CN114616973A - Mower and control method of mower - Google Patents
Mower and control method of mower Download PDFInfo
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- CN114616973A CN114616973A CN202011437651.9A CN202011437651A CN114616973A CN 114616973 A CN114616973 A CN 114616973A CN 202011437651 A CN202011437651 A CN 202011437651A CN 114616973 A CN114616973 A CN 114616973A
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- mower
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- zone boundary
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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
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/64—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis mounted on a vehicle, e.g. a tractor, or drawn by an animal or a vehicle
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
Abstract
The application relates to a control method of a mower and the mower, which belongs to the technical field of automatic control, wherein the mower comprises the following components: casing, removal subassembly, removal drive assembly, detection subassembly and control assembly, control assembly is used for: when the detection assembly detects that the mower moves towards the zone boundary and the distance between the mower and the zone boundary is smaller than or equal to a first distance threshold value, controlling the moving driving assembly to reduce the driving speed; when the detection component detects that the mower reaches or crosses the zone boundary, controlling the mower to turn, so that the turned mower moves towards the direction far away from the zone boundary; the problem that the mower keeps the original speed to continue walking when approaching the boundary of the area at the highest point of the slope or the downhill of the slope, and crosses the boundary of the area when reaching the boundary of the area at the highest point of the slope or the downhill of the slope can be solved; ensuring that the mower does not cross the zone boundary.
Description
Technical Field
The application relates to a mower and a control method of the mower, and belongs to the technical field of automatic control.
Background
Currently, lawn mowers typically have the capability to move themselves within a work area to mow grass. In order to limit the operation of the mower within a given working area, the zone boundaries of the working area are generally provided with boundary lines, which may emit boundary signals; accordingly, the mower has a sensing component for sensing the boundary signal, and the mower can move based on the sensing result of the sensing component.
In a typical control mode, the mower determines whether the zone boundary is reached according to the signal strength of the boundary signal; if so, adjusting the moving direction to enable the mower to move towards the working area.
Disclosure of Invention
The application provides a mower and a control method of the mower, which can overcome the defect that the mower exceeds the boundary of an area when reaching the boundary of the area at the highest point of a slope or a downhill of the slope due to the fact that the mower keeps the original speed to continue walking when approaching the boundary of the area at the highest point of the slope or the downhill of the slope. The application provides the following technical scheme:
in a first aspect, there is provided a lawnmower for moving and/or working within a working area defined by an area boundary, the lawnmower comprising:
a housing;
the moving assembly is positioned on the shell and used for driving the mower to move;
the mobile driving component is used for driving the mobile component to operate;
a detection component for detecting the position relation of the mower and the zone boundary;
the control assembly is respectively and electrically connected with the mobile driving assembly and the detection assembly and is used for:
controlling the mobile drive assembly to reduce a drive speed when the detection assembly detects that the lawn mower moves toward the zone boundary and a distance between the lawn mower and the zone boundary is less than or equal to a first distance threshold;
when the detection component detects that the mower reaches or crosses the zone boundary, controlling the mower to turn so that the turned mower moves away from the zone boundary.
Optionally, the detection assembly comprises: the control assembly is used for determining the position relation between the mower and the area boundary according to the magnetic field intensity sensed by the boundary sensing assembly;
accordingly, when the detection assembly detects that the mower moves towards the zone boundary and the distance between the mower and the zone boundary is less than or equal to a first distance threshold, controlling the mobile drive assembly to reduce the drive speed comprises:
and when the magnetic field intensity sensed by the at least two boundary sensing assemblies is greater than or equal to a preset threshold value, controlling the movement driving assembly to reduce the driving speed.
Optionally, the at least two boundary sensing assemblies are symmetrically disposed with respect to the central axis and located at the front end of the housing.
Optionally, the detecting component detects that the lawnmower reaches or crosses the zone boundary, including: at least one of the boundary sensing components reaches or crosses the zone boundary.
Optionally, the mower comprises a mowing mechanism; when the detection component detects that the mower reaches or crosses the zone boundary, the mowing range of the mowing mechanism covers the zone boundary.
Optionally, a cutting edge of the mowing mechanism overlaps a projected position of the mounting position of the detection assembly in a direction perpendicular to the mower; accordingly, the control assembly is configured to:
controlling the mower to turn when the detection component detects that the mower reaches the zone boundary.
