CN115443793B - Mower and mower path planning method - Google Patents
Mower and mower path planning method Download PDFInfo
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- CN115443793B CN115443793B CN202210991173.9A CN202210991173A CN115443793B CN 115443793 B CN115443793 B CN 115443793B CN 202210991173 A CN202210991173 A CN 202210991173A CN 115443793 B CN115443793 B CN 115443793B
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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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Abstract
The invention relates to a mower and a mower path planning method. The mower comprises a mower body, a controller and a cutter disc on the mower body, wherein the diameter of the cutter disc is a, the cutter disc is arranged on one side of the mower in an offset mode, and the distance from the edge of the cutter disc, which is close to the longitudinal center line of the mower body, to the longitudinal center line of the mower body is b. The controller is used for planning the mower body to travel according to an arched path, the arched path comprises a long side and a short side, and the lengths of the short sides are consistent; after the mower advances from the starting position to the end point according to the bow-shaped path, the mower returns to the starting position from the end point along the original path of the completed bow-shaped path. The invention solves the problem of missed cutting of the cutter head bias mower by the way of returning to the original path, and improves the mowing quality.
Description
Technical Field
The invention relates to the field of mowers, in particular to a mower and a path planning method for the mower.
Background
The automatic mower can automatically complete mowing operation, improves efficiency, reduces labor capacity of workers and is widely used. The robotic lawnmower includes a planned mower that performs a mowing operation according to a planned path, such as an arcuate path. Typically, the cutterhead of the mower is located in the center of the mower, but there are also mowers with offset cutterheads, i.e. cutterheads are not located in the center of the mower. Compared with a traditional mower with a cutter disc positioned in the center of the mower, the cutter disc offset mower can have a missed cutting phenomenon when traveling along a traditional bow-shaped path, and a new path planning method needs to be formulated for the cutter disc offset mower.
Disclosure of Invention
The invention aims to solve the technical problem of providing a mower and a mower path planning method.
The technical scheme adopted for solving the technical problems is as follows: the mower comprises a mower body, a controller and a cutter disc on the mower body, wherein the diameter of the cutter disc is a, the cutter disc is biased to one side of the mower, and the distance from the edge of the cutter disc, which is close to the longitudinal midline of the mower body, to the longitudinal midline of the mower body is b;
the controller is used for planning the mower body to travel according to an arcuate path, the arcuate path comprises a long side and a short side, and the length of the short side is consistent; and after the mower moves from the starting position to the finishing point according to the bow-shaped path, returning to the starting position along the completed bow-shaped path from the finishing point.
Further, in the mower of the invention, the cutter is biased to the right side of the mower body and the edge of the cutter is adjacent to the longitudinal midline of the mower body;
If the advancing direction of the bow-shaped path is from left to right, the length of the short side of the bow-shaped path is not more than 2a;
And if the travelling direction of the arch-shaped path is from right to left, the length of the short side of the arch-shaped path is not more than a.
Further, in the mower of the invention, the cutter is offset to the left side of the mower body and the edge of the cutter is adjacent to the longitudinal center line of the mower body;
If the advancing direction of the bow-shaped path is from left to right, the length of the short side of the bow-shaped path is not more than a;
if the travelling direction of the bow-shaped path is from right to left, the length of the short side of the bow-shaped path is not more than 2a.
Further, in the mower of the invention, the cutter head is offset to the right side of the mower body and intersects with the longitudinal midline of the mower body;
If the travelling direction of the bow-shaped path is from left to right, the length of the short side of the bow-shaped path is not more than 2 (a-b);
And if the travelling direction of the arch-shaped path is from right to left, the length of the short side of the arch-shaped path is not more than a.
Further, in the mower of the invention, the cutter head is offset to the left side of the mower body and intersects with the longitudinal midline of the mower body;
If the advancing direction of the bow-shaped path is from left to right, the length of the short side of the bow-shaped path is not more than a;
If the traveling direction of the arcuate path is from right to left, the length of the short side of the arcuate path is not greater than 2 (a-b).
