CN114885664A - Mower control method, mower system and mower - Google Patents
Mower control method, mower system and mower Download PDFInfo
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- CN114885664A CN114885664A CN202210477729.2A CN202210477729A CN114885664A CN 114885664 A CN114885664 A CN 114885664A CN 202210477729 A CN202210477729 A CN 202210477729A CN 114885664 A CN114885664 A CN 114885664A
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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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- 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
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
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Abstract
The invention provides a mower control method, a mower system and a mower, which are provided with at least two mowers, wherein each mower comprises a host mode, a slave mode and an operation mode, a boundary map is stored in each mower, and the plurality of mowers simultaneously mow a working area; the method comprises the following steps: setting a host mode; sending a switching instruction to other mowers; other mowers are switched to a slave mode according to the switching instruction; planning a working path according to the boundary map, and dividing the working path into a plurality of sub-paths according to the number of the mowers; sending the corresponding sub-path to the mower in the slave mode; the mower in the slave mode receives the sub-paths and then switches to the operation mode, and mows according to the corresponding sub-paths; and switching to the operation mode to mow according to the corresponding sub-path. The invention can distribute tasks for each slave mower, and any mower can become a master mower when needed, thereby improving the working efficiency of the mower and avoiding the mapping work of new mowers.
Description
Technical Field
The invention belongs to the technical field of mowers, and particularly relates to a mower control method, a mower system and a mower.
Background
The lawn mower is a garden tool for trimming lawns, vegetation and the like, and generally comprises a self-propelled mechanism, a cutting knife mechanism and a power source, wherein the power source can be a gasoline engine, a battery pack and the like, and the multi-sensor intelligent lawn mower is pushed out, so that path planning is possible, the lawn mower can work along a preset path, but if the multi-sensor intelligent lawn mower is not well cooperated, repeated work can be caused, hardware resources are wasted, and the working efficiency is influenced.
Disclosure of Invention
The invention provides a mower control method, a mower system and a mower, and aims to solve the problem that the working efficiency is influenced due to repeated work and waste of hardware resources caused by poor cooperation among a plurality of mowers.
A control method of a mower comprises at least two mowers, wherein each mower comprises a host mode, a slave mode and an operation mode, a boundary map is stored in each mower, and the plurality of mowers simultaneously mow a working area; the working method comprises the following steps:
setting one of the mowers to be in a host mode;
sending a switching instruction to other mowers; other mowers are automatically switched to a slave mode according to the switching instruction;
planning a working path according to the boundary map, and dividing the working path into a plurality of sub-paths according to the number of the mowers;
sending the corresponding sub-path to the mower in the slave mode; the mower in the slave mode receives the sub-paths and then switches to the operation mode, and carries out mowing operation according to the corresponding sub-paths;
automatically switching to the operation mode to carry out mowing operation according to the corresponding sub-path.
In an embodiment of the present invention, the operating method further includes:
and when the mower is in the working mode, counting the current working progress of the mower.
In an embodiment of the present invention, the operating method further includes:
when any one mower finishes mowing operation, automatically switching to the host mode;
sending a switching instruction and a working progress collecting instruction to other mowers; other mowers are automatically switched to a slave mode according to the switching instruction;
receiving the working schedule of the mower in the slave mode, and selecting the mower with the slowest working schedule according to the working schedule;
re-dividing the incomplete part of the sub-path of the mower with the slowest work progress to serve as the sub-path segment of the mower with the slowest work progress;
sending the corresponding sub-path segment to the mower with the slowest work progress, switching to an operation mode after the mower with the slowest work progress receives the corresponding sub-path segment, and carrying out mowing operation according to the corresponding sub-path segment; switching other mowers in the slave mode to the working mode for mowing;
automatically switching to the operation mode to carry out mowing operation according to the corresponding sub-path segment.
In one embodiment of the invention, the mower in the slave mode receives an operation switching command sent by the mower in the master mode and then switches to the working mode.
In one embodiment of the invention, when the duration time of the slave mode of the mower is longer than a first preset value, the mower is automatically switched to the working mode, and the mowing operation is continued.
