correction module 181, a control module 182, and an execution module 19. The fault determining module 17 is connected to the first detecting module 161, the fault determining module 17 is further connected to the second detecting module 162, and the fault determining module 17 can determine whether a difference between the second route Δ S2 and the first route Δ S1 is greater than or equal to a first preset value C1. The correction module 181 is used to correct the actual distance of the mowing robot 100. The control module 182 is connected to the failure determination module 17, and the control module 182 is further connected to the execution module 19. When the difference between the second route Δ S2 and the first route Δ S1 is greater than or equal to the first preset value C1, the control module 182 controls the correction module 181 to correct the actual route of the robot mower 100 to be the sum of the initial route at the beginning of the period T and the first route Δ S1. Specifically, the fault determining module 17 includes a first fault determining module 171, and the first fault determining module 171 is mainly used for determining a problem that the mowing robot 100 may implement a slipping phenomenon.

When the robot lawnmower 100 slips, the first distance Δ S1 is closer to the actual distance traveled by the robot lawnmower 100 during the period T, and the second distance Δ S2 is greater than the actual distance traveled by the robot lawnmower 100, so that the actual distance traveled by the robot lawnmower 100 is corrected to the sum of the initial distance at the beginning of the period T and the first distance Δ S1, which makes it possible to calculate the distance traveled by the robot lawnmower 100 more accurately. Meanwhile, in the present embodiment, the first route Δ S1 and the second route Δ S2 are both detected within a certain period T, so that the robot lawnmower 100 can cyclically correct the routes by setting the period T, and the real-time route calculation of the robot lawnmower 100 is more accurate. Further, it is known that even when the robot lawnmower 100 is normally traveling on the floor, the first route Δ S1 may not be completely the same as the actual route of the robot lawnmower 100 due to the limitation of the detection accuracy of the first detection module 161, and similarly, the second route Δ S2 may not be completely the same as the actual route of the robot lawnmower 100 due to the limitation of the detection accuracy of the second detection module 162. Therefore, the condition of the fault determination is set to be whether or not the difference between the second route Δ S2 and the first route Δ S1 is equal to or greater than the first preset value C1, and the first preset value C1 is also greater than 0, so that the actual route of the mowing robot 100 can be prevented from being corrected inaccurately.

The fault determination module 17 further includes a second fault determination module 172. The second fault determining module 172 is connected to the first detecting module 161 and the second detecting module 162, and the second fault determining module 172 is configured to determine whether a difference between the first route Δ S1 and the second route Δ S2 is greater than or equal to a second preset value C2. When the difference between the first route Δ S1 and the second route Δ S2 is greater than or equal to the second preset value C2, the control module 182 controls the correction module 181 to correct the actual route of the robot mower 100 to the sum of the initial route at the beginning of the period T and the first route Δ S1.

Specifically, when the robot lawnmower 100 has a side-slip phenomenon or a landslide phenomenon, the first path Δ S1 is closer to the actual path of the robot lawnmower 100 moving in the period T, and the second path Δ S2 is smaller than the actual path of the robot lawnmower 100, so that the actual path of the robot lawnmower 100 is corrected to the sum of the initial path at the beginning of the period T and the first path Δ S1, which makes it possible to calculate the path of the robot lawnmower 100 more accurately. Meanwhile, in the present embodiment, the first route Δ S1 and the second route Δ S2 are both detected within a certain period T, so that the robot lawnmower 100 can cyclically correct the routes by setting the period T, and the real-time route calculation of the robot lawnmower 100 is more accurate. Further, it is known that even when the robot lawnmower 100 is normally traveling on the floor, the first route Δ S1 may not be completely the same as the actual route of the robot lawnmower 100 due to the limitation of the detection accuracy of the first detection module 161, and similarly, the second route Δ S2 may not be completely the same as the actual route of the robot lawnmower 100 due to the limitation of the detection accuracy of the second detection module 162. Therefore, the condition of the fault determination is set to be whether or not the difference between the first route Δ S1 and the second route Δ S2 is equal to or greater than the second preset value C2, and the second preset value C2 is also greater than 0, so that the actual route of the mowing robot 100 can be prevented from being corrected inaccurately.