Further, in the mower of the invention, the cutter is biased to the right side of the mower body, and the edge of the cutter is positioned to the right side of the longitudinal center line of the mower body;
If the travelling direction of the bow-shaped path is from left to right, the length of the short side of the bow-shaped path is not more than (a+b);
if the traveling direction of the arcuate path is from right to left, the length of the short side of the arcuate path is not greater than (a+b).
In addition, the invention also provides a path planning method of the mower, which comprises the following steps:
Acquiring working map information;
determining a starting point and an extending direction of a working path according to the working map information;
Obtaining offset parameters of a cutter head, wherein the offset parameters comprise the diameter a of the cutter head, and the distance from the edge of the cutter head, which is close to the longitudinal midline of the mower body, to the longitudinal midline of the mower body is b;
Planning an arcuate path for the mower according to the extending direction and the offset parameter, wherein the arcuate path comprises a long side and a short side, and the lengths of the short sides are consistent; and after the mower moves from the starting position to the finishing point according to the bow-shaped path, returning to the starting position along the completed bow-shaped path from the finishing point.
Further, in the mower path planning method of the present invention, the planning process of the length of the short side of the arcuate path includes:
the cutter head is biased to the right side of the mower body, and the edge of the cutter head is adjacent to the longitudinal midline of the mower body; if the advancing direction of the bow-shaped path is from left to right, the length of the short side of the bow-shaped path is not more than 2a; if the advancing direction of the bow-shaped path is from right to left, the length of the short side of the bow-shaped path is not more than a;
The cutter head is biased to the left side of the mower body, and the edge of the cutter head is adjacent to the longitudinal midline of the mower body; if the advancing direction of the bow-shaped path is from left to right, the length of the short side of the bow-shaped path is not more than a; if the advancing direction of the bow-shaped path is from right to left, the length of the short side of the bow-shaped path is not more than 2a;
the cutter head is biased to the right side of the mower body, and the edge of the cutter head is positioned on the right side of the longitudinal midline of the mower body; if the travelling direction of the bow-shaped path is from left to right, the length of the short side of the bow-shaped path is not more than (a+b); if the traveling direction of the arcuate path is from right to left, the length of the short side of the arcuate path is not greater than (a+b).
Further, in the mower path planning method of the present invention, the planning process of the length of the short side of the arcuate path includes:
The cutter head is biased to the right side of the mower body and is intersected with the longitudinal midline of the mower body; if the travelling direction of the bow-shaped path is from left to right, the length of the short side of the bow-shaped path is not more than 2 (a-b); if the advancing direction of the bow-shaped path is from right to left, the length of the short side of the bow-shaped path is not more than a;
The cutter head is arranged on the left side of the mower body in an offset manner and is intersected with the longitudinal midline of the mower body; if the advancing direction of the bow-shaped path is from left to right, the length of the short side of the bow-shaped path is not more than a; if the traveling direction of the arcuate path is from right to left, the length of the short side of the arcuate path is not greater than 2 (a-b).
Further, in the mower path planning method of the present invention, the method further includes the steps of:
And controlling the mower to travel to the boundary of the working map, enabling one side of the bias azimuth of the mower to face the boundary, and controlling the mower to mow one circle along the boundary of the map.
The mower and the mower path planning method have the following beneficial effects: the invention solves the problem of missed cutting of the cutter head bias mower by the way of returning to the original path, and improves the mowing quality.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a schematic view of an arcuate path travel provided by an embodiment of the present invention;
FIG. 2 is a schematic view of an arcuate path travel provided by an embodiment of the present invention;
FIG. 3 is a schematic view of an arcuate path travel provided by an embodiment of the present invention;
FIG. 4 is a schematic view of an arcuate path travel provided by an embodiment of the present invention;
FIG. 5 is a schematic view of an arcuate path travel provided by an embodiment of the present invention;
FIG. 6 is a schematic view of an arcuate path travel provided by an embodiment of the present invention;
FIG. 7 is a schematic view of an arcuate path travel provided by an embodiment of the present invention;
FIG. 8 is a schematic view of an arcuate path travel provided by an embodiment of the present invention;
FIG. 9 is a schematic view of an arcuate path travel provided by an embodiment of the present invention;
FIG. 10 is a schematic view of an arcuate path travel provided by an embodiment of the present invention;
Fig. 11 is a flowchart of a mower path planning method according to an embodiment of the present invention.