In an embodiment of the present invention, the operating method further includes: and when the mower is in the operation mode, detecting the current residual electric quantity of the mower.
In an embodiment of the present invention, the operating method further includes:
when the current remaining power of the mower is smaller than a threshold value, automatically switching to the host mode;
sending a switching instruction and a working progress collecting instruction to other mowers; other mowers are automatically switched to a slave mode according to the switching instruction;
receiving the working schedule of the mower in the slave mode, and selecting the mower with the fastest working schedule according to the working schedule;
dividing unfinished parts of the sub-paths of the mower and sending the unfinished parts to the mower with the highest working progress, switching to an operation mode after the mower with the highest working progress receives the unfinished parts, and carrying out mowing operation according to the corresponding sub-paths and the unfinished parts of the sub-paths of the mower; other mowers in the slave mode are switched to the operation mode to carry out mowing operation;
and returning to charge after planning is completed.
In one embodiment of the invention, the mower in the slave mode receives an operation switching command sent by the mower in the master mode and then switches to the working mode.
In one embodiment of the invention, the mower automatically switches to the working mode after the slave mode duration is greater than the second preset value, and continues mowing.
The present invention also provides a lawn mower system comprising:
at least two lawn mowers;
the lawn mower can set a working path according to a boundary map of a working area, and the working path is divided into different sub-paths according to the number of the lawn mowers;
the lawn mowers can interact with each other to transmit and receive work information.
In one embodiment of the invention said work information comprises at least a boundary map, said work path divided into different sub-paths, the work progress of the lawn mower, a switching instruction and a work progress collection instruction.
In one embodiment of the invention, a mode switching unit is arranged in the mower, and the mower is controlled to switch among a master mode, a slave mode and a working mode through the mode switching unit.
In one embodiment of the invention, a path planning unit is further arranged in the mower, a working path is set through the path planning unit according to a boundary map of a working area, and the working path is divided into different sub-paths according to the number of the mowers.
The invention also provides a mower which has a host mode, a slave mode and an operation mode;
when in the host mode, the mower can send instructions to other mowers,
when in the slave mode, the mower is capable of receiving instructions,
when in the working mode, the mower works normally.
The invention provides a mower control method, a mower system and a mower, wherein the mower can automatically recognize and switch between a master mode and a slave mode, the mower in the master mode can plan a working path and divide the working path into corresponding number of sub-paths according to the number of the mowers, the mower in the master mode can transmit map information, working path information and mower information to the mower in the slave mode and can distribute tasks for each slave mower, the working efficiency of multiple mowers is improved, and any mower can become a master mower when needed, so that the working efficiency of multiple mowers is improved, and the mapping work of a new mower is avoided.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a block diagram of a lawn mower system according to an embodiment of the present invention.
FIG. 2 is a schematic diagram of information transmission between a master mower and a slave mower in a mower system according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a control method according to an embodiment of the invention.
Fig. 4 is another schematic diagram of a control method according to an embodiment of the invention.
Fig. 5 is another schematic diagram of a control method according to an embodiment of the invention.
FIG. 6 is a schematic view of a working path of the lawn mower according to the control method of the present invention.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention.
It should be noted that the drawings provided in the present embodiment are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
The invention provides a mower control method, a mower system and a mower, and aims to solve the problem that due to the fact that a plurality of mowers cannot cooperate well, repeated work and hardware resources are wasted, and therefore work efficiency is affected. In this embodiment, the lawn mower system includes at least two lawn mowers 100, and the lawn mowers 100 can set a working path according to a boundary map of a working area, and divide the working path into different sub-paths according to the number of the lawn mowers, and at the same time, the lawn mowers can interact with each other to transmit and receive working information.
As shown in fig. 1 to 2, in the present embodiment, the lawn mower 100 includes a control unit 10, a path planning unit 20, a storage unit 30, and a communication unit 40, and has a master mode, a slave mode, and a working mode. Specifically, the control unit 10 is configured to control the mower to perform mowing along the sub-path and to control the mower to switch between a master mode, a slave mode and a working mode, where the mower in the master mode is the master mower and the mower in the slave mode is the slave mower. When the mower is in the master mode, the mower can send instructions to other mowers, and when the mower is in the slave mode, the mower can receive the instructions; when the mower is in the working mode, the mower works normally.
