CN114868515B - Method for controlling a mower, control device and control device - Google Patents
Method for controlling a mower, control device and control device Download PDFInfo
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- CN114868515B CN114868515B CN202210535688.8A CN202210535688A CN114868515B CN 114868515 B CN114868515 B CN 114868515B CN 202210535688 A CN202210535688 A CN 202210535688A CN 114868515 B CN114868515 B CN 114868515B
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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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A20/00—Water conservation; Efficient water supply; Efficient water use
- Y02A20/108—Rainwater harvesting
Abstract
The embodiment of the application relates to the technical field of agriculture and forestry equipment, and discloses a method for controlling a mower, a control device and control equipment, wherein the method comprises the steps of acquiring a first detection signal sent by a first detection assembly when the mower executes a mowing task; then judging whether the first detection signal is a first trigger signal; if the first detection signal is not the first trigger signal, controlling the mower to continue executing a mowing task, and returning to the step of acquiring the first detection signal sent by the first detection component; if the first detection signal is a first trigger signal, the mower is controlled to return to the base station, and the drainage assembly is controlled to drain water.
Description
Technical Field
The embodiment of the application relates to the technical field of agriculture and forestry equipment, in particular to a method, a control device and control equipment for controlling a mower.
Background
Along with the progress of science and technology, various intelligent products come into production, and the automatic mowing robot brings convenience to people in daily life by walking into people, and is one type of automatic mowing robot, and is more and more common in the daily life of people. The main function of the mowing robot is to automatically perform daily lawn management on the lawn, so that the labor intensity of people for lawn maintenance is greatly reduced.
Part robot of mowing on market has the rainwater function of detection at present, but can't detect rainfall, thereby the condition that many products still continue work when meetting great rainfall in order to avoid robot of mowing to lead to some bad problems appears, so no matter the size of rainfall, as long as detect the rainfall and just return the journey to take shelter from the rain operation, can not make the meadow become soft and ponding in fact under the less condition of rainfall, robot of mowing still can continue to carry out the task of mowing before reaching certain rainfall, it leads to the work efficiency of lawn mower to return the journey to take shelter from the rain to operate prematurely low, environmental suitability is poor.
Disclosure of Invention
The technical problem mainly solved by the embodiment of the application is to provide a method, a control device and control equipment for controlling a mower, so that the mower can be controlled to return to the home and keep out rain only when the environmental rainfall reaches a preset value, and the working efficiency of the mower is improved.
In order to solve the above technical problem, one technical solution adopted in the embodiments of the present application is: the method for controlling the mower comprises the mower body, a water tank, a first detection assembly, a drainage assembly and a power assembly, wherein the water tank is arranged on the mower body and is provided with a water collecting cavity, a water inlet and a water outlet, the water inlet is communicated with the top of the water collecting cavity, the water outlet is communicated with the bottom of the water collecting cavity, the first detection assembly is arranged at the top of the water tank and is used for sending a first trigger signal when detecting liquid, the drainage assembly is arranged at the water outlet, the power assembly is arranged on the mower body and is used for driving the mower body to move, and the method comprises the following steps: when the mower executes a mowing task, acquiring a first detection signal sent by the first detection assembly; judging whether the first detection signal is a first trigger signal or not; if the first detection signal is not the first trigger signal, controlling the mower to continue executing a mowing task, and returning to the step of acquiring the first detection signal sent by the first detection component; and if the first detection signal is a first trigger signal, controlling the mower to return to a base station and controlling the drainage assembly to perform drainage operation.
Optionally, starting a first timer when the lawn mower starts a task of mowing; judging whether the current working time recorded by the first timer is longer than a preset working time or not in the process that the mower executes a mowing task; if the current working time recorded by the first timer is not longer than the preset working time, controlling the first timer to continuously record the current working time, and executing the step of acquiring a first detection signal sent by the first detection assembly; if the current working time recorded by the first timer is longer than the preset working time, controlling the drainage assembly to perform drainage operation; and after the drainage of the drainage assembly is finished, controlling the first timer to be reset so as to restart to record the current working time length, and returning to the step of judging whether the current working time length recorded by the first timer is greater than the preset working time length.
Optionally, the mower further includes a second detection assembly disposed at the bottom of the water collection chamber, the second detection assembly is configured to detect whether liquid exists at the bottom of the water collection chamber, and send a second trigger signal when liquid exists at the bottom of the water collection chamber, and the step of starting the first timer when the mower starts a mowing task further includes: acquiring a second detection signal of the second detection assembly; judging whether the second detection signal is a second trigger signal; if the second detection signal is not the second trigger signal, not starting the first timer; and if the second detection signal is a second trigger signal, starting the first timer.
Optionally, the step of controlling the lawn mower to return to the base station further comprises: acquiring the current working time recorded by the first timer; calculating the environmental rainfall speed according to the current working duration and the capacity of the water tank, wherein the capacity of the water tank is a known and fixed value; judging whether the environmental rainfall speed is in a first preset rainfall speed interval or not; if the environmental rainfall speed is within a first preset rainfall speed interval, controlling the mower to return to the base station at a first preset movement speed; and if the environmental rainfall speed is not in the first preset rainfall speed interval, controlling the mower to return to the base station at a second preset movement speed.