Optionally, the control assembly is configured to, after the cutting edge of the mowing mechanism is located at the mounting position of the detecting assembly in the traveling direction:
controlling the lawn mower to turn when the detection component detects that the lawn mower crosses the zone boundary.
Optionally, the control component is configured to:
controlling the lawn mower to turn when the detection component detects that the lawn mower crosses the zone boundary and the distance across the zone boundary is greater than or equal to the mounting distance between the cutting edge and the detection component.
Optionally, the control component is further configured to:
after controlling the mower to turn, when the detection component detects that the distance between the mower and the zone boundary is larger than or equal to a second distance threshold value, controlling the mobile driving component to increase the driving speed.
In a second aspect, there is provided a control method of a lawn mower, which is used in the lawn mower provided in the first aspect, the method including:
controlling the mobile drive assembly to reduce a drive speed when the detection assembly detects that the lawn mower moves toward the zone boundary and a distance between the lawn mower and the zone boundary is less than or equal to a first distance threshold;
when the detection component detects that the mower reaches or crosses the zone boundary, controlling the mower to turn so that the turned mower moves away from the zone boundary.
The beneficial effect of this application lies in: controlling the movement driving component to reduce the driving speed when the detection component detects that the mower moves towards the zone boundary and the distance between the mower and the zone boundary is smaller than or equal to a first distance threshold value; when the detection component detects that the mower reaches or crosses the zone boundary, controlling the mower to turn, so that the turned mower moves towards the direction far away from the zone boundary; the problem that the mower exceeds the boundary of the area when reaching the boundary of the area at the highest point of the slope or the downhill of the slope due to the fact that the mower still keeps the original speed to continue walking when approaching the boundary of the area at the highest point of the slope or the downhill of the slope is solved; when the distance between the mower and the zone boundary is smaller than or equal to the first distance threshold, the mower is controlled to decelerate, so that the mower cannot cross the zone boundary when approaching the zone boundary at the highest point of the slope or at the downhill of the slope, and the working safety of the mower is improved.
In addition, when the detection assembly detects that the mower reaches or crosses the zone boundary, the mowing range of the mowing mechanism covers the zone boundary, weeds near the zone boundary can be cut, and the mowing effect of the mower is improved.
In addition, after the steering of the mower is controlled, the operation is accelerated when the distance between the mower and the zone boundary is larger than or equal to the second distance threshold, so that the working time of the mower can be saved, and the working efficiency is improved.
The foregoing description is only an overview of the technical solutions of the present application, and in order to make the technical solutions of the present application more clear and clear, and to implement the technical solutions according to the content of the description, the following detailed description is made with reference to the preferred embodiments of the present application and the accompanying drawings.
Drawings
FIG. 1 is a schematic view of a mower according to an embodiment of the present application;
FIG. 2 is another schematic structural view of a lawn mower provided in accordance with an embodiment of the present application;
FIG. 3 is a schematic view of a moving process of a mower provided in accordance with an embodiment of the present application;
fig. 4 is a flowchart of a control method of a lawn mower according to an embodiment of the present disclosure.
Detailed Description
The following detailed description of embodiments of the present application will be described in conjunction with the accompanying drawings and examples. The following examples are intended to illustrate the present application but are not intended to limit the scope of the present application.
Fig. 1 and 2 are schematic structural views of a lawnmower provided according to an embodiment of the present application, which is moved and/or operated in a work area defined by an area boundary. Alternatively, the zone boundary may be a zone with a slope, such as: an uphill road surface or a downhill road surface, etc.; in other embodiments, the area boundary may also be a road surface without a slope, and the embodiment does not limit the type of the area boundary. In addition, other regions in the working region may have slopes in addition to the region boundaries, and the present embodiment does not limit the types of the other regions in the working region. The application provides a lawn mower is intelligent lawn mower, need not manual control promptly can accomplish the lawn mower of the task of mowing automatically.
The zone boundaries of the mower may be located on an incline, such as at the highest point of the incline or downhill of the incline. When the existing intelligent mower approaches to the zone boundary at the highest point of a slope or at the downhill of the slope, if the existing intelligent mower still keeps the original speed to continue walking, the existing intelligent mower has the defect of crossing the zone boundary when reaching the zone boundary at the highest point of the slope or at the downhill of the slope. Based on this, this application has proposed a lawn mower and control method.