Detailed Description
For a clearer understanding of technical features, objects and effects of the present invention, a detailed description of embodiments of the present invention will be made with reference to the accompanying drawings.
In a preferred embodiment, the mower of the present embodiment comprises a mower body, a controller, and a cutter on the mower body, the cutter being offset to one side of the mower with respect to a longitudinal centerline of the mower body. The cutter head can be positioned at the left side of the mower body, and when the cutter head is positioned at the left side of the mower body, the cutter head can be intersected with or separated from the longitudinal midline of the mower body; the cutter head can also be positioned on the right side of the mower body, and when the cutter head is positioned on the right side of the mower body, the cutter head can be intersected with or separated from the longitudinal midline of the mower body. The diameter of the cutterhead is a, namely the diameter of a circular mowing area formed when the cutterhead mows is a. The distance from the edge of the cutter head close to the longitudinal midline of the mower body is b.
The controller is used for planning the mower body to travel according to an arched path, the arched path comprises a long side and a short side, wherein the short side is the travelling distance when the mower turns around, and the length of the short side is consistent; the long side is the mowing travelling distance of the mower, and the distance of the long side is changed according to the change of the mowing area. After the mower advances from the starting position to the end point according to the bow-shaped path, the mower returns to the starting position from the end point along the original path of the completed bow-shaped path. When the mower returns to the starting position from the end point along the original path of the finished bow-shaped path, the mower needs to turn around in situ at the end point, namely, the mower runs along the finished bow-shaped path after turning around at the end point. Based on the characteristic of cutter disc bias, the mowing area is reversed after turning around, so that mowing operation of the missed mowing area is just completed.
According to the embodiment, the problem of missed cutting of the cutter head offset mower is solved by the original return cutting mode, and the mowing quality is improved.
In some embodiments of the mower, referring to fig. 1, the cutter is offset to the right of the mower body and the cutter edge is adjacent to the longitudinal centerline of the mower body, i.e., the distance b from the edge of the cutter near the longitudinal centerline of the mower body to the longitudinal centerline of the mower body is zero, and the boundary of the mowing area (hatched area in the figure) formed by the cutter is adjacent to the longitudinal centerline of the mower body. The mower performs mowing operation along the bow-shaped path in a left-to-right direction, namely the extending direction of the bow-shaped path is from left to right. The start position is the position of the mower where mowing starts, and the end position is the position of the mower where mowing ends, and it is understood that the figure only shows a part of the bow-shaped path, and the rest of the bow-shaped path is repeated according to the path in the figure. The mower runs along an arcuate path, the length of the short side of the arcuate path is not more than 2a, the mower runs along an arcuate path with the short side of 2a, and the mower can be referred to and implemented when the length of the short side of the arcuate path is less than 2 a.
The mower in the figure travels along an arcuate path in the direction indicated by the arrow, and the shade is the coverage area of the cutterhead during mowing of the mower. As can be seen from the figure, the mower has a missed cut area during forward travel of the arcuate path due to the offset of the cutterhead. As can also be seen from the figure, the mowing area just covers the missed mowing area formed by forward running in the process that the mower returns to the starting position from the end point along the original path of the finished bow-shaped path, thereby forming a continuous mowing area and completing mowing operation.
The embodiment provides the operation process of the mower when the cutter head is deviated to the right side of the mower body and the edge of the cutter head is adjacent to the longitudinal center line of the mower body, and the arched path extends from left to right, so that the mode of returning to cut through the original path is explained, the problem of missed cutting of the cutter head deviation mower is solved, and the mowing operation is completed.