As shown in fig. 1-2, in this embodiment, the mower operates within a work area 1, and a boundary map of the work area may be automatically downloaded from a database by the mower or collected on-site by the drive mower. The path planning unit 20 is connected to the control unit 10, and is configured to plan a working path of the lawn mower within a working area boundary, and further divide the working path into a plurality of sub-paths according to the number of the lawn mowers, so that different lawn mowers perform mowing along different sub-paths; the storage unit 30 is connected to the control unit 10 and the path planning unit 20, and is configured to store the work area boundary map and the work path divided into a plurality of sub paths; the communication unit 40 is connected to the control unit 10, the path planning unit 20 and the storage unit 30, and is configured to interact with other lawn mowers to transmit and receive operation information between the main lawn mower and the slave lawn mowers, in this embodiment, the communication unit 40 is a wireless transmission unit. In addition, the work information includes the boundary map, the work path divided into different sub-paths, a work schedule of the lawn mower, a switching instruction, a work switching instruction, and a work schedule collection instruction.
As shown in fig. 1 to 2, in this embodiment, the lawn mower further includes a positioning unit 50, where the positioning unit 50 is an RTK positioning unit, and the RTK positioning unit uses RTK differential information of a wireless receiving base station to realize accurate positioning, so that the lawn mower can perform mowing along its working path.
As shown in fig. 1 to 2, in this embodiment, the lawn mower further includes an operation progress counting unit 60 and an electric quantity detecting unit 70, where the operation progress counting unit 60 is configured to count an operation progress of the lawn mower, and the electric quantity detecting unit 70 is configured to detect a current electric quantity of the lawn mower, and if the current electric quantity is smaller than a preset threshold, it indicates that the electric quantity of the lawn mower is insufficient.
As shown in fig. 3, in this embodiment, the multi-mower control method can coordinate a plurality of mowers to perform mowing operation, and avoid repeated operation among the plurality of mowers, which results in wasting hardware resources and affecting work efficiency. A boundary map is stored in the mower, and a plurality of mowers simultaneously mow a working area. The mower has three different working modes, namely a master mode, a slave mode and a working mode, can be switched among the three working modes, and is defined as the mower with the master mode as the working mode and the mower with the slave mode as the working mode.
As shown in fig. 3, the working method includes:
s1, setting one of the mowers to be in a host mode;
s2, sending a switching instruction to other mowers; other mowers are automatically switched to a slave mode according to the switching instruction;
s3, planning a working path according to the boundary map, and dividing the working path into a plurality of sub-paths according to the number of the mowers;
s4, sending the corresponding sub-path to the mower in the slave mode; the mower in the slave mode automatically switches to the operation mode after receiving the sub-paths, and performs mowing operation according to the corresponding sub-paths;
and S5, automatically switching to the operation mode to perform mowing operation according to the corresponding sub-path.
As shown in fig. 3, when the mowing operation is started in step S1 and step S2, one mower is set to the master mode so that the mower is the master mower, the master mower transmits a switching command to the other mowers via the communication unit 40, and the other mowers automatically switch to the slave mode as the slave mowers according to the switching command.
As shown in fig. 3 and 6, in step S3, the main mower stores a boundary map 1, plans a working path of the mower according to the boundary map, divides the planned working path into a plurality of sub paths according to the number of mowers, and numbers each sub path, wherein the number of the sub paths corresponds to the number of mowers.
As shown in fig. 3 and 6, in some embodiments, the main mower sends a switching instruction to other mowers, and after the other mowers automatically switch to a slave mode as a slave mower according to the switching instruction, a feedback signal is given to the main mower so that the main mower can acquire the number of mowers to divide the working path.