As shown in fig. 1 and 2, the lawn mower 10 includes at least:
a housing 17;
moving assemblies 211 and 212, located on the housing 17, for moving the mower 10;
the movement driving component 11 is used for driving the movement components 211 and 212 to operate;
a detection assembly 12 for detecting the positional relationship of the mower 10 with the zone boundary;
a control assembly 13 electrically connected to the movement driving assembly 11 and the detection assembly 12, respectively, for: when the detection component 12 detects that the mower 10 moves towards the zone boundary and the distance between the mower 10 and the zone boundary is smaller than or equal to a first distance threshold value, controlling the movement driving component 11 to reduce the driving speed; when the detection assembly 12 detects that the lawnmower 10 reaches or crosses a zone boundary, the lawnmower 10 is controlled to steer such that the steered lawnmower 10 moves away from the zone boundary.
In the embodiment of the present application, when the lawn mower 10 approaches the zone boundary at the highest point of the slope or at the downhill slope, that is, when the detection component detects that the lawn mower 10 moves toward the zone boundary and the distance between the lawn mower 10 and the zone boundary is less than or equal to the first distance threshold, the mobile driving component is controlled to reduce the driving speed, so as to ensure that the lawn mower 10 does not cross the zone boundary when approaching the zone boundary at the highest point of the slope or at the downhill slope.
Alternatively, the control assembly 13 may control the mower 10 to continue decelerating for a first distance threshold; alternatively, the mower 10 is controlled to stop decelerating when decelerating to a preset speed, and then the mower 10 is controlled to move at the preset speed. Wherein the preset speed is a speed at which the lawnmower 10 cannot strike the boundary line under the inertia.
Optionally, the moving assembly includes a wheel body and a transmission member for driving the wheel body to rotate, the wheel body may be a wheel or a belt pulley, and the embodiment does not limit the implementation manner of the moving assembly. The wheel body can be arranged in various ways. In one example, the wheel body includes a driving wheel 211 driven by the moving driving assembly 11 and an auxiliary wheel 212 for assisting the supporting housing, the number of the driving wheels may be 1, 2 or more, and the number of the auxiliary wheels may be 1, 2 or more accordingly. In the present embodiment, the number of drive wheels of the lawnmower 10 is 2, and the drive wheels are a right drive wheel on the right side and a left drive wheel on the left side. The right and left drive wheels are symmetrically disposed about a central axis of the mower 10. The center of the auxiliary wheel is positioned on the central axis. The right and left drive wheels are preferably located at the rear of the housing and the auxiliary wheels at the front.
The moving driving component 11 may be a motor, etc., and the embodiment does not limit the implementation manner of the moving driving component 11. In this embodiment, the right and left drive wheels are each coupled to a mobile drive assembly to achieve differential output to control steering. The mobile driving component can be directly connected with the driving wheel, but a transmission device, such as a planetary gear train and the like, which are common in the technical field, can also be arranged between the mobile driving component and the driving wheel. In other embodiments, there may be 2 driving wheels and 1 moving driving assembly, in which case the moving driving assembly drives the right driving wheel through the first transmission device and drives the left driving wheel through the second transmission device. I.e. the same motor drives the right and left drive wheels through different transmission means.
Implementations of the detection assembly 12 include, but are not limited to, at least one of the following:
the first method comprises the following steps: the zone boundary emits a boundary signal, which the detection component 12 is configured to detect, the boundary signal being indicative of a positional relationship between the detection component 12 and the zone boundary; accordingly, the control component 13 is configured to determine the positional relationship according to the signal information of the boundary signal sensed by the detection component 12.
In one example, the detection component 12 includes a boundary sensing component. The boundary sensing assembly includes: magnetic sensors, for example: and a Hall sensor. The magnetic sensor may generate a boundary signal by sensing the presence or absence of a current in the boundary and send the sensed boundary signal to the control assembly 13. Wherein the signal information of the boundary signal includes: signal strength of the magnetic field signal. In other implementations, the signal information of the boundary signal further includes a signal direction or other information, and the content of the signal information is not limited in this embodiment.
