CN114557197A - Chinese character 'hui' type mowing method and storage medium of mower with side cutter head and mower - Google Patents
Chinese character 'hui' type mowing method and storage medium of mower with side cutter head and mower Download PDFInfo
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- CN114557197A CN114557197A CN202210162553.1A CN202210162553A CN114557197A CN 114557197 A CN114557197 A CN 114557197A CN 202210162553 A CN202210162553 A CN 202210162553A CN 114557197 A CN114557197 A CN 114557197A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D91/00—Methods for harvesting agricultural products
- A01D91/04—Products growing above the soil
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/835—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes
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Abstract
The invention relates to a Chinese character 'hui' type mowing method of a mower with a side-mounted cutter head, a storage medium and a mower. The method comprises the following steps: s1, obtaining a mowing area map of the area to be mowed; s2, the cutter disc of the mower is biased to one side to face the boundary line of the mowing area map, and the mower carries out mowing operation along the boundary line of the mowing area map; s3, moving the mower to the mowing area map by a preset width after the mower moves along the mowing area map for a circle, keeping the preset width with the previous circle of travelling path for mowing, and enabling the preset width to be not more than the cutter head coverage width; and S4, repeating the step S3 until the mowing area map is completely covered. The mower with the side cutter disc provided by the invention performs mowing operation by using the zigzag path, so that the phenomenon of edge missing cutting is effectively reduced, and the edge mowing quality is improved.
Description
Technical Field
The invention relates to the field of mowers, in particular to a Chinese character 'hui' type mowing method of a mower with a side-mounted cutter head, a storage medium and a mower.
Background
An automatic mowing robot (mower) includes a planned mower capable of autonomously planning a mowing path and performing mowing work along the planned path. The cutter head of the existing mower is positioned in the center (or close to the center) of the machine body, and the size of the cutter head and the size of the machine body are required in a certain proportion based on safety specification requirements, so that the edge of the cutter head has a certain distance from the edge of the machine body, the edge of a mowing area cannot be covered by the existing mower, and the edge missing cutting phenomenon occurs.
Disclosure of Invention
The invention aims to solve the technical problem of providing a square-circle mowing method of a mower with a side cutterhead, a storage medium and the mower.
The technical scheme adopted by the invention for solving the technical problems is as follows: a method for mowing a mower with a side cutter disc in a shape like a Chinese character 'hui' is constructed, and comprises the following steps:
s1, obtaining a mowing area map of the area to be mowed;
s2, the cutter disc of the mower is offset to one side and faces to the boundary line of the mowing area map, and the mower carries out mowing operation along the boundary line of the mowing area map;
s3, after the mower moves for one circle along the mowing area map, the mower moves a preset width into the mowing area map, and keeps the preset width with the previous circle traveling path to perform mowing operation, wherein the preset width is not more than the cutter head coverage width;
and S4, repeating the step S3 until the mowing area map is completely covered.
Further, in the reel-side mower reel-to-reel mowing method according to the present invention, when the reel is positioned on the left side of the mower, the left side of the mower faces the boundary line of the mowing area map in step S2.
Further, in the reel-side mower reel-to-reel mowing method according to the present invention, when the reel is positioned on the right side of the mower, the right side of the mower faces the boundary line of the mowing area map in step S2.
Further, in the reel-side mower zigzag mowing method according to the present invention, the mowing operation of the mower along the boundary line of the mowing area map in step S2 includes:
and if the heights of the boundary line outer area and the boundary line inner area of the mowing area map are not consistent, carrying out mowing operation on the body boundary of the mower along the boundary line of the mowing area map.
Further, in the reel-side mower zigzag mowing method according to the present invention, the mowing operation of the mower along the boundary line of the mowing area map in step S2 includes:
and if the heights of the boundary line outer area and the boundary line inner area of the mowing area map are consistent, carrying out mowing operation on the cutter head boundary of the mower along the boundary line of the mowing area map.
Further, in the reel-side mower loop mowing method according to the present invention, when the obstacle area is included in the mowing area map, the mower reel is biased to face a boundary line of the obstacle area, and the mower performs mowing along the boundary line of the obstacle area for one round.
Further, in the method for mowing with a mower with a cutter positioned on the side of the cutter, if the cutter is positioned on the left side of the mower, the left side of the mower faces the obstacle area;
if the cutter head is positioned on the right side of the mower, the right side of the mower faces the obstacle area.
Further, in the method for mowing with a mower with a cutter positioned on the side of the cutter deck according to the present invention, after step S4, the method further includes the steps of:
and S5, the mower returns along the formed zigzag path to perform mowing operation.
In addition, the invention also provides a computer readable storage medium, which stores a computer program, wherein the computer program is suitable for being loaded by a processor to execute the steps of the word-back mowing method of the mower with the side-mounted cutterhead.