Optionally, the method further comprises: when the mower executes a mowing task, acquiring current position information of the mower; judging whether the current position information of the mower exists in a storage area or not; if the current position information of the mower already exists in the storage area, the current position information is not saved; and if the current position information of the mower does not exist in the storage area, saving the current position information in the storage area.
Optionally, the method further comprises: starting a second timer after the mower returns to the base station; judging whether the return voyage accumulated time recorded by the second timer is greater than a preset rain sheltering time; if the return voyage accumulated time length is not greater than the preset rain sheltering time length, controlling the second timer to continuously record the return voyage accumulated time length, and returning to the step of judging whether the return voyage accumulated time length recorded by the second timer is greater than the preset rain sheltering time length or not; and if the return voyage accumulated time length is longer than the preset rain sheltering time length, controlling the mower to return to the current position stored for the last time to continue executing the mowing task, and returning to the step of acquiring the first detection signal sent by the first detection assembly.
Optionally, the method further comprises: after the mower returns to the base station, acquiring rainfall information sent by a meteorological server, wherein the rainfall information at least comprises rainfall time, rainfall and rainfall place; acquiring an execution place for executing the mowing task; judging whether the execution place is suitable for the mower to continuously execute a mowing task or not according to the rainfall information; if the execution is suitable for the mower to continue executing the mowing task, controlling the mower to return to the last saved current position to continue executing the mowing task, and returning to the step of acquiring the first detection signal sent by the first detection component; and if the execution is not suitable for the mower to continue executing the mowing task, controlling the mower to continue to stop at the base station.
Optionally, the step of determining whether the execution place is suitable for the lawn mower to continue executing the mowing task according to the rainfall information further includes: judging whether the execution place stops raining or not according to the rainfall information; if the execution place is in a rainy state, determining that the execution place is not suitable for the mower to continue executing the mowing task; if the execution place stops raining, starting a third timer to record the raining stop duration of the execution place; acquiring rainfall of the execution place which has rained according to the rainfall information, and estimating drainage duration of the execution place according to a model of preset rainfall and grassland drainage time; judging whether the rain stopping time length recorded by the third timer is greater than the drainage time length or not; if the rain stopping time length is longer than the water draining time length, determining that the execution place is suitable for the mower to continuously execute the mowing task; and if the rain stopping time length is less than or equal to the water draining time length, determining that the execution place is not suitable for the mower to continuously execute the mowing task.
In order to solve the above technical problem, another technical solution adopted in the embodiment of the present application is: there is provided an apparatus for controlling a lawn mower, the apparatus comprising: the first acquisition module is used for acquiring a first detection signal sent by the first detection component when the mower executes a mowing task; the first judging module is used for judging whether the first detection signal is a trigger signal or not; the first control module is used for controlling the mower to continue executing a mowing task if the first detection signal is not the trigger signal, and returning to the step of acquiring the first detection signal sent by the first detection component; and the second control module is used for controlling the mower to return to a base station and controlling the drainage assembly to perform drainage operation if the first detection signal is a trigger signal.
In order to solve the above technical problem, another technical solution adopted in the embodiment of the present application is: there is provided a control apparatus including: a controller, comprising: at least one processor, and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method as described above.
In order to solve the above technical problem, another technical solution adopted in the embodiment of the present application is: there is provided a non-transitory computer-readable storage medium having stored thereon computer-executable instructions for causing a server to perform the method as described above.
According to the embodiment of the application, firstly, when the mower executes a mowing task, a first detection signal sent by a first detection assembly is acquired; then judging whether the first detection signal is a first trigger signal; if the first detection signal is not the first trigger signal, controlling the mower to continue executing a mowing task, and returning to the step of acquiring the first detection signal sent by the first detection component; if the first detection signal is a first trigger signal, the mower is controlled to return to the base station, and the drainage assembly is controlled to drain water.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
Fig. 1 is a schematic view of an application environment of a method of controlling a lawnmower according to a first embodiment of the present application.
Fig. 2 is a schematic view of a view angle of the lawn mower in the method for controlling the lawn mower according to the first embodiment of the present application.
Fig. 3 is a flow chart of a method of controlling a lawn mower according to a first embodiment of the present application.
Fig. 4 is a flow chart of a method of controlling a lawn mower according to a second embodiment of the present application.
Fig. 5 is a flowchart of a method of controlling a lawnmower according to a third embodiment of the present application.
Fig. 6 is a flowchart of step S104 of a method of controlling a lawnmower according to a third embodiment of the present application.
Fig. 7 is a flowchart of a method of controlling a lawnmower according to a fourth embodiment of the present application.
Fig. 8 is a flowchart of a method of controlling a lawnmower according to a fifth embodiment of the present application.
Fig. 9 is a flowchart of a method of controlling a lawnmower according to a sixth embodiment of the present application.
Fig. 10 is a flowchart of step S115 of a method of controlling a lawnmower according to a sixth embodiment of the present application.
Fig. 11 is a functional block diagram of a control device according to an embodiment of the present application.
Fig. 12 is a schematic diagram of a control device according to an embodiment of the present application.
Detailed Description
In order to facilitate an understanding of the present application, the present application is described in more detail below with reference to the accompanying drawings and specific embodiments. It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. As used herein, the terms "upper," "lower," "inner," "outer," "vertical," "horizontal," and the like are used in an orientation or positional relationship that is based on the orientation or positional relationship as shown in the figures, which is for ease of description and simplicity of description only, and does not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and therefore should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
In addition, the technical features mentioned in the different embodiments of the present application described below may be combined with each other as long as they do not conflict with each other.