In some embodiments of the mower, referring to fig. 2, the cutter is offset to the right of the mower body and the cutter edge is adjacent to the longitudinal centerline of the mower body, i.e. the distance b from the edge of the cutter near the longitudinal centerline of the mower body to the longitudinal centerline of the mower body is zero, and the boundary of the mowing area (hatched area in the figure) formed by the cutter is adjacent to the longitudinal centerline of the mower body. The mower performs mowing operation along the arched path in a right-to-left direction, namely, the extending direction of the arched path is from right to left. The start position is the position of the mower where mowing starts, and the end position is the position of the mower where mowing ends, and it is understood that the figure only shows a part of the bow-shaped path, and the rest of the bow-shaped path is repeated according to the path in the figure. The mower runs according to an arcuate path, the length of the short side of the arcuate path is not more than a, the mower runs according to an arcuate path with the short side being a in the figure, and the mower can be referred to for implementation when the length of the short side of the arcuate path is less than a.
The mower in the figure travels along an arcuate path in the direction indicated by the arrow, and the shade is the coverage area of the cutterhead during mowing of the mower. As can be seen from the figure, the mower has a missed cut area during forward travel of the arcuate path due to the offset of the cutterhead. As can also be seen from the figure, the mowing area just covers the missed mowing area formed by forward running in the process that the mower returns to the starting position from the end point along the original path of the finished bow-shaped path, thereby forming a continuous mowing area and completing mowing operation.
The embodiment provides the operation process of the mower when the cutter head is deviated to the right side of the mower body and the edge of the cutter head is adjacent to the longitudinal center line of the mower body, and the mode of returning cutting through the original path is explained when the arched path extends from right to left, so that the problem of missed cutting of the cutter head deviation mower is solved, and the mowing operation is completed.
In some embodiments of the mower, referring to fig. 3, the cutter is offset to the left of the mower body and the cutter edge is adjacent to the longitudinal centerline of the mower body, i.e., the distance b from the edge of the cutter near the longitudinal centerline of the mower body to the longitudinal centerline of the mower body is zero, and the boundary of the mowing area (hatched area in the figure) formed by the cutter is adjacent to the longitudinal centerline of the mower body. The mower performs mowing operation along the bow-shaped path in a left-to-right direction, namely the extending direction of the bow-shaped path is from left to right. The start position is the position of the mower where mowing starts, and the end position is the position of the mower where mowing ends, and it is understood that the figure only shows a part of the bow-shaped path, and the rest of the bow-shaped path is repeated according to the path in the figure. The mower runs according to an arcuate path, the length of the short side of the arcuate path is not more than a, the mower runs according to an arcuate path with the short side being a in the figure, and the mower can be referred to for implementation when the length of the short side of the arcuate path is less than a.
The mower in the figure travels along an arcuate path in the direction indicated by the arrow, and the shade is the coverage area of the cutterhead during mowing of the mower. As can be seen from the figure, the mower has a missed cut area during forward travel of the arcuate path due to the offset of the cutterhead. As can also be seen from the figure, the mowing area just covers the missed mowing area formed by forward running in the process that the mower returns to the starting position from the end point along the original path of the finished bow-shaped path, thereby forming a continuous mowing area and completing mowing operation.
The embodiment provides the operation process of the mower when the cutter head is deviated to the left side of the mower body and the edge of the cutter head is adjacent to the longitudinal center line of the mower body, and the arched path extends from left to right, so that the mode of returning to cut through the original path is explained, the problem of missed cutting of the cutter head deviation mower is solved, and the mowing operation is completed.
In some embodiments of the mower, referring to fig. 4, the cutter is offset to the left of the mower body and the cutter edge is adjacent to the longitudinal centerline of the mower body, i.e. the distance b from the edge of the cutter near the longitudinal centerline of the mower body to the longitudinal centerline of the mower body is zero, and the boundary of the mowing area (hatched area in the figure) formed by the cutter is adjacent to the longitudinal centerline of the mower body. The mower performs mowing operation along the bow-shaped path in a right-to-left direction, namely the extending direction of the bow-shaped path is from left to right. The start position is the position of the mower where mowing starts, and the end position is the position of the mower where mowing ends, and it is understood that the figure only shows a part of the bow-shaped path, and the rest of the bow-shaped path is repeated according to the path in the figure. The mower runs along an arcuate path, the length of the short side of the arcuate path is not more than 2a, the mower runs along an arcuate path with the short side of 2a, and the mower can be referred to and implemented when the length of the short side of the arcuate path is less than 2 a.