As shown in fig. 3 and 6, as an example, the number of the lawn mowers is set to 3, and the lawn mowers include a first lawn mower 101, a second lawn mower 102, and a third lawn mower 103, and when the first lawn mower 101 is set to the master mode as the master lawn mower, the first lawn mower 101 sends a switching instruction to the second lawn mower 102 and the third lawn mower 103, so that two lawn mowers of the second lawn mower 102 and the third lawn mower 103 are switched to the slave mode as the slave lawn mowers, the first lawn mower 101 divides the planned working path into 3 segments, which correspond to a first sub-path 2, a second sub-path 3, and a third sub-path 4, respectively, and the sub-paths of each lawn mower do not coincide. In the present embodiment, the boundary map, the working path divided into different sub-paths, are stored in the storage unit 30, and the planning of the working path and the division of the sub-paths are both implemented by the path planning unit 20.
As shown in fig. 3 and 6, in the present embodiment, in step S4, the lawnmower in the master mode transmits the corresponding sub-path to the lawnmower in the slave mode, and the lawnmower in the slave mode automatically switches to the working mode after receiving the sub-path, and performs the mowing operation according to the corresponding sub-path.
Continuing with the above example, the first mower 101 sends the boundary map and the corresponding sub-paths to the second mower 102 and the third mower 103 and exists in the storage unit 30 of the second mower, the first mower 101 is further configured to assign each of the second mowers and the self to be operated sub-paths, each mower corresponds to one numbered sub-path, for example, the first sub-path 2 is assigned to the first mower 101, the second sub-path 3 is assigned to the second mower 102, the third operating path end 4 is assigned to the third mower 103, the second mower 102 and the third mower 103 automatically switch to the operating mode after receiving the respective to be operated sub-paths, and perform the mowing operation according to the corresponding sub-paths, that is, the second mower 102 performs the mowing operation along the second sub-path 3, the third mower 103 performs mowing along the third sub path 4. In the present embodiment, the master mower transmits the boundary map and the working path divided into different sub-paths to the slave mower through the communication unit 40, and notifies other mowers of switching the mode or performing the work through the communication unit 40. In one embodiment of the present application, the cutting blade of the mower is deactivated when the mower is in either the master mode or the slave mode to conserve energy and avoid impact on the interactive signal.
As shown in fig. 3 and 6, in step S5, the lawnmower is automatically switched to the work mode to perform the grass cutting work on the corresponding sub-route, and the above example is continued, and after the assignment of the task is completed, the first lawnmower 101 is automatically switched to the work mode to perform the grass cutting work on the corresponding sub-route, that is, the first lawnmower 101 performs the grass cutting work along the first sub-route 2.
As shown in fig. 4 and 6, in the present embodiment, the mower control method further includes: and when the mower is in the working mode, counting the current working progress of the mower. After the current work task of the mower is completed, the mower completing the task is switched to a host mode to serve as a main mower, and the mower needing to be assisted is selected to redistribute the work task, specifically, the step of selecting the mower needing to be assisted to redistribute the work task comprises the following steps:
s11, when any mower finishes mowing operation, automatically switching to the host mode;
s12, sending a switching instruction and a working progress collecting instruction to other mowers; other mowers are automatically switched to a slave mode according to the switching instruction;
s13, receiving the working schedule of the mower in the slave mode, and selecting the mower with the slowest working schedule according to the working schedule;
s14, re-dividing the incomplete part of the sub-path of the mower with the slowest work progress to serve as the sub-path segment of the mower with the slowest work progress;
s15, sending the corresponding sub-path segment to the mower with the slowest work progress, switching to an operation mode after the mower with the slowest work progress receives the corresponding sub-path segment, and carrying out mowing operation according to the corresponding sub-path segment; switching other mowers in the slave mode to the working mode for mowing;
and S16, automatically switching to the operation mode to perform mowing operation according to the corresponding sub-path segment.
As shown in fig. 4 and 6, when the lawnmower completes the mowing operation, the lawnmower is automatically switched to the master mode as the master lawnmower, and the other lawnmowers are automatically switched to the slave mode as the slave lawnmowers upon receiving a switching command from the master lawnmower in steps S11 and S12. It should be noted that the mower switched to the host mode may be any mower in the working process, and only needs to complete the current working task of the mower. For example, each of the lawn mowers performs a mowing work along its assigned sub-path in steps S4 and S5, and when one of the lawn mowers completes the currently assigned work task, the lawn mowers automatically switches to the host mode as a main lawn mower, and transmits a switching command and a work progress collecting command to the other lawn mowers through the communication unit 40.