Referring to fig. 1, fig. 1 is a schematic diagram of an application environment of a method for controlling a lawn mower according to a first embodiment of the present application, including a lawn mower 11, a base station 12, an execution area 13, and a rain sheltering area 14. A base station 12 is provided in the rain sheltering zone 14, the base station 12 being used for the lawn mower 11 to rest on. The mower 11 is configured to move within the performance area 13 to perform a mowing task on the performance area 13.
Referring to fig. 2, the lawn mower 11 includes a main body 111, a water tank 112, a first detecting component 113, a drainage component 114, a power component 115, a second detecting component 116, and a control device 70. The water tank 112 is arranged on the machine body 111, the water tank 112 is provided with a water collecting cavity, a water inlet and a water outlet, the water inlet is communicated with the top of the water collecting cavity, the water outlet is communicated with the bottom of the water collecting cavity, the first detection component 113 is arranged on the top of the water tank 112, the drainage component 114 is arranged on the water outlet, the power component 115 is arranged on the machine body, the power component 115 is used for driving the machine body 111 to move, and the second detection component 116 is arranged on the bottom of the water collecting cavity. The first detection assembly 113, the drain assembly 114, the power assembly 115, and the second detection assembly 116 are electrically connected to the control device 70, respectively. The second detection component 116 is used for detecting whether liquid exists in the water collecting cavity or not, when liquid exists in the water collecting cavity, the first detection component is started to work, otherwise, the first detection component 113 is not started to work, and therefore the energy consumption of the mower is reduced. When liquid exists in the water collecting cavity and the first detection assembly 113 detects that the liquid level in the water collecting cavity reaches the preset height, a first trigger signal is sent to the control device 70, the control device 70 controls the drainage assembly 114 to drain water, and the power assembly 115 is controlled to drive the machine body to move towards the base station 12 for return voyage and rain sheltering.
Referring to fig. 3, fig. 3 is a flowchart of a method for controlling a lawn mower according to a first embodiment of the present application, the method comprising the steps of:
step S101, when the mower executes a mowing task, a first detection signal sent by the first detection assembly is obtained.
When the mower is used for carrying out a mowing task, the first detection assembly is in an operating state and generates a first detection signal, specifically, when the liquid level in the water collecting cavity is lower than a preset height, the first detection signal is a low-level signal, and when the liquid level in the water collecting cavity is equal to or higher than the preset height, the first detection signal is a high-level signal.
Referring to fig. 4, fig. 4 is a flowchart of a method for controlling a lawn mower according to a second embodiment of the present application, where the second embodiment is different from the first embodiment in that the second embodiment is provided with a first timer, and the method includes:
in step S1011, when the lawn mower starts a mowing task, a first timer is started.
Timing through setting up first time-recorder, just can know the operating duration of lawn mower, when the operating duration of lawn mower equals or exceeds predetermined operating duration, just can think not rainy in the meadow environment, perhaps rainfall is very little, does not continue to carry out the task of mowing to the lawn mower and produces the influence, then can carry out once the drainage operation, improves the judgement accuracy of lawn mower.
Step S1012, during the process of executing the mowing task by the mower, determining whether the current working duration recorded by the first timer is greater than a preset working duration.
The preset working time can be set manually according to simulation experiment data, for example, the preset working time is set to be 5 hours, and when the mower is in the working process and the first detection assembly is not triggered within 5 hours, the lawn environment is considered not to influence the mower to continue to work normally.
Step S1013, if the current working duration recorded by the first timer is not longer than a preset working duration, controlling the first timer to continue recording the current working duration, and executing the step of acquiring the first detection signal sent by the first detection assembly.
And step S1014, if the current working time recorded by the first timer is longer than the preset working time, controlling the drainage assembly to perform drainage operation.
The drainage time can be obtained according to experimental data, specifically, water is injected into the water collecting cavity, so that the liquid level reaches a preset height, then the drainage experiment is carried out, timing is carried out simultaneously, and the corresponding drainage time can be obtained after all water in the water collecting cavity is drained.
Step S1015, after the drainage of the drainage assembly is finished, controlling the first timer to reset to restart recording the current working time, and returning to the step of determining whether the current working time recorded by the first timer is greater than the preset working time.
After the drainage assembly finishes each drainage, the first timer is reset and starts timing again, so that the first timer starts the next round of time recording.
Referring to fig. 5, fig. 5 is a flowchart of a method for controlling a lawn mower according to a third embodiment of the present application, the method is different in that the lawn mower further includes a second detection assembly disposed at the bottom of the water collection chamber, the second detection assembly is used for detecting whether liquid exists at the bottom of the water collection chamber, and sending a second trigger signal when liquid exists at the bottom of the water collection chamber, so that, before step S1011, the control method further includes:
step S1016, a second detection signal of the second detection component is acquired.
A second detection assembly is arranged at the bottom of the water collection cavity for signal detection, when rainwater enters the water collection cavity, the probability of raining in the grassland environment is higher, and at the moment, a first timer can be started for timing, so that the current working time length is compared with the preset working time length; when no rainwater enters the water collecting cavity, the lawn environment is considered to be rainless, and the first timer can be not started so as to reduce the energy consumption of the mower.