The mower in the figure travels along an arcuate path in the direction indicated by the arrow, and the shade is the coverage area of the cutterhead during mowing of the mower. As can be seen from the figure, the mower has a missed cut area during forward travel of the arcuate path due to the offset of the cutterhead. As can also be seen from the figure, the mowing area just covers the missed mowing area formed by forward running in the process that the mower returns to the starting position from the end point along the original path of the finished bow-shaped path, thereby forming a continuous mowing area and completing mowing operation.
The embodiment provides the operation process of the mower when the cutter head is deviated to the left side of the mower body and the edge of the cutter head is adjacent to the longitudinal center line of the mower body, and the mode of returning cutting through the original path is explained when the arched path extends from right to left, so that the problem of missed cutting of the cutter head deviation mower is solved, and the mowing operation is completed.
In some embodiments of the mower, referring to fig. 5, the cutter is offset to the right of the mower body and the cutter edge intersects the longitudinal centerline of the mower body, i.e., the distance b from the edge of the cutter near the longitudinal centerline of the mower body to the longitudinal centerline of the mower body is greater than zero, where the boundary of the mowing area (hatched area in the figure) formed by the cutter intersects the longitudinal centerline of the mower body. The mower performs mowing operation along the bow-shaped path in a left-to-right direction, namely the extending direction of the bow-shaped path is from left to right. The start position is the position of the mower where mowing starts, and the end position is the position of the mower where mowing ends, and it is understood that the figure only shows a part of the bow-shaped path, and the rest of the bow-shaped path is repeated according to the path in the figure. The mower runs along an arcuate path, the length of the short side of the arcuate path is not more than 2 (a-b), the mower runs along an arcuate path with the short side of 2 (a-b), and the mower can be referred to for implementation when the length of the short side of the arcuate path is less than 2 (a-b).
The mower in the figure travels along an arcuate path in the direction indicated by the arrow, and the shade is the coverage area of the cutterhead during mowing of the mower. As can be seen from the figure, the mower has a missed cut area during forward travel of the arcuate path due to the offset of the cutterhead. As can also be seen from the figure, the mowing area just covers the missed mowing area formed by forward running in the process that the mower returns to the starting position from the end point along the original path of the finished bow-shaped path, thereby forming a continuous mowing area and completing mowing operation.
The embodiment provides the operation process of the mower when the cutter head is deviated to the right side of the mower body and the edge of the cutter head is adjacent to the longitudinal center line of the mower body, and the arched path extends from left to right, so that the mode of returning to cut through the original path is explained, the problem of missed cutting of the cutter head deviation mower is solved, and the mowing operation is completed.
In some embodiments of the mower, referring to fig. 6, the cutter is offset to the right of the mower body and the cutter edge intersects the longitudinal centerline of the mower body, i.e., the distance b from the edge of the cutter near the longitudinal centerline of the mower body to the longitudinal centerline of the mower body is greater than zero, where the boundary of the mowing area (hatched area in the figure) formed by the cutter intersects the longitudinal centerline of the mower body. The mower performs mowing operation along the bow-shaped path in a right-to-left direction, namely the extending direction of the bow-shaped path is from left to right. The start position is the position of the mower where mowing starts, and the end position is the position of the mower where mowing ends, and it is understood that the figure only shows a part of the bow-shaped path, and the rest of the bow-shaped path is repeated according to the path in the figure. The mower runs according to an arcuate path, the length of the short side of the arcuate path is not more than a, the mower runs according to an arcuate path with the short side being a in the figure, and the mower can be referred to for implementation when the length of the short side of the arcuate path is less than a.
The mower in the figure travels along an arcuate path in the direction indicated by the arrow, and the shade is the coverage area of the cutterhead during mowing of the mower. As can be seen from the figure, the mower has a missed cut area during forward travel of the arcuate path due to the offset of the cutterhead. As can also be seen from the figure, the mowing area just covers the missed mowing area formed by forward running in the process that the mower returns to the starting position from the end point along the original path of the finished bow-shaped path, thereby forming a continuous mowing area and completing mowing operation.