In addition, the invention also provides a mower which comprises a memory and a processor;
the memory has stored therein a computer program;
the processor executes the steps of the square-shaped mowing method of the mower with the side-mounted cutterhead by calling the computer program stored in the memory.
The invention discloses a Chinese character 'hui' type mowing method of a mower with a side-arranged cutter head, a storage medium and the mower, and has the following beneficial effects: the mower with the side cutter disc provided by the invention performs mowing operation by using the zigzag path, so that the phenomenon of edge missing cutting is effectively reduced, and the edge mowing quality is improved.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIGS. 1a, 1b and 1c are schematic views of the cutter head in position;
FIG. 2 is a flow chart of a square-shaped mowing method of the mower with the side-mounted cutterhead according to the embodiment of the invention;
FIGS. 3a and 3b are schematic boundary line positions of a lawn map of a side-mounted mower with a head according to an embodiment of the present invention;
FIG. 4a is a schematic diagram of a first wrap-style overlay area provided by an embodiment of the present invention;
FIG. 4b is a schematic diagram of the coverage area of the first font and the second font according to the embodiment of the present invention;
fig. 5 is a schematic diagram of an obstacle area provided by an embodiment of the invention.
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
In a preferred embodiment, the word-back type mowing method of the cutterhead-side mower of the present embodiment is applied to the cutterhead-side mower, in which the cutterhead for mowing is not located at the center (close to the center) of the mower, that is, the cutterhead is located on the left side or the right side of the mower. Referring to fig. 1a, a prior art cutterhead 20 is shown in a central position on a lawnmower 10. Referring to fig. 1b, the cutter head 20 is located on the left side of the mower 10 in this embodiment. Referring to fig. 1c, the cutter head 20 is shown on the right side of the mower 10. Referring to fig. 2, the method for mowing the grass in the shape of the Chinese character 'hui' by the mower with the side cutterhead comprises the following steps:
and S1, acquiring a mowing area map of the area to be mowed.
Specifically, the lawn mower acquires a mowing area map of an area to be mowed, and identifies a boundary line of the mowing area map, wherein the boundary line refers to the outermost boundary of the whole mowing area map. The method comprises the following steps that the lawn mower acquires a mowing area map of an area to be mowed in various ways, and optionally, the mowing area map is stored in a storage unit of the lawn mower, and the lawn mower reads the mowing area map from the storage unit; or the mower can acquire information of the area to be mowed through a sensor carried by the mower, such as a laser sensor, an ultrasonic sensor, a distance sensor, a camera and the like, and then obtains a mowing area map according to the information of the area to be mowed; or the mower comprises a communication module, the mower is in communication connection with the external terminal, and receives the mowing area map sent by the external terminal.
And S2, the mower cutter disc is offset to one side and faces to the boundary line of the mowing area map, and the mower carries out mowing operation along the boundary line of the mowing area map.
Specifically, the mower cutter head offset orientation comprises a left offset and a right offset, the mower cutter head offset orientation is based on the forward traveling direction of the mower, the center of a coverage area formed by the left offset finger cutter head is located on the left side of the center line of the mower, and the center of a coverage area formed by the right offset finger cutter head is located on the right side of the center line of the mower. The side of the mower cutter disc is offset towards the boundary line of the mowing area map, so that the mower cutter disc is closer to the boundary line of the mowing area map, the mowing coverage area of the cutter disc is closer to the boundary line of the mowing area map, and the edge missing cutting phenomenon is reduced. Alternatively, referring to fig. 3a, where 30 is a mowing area map, 40 is a boundary line of the mowing area map, and the deck is located on the left side of the mower, the left side of the mower faces the boundary line of the mowing area map. Alternatively, referring to fig. 3b, where 30 is a mowing area map, 40 is a boundary line of the mowing area map, and the deck is located on the right side of the mower, the right side of the mower faces the boundary line of the mowing area map.
Further, the start position of the lawnmower of the present embodiment is located on the boundary line of the mowing area map, and if the lawnmower is not located on the boundary line of the mowing area map, the lawnmower first travels to the boundary line of the mowing area map. When the mower cutter head is offset to one side and faces the boundary line of the mowing area map, the mower carries out mowing operation along the boundary line of the mowing area map.
And S3, moving the mower to the mowing area map by a preset width after the mower moves along the mowing area map for one circle, keeping the preset width with the previous circle traveling path for mowing, and enabling the preset width to be not more than the cutter head coverage width.