As shown in fig. 4 and 6, all the slave mowers switched to the slave mode upload their current operation schedules to the master mowers according to which the master mowers select the mowers having the slowest operation schedules and re-divide the incomplete parts of the sub-paths of the mowers having the slowest operation schedules as their own and sub-path segments of the mowers having the slowest operation schedules and distribute the cutting tasks to provide assistance, and are stored in the storage unit 30 at steps S13 and S14.
Continuing with the above example, when the first mower 101 switches to the master mode as the master mower after completing the mowing task and notifies the second mower 102 and the third mower 103 to switch to the slave mode as the slave mower, the second mower 102 and the third mower 103 upload their current working schedules to the first mower 101, and the first mower 101 selects the mower with the slowest working schedule, such as the second mower 102, from among them, that is, the first mower 101 is re-divided into sub-path segments corresponding to itself and the second mower 102 on the basis of the incomplete part of the second sub-path 3 corresponding to the second mower 102.
In step S15, the main mower transmits the corresponding sub path to the mower that is in the slave mode and has the slowest progress, and the mower that is in the slave mode and has the slowest progress receives the corresponding sub path, switches to the working mode, and performs mowing according to the sub path. Continuing with the above example, the first mower 101 re-divides the unfinished second sub-path 3 into several sub-path segments and sends the corresponding sub-path segments to the second mower 102 in the slave mode, the second mower 102 in the slave mode switches to the working mode after receiving the corresponding sub-path segments, and performs mowing according to the sub-path segments, at this time, the other mowers in the slave mode switch to the working mode to perform mowing.
In step S16, the main mower is automatically switched to the operation mode to perform mowing operation according to the corresponding sub-path, for example, after the task assignment is completed, the first mower 101 is automatically switched to the operation mode to perform mowing operation according to the corresponding sub-path segment.
In this embodiment, the method for switching the mower to the working mode comprises the following steps: the method includes the steps that the mower in the slave mode receives a work switching instruction sent by the mower in the master mode and then switches to the working mode, or the mower automatically switches to the working mode after the duration time of the slave mode is longer than a first preset value and continues to perform mowing work, wherein the first preset value is longer than time T, and the time T is the duration of the time for the mower in the master mode in S12 to send the switching instruction to the other mowers and the mower with the slowest work progress in S15 to receive the corresponding sub-path segment.
As shown in fig. 1 to 3, 5 and 6, in the present embodiment, the mower control method further includes: and when the mower is in the operation mode, detecting the current residual electric quantity of the mower. When the electric quantity of the mower is insufficient, the mode can be switched to the host mode to serve as a main mower, the optimal mower is selected to help the mower to finish work, and the mode returns to charge, specifically, the optimal mower is selected to help the mower to finish work, and the step of returning to charge comprises the following steps:
s21, when the current remaining capacity of the mower is smaller than a threshold value, automatically switching to the host mode;
s22, sending a switching instruction and a working progress collecting instruction to other mowers; other mowers are automatically switched to a slave mode according to the switching instruction;
s23, receiving the working schedule of the mower in the slave mode, and selecting the mower with the fastest working schedule according to the working schedule;
s24, dividing the unfinished part of the sub-path of the mower and sending the divided part to the mower with the highest working progress, switching to a working mode after the mower with the highest working progress receives the unfinished part, and carrying out mowing operation according to the corresponding sub-path and the unfinished part of the sub-path of the mower; switching other mowers in the slave mode to the working mode for mowing;
and S25, returning to charge after planning is completed.
As shown in fig. 1 to 3, 5 and 6, in steps S21 and S22, when the current remaining capacity of the lawn mower is less than the threshold, the lawn mower automatically switches to the master mode, and sends a switching command and a working schedule collecting command to other lawn mowers, and the other lawn mowers automatically switch to the slave mode according to the switching command. Continuing with the above example, when the first mower 101 is out of charge, i.e. the current remaining charge of the first mower 101 is less than the threshold, the first mower 101 automatically switches to the master mode as the master mower, and sends a switch command and an operation schedule collection command to the second mower 102 and the third mower 103, so that the second mower 102 and the third mower 103 switch to the slave mode as the slave mower and send their operation schedules to the first mower 101.