It is understood that the cycle T of the first route Δ S1 detected based on the slip phenomenon and the cycle T of the first route Δ S1 detected based on the side slip phenomenon may be different from each other, and thus the actual route of the robot lawnmower 100 can be further accurately detected according to the operating condition of the robot lawnmower 100. For example, in one embodiment, the robot lawnmower 100 includes two first detection modules 161 and two second detection modules 162, the two first detection modules 161 are capable of detecting the movement parameters of the main body 10a of the robot lawnmower 100 in different periods T, respectively, and the two second detection modules 162 are also capable of detecting the movement parameters of the driving assembly 15 in different periods T, respectively.

As shown in fig. 4, the method for correcting the route of the mowing robot 100 includes the steps of:

p1, detecting the movement parameters of the main body 10a of the robot mower 100 in a period T and calculating a first distance Δ S1 of the robot mower 100 in the period T, and detecting the movement parameters of the driving unit 15 in the period T and calculating a second distance Δ S2 of the robot mower 100 in the period. Specifically, in one cycle T, the first detection module 161 detects the movement parameter of the main body 10a of the robot lawnmower 100 from time T1 at the start of the cycle T and calculates a first route Δ S1 generated by the robot lawnmower 100 during the cycle T, where the route on which the robot lawnmower 100 has already traveled at time T1 is an initial route St1, and the second detection module 162 detects the movement parameter of the drive unit 15 from time T1 at the start of the cycle T and calculates a second route Δ S2 generated by the robot lawnmower 100 during the cycle T.

P2, judging whether the difference value between the second journey delta S2 and the first journey delta S1 is larger than or equal to a first preset value C1. The first fault determining module 171 receives the data detected by the first detecting module 161 and the second detecting module 162, and then determines whether the difference between the second route Δ S2 and the first route Δ S1 is greater than or equal to a first preset value C1, that is, whether the formula is satisfied:

△S2-△S1≥C1；

and when the difference value between the second journey Delta S2 and the first journey C is larger than or equal to a first preset value C1, continuing to the next step. And when the difference value between the second journey delta S2 and the first journey delta S1 is smaller than the first preset value C1, returning to the step P1 to continue the detection.

P3, the actual course St2 of the robot lawnmower 100 is corrected to the sum of the initial course St1 at the start of the cycle T and Δ S1 of the first course. When the first fault determining module 171 determines that the difference between Δ S2 and Δ S1 is greater than or equal to the first preset value C1, the determination result is sent to the control module 182, and the control module 182 controls the correcting module 181 to correct the actual distance of the mowing robot 100. Specifically, the correction module 181 corrects the actual distance St2 from the time point T2 when the robot lawnmower 100 travels to the end of the cycle T to the sum of the initial distance St1 and the first distance Δ S1 at the start of the cycle T, that is, corrects the actual distance St2 at the time point T2 according to the following formula:

St2= St1+△S1；

and when the difference value between the second journey delta S2 and the first journey delta S1 is smaller than the first preset value C1, returning to the step P1 to continue the detection.

As shown in FIG. 5, a step P21 is further included between step P2 and step P1. Specifically, the method comprises the following steps: when the difference between the second route Δ S2 and the first route Δ S1 is smaller than the first preset value C1, further determining whether the difference between the first route Δ S1 and the second route Δ S2 is greater than or equal to a second preset value C2, that is, determining whether the formula is satisfied:

△S1-△S2≥C2；

when the difference between the first route Δ S1 and the second route Δ S2 is equal to or greater than the second preset value C2, the process proceeds to step P3, and the correction module 181 corrects the actual route St2 of the robot lawnmower 100 at time T2 when the cycle T ends to the sum of the initial route St1 and the first route Δ S1 at the start of the cycle T. If the difference between the first journey Δ S1 and the second journey Δ S2 is smaller than the second preset value C2, the method returns to step P1 to continue the detection. It should be noted that, as will be appreciated, there is no sequential order between step P2 and step P21. In other implementations, the comparison may be performed first with step P21 and then with step P2.

When the difference between the second route Δ S2 and the first route Δ S1 is smaller than the first preset value C1, and the difference between the first route Δ S1 and the second route Δ S2 is smaller than the second preset value C2, the correction module 181 fuses the first route Δ S1 and the second route Δ S2 to obtain a fused route Δ S, and then the correction module 181 corrects the actual route St2 of the mowing robot 100 at the time t2 to the sum of the initial route St1 and the fused route Δ S. Namely:

△S=f(△S1, △S2);

in this way, the detection accuracy of the first detection module 161 and the detection accuracy of the second detection module 162 can be simultaneously achieved, and the detection accuracy of the distance of the lawn mowing robot 100 can be further improved.