Step S1017, determining whether the second detection signal is a second trigger signal.
When the second detection assembly is in a working state, a second detection signal can be continuously generated, wherein when rainwater exists in the water collecting cavity, the second detection signal is a high level signal, and when no rainwater exists in the water collecting cavity, the second detection signal is a low level signal.
In step S1018, if the second detection signal is not the second trigger signal, the first timer is not started.
When the second detection signal is a low level signal, the second detection signal is not considered as the second trigger signal.
Step S1019, if the second detection signal is a second trigger signal, the first timer is started.
When the second detection signal is a high level signal, the second detection signal is considered as a second trigger signal.
Step S102, determining whether the first detection signal is a first trigger signal.
Step S103, if the first detection signal is not the first trigger signal, controlling the lawn mower to continue executing the lawn mowing task, and returning to the step of acquiring the first detection signal sent by the first detection component.
When the first detection signal is a low level signal, the first detection signal is not considered as the first trigger signal.
And step S104, if the first detection signal is a first trigger signal, controlling the mower to return to a base station, and controlling the drainage assembly to perform drainage operation.
When the first detection signal is a high level signal, the first detection signal is considered as a first trigger signal.
In some embodiments, referring to fig. 6, step S104 includes:
step S1041, acquiring the current working duration recorded by the first timer.
And step S1042, calculating the environmental rainfall speed according to the current working time and the capacity of the water tank, wherein the capacity of the water tank is a known and fixed value.
The capacity of the water tank is a known fixed value and is obtained by a conversion relation such that the level of the liquid in the water collection chamber reflects the rainfall level of the grass environment, the specific conversion relation being as follows: the method comprises the following steps of placing a first container and a second container which are identical and provided with openings in an experimental environment simulating rain, wherein a guide plate is arranged at the top of the opening of the first container, the first container collects rain water through the guide plate, and the second container directly collects the rain water through the openings. After a certain time, due to the arrangement of the guide plate, the rainfall collected by the first container is less than that collected by the second container, namely the liquid level in the first container is lower than that in the second container, the second container is used as a control experiment group, and the liquid level of the second container can reflect the liquid level of the real rainfall of the experiment environment. Therefore, the volume of the rainfall in the first container and the liquid level height of the rainwater in the second container are obtained, and the cross-sectional area of the water tank can be obtained through solving, so that the liquid level height of the rainfall collected by the water tank is the same as the liquid level height of the real rainfall in the experimental environment.
The capacity of the water tank is known, and the water filling speed can be calculated as long as the water filling time length is obtained, so that the rainfall speed is reflected, and the water filling time length can be represented by the current working time length of the mower.
Step S1043, judging whether the environmental rainfall speed is in a first preset rainfall speed interval.
A plurality of rainfall speed intervals can be set manually through experimental data, and each rainfall speed interval corresponds to one mower movement speed. And driving the mower to return to the base station at a corresponding movement speed when returning to the home and avoiding rain by judging the rainfall speed obtained by calculation falls in which rainfall speed interval.
And step S1044, if the environmental rainfall speed is within a first preset rainfall speed interval, controlling the mower to return to the base station at a first preset movement speed.
For example, when the calculated rainfall speed is low, the mower can return to the home for taking shelter from rain at the normal working movement speed, so that the sudden increase of the movement speed of the mower is avoided, the power consumption of the mower is increased, and the service life of a power system of the mower is shortened.
And step S1045, if the environmental rainfall speed is not within the first preset rainfall speed interval, controlling the mower to return to the base station at a second preset movement speed.
For example, when the calculated rainfall speed is high, the mower can return to the home for taking shelter from rain at a speed higher than the working movement speed, and the damage to parts of the mower caused by rain is avoided.
Referring to fig. 7, a flow chart of a method for controlling a lawn mower according to a fourth embodiment of the present application is different from the other embodiments in that the fourth embodiment can save the working position information of the lawn mower so that when the lawn mowing task is executed again, the control method can directly return to the last place where the task was suspended, and the control method further includes:
step S105, when the mower executes a mowing task, acquiring current position information of the mower.
In the process of normally executing the mowing task, the coordinate information of the current position is continuously stored, so that when the mowing machine stops mowing tasks in midway due to rainfall and the like, the mowing machine can directly return to the position where the mowing task is stopped last time in the re-returning execution area to continuously execute the mowing task, the path of the mowing machine is prevented from being re-planned, and the working efficiency of the mowing machine is effectively improved.
And step S106, judging whether the current position information of the mower exists in a storage area.
And step S107, if the current position information of the mower already exists in the storage area, not saving the current position information.
If the current position information is already in the storage area, the lawn mower is indicated to have already performed the mowing task at the current position, and the mowing task does not need to be performed any more, and meanwhile, the current position information does not need to be repeatedly stored.
And step S108, if the current position information of the mower does not exist in the storage area, storing the current position information in the storage area.
If the current position information does not exist in the storage area, the lawn mower does not execute the mowing task at the current position, the mowing task is continuously executed, and meanwhile, the current position information is also stored in the storage area.
Referring to fig. 8, fig. 8 is a flowchart of a method for controlling a lawn mower according to a fifth embodiment of the present application, where the fifth embodiment is different from the other embodiments in that the fifth embodiment further continues to determine whether to continue to perform a mowing task after the lawn mower travels backwards and takes shelter from rain for a period of time, and the control method further includes:
step S109, after the mower returns to the base station, a second timer is started.