In steps S23 and S24, the mower in the master mode receives the work schedule of the mower in the slave mode, the master mower selects the mower with the fastest work schedule according to the work schedule, divides the incomplete part of the sub-path of the mower and sends the incomplete part to the mower with the fastest work schedule, the mower with the fastest work schedule switches to the work mode after receiving the incomplete part, and performs mowing work according to the corresponding sub-path and the incomplete part of the sub-path of the mower, so that the mower with the fastest work schedule helps the user to complete the rest work.
Continuing with the above example, the first mower 101 receives the work schedules from the second mower 102 and the third mower 103, the mower with the fastest work schedule is selected according to the work schedules of the second mower 102 and the third mower 103, for example, the second mower 102 divides and sends the unfinished portion of the sub-path of the first mower 101 to the second mower 102, the second mower 102 switches to the working mode after receiving the unfinished portion, and performs mowing work according to the corresponding sub-path and the unfinished portion of the sub-path of the mower, so that the second mower 102 helps the first mower 101 to continue to finish the unfinished portion of the sub-path. In some embodiments, the second mower 102 continues to cut grass along its corresponding second sub-path 3, and continues to cut grass along the unfinished portion of the first sub-path 2 corresponding to the first mower 101 after completing the task of cutting the second sub-path 3. At this time, the other lawnmowers in the slave mode are switched to the working mode to perform mowing work.
In step S25, the planning is completed and the charging is returned, that is, the incomplete part of the sub-path of the mower is divided and sent to the mower with the fastest work progress and the charging is returned, for example, after the first mower 101 sends the corresponding incomplete part of the first sub-path 2 to the second mower 102, the first mower 101 returns to the charging.
In this embodiment, the method for switching the mower to the working mode comprises the following steps: the mower in the slave mode switches to the working mode after receiving the operation switching command sent by the mower in the master mode, or automatically switches to the working mode after the duration of the slave mode is greater than a second preset value, and continues to perform mowing operation, wherein the second preset value is greater than time T2, and time T2 is the time for the mower in the master mode in S22 to send the switching command to the other mower in S24 to receive the unfinished part of the sub-path of the master mower.
The invention provides a mower control method, a mower system and a mower, wherein the mower can automatically recognize and switch between a master mode and a slave mode, the mower in the master mode can plan a working path and divide the working path into corresponding number of sub-paths according to the number of the mowers, the mower in the master mode can transmit map information, working path information and mower information to the mower in the slave mode and can distribute tasks for each slave mower, and the working efficiency of multiple mowers is improved. And any mower can become a main mower when needed, so that the working efficiency of the mower is improved, and the mapping work of a new mower is avoided.
The above description is only a preferred embodiment of the present application and a description of the applied technical principle, and it should be understood by those skilled in the art that the scope of the present application is not limited to the technical solution of the specific combination of the above technical features, and also covers other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept, for example, the technical solutions formed by mutually replacing the above technical features (but not limited to) having similar functions disclosed in the present application.
Other technical features than those described in the specification are known to those skilled in the art, and are not described herein in detail in order to highlight the innovative features of the present invention.
Claims (14)
1. A control method of a mower is characterized in that:
the system comprises at least two mowers, wherein each mower comprises a host mode, a slave mode and an operation mode, a boundary map is stored in each mower, and the plurality of mowers simultaneously mow a working area; the working method comprises the following steps:
setting one of the mowers to be in a host mode;
sending a switching instruction to other mowers; other mowers are automatically switched to a slave mode according to the switching instruction;
planning a working path according to the boundary map, and dividing the working path into a plurality of sub-paths according to the number of the mowers;
sending the corresponding sub-path to the mower in the slave mode; the mower in the slave mode receives the sub-paths and then switches to the operation mode, and carries out mowing operation according to the corresponding sub-paths;
automatically switching to the operation mode to carry out mowing operation according to the corresponding sub-path.