In this embodiment, the first detection module 161 is an inertial measurement unit, and the second detection module 162 is an odometer. In this way, when the robot lawnmower 100 travels for a long time, the inertial measurement unit will correct the detection result as errors accumulate, and the detection result of the inertial measurement unit is more accurate in a shorter period T. Therefore, in some other embodiments, when the difference between the second route Δ S2 and the first route Δ S1 is smaller than the first preset value C1, and the difference between the first route Δ S1 and the second route Δ S2 is also smaller than the second preset value C2, the correction module 181 corrects the actual route St2 of the mowing robot 100 at the time t2 to the sum of the initial route St1 and the second route Δ S2.

In this embodiment, the period T of detection by the first detection module 161 is equal to or greater than 1 millisecond and equal to or less than 100 milliseconds. In this way, the accuracy of detection of the actual distance of the mowing robot 100 can be improved. Further, the period T is 10 milliseconds or more and 50 milliseconds or less, which can avoid the problem that the program is prone to error due to too frequent detection, and can reduce the length of the detection period, so that the detection accuracy of the actual distance is further improved.

The size of the first preset value C1 can be adjusted or set, so that the size of the first preset value C1 can be adjusted in real time according to the actual conditions of the robot mower 100 and the operating conditions, and the detection accuracy of the actual path of the robot mower 100 is improved. Specifically, in the present embodiment, the robot lawnmower 100 further includes a first setting module 173 for setting a first preset value C1. The first setting module 173 is connected to the first failure determining module 171, and the first setting module 173 can set the first default value C1 in real time. In this embodiment, when the difference between the second route Δ S2 and the first route Δ S1 in the consecutive first number of cycles T is greater than or equal to the first preset value C1, the error of the actual route corrected by the correction module 181 according to the first route Δ S1 detected by the first detection module 161 will increase continuously, and at this time, the first setting module 173 changes the size of the first preset value C1 according to the change of the first number, so as to reduce the detected error. Further, the first setting module 173 increases the magnitude of the first preset value C1 according to the increase of the first number.

In some embodiments, the magnitude of the first preset value C1 may also be changed according to a change in the traveling speed of the lawn mowing robot 100. When the traveling speed of the robot lawnmower 100 is high, the error between the detected first course Δ S1 and the detected second course Δ S2 increases. Therefore, when the traveling speed of the robot lawnmower 100 increases, the first setting module 173 may increase the first preset value C1. Specifically, the first preset value C1 is a first numerical value when the body 10a of the robot lawnmower 100 has a first traveling speed, and the first preset value C1 is a second numerical value when the body 10a of the robot lawnmower 100 has a second traveling speed. The first value is greater than the second value when the first travel speed is greater than the second travel speed.

In other embodiments, the first preset value C1 may also vary with the variation of the first route Δ S1. Specifically, the method is described. The first preset value C1 when the first distance Δ S1 of the robot lawnmower 100 within the cycle T is a first value is greater than the first preset value C1 when the first distance Δ S1 of the robot lawnmower 100 within the cycle T is a second value, wherein the first value is greater than the second value.

Likewise, the size of the second preset value C2 may be adjusted or set, so that the size of the second preset value C2 may be adjusted in real time according to the actual conditions of the robot lawnmower 100 and the operating conditions, thereby improving the detection accuracy of the actual distance of the robot lawnmower 100. Specifically, in the present embodiment, the robot lawnmower 100 further includes a second setting module 174 for setting a second preset value C2. The second setting module 174 is connected to the second failure determination module 172, and the second setting module 174 can set the size of the second preset value C2 in real time. In this embodiment, when the difference between the first route Δ S1 and the second route Δ S2 in the consecutive first number of cycles T is greater than or equal to the second preset value C2, the error of the actual route corrected by the correction module 181 according to the first route Δ S1 detected by the first detection module 161 will increase continuously, and at this time, the second setting module 174 changes the size of the second preset value C2 according to the change of the first number, so as to reduce the detected error. Further, the second setting module 174 increases the second preset value C2 according to the increase of the first number.