The embodiment provides the operation process of the mower when the cutter head is deviated to the right side of the mower body and the edge of the cutter head is adjacent to the longitudinal center line of the mower body, and the mode of returning cutting through the original path is explained when the arched path extends from right to left, so that the problem of missed cutting of the cutter head deviation mower is solved, and the mowing operation is completed.
In some embodiments of the mower, referring to fig. 7, the cutter is offset to the left of the mower body and the cutter edge intersects the longitudinal centerline of the mower body, i.e., the distance b from the edge of the cutter near the longitudinal centerline of the mower body to the longitudinal centerline of the mower body is greater than zero, where the boundary of the mowing area (hatched area in the figure) formed by the cutter intersects the longitudinal centerline of the mower body. The mower performs mowing operation along the bow-shaped path in a left-to-right direction, namely the extending direction of the bow-shaped path is from left to right. The start position is the position of the mower where mowing starts, and the end position is the position of the mower where mowing ends, and it is understood that the figure only shows a part of the bow-shaped path, and the rest of the bow-shaped path is repeated according to the path in the figure. The mower runs according to an arcuate path, the length of the short side of the arcuate path is not more than a, the mower runs according to an arcuate path with the short side being a in the figure, and the mower can be referred to for implementation when the length of the short side of the arcuate path is less than a.
The mower in the figure travels along an arcuate path in the direction indicated by the arrow, and the shade is the coverage area of the cutterhead during mowing of the mower. As can be seen from the figure, the mower has a missed cut area during forward travel of the arcuate path due to the offset of the cutterhead. As can also be seen from the figure, the mowing area just covers the missed mowing area formed by forward running in the process that the mower returns to the starting position from the end point along the original path of the finished bow-shaped path, thereby forming a continuous mowing area and completing mowing operation.
The embodiment provides the operation process of the mower when the cutter head is deviated to the left side of the mower body and the edge of the cutter head is adjacent to the longitudinal center line of the mower body, and the arched path extends from left to right, so that the mode of returning to cut through the original path is explained, the problem of missed cutting of the cutter head deviation mower is solved, and the mowing operation is completed.
In some embodiments of the mower, referring to fig. 8, the cutter is offset to the left of the mower body and the cutter edge intersects the longitudinal centerline of the mower body, i.e., the distance b from the edge of the cutter near the longitudinal centerline of the mower body to the longitudinal centerline of the mower body is greater than zero, where the boundary of the mowing area (hatched area in the figure) formed by the cutter intersects the longitudinal centerline of the mower body. The mower performs mowing operation along the bow-shaped path in a right-to-left direction, namely the extending direction of the bow-shaped path is from left to right. The start position is the position of the mower where mowing starts, and the end position is the position of the mower where mowing ends, and it is understood that the figure only shows a part of the bow-shaped path, and the rest of the bow-shaped path is repeated according to the path in the figure. The mower runs along an arcuate path, the length of the short side of the arcuate path is not more than 2 (a-b), the mower runs along an arcuate path with the short side of 2 (a-b), and the mower can be referred to for implementation when the length of the short side of the arcuate path is less than 2 (a-b).
The mower in the figure travels along an arcuate path in the direction indicated by the arrow, and the shade is the coverage area of the cutterhead during mowing of the mower. As can be seen from the figure, the mower has a missed cut area during forward travel of the arcuate path due to the offset of the cutterhead. As can also be seen from the figure, the mowing area just covers the missed mowing area formed by forward running in the process that the mower returns to the starting position from the end point along the original path of the finished bow-shaped path, thereby forming a continuous mowing area and completing mowing operation.
The embodiment provides the operation process of the mower when the cutter head is deviated to the left side of the mower body and the edge of the cutter head is adjacent to the longitudinal center line of the mower body, and the mode of returning cutting through the original path is explained when the arched path extends from right to left, so that the problem of missed cutting of the cutter head deviation mower is solved, and the mowing operation is completed.