2. The mower control method according to claim 1, wherein the working method further comprises: and when the mower is in the operation mode, counting the current working progress of the mower.
3. The mower control method according to claim 2, wherein the working method further comprises:
when any one mower finishes mowing operation, automatically switching to the host mode;
sending a switching instruction and a working progress collecting instruction to other mowers; other mowers are automatically switched to a slave mode according to the switching instruction;
receiving the working schedule of the mower in the slave mode, and selecting the mower with the slowest working schedule according to the working schedule;
re-dividing the incomplete part of the sub-path of the mower with the slowest work progress to serve as the sub-path segment of the mower with the slowest work progress;
sending the corresponding sub-path segment to the mower with the slowest work progress, switching to an operation mode after the mower with the slowest work progress receives the corresponding sub-path segment, and carrying out mowing operation according to the corresponding sub-path segment; switching other mowers in the slave mode to the working mode for mowing;
automatically switching to the operation mode to carry out mowing operation according to the corresponding sub-path segment.
4. The control method according to claim 3, wherein the mower in the slave mode switches to the working mode upon receiving an operation switching command from the mower in the master mode.
5. The mower control method according to claim 3, wherein the mower is automatically switched to the working mode after the duration of the slave mode is greater than the first preset value, and the mowing operation is continued.
6. The mower control method according to claim 1, wherein the working method further comprises: and when the mower is in the operation mode, detecting the current residual electric quantity of the mower.
7. The mower control method according to claim 6, wherein the working method further comprises:
when the current remaining power of the mower is smaller than a threshold value, automatically switching to the host mode;
sending a switching instruction and a working progress collecting instruction to other mowers; other mowers are automatically switched to a slave mode according to the switching instruction;
receiving the working schedule of the mower in the slave mode, and selecting the mower with the fastest working schedule according to the working schedule;
dividing unfinished parts of the sub-paths of the mower and sending the unfinished parts to the mower with the highest working progress, switching to an operation mode after the mower with the highest working progress receives the unfinished parts, and carrying out mowing operation according to the corresponding sub-paths and the unfinished parts of the sub-paths of the mower; switching other mowers in the slave mode to the working mode for mowing;
and returning to charge after planning is completed.
8. The control method according to claim 7, wherein the mower in the slave mode switches to the working mode upon receiving an operation switching command from the mower in the master mode.
9. The mower control method according to claim 7, wherein the mower automatically switches to the working mode after the duration of the slave mode is greater than the second preset value, and continues mowing.
10. A lawn mower system, comprising:
at least two lawn mowers;
the lawn mower can set a working path according to a boundary map of a working area, and the working path is divided into different sub-paths according to the number of the lawn mowers;
the lawn mowers can interact with each other to transmit and receive work information.
11. The mower system of claim 10 wherein the work information comprises at least a boundary map, the work path divided into different sub-paths, work progress of the mower, switching instructions, and work progress collection instructions.
12. The mower system of claim 10, wherein a mode switching unit is provided in the mower, and the mower is controlled to switch between the master mode, the slave mode and the working mode by the mode switching unit.
13. The mower system of claim 10, wherein a path planning unit is further provided within the mower, wherein a working path is provided through the path planning unit and according to a boundary map of a working area, and wherein the working path is divided into different sub-paths according to the number of mowers.
14. A lawnmower, comprising:
the mower has a master mode, a slave mode and an operation mode;
when in host mode, the mower can send instructions to other mowers;
when in a slave mode, the lawn mower is capable of receiving instructions;
when in the working mode, the mower works normally.
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| CN202210477729.2A CN114885664B (en) | 2022-04-28 | 2022-04-28 | Mower control method, mower system and mower |
| CN202310540646.8A CN116679697A (en) | 2022-04-28 | 2022-04-28 | Mower control method, mower system and mower |
| PCT/CN2022/142764 WO2023125650A1 (en) | 2021-12-31 | 2022-12-28 | Control method for robot tool and robot tool |
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| CN115576235A (en) * | 2022-09-28 | 2023-01-06 | 宁波翠科机械有限公司 | Mower management and control method, system and storage medium |
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