Such as: referring to fig. 3, a boundary signal emitting assembly 31 is disposed on a boundary of an area of a working area where the lawn mower 10 is located, and the boundary signal emitting assembly 31 is used for emitting a boundary signal; accordingly, the detection component 12 may sense the boundary signal. The boundary signal may be a magnetic field signal, which is accordingly induced by the detection assembly 12; alternatively, the boundary signal may be an optical signal, which is sensed by the detection assembly 12 accordingly; alternatively, the boundary signal may be an acoustic signal, and accordingly, the detecting member 12 senses the acoustic signal, and the present embodiment does not limit the signal type of the boundary signal and the member type of the detecting member 12. In this embodiment, a boundary signal is described as an example of a magnetic field signal.
In one example, the number of the boundary induction components is at least two, and at least two boundary induction components are respectively disposed at both sides of the housing 17. At this time, the control unit 13 is configured to: the positional relationship of the mower 10 to the boundaries of the area is determined based on the strength of the magnetic field sensed by the boundary sensing assembly.
Wherein the magnetic field strength is inversely related to the distance between the mower 10 and the zone boundary, i.e. the stronger the magnetic field strength, the smallest the distance between the mower 10 and the zone boundary; the smaller the magnetic field strength, the greatest distance between the mower 10 and the zone boundary. Based on the above negative correlation, when the detection component 12 detects that the mower 10 moves to the zone boundary and the distance between the mower 10 and the zone boundary is less than or equal to the first distance threshold, the control component 13 controls the movement drive component 11 to reduce the driving speed, including: and when the magnetic field intensity sensed by the at least two boundary sensing assemblies is greater than or equal to a preset threshold value, controlling the mobile driving assembly to reduce the driving speed.
The preset threshold is the magnetic field strength sensed by the detection assembly 12 when the distance from the boundary of the region is the first distance threshold.
Accordingly, when detection assembly 12 detects that mower 10 reaches or crosses an area boundary, control assembly 13 controls mower 10 to turn, including: the control assembly 13 controls the mower 10 to steer when at least one of the at least two boundary sensing assemblies reaches or crosses an area boundary.
For a magnetic field signal emitted at a zone boundary, the magnetic field direction of the magnetic field signal within the working zone is different from the magnetic field direction outside the working zone. Based on this, when detecting assembly 12 detects that mower 10 reaches or crosses a zone boundary, control assembly 13 controls mower 10 to turn, including: the control assembly 13 controls the mower 10 to turn when the magnetic field direction sensed by the at least one boundary sensing assembly changes or when the magnetic field direction changes for a certain length.
Optionally, at least two boundary sensing assemblies are symmetrically disposed about the central axis and are located at the front end of the housing 17. Since the mower 10 is normally advanced forward, by symmetrically arranging the boundary sensing assembly at the front end of the housing 17, the mower 10 can be ensured to recognize the zone boundary in time, and the problem that the mower 10 moves out of the working zone can be avoided.
And the second method comprises the following steps: the detection component 12 is an image acquisition device, and at this time, the detection component 12 sends the acquired ground image to the control component 13. Accordingly, the control assembly 13 determines the positional relationship between the lawnmower 10 and the zone boundary using an image recognition algorithm.
The image recognition algorithm may be based on machine learning for boundary recognition; or, the region identification is performed based on the feature matching, and the present embodiment does not limit the algorithm type of the image identification algorithm.
And the third is that: the detecting component 12 is a positioning sensor, and at this time, the detecting component 12 acquires the current positioning position in real time and sends the positioning position to the control component 13. Accordingly, the control component 13 compares the positioning location with the boundary location of the prestored zone boundary; the positional relationship between the lawnmower 10 and the zone boundary is determined based on the comparison result.
Alternatively, the Positioning sensor may be a component that realizes Positioning based on a Global Positioning System (GPS); or, in order to implement a component for positioning based on a Real-time kinematic (RTK) carrier-phase differential technique, the implementation manner of the positioning sensor is not limited in this embodiment.
It should be added that the detecting assembly 12 can be implemented in other types, and the embodiment does not limit the way in which the detecting assembly 12 detects the position relationship between the lawn mower 10 and the zone boundary.