In some embodiments, the magnitude of the second preset value C2 may also be changed according to a change in the traveling speed of the lawn mowing robot 100. When the traveling speed of the robot lawnmower 100 is high, the error between the detected first course Δ S1 and the detected second course Δ S2 increases. Therefore, when the traveling speed of the robot lawnmower 100 increases, the setting module may increase the second preset value C2. Specifically, the second preset value C2 is a first value when the body 10a of the robot lawnmower 100 has a first traveling speed, and the second preset value C2 is a second value when the body 10a of the robot lawnmower 100 has a second traveling speed. The first value is greater than the second value when the first travel speed is greater than the second travel speed.

In other embodiments, the second preset value C2 may also vary with the variation of the first route Δ S1. Specifically, the method is described. The second preset value C2 when the first distance Δ S1 of the robot lawnmower 100 within the cycle T is a first value is greater than the second preset value C2 when the first distance Δ S1 of the robot lawnmower 100 within the cycle T is a second value, wherein the first value is greater than the second value.

In this way, the correction method for correcting the route of the mowing robot 100 further includes the steps of: the magnitude of the first preset value C1 is set according to a change in one motion parameter of the robot lawnmower 100. As described above, the motion parameter may be the traveling speed of the main body 10a of the robot lawnmower 100 or the first distance Δ S1 within one cycle T, or the motion parameter may be the number of consecutive cycles T in which the difference between the first distance Δ S1 and the second distance Δ S2 is equal to or greater than the first preset value C1.

The robot lawnmower 100 can also include an execution module 19, and the execution module 19 is configured to execute a response program. When the difference between the second journey Δ S2 and the first journey Δ S1 in each cycle T of n1 consecutive cycles T is greater than or equal to the first preset value C1, the control module 182 controls the execution module 19 to execute the response procedure. I.e. in n1 consecutive periods T, the formula is satisfied in each period T:

△S2-△S1≥C1。

specifically, when the difference between the second route Δ S2 and the first route Δ S1 is greater than or equal to the first preset value C1 in n1 consecutive periods T, the first fault determination module 171 determines that the mowing robot 100 slips. In this embodiment, the number of consecutive periods T satisfying that the difference between the second route Δ S2 and the first route Δ S1 is greater than or equal to the first preset value C1 is set, so that the accuracy of the determination by the first fault determination module 171 can be improved, and the false determination rate can be reduced. It is known that, during the actual driving process of the robot lawnmower 100, the robot lawnmower 100 usually walks on the lawn, but the lawn is generally not flat enough, and then the robot lawnmower 100 is easy to satisfy that the difference between the second route Δ S2 and the first route Δ S1 is greater than or equal to the first preset value C1 in a short period T. If the robot lawnmower 100 is caused to execute the response program, it is likely that the robot lawnmower 100 is always executing the response program, or the robot lawnmower 100 executes the response program immediately after starting, which obviously affects the operation of the robot lawnmower 100 greatly and reduces the work efficiency. In the present embodiment, the number of consecutive cycles T satisfying the condition that the difference between the second route Δ S2 and the first route Δ S1 is greater than or equal to the first preset value C1 is set, so that the problem that the mowing robot 100 executes the response procedure even when the mowing robot does not slip or the slip time is negligible can be avoided, and the work efficiency is improved. On the other hand, when the first failure determining module 171 determines that the robot mower 100 slips, the executing module 19 executes the response program to prevent the robot mower 100 from slipping all the time, thereby preventing the mowing efficiency from being affected.

In this embodiment, the executing module 19 may include an alarm module 191, and when the first fault determining module 171 determines that the robot mower 100 slips, the alarm module 191 may send an alarm signal to the user in time. The alarm signal may be a sound signal, so that when the alarm module 191 generates the sound signal, if the user does not get near the robot lawnmower 100 but does other things indoors, the user can timely hear the sound signal that the robot lawnmower 100 has a fault, so that the user can timely catch up to make the robot lawnmower 100 get out of distress, thereby improving the work efficiency of the robot lawnmower 100. Or, the alarm signal is an optical signal, so that when the robot mower 100 is in a dark environment or a noisy environment, the user can timely find that the robot mower 100 is out of order, and timely detach the robot mower 100 from the predicament. Still alternatively, the warning signal may be a warning mark appearing on a display screen of the mowing robot 100 itself. Still alternatively, the alarm module 191 may directly transmit an alarm signal to a mobile phone or a computer or other devices at the user end, so that the user can more easily find that the robot mower 100 has a fault.