In some embodiments of the mower, referring to fig. 9, the cutter is offset to the left of the mower body and the edge of the cutter is separated from the longitudinal centerline of the mower body, i.e. the distance b from the edge of the cutter near the longitudinal centerline of the mower body to the longitudinal centerline of the mower body is greater than zero, and the boundary of the mowing area (hatched area in the figure) formed by the cutter is separated from the longitudinal centerline of the mower body. The mower performs mowing operation along the bow-shaped path in a left-to-right direction, namely the extending direction of the bow-shaped path is from left to right. The start position is the position of the mower where mowing starts, and the end position is the position of the mower where mowing ends, and it is understood that the figure only shows a part of the bow-shaped path, and the rest of the bow-shaped path is repeated according to the path in the figure. The mower runs along an arcuate path, the length of the short side of the arcuate path is not greater than (a+b), the mower runs along an arcuate path with the short side (a+b), and the mower can be referred to for implementation when the length of the short side of the arcuate path is smaller than (a+b).
The mower in the figure travels along an arcuate path in the direction indicated by the arrow, and the shade is the coverage area of the cutterhead during mowing of the mower. As can be seen from the figure, the mower has a missed cut area during forward travel of the arcuate path due to the offset of the cutterhead. As can also be seen from the figure, the mowing area just covers the missed mowing area formed by forward running in the process that the mower returns to the starting position from the end point along the original path of the finished bow-shaped path, thereby forming a continuous mowing area and completing mowing operation.
The embodiment provides the operation process of the mower when the cutter head is deviated to the left side of the mower body and the edge of the cutter head is adjacent to the longitudinal center line of the mower body, and the arched path extends from left to right, so that the mode of returning to cut through the original path is explained, the problem of missed cutting of the cutter head deviation mower is solved, and the mowing operation is completed.
In some embodiments of the mower, referring to fig. 10, the cutter is offset to the left of the mower body and the edge of the cutter is spaced from the longitudinal centerline of the mower body, i.e. the distance b from the edge of the cutter near the longitudinal centerline of the mower body to the longitudinal centerline of the mower body is greater than zero, and the boundary of the mowing area (hatched area in the figure) formed by the cutter is spaced from the longitudinal centerline of the mower body. The mower performs mowing operation along the bow-shaped path in a right-to-left direction, namely the extending direction of the bow-shaped path is from left to right. The start position is the position of the mower where mowing starts, and the end position is the position of the mower where mowing ends, and it is understood that the figure only shows a part of the bow-shaped path, and the rest of the bow-shaped path is repeated according to the path in the figure. The mower runs along an arcuate path, the length of the short side of the arcuate path is not greater than (a+b), the mower runs along an arcuate path with the short side (a+b), and the mower can be referred to for implementation when the length of the short side of the arcuate path is smaller than (a+b).
The mower in the figure travels along an arcuate path in the direction indicated by the arrow, and the shade is the coverage area of the cutterhead during mowing of the mower. As can be seen from the figure, the mower has a missed cut area during forward travel of the arcuate path due to the offset of the cutterhead. As can also be seen from the figure, the mowing area just covers the missed mowing area formed by forward running in the process that the mower returns to the starting position from the end point along the original path of the finished bow-shaped path, thereby forming a continuous mowing area and completing mowing operation.
The embodiment provides the operation process of the mower when the cutter head is deviated to the left side of the mower body and the edge of the cutter head is adjacent to the longitudinal center line of the mower body, and the mode of returning cutting through the original path is explained when the arched path extends from right to left, so that the problem of missed cutting of the cutter head deviation mower is solved, and the mowing operation is completed.
In a preferred embodiment, referring to fig. 11, the mower path planning method of the present embodiment includes the steps of:
And S1, acquiring working map information. Specifically, the mower can acquire working map information corresponding to a region to be mowed through a sensor carried by the mower, for example, a laser radar, an ultrasonic radar, a camera, a collision sensor and the like. Or the mower receives working map information corresponding to the area to be mowed, which is sent by external equipment, through a communication module of the mower. Or the mower is stored with the working map information corresponding to the area to be mowed, and the working map information corresponding to the area to be mowed can be directly read.