Specifically, the cutter head covering width refers to the width of a covering area formed when a cutter head of the mower carries out mowing, and the cutter head covering width can be obtained through the size of the cutter head. The mower carries out mowing along the boundary line of the mowing area map, a first coverage area shaped like a Chinese character 'hui' is formed after one circle of the mowing area map, and referring to fig. 4a, 50 is a first coverage area shaped like a Chinese character 'hui' formed by the mower. The mower is adjusted after one circle along the mowing area map, the mower moves the preset width into the mowing area map, and the mower keeps the preset width with the previous circle traveling path to perform mowing operation in the traveling process, so that two continuous coverage areas in a shape like a Chinese character 'hui' can be kept continuous, and continuous coverage of the mowing area is realized. The movement of the lawnmower into the mowing area map means that the lawnmower starts moving from the mowing area map boundary line into the mowing area map.
When the preset width is equal to the cutter head covering width, referring to fig. 4b, 50 is a first square coverage area formed by the mower, and 60 is a second square coverage area formed by the mower, and it can be seen that the square coverage area gradually covers the whole mowing area map from outside to inside. It can be understood that when the preset width is smaller than the cutter head coverage width, the adjacent coverage areas in the shape of a Chinese character 'hui' have certain overlap, and therefore missed cutting caused by path errors of the mower can be effectively avoided.
And S4, repeating the step S3 until the mowing area map is completely covered.
Specifically, the mower forms a square coverage area along the mowing area map for one circle each time, then moves a preset width into the mowing area map to form a new square coverage area, and each square coverage area expands once into the mowing area map, and the whole process is executed in a circulating manner until the mowing area map is completely covered.
The mower with the side cutter disc provided by the embodiment utilizes the square-shaped path to mow, so that the phenomenon of edge missing cutting is effectively reduced, and the edge mowing quality is improved.
In some embodiments of the disc-side mower double-letter grass cutting method, the step S2 of the mower cutting grass along the boundary line of the grass cutting zone map includes: if the heights of the boundary line outer area and the boundary line inner area of the mowing area map are not consistent, the machine body boundary of the mower carries out mowing operation along the boundary line of the mowing area map. Specifically, the difference in height between the outer boundary line region and the inner boundary line region of the mowing area map includes that the height of the outer boundary line region of the mowing area map is higher than that of the inner boundary line region, or the height of the outer boundary line region of the mowing area map is lower than that of the inner boundary line region, at this time, the mower cannot cross the boundary line of the mowing area map, or else the mower may overturn. In this case, in order to bring the mowing coverage area as close as possible to the boundary line of the mowing area map, it is required that the body boundary of the mowing machine be aligned with the boundary line of the mowing area map, and the mowing operation be performed along the boundary line of the mowing area map. The boundary of the mower body of the mower is aligned with the boundary line of the mowing area map, so that the mowing coverage area is only possibly close to the boundary line of the mowing area map, the edge missing cutting phenomenon is reduced to the maximum extent, and the edge mowing quality is improved.
In some embodiments of the disc-side mower double-letter grass cutting method, the step S2 of the mower cutting grass along the boundary line of the grass cutting zone map includes: when the height of the boundary line outer region of the mowing area map is consistent with that of the boundary line inner region, the mowing operation is carried out along the boundary line of the mowing area map by the cutter head boundary of the mower. The height of the boundary line outer region of the mowing area map is consistent with that of the boundary line inner region, and the mower can move to the boundary line outer region of the mowing area map. The mowing coverage area of the mower cutter head completely reaches the boundary line of the mowing area map, so that the phenomenon of edge missing cutting is completely eliminated, and the mowing quality of the edge is improved.
In the reel-side mower font mowing method according to some embodiments, if the obstacle area is included in the mowing area map, the mower is biased to face the boundary line of the obstacle area, and the mower performs mowing along the boundary line of the obstacle area for one circle. Specifically, the lawnmower acquires an obstacle area included in a mowing area map, and identifies a boundary line of the obstacle area. Referring to fig. 5, 70 is the boundary line of the barrier region, 80. The mower deck is offset to a boundary line with one side facing the obstacle area, and alternatively, if the deck is positioned on the left side of the mower, the left side of the mower faces the obstacle area. If the cutter head is positioned on the right side of the mower, the right side of the mower faces the obstacle area. The mower performs mowing operation for one circle along the boundary line of the obstacle area, and finishes mowing operation for the edge of the obstacle. The mower with the side cutter disc enables the cutter disc of the mower to be biased to one side and face the boundary line of the obstacle area, the phenomenon of missed cutting of the edge of the obstacle area can be effectively reduced, and the mowing quality of the edge of the obstacle area is improved.