In this embodiment, the execution module 19 further includes an obstacle avoidance module 192, and when the first failure determination module 171 determines that the robot mower 100 slips, the obstacle avoidance module 192 controls the robot mower 100 to respond, so that the robot mower 100 automatically leaves the predicament. The action response may be to stop the robot lawnmower 100, to move the robot lawnmower 100 backward, to turn the robot lawnmower 100, to change the traveling speed of the robot lawnmower 100, or the like. Finally, the robot lawnmower 100 responds to the movement so that the robot lawnmower 100 does not slip. It can be understood that the obstacle avoidance module 192 controls the robot mower 100 to perform the action response, or the alarm module 191 sends the alarm signal, which is considered that the execution module 19 executes the response procedure.

It is known that during the slipping of the mowing robot 100, there may exist a difference between the second distance Δ S2 and the first distance Δ S1 within a certain period T, which is smaller than the first preset value C1. Therefore, the first fault determination module 171 can also determine whether the number of the periods T in which the difference between the second trip Δ S2 and the first trip Δ S1 is greater than or equal to the first preset value C1 is greater than or equal to n2 within the consecutive n2 to n3 periods T. When the number of the periods T in which the difference between the second route Δ S2 and the first route Δ S1 is equal to or greater than the first preset value C1 is equal to or greater than n2 in the consecutive n2 to n3 periods T, the control module 182 controls the execution module 19 to execute the response routine. Therefore, omission of fault judgment can be avoided, and the accuracy of judgment of the slipping phenomenon is improved. In the present embodiment, n1 is smaller than n2, and n2 is smaller than n3, which makes the failure judgment more reasonable. Specifically, over successive n2 to n3 periods T, where the formula is satisfied: the number of the periods T of which the delta S2-delta S1 is more than or equal to n2 is larger than or equal to C1, namely the slipping phenomenon of the mowing robot 100 is considered to occur. It can be understood that if the ratio of the number of periods T, which satisfy the requirement that the difference between the second stretch Δ S2 and the first stretch Δ S1 is greater than or equal to the first preset value C1, to n3 is greater than or equal to a preset value within consecutive n2 to n3 periods T, it is also considered to be an indirect judgment whether the number of periods T, which satisfy the requirement that the difference between the second stretch Δ S2 and the first stretch Δ S1 is greater than or equal to the first preset value C1, is greater than or equal to n 2.

The second fault determining module 172 can further determine whether a difference between the first route Δ S1 and the second route Δ S2 is greater than or equal to a second preset value C2. When the difference between the first stretch Δ S1 and the second stretch Δ S2 in each of k1 consecutive cycles T is greater than or equal to the second preset value C2, the control module 182 controls the execution module 19 to execute the response routine. I.e. in k1 consecutive periods T, the formula is satisfied in each period T:

△S1-△S2≥C2。

specifically, when the difference between the first route Δ S1 and the second route Δ S2 is greater than or equal to the second preset value C2 in k1 consecutive periods T, the second fault determination module 172 determines that the lawn mowing robot 100 has a side-slipping phenomenon or a landslide phenomenon. In this embodiment, the number of consecutive periods T satisfying that the difference between the first route Δ S1 and the second route Δ S2 is greater than or equal to the second preset value C2 is set, so that the accuracy of the judgment by the second fault judgment module 172 can be improved, and the false judgment rate can be reduced. It is known that, during the actual driving process of the robot lawnmower 100, the robot lawnmower 100 usually walks on the lawn, but the lawn is generally not flat enough, and then the robot lawnmower 100 is easy to satisfy that the difference between the first route Δ S1 and the second route Δ S2 is greater than or equal to the second preset value C2 in a short period T. If the robot lawnmower 100 is caused to execute the response program, it is likely that the robot lawnmower 100 is always executing the response program, or the robot lawnmower 100 executes the response program immediately after starting, which obviously affects the operation of the robot lawnmower 100 greatly and reduces the work efficiency. In the embodiment, the number of the continuous periods T satisfying that the difference values between the first route Δ S1 and the second route Δ S2 are both greater than or equal to the second preset value C2 is set, so that the problem that the mowing robot 100 executes a response procedure even when the mowing robot does not sideslip or when the sideslip time is negligible can be solved, and the working efficiency is improved. On the other hand, when the second fault determination module 172 determines that the robot mower 100 has the side-slipping phenomenon or the landslide phenomenon, the execution module 19 executes the response procedure to prevent the robot mower 100 from being in the side-slipping state or the landslide state all the time, thereby preventing the mowing efficiency from being affected.