After the mower returns to the base station, the mowing task is not completed, so that the mower needs to continue to execute the mowing task when the mower is stopped in the rainy day or the rainfall does not affect the normal work of the mower, and therefore a second timer is needed to record the return accumulated time length of the mower.
Step S110, determining whether the total return voyage duration recorded by the second timer is greater than a preset rain sheltering duration.
According to experimental data and experience, the preset rain sheltering time can be set artificially, for example, the preset rain sheltering time is set to be 2 hours, when the rain sheltering time of the mower in a base station reaches 2 hours, the probability of rain stopping in the grassland environment is considered to be high, and the mower can continue to perform mowing tasks.
Step S111, if the return journey accumulated time length is not greater than the preset rain sheltering time length, controlling the second timer to continuously record the return journey accumulated time length, and returning to the step of judging whether the return journey accumulated time length recorded by the second timer is greater than the preset rain sheltering time length.
And step S112, if the return voyage accumulated time length is longer than the preset rain sheltering time length, controlling the mower to return to the current position stored for the last time to continue executing the mowing task, and returning to the step of acquiring the first detection signal sent by the first detection assembly.
When the mower continues to execute the mowing task, the mower can directly move to the position corresponding to the position information stored in the storage area for the last time, and the working efficiency and the mowing effect of the mower are improved.
Referring to fig. 9, fig. 9 is a flowchart of a method for controlling a lawn mower according to a sixth embodiment of the present application, where the sixth embodiment differs from the fifth embodiment in that the fifth embodiment only takes time to determine whether the lawn mower continues to perform a mowing task, and the sixth embodiment determines with reference to weather server data, and the method further includes:
step S113, after the mower returns to the base station, acquiring rainfall information sent by a meteorological server, wherein the rainfall information at least comprises rainfall time, rainfall amount and rainfall place.
The mower is provided with a data transmission module and can perform data transmission with the meteorological server so as to acquire real-time rainfall information sent by the meteorological server, wherein the real-time rainfall information comprises rainfall time, rainfall amount, rainfall place and the like. The rainfall information provided by the weather server helps the lawnmower to determine whether the mowing task can be performed again.
Step S114, obtaining the execution place for executing the mowing task.
And step S115, judging whether the execution place is suitable for the mower to continuously execute the mowing task or not according to the rainfall information.
In some embodiments, referring to fig. 10, step S115 includes:
step S1151, determining whether the execution place stops raining according to the rainfall information.
Step S1152, if the execution place is in a rainy state, determining that the execution place is not suitable for the lawn mower to continue executing the lawn mowing task.
Step S1153, if the execution location is in a rain stopping state, starting a third timer to record a rain stopping duration of the execution location.
It should be noted that the above-mentioned raining state and the rain stopping state are not strictly conditions, and the mowing task can be continuously executed when the consideration result is within the acceptable range of the mower according to the comprehensive consideration of the rainfall time, the rainfall amount and the like. For example, if there is light rain in the lawn environment (determined by the weather server to be light rain), and the amount of rain corresponding to the light rain is not enough to affect the normal mowing operation of the mower, the current environment can be considered as a rain-cut state, and the mower continues to perform the mowing task.
Step S1154, acquiring rainfall of the execution site having rained according to the rainfall information, and estimating a drainage duration of the execution site according to a model of a preset rainfall and a grassland drainage time.
After a period of rainfall, water accumulates on the lawn, so that the mower can better perform the mowing task, after the mower is judged to be capable of continuing to perform the mowing task, the mower still needs to wait for a period of time, and after the accumulated water is discharged, or the amount of accumulated water is within an acceptable range of the mower, the mower performs the mowing task again.
Step S1155, determining whether the rain stopping time period recorded by the third timer is greater than the drainage time period.
The drainage duration can be set manually according to experimental data.
Step S1156, if the rain stopping time is longer than the drainage time, determining that the execution place is suitable for the lawn mower to continue executing the lawn mowing task.
The length of the rain stopping time is longer than the length of the water discharging time, which indicates that the accumulated water is discharged completely or the accumulated water amount is within the acceptable range of the mower.
And step S1157, if the rain stopping time is less than or equal to the drainage time, determining that the mower is not suitable for executing the mowing task continuously.
The rain stopping time is less than or equal to the drainage time, which indicates that the accumulated water is not discharged or the accumulated water amount exceeds the acceptable range of the mower.
And step S116, if the execution is suitable for the mower to continue to execute the mowing task, controlling the mower to return to the current position saved last time to continue to execute the mowing task, and returning to the step of acquiring the first detection signal sent by the first detection component.
When the mower continues to execute the mowing task, the mower can directly move to the position corresponding to the position information stored in the storage area for the last time, and the working efficiency and the mowing effect of the mower are improved.
And step S117, if the execution place is not suitable for the mower to continue executing the mowing task, controlling the mower to continue to stop at the base station.
According to the embodiment of the application, firstly, when the mower executes a mowing task, a first detection signal sent by a first detection assembly is obtained; then judging whether the first detection signal is a first trigger signal; if the first detection signal is not the first trigger signal, controlling the mower to continue executing a mowing task, and returning to the step of acquiring the first detection signal sent by the first detection component; if the first detection signal is a first trigger signal, the mower is controlled to return to the base station, and the drainage assembly is controlled to drain water.