In this embodiment, the control assembly 13 is used to control the operation of the movement driving assembly 11 and the detection assembly 12. Such as: control the driving direction and driving speed of the movable driving assembly 11, control the start and stop of the detecting assembly 12, and so on, of course, the control assembly 13 can also control the operation of other assemblies in the lawn mower 10, such as: the present embodiment is not limited to the specific content of the control unit 13, and the like, for controlling the operation of the mowing mechanism 12 of the mower 10.
In this embodiment, when the distance from the zone boundary is less than or equal to the first distance threshold, the grass cutter is controlled to decelerate, so that the mower 10 does not rush out of the zone boundary due to an excessively high speed when reaching the zone boundary, thereby improving the safety of the operation of the mower 10.
Such as: referring to the moving track of the lawn mower 10 shown in fig. 3, wherein the dashed single arrow indicates that the lawn mower 10 moves at the original moving speed, and the solid single arrow indicates that the lawn mower 10 continues to move at a reduced speed, it can be seen from fig. 3 that the distance from the zone boundary is determined at the position 32 to reach the first distance threshold d, and then the moving speed is reduced. In this way, the mower 10 does not speed too fast when reaching the zone boundary and does not cross the zone boundary when approaching the zone boundary at the highest point of the slope or at a downhill slope of the slope.
Alternatively, since the original moving speed of the lawnmower 10 is less than or equal to the preset speed, the problem of punching out the zone boundary does not occur; thus, the control assembly 13 is also used to: when the detection component 12 detects that the mower 10 moves towards the zone boundary and the distance between the mower 10 and the zone boundary is smaller than or equal to the first distance threshold, determining whether the current moving speed is larger than a preset speed; if yes, controlling the mobile driving component 11 to reduce the driving speed; if not, when the detection component 12 detects that the mower 10 reaches or crosses the zone boundary, the mower 10 is controlled to turn such that the turned mower 10 moves away from the zone boundary.
Alternatively, in this embodiment, when the control component 13 controls the movement driving component 11 to reduce the driving speed, the driving direction of the movement driving component 11 is kept unchanged.
The driving direction of the movement driving assembly 11 refers to the direction of driving the mower 10 to move. In other words, the driving direction of the mobile driving assembly 11 is the traveling direction of the lawn mower 10.
The mower 10 is provided with a mowing mechanism 12. Optionally, the mowing mechanism 12 comprises at least one cutting member 221; such as a cutter head. The mowing mechanism 12 is driven by a cutting motor 122. The mowing mechanism 12 is mounted on the chassis of the mower 10, and the mowing mechanism 12 can be arranged at one side of a central axis in the longitudinal direction of the housing 17; alternatively, the device can also be arranged on the central axis; in other embodiments, the mowing mechanism 12 can be mounted at the front end of the mower 10, and the embodiment does not limit the mounting position and the implementation manner of the mowing mechanism 12.
Alternatively, the cutting motor 122 comprises one set of motors, the movement driving assembly 11 comprises one set of motors, and the two sets of motors are different.
To ensure that weeds near the zone boundary are cut, the mowing range of the mowing mechanism 12 covers the zone boundary when the detection assembly detects that the mower 10 reaches or crosses the zone boundary in this embodiment. Based on this, when the detection assembly 12 detects that the mower 10 reaches or crosses an area boundary, the control assembly 13 controls the mower 10 to turn to several scenarios including, but not limited to:
the first scenario is as follows: the cutting edge of mowing mechanism 12 overlaps the projected position of the mounting position of sensing assembly 12 in a direction perpendicular to mower 10. At this time, the detection component 12 detects that the zone boundary is reached, which indicates that the cutting edge of the mowing mechanism 12 also reaches the zone boundary, and the weeds near the zone boundary can be cut. Accordingly, the control assembly 13 is configured to control the mower 10 to turn when the detection assembly 12 detects that the mower 10 reaches the zone boundary.