Similarly, when the second fault determination module 172 determines that the robot mower 100 has a side-slipping phenomenon or a landslide phenomenon, the alarm module 191 may send an alarm signal, or the obstacle avoidance module 192 may control the robot mower 100 to perform an action response.

When the robot mower 100 has a sideslip phenomenon or a landslide phenomenon, there may be a difference between the first route Δ S1 and the second route Δ S2 being smaller than the second preset value C2 within a certain period T. Therefore, the second fault determination module 172 can also determine whether the number of the periods T, in which the difference between the first trip Δ S1 and the second trip Δ S2 is greater than or equal to the second preset value C2, is greater than or equal to k2 within the consecutive k2 to k3 periods T. When the number of the periods T of which the difference between the first route Δ S1 and the second route Δ S2 is greater than or equal to the second preset value C2 is greater than or equal to k2 in the consecutive k2 to k3 periods T, the control module 182 controls the execution module 19 to execute the response routine. Therefore, omission of fault judgment can be avoided, and accuracy of judgment of the sideslip phenomenon or the landslide phenomenon is improved. In the present embodiment, k1 is smaller than k2, and k2 is smaller than k3, which makes the failure judgment more reasonable. Specifically, in the consecutive k2 to k3 periods T, the number of the periods T satisfying that the difference between the first route Δ S1 and the second route Δ S2 is greater than or equal to the second preset value C2 is greater than or equal to k2, that is, the lawn mowing robot 100 is considered to have the sideslip phenomenon or the landslide phenomenon. It can be understood that if the ratio of the number of periods T satisfying the difference between the first route Δ S1 and the second route Δ S2 being equal to or greater than the second preset value C2 to k3 is equal to or greater than a preset value within the consecutive k2 to k3 periods T, it is also considered to be an indirect judgment whether the number of periods T satisfying the difference between the first route Δ S1 and the second route Δ S2 being equal to or greater than the second preset value C2 is equal to or greater than k 2.

As shown in fig. 6, a method for controlling the robot lawnmower 100, specifically a method for determining whether the robot lawnmower 100 slips and how to respond, includes the following steps:

q1, detecting the movement parameters of the robot body 10a of the robot mower 100 in a period T and calculating the first distance Δ S1 of the robot mower 100 in the period T, and detecting the movement parameters of the driving assembly 15 in the period T and calculating the second distance Δ S2 of the robot mower 100 in the period.

Q2, judging whether the difference value between the second journey DeltaS 2 and the first journey DeltaS 1 in each cycle T in the continuous n1 cycles T is larger than or equal to a first preset value C1. When the difference value between the second journey delta S2 and the first journey delta S1 in each cycle T of n1 continuous cycles T is larger than or equal to the first preset value C1, the next step is continued. And when the difference value between the second journey delta S2 and the first journey delta S1 in each cycle T in the continuous n1 cycles T is not larger than or equal to the first preset value C1, returning to the step Q1 again to continue the detection.

Q3, and when the difference value between the second distance and the first distance in each cycle of n1 continuous cycles is larger than or equal to the first preset value, controlling the mowing robot 100 to execute a response program.

As shown in fig. 6, a step Q12 may also be included between step Q1 and step Q2. Specifically, before determining whether the difference between the second stretch Δ S2 and the first stretch Δ S1 in each of n1 consecutive periods T is greater than or equal to the first preset value C1, it may be determined whether the difference between the second stretch Δ S2 and the first stretch Δ S1 in the period T is greater than or equal to the first preset value C1, so that if the difference between the second stretch Δ S2 and the first stretch Δ S1 in a period T is not greater than the first preset value C1, the next period T may be directly returned to the step Q1 to perform the detection, thereby improving the efficiency of the program operation.

As shown in fig. 7, a step Q21 may also be included between step Q2 and step Q3. Specifically, when the difference between the second stretch Δ S2 and the first stretch Δ S1 in n1 consecutive periods T is not satisfied and is equal to or greater than the first preset value C1, it may be further determined whether the number of periods T in which the difference between the second stretch Δ S2 and the first stretch Δ S1 in n2 to n3 consecutive periods T is equal to or greater than the first preset value C1 is equal to or greater than n 2. If so, then the next step Q3 is also taken; if not, go back to step Q1. It is understood that there is no precedence order between step Q2 and step Q21. In other implementations, step Q21 may be performed first, followed by step Q2.