Fig. 11 is a functional block diagram of the control device 30 according to an embodiment of the present application, where the control device 30 includes a first obtaining module 301, a first determining module 302, a first control module 303, a second control module 304, a second obtaining module 305, a second determining module 306, a first executing module 307, a second executing module 308, a first starting module 309, a third determining module 310, a third control module 311, a fourth control module 312, a third obtaining module 313, a fourth obtaining module 314, a fourth determining module 315, a fifth control module 316, and a sixth control module 317. The first obtaining module 301 is configured to obtain a first detection signal sent by the first detection component when the lawn mower executes a mowing task; the first determining module 302 is configured to determine whether the first detecting signal is a first trigger signal; the first control module 303 is configured to control the lawn mower to continue to perform a mowing task if the first detection signal is not the first trigger signal, and return to the step of acquiring the first detection signal sent by the first detection component; the second control module 304 is configured to control the lawn mower to return to the base station and control the drainage assembly to perform a drainage operation if the first detection signal is a first trigger signal. The second obtaining module 305 is configured to obtain current position information of the lawn mower when the lawn mower executes a mowing task; the second judging module 306 is used for judging whether the current position information of the mower exists in the storage area; the first executing module 307 is configured to not save the current location information of the lawn mower if the current location information already exists in the storage area; the second executing module 308 is configured to save the current location information of the lawn mower in the storage area if the current location information does not exist in the storage area. The first starting module 309 is used for starting a second timer after the mower returns to the base station; the third determining module 310 is configured to determine whether the total return journey duration recorded by the second timer is greater than a preset rain sheltering duration; the third control module 311 is configured to control the second timer to continue to record the return voyage accumulated time if the return voyage accumulated time is not greater than the preset rain sheltering time, and return to the step of determining whether the return voyage accumulated time recorded by the second timer is greater than the preset rain sheltering time; the fourth control module 312 is configured to control the lawn mower to return to the last stored current position to continue executing the mowing task and return to the step of acquiring the first detection signal sent by the first detection assembly if the return accumulated time is greater than the preset rain sheltering time. The third obtaining module 313 is configured to obtain rainfall information sent by a meteorological server after the mower returns to the base station, where the rainfall information at least includes rainfall time, rainfall amount, and rainfall place; the fourth obtaining module 314 is used for obtaining the execution place for executing the mowing task; the fourth judging module is used for judging whether the execution place is suitable for the mower to continuously execute the mowing task or not according to the rainfall information; the fifth control module 316 is used for controlling the mower to return to the last saved current position to continue the mowing task and return to the step of acquiring the first detection signal sent by the first detection component if the execution place is suitable for the mower to continue the mowing task; the sixth control module 317 is configured to control the lawn mower to continue to park at the base station if the execution is not suitable for the lawn mower to continue to perform the task of mowing.
Wherein, the first obtaining module 301 includes: a first start-up unit 3011, a first determination unit 3012, a first control unit 3013, a second control unit 3014, and a third control unit 3015. The first starting unit 3011 is configured to start a first timer when the lawn mower starts a mowing task; the first judging unit 3012 is configured to, in a process of executing a mowing task by the lawn mower, judge whether a current working duration recorded by the first timer is greater than a preset working duration; the first control unit 3013 is configured to control the first timer to continue to record the current working duration and perform a step of acquiring a first detection signal sent by the first detection component if the current working duration recorded by the first timer is not greater than a preset working duration; the second control unit 3014 is configured to control the drainage assembly to perform a drainage operation if the current working duration recorded by the first timer is greater than a preset working duration; the third control unit 3015 is configured to control the first timer to reset after the drainage of the drainage assembly is finished, to restart recording the current working duration, and return to the step of determining whether the current working duration recorded by the first timer is greater than the preset working duration.
Wherein, the second control module 304 comprises: a first acquiring unit 3041, a first calculating unit 3042, a second judging unit 3043, a fourth controlling unit 3044, and a fifth controlling unit 3045. The first obtaining unit 3041 is configured to obtain a current working duration recorded by the first timer; the first calculating unit 3042 is configured to calculate an environmental rainfall speed according to the current working duration and the capacity of the water tank, where the capacity of the water tank is a known and fixed value; the second determining unit 3043 is configured to determine whether the environmental rainfall speed is in a first preset rainfall speed interval; the fourth control unit 3044 is configured to control the lawn mower to return to the base station at the first preset movement speed if the environmental rainfall speed is within the first preset rainfall speed interval; the fifth control unit 3045 is configured to control the lawn mower to return to the base station at the second predetermined movement speed if the ambient rainfall speed is not within the first predetermined rainfall speed interval.