In the method for mowing with the mower with the side provided with the cutterhead according to the embodiments, after the step S4, the method further comprises the following steps: and S5, the mower returns along the formed zigzag path to perform mowing operation. Specifically, when the lawn mower is gradually close to the center of the map of the mowing area from outside to inside through the coverage area in the shape of a Chinese character 'hui' one by one, a center cutting missing phenomenon may occur. To solve the center miss, in this embodiment, after the mower completes the forward mowing operation according to the above embodiment, the mower returns along the path having the zigzag shape to perform the mowing operation, i.e., turns 180 ° at the end of the forward mowing path and returns along the path having the zigzag shape to perform the mowing operation. Alternatively, since the center skip occurs only at the center of the mowing area map, when the mower returns along the original path, the mower does not need to return to the starting point along the original path, and only needs to execute a preset number of Chinese character-hui-shaped patterns, for example, one Chinese character-hui-shaped pattern or two Chinese character-hui-shaped patterns are returned along the Chinese character-hui-shaped path. Because the mower of the embodiment is the mower with the side of the cutter disc, when the mower returns along the original path, the covering area of the cutter disc just covers the other side of the path, thereby solving the phenomenon of center missing cutting and improving the mowing quality.
In a preferred embodiment, the computer readable storage medium of this embodiment stores a computer program, and the computer program is suitable for being loaded by a processor to execute the steps of the grass cutting method of the grass cutter with the side-facing cutterhead as described in the above embodiment.
In a preferred embodiment, the lawn mower of the present embodiment comprises a memory having a computer program stored therein and a processor. The processor executes the steps of the grass cutting method of the cutterhead side mower in the shape of the Chinese character 'hui' by calling the computer program stored in the memory. The mower with the side cutter disc provided by the embodiment utilizes the square-shaped path to mow, so that the phenomenon of edge missing cutting is effectively reduced, and the edge mowing quality is improved.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes and modifications made within the scope of the claims of the present invention should be covered by the claims of the present invention.
Claims (10)
1. A Chinese character 'hui' type mowing method of a mower with a side-arranged cutter head is characterized by comprising the following steps:
s1, obtaining a mowing area map of the area to be mowed;
s2, the cutter disc of the mower is offset to one side and faces to the boundary line of the mowing area map, and the mower carries out mowing operation along the boundary line of the mowing area map;
s3, after the mower moves for one circle along the mowing area map, the mower moves a preset width into the mowing area map, and keeps the preset width with the previous circle traveling path to perform mowing operation, wherein the preset width is not more than the cutter head coverage width;
and S4, repeating the step S3 until the mowing area map is completely covered.
2. The reel-side mower-readable grass cutting method according to claim 1, wherein if the reel is located on the left side of the mower, the left side of the mower faces the boundary line of the mowing area map in step S2.
3. The reel-side mower font-returning mowing method according to claim 1, wherein if the reel is located on the right side of the mower, the boundary line of the mowing area map is directed to the right side of the mower in step S2.
4. The reel-side mower font-returning mowing method according to claim 1, wherein the mowing operation of the mower along the boundary line of the mowing area map in step S2 includes:
and if the heights of the boundary line outer area and the boundary line inner area of the mowing area map are not consistent, carrying out mowing operation on the body boundary of the mower along the boundary line of the mowing area map.
5. The reel-side mower font-returning mowing method according to claim 1, wherein the mowing operation of the mower along the boundary line of the mowing area map in step S2 includes:
and if the heights of the boundary line outer area and the boundary line inner area of the mowing area map are consistent, carrying out mowing operation on the cutter head boundary of the mower along the boundary line of the mowing area map.
6. The reel-side mower font mowing method according to claim 1, wherein if an obstacle area is included in the mowing area map, the mower reel is biased to a side toward a boundary line of the obstacle area, and the mower performs mowing along the boundary line of the obstacle area for one round.
7. The reel-side mower winding method according to claim 6, wherein if the reel is located on the left side of the mower, the left side of the mower faces the obstacle area;
if the cutter head is positioned on the right side of the mower, the right side of the mower faces the obstacle area.
8. The reel-side mower square-type mowing method according to claim 1, further comprising, after step S4, the steps of:
and S5, the mower returns along the formed zigzag path to perform mowing operation.
9. A computer-readable storage medium, wherein the computer-readable storage medium stores a computer program adapted to be loaded by a processor to perform the steps of the grass cutting method of any of claims 1 to 8.
10. A lawnmower comprising a memory and a processor;
the memory has stored therein a computer program;
the processor executes the steps of the reel-side mower loop-type mowing method according to any one of claims 1 to 8 by calling the computer program stored in the memory.
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| CN202210162553.1A CN114557197B (en) | 2022-02-22 | 2022-02-22 | Cutting method for cutter head side-mounted mower in shape like Chinese character 'Hui', storage medium and mower |
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| CN202210162553.1A CN114557197B (en) | 2022-02-22 | 2022-02-22 | Cutting method for cutter head side-mounted mower in shape like Chinese character 'Hui', storage medium and mower |
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| CN115443793B (en) * | 2022-08-18 | 2024-04-30 | 深圳拓邦股份有限公司 | Mower and mower path planning method |
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