As shown in fig. 8, another control method for controlling the robot lawnmower 100, specifically a method for determining whether the robot lawnmower 100 has a side-slipping phenomenon or a landslide phenomenon and how to respond, includes the following steps:

r1, detecting the movement parameters of the main body 10a of the robot mower 100 during a period T and calculating a first distance Δ S1 of the robot mower 100 during the period T, and detecting the movement parameters of the driving unit 15 during the period T and calculating a second distance Δ S2 of the robot mower 100 during the period T.

R2, judging whether the difference value of the first journey DeltaS 1 and the second journey DeltaS 2 in each period T of the continuous k1 periods T is larger than or equal to a second preset value C2. When the difference value between the first journey delta S1 and the second journey delta S2 in each period T of the k1 continuous periods T is larger than or equal to a second preset value C2, the next step is continued. And when the difference value between the first journey delta S1 and the second journey delta S2 in each period T in the continuous k1 periods T is not larger than or equal to the second preset value C2, returning to the step R1 again to continue the detection.

And R3, when the difference value between the first journey delta S1 and the second journey delta S2 in each cycle T of the continuous k1 cycles T is larger than or equal to a second preset value C2, controlling the mowing robot 100 to execute a response program.

As shown in fig. 8, a step R12 may be further included between the step R1 and the step R2. Specifically, before determining whether the difference between the first route Δ S1 and the second route Δ S2 in each cycle T of k1 consecutive cycles T is greater than or equal to the second preset value C2, it may be determined whether the difference between the first route Δ S1 and the second route Δ S2 in the cycle T is greater than or equal to the second preset value C2, so that if the difference between the first route Δ S1 and the second route Δ S2 in a cycle T is not greater than the second preset value C2, the procedure may be directly returned to step R1 for the next cycle detection, thereby improving the efficiency of the procedure operation.

As shown in fig. 9, a step R21 may be further included between the step R2 and the step R3. Specifically, when the difference between the first route Δ S1 and the second route Δ S2 in k1 consecutive cycles T is not satisfied and is equal to or greater than the second preset value C2, it may be further determined whether the number of cycles T in which the difference between the first route Δ S1 and the second route Δ S2 in k2 to k3 consecutive cycles T is equal to or greater than the second preset value C2 is equal to or greater than k 2. If so, then the next step R3 is also performed; if not, go back to step R1. It is understood that there is no precedence order between step R2 and step R21. In other implementations, step R21 may be performed first, followed by step R2. .

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It should be understood by those skilled in the art that the above embodiments do not limit the present invention in any way, and all technical solutions obtained by using equivalent alternatives or equivalent variations fall within the scope of the present invention.

Claims

1. A lawn mowing robot comprising:

a mowing element;

a body for supporting the mowing element;

the driving assembly comprises a walking wheel for supporting the body to drive the body to walk on the ground and a motor connected with the walking wheel to drive the walking wheel to rotate;

the first detection module is used for detecting the motion parameters of the body of the mowing robot in a period and calculating a first path of the mowing robot in the period;

the second detection module is used for detecting the motion parameters of the driving component in the period and calculating a second path of the mowing robot in the period;

the fault judgment module is used for judging whether the difference value between the second route and the first route is greater than or equal to a first preset value or not;

the execution module drives the mowing robot to execute a response program;

wherein, when the difference between the second route and the first route in each of n1 continuous cycles is greater than or equal to the first preset value, the control module controls the execution module to execute the response program.

2. The robot lawnmower of claim 1, wherein:

when the number of the cycles in which the difference between the second journey and the first journey is greater than or equal to the first preset value in the consecutive n 2-n 3 cycles is greater than or equal to n2, the control module controls the execution module to execute the response program.

3. The robot lawnmower of claim 1, wherein:

the execution module comprises:

and the alarm module is used for sending an alarm signal to a user.

4. The robot lawnmower of claim 1, wherein:

the execution module comprises:

and the obstacle avoidance module is used for controlling the mowing robot to perform action response.