The fourth determining module 315 includes: a third judging unit 3151, a first determining unit 3152, a second activating unit 3153, a second calculating unit 3154, a fourth judging unit 3155, a second determining unit 3156, and a third determining unit 3157. The third judging unit 3151 is configured to judge whether the execution site stops raining according to the rainfall information; a first determination unit 3152 for determining that the execution is unsuitable for the lawn mower to continue to perform a mowing task if the execution is in a rainy state; the second starting unit 3153 is configured to start a third timer to record a rain stopping duration of the execution place if the execution place stops rain; the second calculation unit 3154 is configured to obtain the rainfall of the execution place that has rained according to the rainfall information, and estimate the drainage duration of the execution place according to a model of a preset rainfall and a grassland drainage time; the fourth judging unit 3155 is configured to judge whether the rain stopping time recorded by the third timer is longer than the drainage time; a second determination unit 3156 for determining that the execution is suitable for the lawn mower to continue to execute the mowing task if the rain stopping time period is longer than the draining time period; the third determination unit 3157 is configured to determine that the execution is not suitable for the lawnmower to continue to perform the mowing task if the length of the rain stopping time is less than or equal to the length of the drainage time.
In the embodiment of the application, first, when the lawn mower executes a mowing task, a first acquisition module 301 acquires a first detection signal sent by a first detection assembly; then, a first determining module 302 determines whether the first detection signal is a trigger signal; if the first detection signal is not the trigger signal, controlling the mower to continue to perform the mowing task through a first control module 303, and returning to the step of acquiring the first detection signal sent by the first detection component; if the first detection signal is a trigger signal, the second control module 304 controls the mower to return to the base station and controls the drainage assembly to drain water, and the control device 30 can control the mower to return to the home and keep out rain only when the environmental rainfall reaches a preset value, so that the working efficiency of the mower is improved.
The present application further provides an embodiment of a control device 70, please refer to fig. 12, fig. 12 is a schematic diagram of an embodiment of a control device 70 according to the present application, where a controller of the control device 70 includes: at least one processor 701; and a memory 702 communicatively coupled to the at least one processor 701, one of the processors 701 being exemplified in fig. 12. The memory 702 stores instructions executable by the at least one processor 701 to enable the at least one processor 701 to perform the method of controlling a lawn mower described above with reference to fig. 3-10 and to perform the control device 30 described above with reference to fig. 11. The processor 701 and the memory 702 may be connected by a bus or other means, and fig. 12 illustrates an example of a connection by a bus.
The memory 702, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the method of controlling a lawn mower in the embodiments of the present application, for example, the modules shown in fig. 11. The processor 701 executes various functional applications of the server and data processing by executing the nonvolatile software programs, instructions and modules stored in the memory 702, so as to implement the method for controlling the lawn mower of the above method embodiment.
The memory 702 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the control device, and the like. Further, the memory 702 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 702 may optionally include memory located remotely from the processor 701, which may be connected to the control device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory 702 and, when executed by the one or more processors 701, perform a method of controlling a lawn mower in any of the method embodiments described above, e.g., performing the method steps of fig. 3-10 described above, and performing the control device 30 described above in fig. 11.
The product can execute the method provided by the embodiment of the application, has corresponding functional modules and beneficial effects of the execution method, and can refer to the method provided by the embodiment of the application without detailed technical details in the embodiment.
Embodiments of the present application also provide a non-transitory computer-readable storage medium having stored thereon computer-executable instructions for execution by one or more processors, for example, to perform the method steps described above for controlling a lawn mower of fig. 3-10, and to execute the control device 30 described above with respect to fig. 11.
Embodiments of the present application also provide a computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions that, when executed by a computer, cause the computer to perform a method of controlling a lawn mower in any of the above-described method embodiments, for example, to perform the method steps of fig. 3 to 10 described above, and to perform the control device 30 of fig. 11 described above.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings, or which are directly or indirectly applied to other related technical fields, are intended to be included within the scope of the present application.
Claims (9)
1. A method for controlling a mower, the mower comprising a mower body, a water tank, a first detection assembly, a second detection assembly, a drainage assembly and a power assembly, wherein the water tank is arranged on the mower body, the water tank is provided with a water collecting cavity, a water inlet and a water outlet, the water inlet is communicated with the top of the water collecting cavity, the water outlet is communicated with the bottom of the water collecting cavity, the first detection assembly is arranged at the top of the water tank and used for sending a first trigger signal when detecting liquid, the drainage assembly is arranged at the water outlet, the power assembly is arranged on the mower body, the power assembly is used for driving the mower body to move, the second detection assembly is arranged at the bottom of the water collecting cavity and used for detecting whether liquid exists at the bottom of the water collecting cavity or not and sending a second trigger signal when detecting that liquid exists at the bottom of the water collecting cavity, and the method comprises the following steps:
acquiring a second detection signal of the second detection assembly;
judging whether the second detection signal is a second trigger signal;
if the second detection signal is not the second trigger signal, not starting the first timer;
if the second detection signal is a second trigger signal, starting the first timer;
in the process that the mower executes a mowing task, if the first timer is started, judging whether the current working duration recorded by the first timer is longer than a preset working duration or not;
if the current working time recorded by the first timer is not longer than the preset working time, controlling the first timer to continuously record the current working time, and executing the step of acquiring a first detection signal sent by the first detection assembly;
if the current working time recorded by the first timer is longer than the preset working time, controlling the drainage assembly to perform drainage operation;
after the drainage of the drainage assembly is finished, controlling the first timer to be reset so as to restart to record the current working time length, and returning to the step of judging whether the current working time length recorded by the first timer is greater than the preset working time length;
when the mower executes a mowing task, acquiring a first detection signal sent by the first detection component;
judging whether the first detection signal is a first trigger signal;
if the first detection signal is not the first trigger signal, controlling the mower to continue executing a mowing task, and returning to the step of acquiring the first detection signal sent by the first detection component;
and if the first detection signal is a first trigger signal, controlling the mower to return to a base station and controlling the drainage assembly to perform drainage operation.