The second scenario is: in the direction of travel, the cutting edge of mowing mechanism 12 is located behind the mounting location of sensing assembly 12. Since the positional relationship of the mower 10 to the zone boundary detected by the detection assembly 12 is essentially the positional relationship between the detection assembly 12 and the zone boundary, the cutting edge of the mowing mechanism 12 does not reach the zone boundary until the detection assembly 12 reaches the zone boundary, and the mower 10 needs to ensure that the cutting edge of the mowing mechanism 12 reaches the zone boundary after the detection assembly 12 crosses the zone boundary in order to cut weeds near the zone boundary. Accordingly, a control assembly 13 for: when the detection assembly 12 detects that the mower 10 crosses an area boundary, the mower 10 is controlled to turn.
In particular, the control assembly 13 is configured to control the turning of the mower 10 when the detection assembly 12 detects that the mower 10 crosses the zone boundary and the distance crossing the zone boundary is greater than or equal to the mounting distance between the cutting edge and the detection assembly 12.
In one example, after detection assembly 12 detects that mower 10 crosses the boundary of the area, if control assembly 13 determines that the magnetic field strength is less than or equal to the set value, it is determined that detection assembly 12 crosses the boundary of the area by a distance greater than or equal to the mounting distance between the cutting edge and detection assembly 12.
Wherein the set value is the magnetic field strength at the time when the distance between the detection assembly 12 and the zone boundary is the installation distance.
In another example, after the detection assembly 12 detects that the mower 10 reaches the zone boundary, the control assembly 13 integrates the product of the current moving speed and the moving time period in real time, and determines that the distance by which the detection assembly 12 crosses the zone boundary is greater than or equal to the installation distance between the cutting edge and the detection assembly 12 when the integration result is greater than or equal to the installation distance. At this point, the mounting distance between the sensing assembly 12 and the cutting edge is pre-stored in the mower 10.
It should be added that the control component 13 may also use other manners to determine whether the distance of the detection component 12 crossing the boundary of the area is greater than or equal to the installation distance, and this embodiment is not limited to this manner.
Optionally, the control assembly 13 is further configured to: after controlling the mower 10 to turn, when the detection assembly detects that the distance from the zone boundary is greater than or equal to the second distance threshold, controlling the mobile drive assembly to increase the drive speed.
The second distance threshold is the same or different than the first distance threshold.
The manner in which the control assembly 13 controls the motion drive assembly to increase the drive speed includes, but is not limited to: the control component 13 controls the driving speed of the mobile driving component to continuously increase until the driving speed is increased to the maximum speed and then stops; or, the control component 13 stops when controlling the driving speed of the movement driving component to increase to the original driving speed, which is the driving speed of the movement driving component before the control component 13 controls the movement driving component to reduce the driving speed; alternatively, the control component 13 controls the driving speed of the movable driving component to stop when the driving speed is increased to the target driving speed, the target driving speed can be set by a user, or sent by other devices, or stored in the lawn mower 10 in advance, and the setting manner of the target driving speed is not limited in the embodiment.
Referring to fig. 3, after controlling the mower 10 to turn, the detection assembly 12 controls the movement drive assembly to increase the drive speed (indicated by the bold solid arrow) when detecting that the distance to the zone boundary is greater than or equal to the second distance threshold d'.
Alternatively, the driving direction of the mobile driving assembly may be controlled to change or remain the same during the period in which the control assembly 13 controls the driving speed of the mobile driving assembly to increase.
It should be added that the lawn mower 10 may also include other components, such as: the energy module 14, the communication module 15, and the like, and the structure of the lawn mower 10 will not be described in detail in this embodiment.
Wherein the energy module 14 is detachably or fixedly mounted to the housing and may comprise gasoline, a battery pack, or the like. In operation, the battery pack releases electrical energy to maintain the mower 10 in operation and walking. When not in operation, the battery may be connected to an external power source to supplement power; the lawnmower 10 can also automatically seek a base station to supplement power when it detects a power shortage.
The communication module 15 is used for communicating with external devices, such as: and receiving the externally sent message or sending the message to the outside.
In summary, in the lawn mower provided by the embodiment, when the detection component detects that the lawn mower moves towards the zone boundary and the distance between the lawn mower and the zone boundary is smaller than or equal to the first distance threshold, the movement driving component is controlled to reduce the driving speed; when the detection component detects that the mower reaches or crosses the zone boundary, controlling the mower to turn, so that the turned mower moves towards the direction far away from the zone boundary; the problem that the mower exceeds the boundary of the area when reaching the boundary of the area at the highest point of the slope or the downhill of the slope due to the fact that the mower keeps the original speed to continue walking when approaching the boundary of the area at the highest point of the slope or the downhill of the slope; because the grass cutter is controlled to decelerate when the distance between the grass cutter and the zone boundary is smaller than or equal to the first distance threshold value, the grass cutter can not cross the zone boundary when the grass cutter is close to the zone boundary at the highest point of the slope or the descending slope.