5. The robot lawnmower of claim 1, wherein:

the robot lawnmower further comprises:

the setting module is connected with the fault judging module;

the setting module is used for setting the size of the first preset value.

6. The robot lawnmower of claim 1, wherein:

the fault judgment module also judges whether the difference value between the first route and the second route is greater than or equal to a second preset value;

wherein, when the difference between the first route and the second route in each of k1 continuous cycles is greater than or equal to the second preset value, the control module controls the execution module to execute the response program.

7. The robot lawnmower of claim 1, wherein:

wherein the control module controls the execution module to execute the response routine when the number of cycles in which the difference between the first course and the second course is equal to or greater than the second preset value is equal to or greater than k2 in k2 to k3 consecutive cycles.

8. A lawn mowing robot comprising:

a mowing element;

a body for supporting the mowing element;

the fault judgment module is used for judging whether the difference value between the second route and the first route is more than or equal to a preset value or not;

the execution module drives the mowing robot to execute a response program;

wherein the control module controls the execution module to execute the response routine when the number of cycles in which the difference between the second course and the first course is equal to or greater than the preset value is equal to or greater than n1 in n1 to n2 consecutive cycles.

9. A lawn mowing robot comprising:

a mowing element;

a body for supporting the mowing element;

the fault judgment module is used for judging whether the difference value of the first route and the second route is more than or equal to a preset value or not;

the execution module drives the mowing robot to execute a response program;

wherein, when the difference between the first route and the second route in each of k1 continuous cycles is greater than or equal to the preset value, the control module controls the execution module to execute the response program.

10. A lawn mowing robot comprising:

a mowing element;

a body for supporting the mowing element;

the execution module drives the mowing robot to execute a response program;

wherein the control module controls the execution module to execute the response routine when the number of cycles in which the difference between the first course and the second course is greater than or equal to the preset value is greater than or equal to k1 in k1 to k2 consecutive cycles.

11. A control method of a robot lawnmower, the robot lawnmower comprising a body and a drive assembly, the drive assembly comprising a road wheel supporting the body to drive the body to travel on the ground and a motor connected to the road wheel to drive the road wheel to rotate, the control method comprising the steps of:

detecting the motion parameters of the body of the mowing robot in a period and calculating a first path of the mowing robot in the period, and detecting the motion parameters of the driving component in the period and calculating a second path of the mowing robot in the period;

judging whether the difference value between the second route and the first route in each of n1 continuous cycles is larger than or equal to a preset value;

and when the difference value between the second route and the first route in each cycle of n1 continuous cycles is greater than or equal to the preset value, controlling the mowing robot to execute a response program.

12. A control method of a robot lawnmower, the robot lawnmower comprising a body and a drive assembly, the drive assembly comprising a road wheel supporting the body to drive the body to travel on the ground and a motor connected to the road wheel to drive the road wheel to rotate, the control method comprising the steps of:

judging whether the number of cycles of which the difference value between the second journey and the first journey is more than or equal to a preset value in n 1-n 2 continuous cycles is more than or equal to n 1;

and controlling the mowing robot to execute a response program when the number of the cycles of which the difference between the second route and the first route is greater than or equal to the preset value is greater than or equal to n1 in n 1-n 2 continuous cycles.

13. A control method of a robot lawnmower, the robot lawnmower comprising a body and a drive assembly, the drive assembly comprising a road wheel supporting the body to drive the body to travel on the ground and a motor connected to the road wheel to drive the road wheel to rotate, the control method comprising the steps of:

judging whether the difference value between the first route and the second route in each cycle of k1 continuous cycles is larger than or equal to a preset value;

and when the difference value between the first route and the second route in each cycle of k1 continuous cycles is greater than or equal to the preset value, controlling the mowing robot to execute a response program.

14. A control method of a robot lawnmower, the robot lawnmower comprising a body and a drive assembly, the drive assembly comprising a road wheel supporting the body to drive the body to travel on the ground and a motor connected to the road wheel to drive the road wheel to rotate, the control method comprising the steps of:

judging whether the number of cycles of which the difference value between the first journey and the second journey is more than or equal to a preset value in k 1-k 2 continuous cycles is more than or equal to k 1;

and controlling the mowing robot to execute a response program when the number of the cycles of which the difference value between the first route and the second route is larger than or equal to the preset value in k 1-k 2 continuous cycles is larger than or equal to k 1.