2. The method of claim 1, wherein the step of controlling the lawnmower to return to a base station further comprises:
acquiring the current working time recorded by the first timer;
calculating the environmental rainfall speed according to the current working duration and the capacity of the water tank, wherein the capacity of the water tank is a known and fixed value;
judging whether the environmental rainfall speed is in a first preset rainfall speed interval or not;
if the environmental rainfall speed is within a first preset rainfall speed interval, controlling the mower to return to the base station at a first preset movement speed;
and if the environmental rainfall speed is not within the first preset rainfall speed interval, controlling the mower to return to the base station at a second preset movement speed.
3. The method of claim 1, further comprising:
when the mower executes a mowing task, acquiring current position information of the mower;
judging whether the current position information of the mower exists in a storage area or not;
if the current position information of the mower already exists in a storage area, not saving the current position information;
and if the current position information of the mower does not exist in the storage area, saving the current position information in the storage area.
4. The method of claim 3, further comprising:
starting a second timer after the mower returns to the base station;
judging whether the return voyage accumulated time recorded by the second timer is greater than a preset rain sheltering time;
if the total return voyage duration is not greater than the preset rain sheltering duration, controlling the second timer to continuously record the total return voyage duration, and returning to the step of judging whether the total return voyage duration recorded by the second timer is greater than the preset rain sheltering duration;
and if the return voyage accumulated time length is longer than the preset rain sheltering time length, controlling the mower to return to the current position stored for the last time to continue executing the mowing task, and returning to the step of acquiring the first detection signal sent by the first detection assembly.
5. The method of claim 3, further comprising:
after the mower returns to the base station, acquiring rainfall information sent by a meteorological server, wherein the rainfall information at least comprises rainfall time, rainfall and rainfall place;
acquiring an execution place for executing the mowing task;
judging whether the execution place is suitable for the mower to continuously execute the mowing task or not according to the rainfall information;
if the execution is suitable for the mower to continue executing the mowing task, controlling the mower to return to the last saved current position to continue executing the mowing task, and returning to the step of acquiring the first detection signal sent by the first detection component;
and if the execution place is not suitable for the mower to continue executing the mowing task, controlling the mower to continue to stop at the base station.
6. The method of claim 5, wherein the step of determining whether the performance site is suitable for the lawn mower to continue performing the task of mowing further comprises:
judging whether the execution place stops raining or not according to the rainfall information;
if the execution place is in a rainy state, determining that the execution place is not suitable for the mower to continue executing the mowing task;
if the execution place stops raining, starting a third timer to record the raining stop duration of the execution place;
acquiring rainfall of the execution place which has rained according to the rainfall information, and estimating drainage duration of the execution place according to a model of preset rainfall and grassland drainage time;
judging whether the rain stopping time length recorded by the third timer is greater than the drainage time length or not;
if the rain stopping time length is longer than the water draining time length, determining that the execution place is suitable for the mower to continuously execute the mowing task;
and if the rain stopping time length is less than or equal to the water draining time length, determining that the execution place is not suitable for the mower to continuously execute the mowing task.
7. A device for controlling a lawn mower, characterized in that it is adapted to process the method according to any one of claims 1 to 6, said device comprising:
the first acquisition module is used for acquiring a first detection signal sent by the first detection component when the mower executes a mowing task;
the first judging module is used for judging whether the first detection signal is a trigger signal;
the first control module is used for controlling the mower to continue executing a mowing task and returning to the step of acquiring the first detection signal sent by the first detection component if the first detection signal is not the trigger signal;
and the second control module is used for controlling the mower to return to a base station and controlling the drainage assembly to perform drainage operation if the first detection signal is a trigger signal.
8. A control device, comprising:
a controller, comprising: at least one processor, and a memory communicatively coupled to the at least one processor;
wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 6.
9. A non-transitory computer-readable storage medium storing computer-executable instructions for causing a server to perform the method of any one of claims 1-6.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| GB2386970A (en) * | 2002-03-26 | 2003-10-01 | Mcmurtry Ltd | Environmentally responsive ground maintenance equipment |
| CN201828678U (en) * | 2010-09-14 | 2011-05-11 | 肖雪峰 | Automatic rain gauge |
| US10034421B2 (en) * | 2015-07-24 | 2018-07-31 | Irobot Corporation | Controlling robotic lawnmowers |
| CN106576570A (en) * | 2016-11-30 | 2017-04-26 | 深圳市阳邦电子股份有限公司 | Drive circuit of automatic mowing machine |
| US11166409B2 (en) * | 2018-04-06 | 2021-11-09 | Lg Electronics Inc. | Lawn mower robot |
| CN108549422A (en) * | 2018-04-24 | 2018-09-18 | 陈欣欣 | Water Level Regulating System and its adjusting method |
| CN111279872A (en) * | 2020-02-28 | 2020-06-16 | 苏州科瓴精密机械科技有限公司 | Mower control method and device and mower |
| CN114235085A (en) * | 2021-12-15 | 2022-03-25 | 潍坊学院 | Farmland intelligent irrigation forecasting system |
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