In addition, when the detection assembly detects that the mower reaches or crosses the zone boundary, the mowing range of the mowing mechanism covers the zone boundary, weeds near the zone boundary can be cut, and the mowing effect of the mower is improved.
In addition, after the steering of the mower is controlled, the operation is accelerated when the distance between the mower and the zone boundary is larger than or equal to the second distance threshold, so that the working time of the mower can be saved, and the working efficiency is improved.
Fig. 4 is a flowchart of a control method of a lawn mower according to an embodiment of the present application, where the method is applied to the lawn mower shown in fig. 1 and 2, and an execution subject of each step is the control component 14 in the lawn mower. The method at least comprises the following steps:
and step 401, when the detection component detects that the mower moves towards the zone boundary and the distance between the mower and the zone boundary is smaller than or equal to a first distance threshold value, controlling the movement driving component to reduce the driving speed.
In one example, a boundary signal emitting component is disposed on the region boundary, and the boundary signal emitting component is used to emit a boundary signal (magnetic field signal). The detection assembly comprises at least two boundary induction assemblies, the at least two boundary induction assemblies are respectively arranged on two sides of the shell, the at least two boundary induction assemblies are used for inducing the magnetic field strength of the boundary of the area, and the magnetic field strength is used for indicating the position relation between the mower and the boundary of the area. Accordingly, when the detection assembly detects that the mower moves towards the zone boundary and the distance between the mower and the zone boundary is less than or equal to the first distance threshold, controlling the movement drive assembly to reduce the drive speed comprises: when the magnetic field intensity sensed by the at least two boundary sensing assemblies is larger than or equal to a preset threshold value, the mobile driving assembly is controlled to reduce the driving speed.
When the detection component detects that the mower reaches or crosses the zone boundary, the mower is controlled to turn, so that the turned mower moves towards a direction away from the zone boundary.
When the detection assembly comprises at least two boundary sensing assemblies, when the detection assembly detects that the mower reaches or crosses the boundary of the area, the mower is controlled to turn, and the method comprises the following steps: controlling the mower to turn when at least one of the boundary-sensing assemblies reaches or crosses the zone boundary.
In this embodiment, the mower includes a mowing mechanism; the mowing range of the mowing mechanism covers the zone boundary when the detection component detects that the mower reaches or crosses the zone boundary.
In one scenario, the cutting edge of the mowing mechanism overlaps a projected position of the mounting position of the detection assembly in a direction perpendicular to the mower; at this time, when the detection component detects that the mower reaches the zone boundary, the mower is controlled to turn.
In another scenario, the cutting edge of the mowing mechanism is located behind the mounting location of the detection assembly in the direction of travel. At this time, when the detection component detects that the mower crosses the zone boundary, the mower is controlled to turn.
Alternatively, after controlling the mower to turn, when the detecting component detects that the distance between the mower and the zone boundary is greater than or equal to the second distance threshold, controlling the mobile driving component to increase the driving speed.
The details of this embodiment are described in the above embodiments.
In summary, in the control method of the lawn mower provided by the embodiment, when the detection component detects that the lawn mower moves towards the zone boundary and the distance between the lawn mower and the zone boundary is smaller than or equal to the first distance threshold, the moving drive component is controlled to reduce the driving speed; when the detection component detects that the mower reaches or crosses the zone boundary, controlling the mower to turn, so that the turned mower moves towards the direction far away from the zone boundary; the problem that the mower exceeds the boundary of the area when reaching the boundary of the area at the highest point of the slope or the downhill of the slope due to the fact that the mower still keeps the original speed to continue walking when approaching the boundary of the area at the highest point of the slope or the downhill of the slope is solved; because the grass cutter is controlled to decelerate when the distance between the grass cutter and the zone boundary is smaller than or equal to the first distance threshold value, the grass cutter can not cross the zone boundary when the grass cutter is close to the zone boundary at the highest point of the slope or the descending slope.
In addition, when the detection assembly detects that the mower reaches or crosses the zone boundary, the mowing range of the mowing mechanism covers the zone boundary, weeds near the zone boundary can be cut, and the mowing effect of the mower is improved.
In addition, after the steering of the mower is controlled, the operation is accelerated when the distance between the mower and the zone boundary is larger than or equal to the second distance threshold, so that the working time of the mower can be saved, and the working efficiency is improved.
Optionally, the present application further provides a computer-readable storage medium, in which a program is stored, the program being loaded and executed by a processor to implement the control method of the lawn mower of the above-mentioned method embodiment.
Optionally, the present application further provides a computer product including a computer readable storage medium, in which a program is stored, the program being loaded and executed by a processor to implement the control method of the lawn mower of the above method embodiment.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A lawnmower adapted to move and/or work within a work area defined by an area boundary, the lawnmower comprising:
a housing;
the moving assembly is positioned on the shell and used for driving the mower to move;
the mobile driving component is used for driving the mobile component to operate;
a detection component for detecting the position relation of the mower and the zone boundary;
the control assembly is respectively and electrically connected with the mobile driving assembly and the detection assembly and is used for:
controlling the mobile drive assembly to reduce a drive speed when the detection assembly detects that the lawn mower moves toward the zone boundary and a distance between the lawn mower and the zone boundary is less than or equal to a first distance threshold;
when the detection component detects that the mower reaches or crosses the zone boundary, controlling the mower to turn so that the turned mower moves away from the zone boundary.
2. The lawnmower of claim 1, wherein the detection assembly comprises: the control assembly is used for determining the position relation between the mower and the area boundary according to the magnetic field intensity sensed by the boundary sensing assembly;
accordingly, when the detection assembly detects that the mower moves towards the zone boundary and the distance between the mower and the zone boundary is less than or equal to a first distance threshold, controlling the mobile drive assembly to reduce the drive speed comprises:
and when the magnetic field intensity sensed by the at least two boundary sensing assemblies is greater than or equal to a preset threshold value, controlling the movement driving assembly to reduce the driving speed.
3. The mower of claim 2 wherein said at least two boundary induction assemblies are symmetrically disposed about said central axis and are located at said housing front end.
4. The lawnmower of claim 2, wherein the detection component detects that the lawnmower reaches or crosses the zone boundary, comprising: at least one of the boundary sensing components reaches or crosses the zone boundary.
5. The mower of claim 1, wherein the mower comprises a mowing mechanism; when the detection component detects that the mower reaches or crosses the zone boundary, the mowing range of the mowing mechanism covers the zone boundary.
6. The lawnmower of claim 5, wherein the cutting edge of the mowing mechanism overlaps a projected position of the mounting position of the detection assembly in a direction perpendicular to the lawnmower; accordingly, the control assembly is configured to:
controlling the mower to turn when the detection component detects that the mower reaches the zone boundary.
7. A lawnmower as claimed in claim 5, wherein the cutting edge of the mowing mechanism is located behind the mounting location of the detection assembly in the direction of travel, and in response the control assembly is configured to:
controlling the mower to turn when the detection component detects that the mower crosses the zone boundary.
8. The lawnmower of claim 7, wherein the control assembly is configured to:
controlling the lawn mower to turn when the detection component detects that the lawn mower crosses the zone boundary and the distance across the zone boundary is greater than or equal to the mounting distance between the cutting edge and the detection component.
9. The lawnmower of claim 1, wherein the control assembly is further configured to:
after controlling the mower to turn, controlling the mobile drive assembly to increase the drive speed when the detection assembly detects that the distance between the mower and the zone boundary is greater than or equal to a second distance threshold.
10. A control method for a lawnmower, for use in a lawnmower according to any one of claims 1 to 9, the method comprising:
controlling the mobile drive assembly to reduce a drive speed when the detection assembly detects that the lawn mower moves toward the zone boundary and a distance between the lawn mower and the zone boundary is less than or equal to a first distance threshold;
when the detection component detects that the mower reaches or crosses the zone boundary, controlling the mower to turn so that the turned mower moves away from the zone boundary.
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