And S2, determining the starting point and the extending direction of the working path according to the working map information.
And S3, obtaining offset parameters of the cutter head, wherein the offset parameters comprise the diameter a of the cutter head and the distance from the edge of the cutter head, which is close to the longitudinal center line of the mower body, to the longitudinal center line of the mower body is b.
And S4, planning an arch-shaped path for the mower according to the extending direction and the offset parameter, wherein the arch-shaped path comprises a long side and a short side, and the lengths of the short sides are consistent. After the mower advances from the starting position to the end point according to the bow-shaped path, the mower returns to the starting position from the end point along the original path of the completed bow-shaped path.
The invention solves the problem of missed cutting of the cutter head bias mower by the way of returning to the original path, and improves the mowing quality.
In some embodiments of the mower path planning method, the planning process of the length of the short side of the arcuate path includes:
referring to fig. 1, the cutter head is offset to the right of the mower body and the edge of the cutter head is adjacent to the longitudinal midline of the mower body, and if the traveling direction of the arcuate path is from left to right, the length of the short side of the arcuate path is not greater than 2a.
Referring to fig. 2, the cutterhead is offset to the right of the mower body and the cutterhead edge is adjacent to the longitudinal midline of the mower body, if the travel direction of the arcuate path is from right to left, the length of the short side of the arcuate path is not greater than a.
Referring to fig. 3, the cutterhead is offset to the left of the mower body and the edge of the cutterhead is adjacent to the longitudinal midline of the mower body, if the travel direction of the arcuate path is from left to right, the length of the short side of the arcuate path is not greater than a.
Referring to fig. 4, the cutterhead is offset to the left of the mower body and the cutterhead edge is adjacent to the longitudinal midline of the mower body, if the travel direction of the arcuate path is from right to left, the length of the short side of the arcuate path is not greater than 2a.
Referring to fig. 5, the cutterhead is offset to the right of the mower body and intersects the longitudinal centerline of the mower body, and if the travel direction of the arcuate path is from left to right, the length of the short side of the arcuate path is no greater than 2 (a-b).
Referring to fig. 6, the cutterhead is offset to the right of the mower body and intersects the longitudinal centerline of the mower body, and if the travel direction of the arcuate path is from right to left, the length of the short side of the arcuate path is not greater than a.
Referring to fig. 7, the cutterhead is offset to the left of the mower body and intersects the longitudinal centerline of the mower body, and if the travel direction of the arcuate path is from left to right, the length of the short side of the arcuate path is not greater than a.
Referring to fig. 8, the cutterhead is offset to the left of the mower body and intersects the longitudinal centerline of the mower body, and if the travel direction of the arcuate path is from right to left, the length of the short side of the arcuate path is not greater than 2 (a-b).
Referring to fig. 9, the cutterhead is offset to the right of the mower body and the cutterhead edge is located to the right of the longitudinal centerline of the mower body, and if the travel direction of the arcuate path is from left to right, the length of the short side of the arcuate path is not greater than (a+b).
Referring to fig. 10, the cutterhead is offset to the right of the mower body and the cutterhead edge is located to the right of the longitudinal centerline of the mower body, and if the travel direction of the arcuate path is from right to left, the length of the short side of the arcuate path is not greater than (a+b).
In some embodiments of the mower path planning method, the method further comprises the steps of: and controlling the mower to travel to the boundary of the working map, enabling one side of the bias azimuth of the mower to face the boundary, and controlling the mower to mow one circle along the boundary of the map. Considering the cutter disc bias characteristic of the embodiment, the condition that the cutter disc of the mower is far away from the boundary can occur in the process that the arcuate path approaches the boundary, so that the problem of missed cutting of part of the boundary can be caused. In order to solve the problem, the mower is specially arranged to mow a circle along the edge, and the cutter head of the mower is required to bias one side towards the boundary, so that the missed mowing places on the boundary are uniformly covered, and the mowing quality of the boundary is improved.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative elements and steps are described above generally in terms of functionality in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. The software modules may be disposed in Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The above embodiments are provided to illustrate the technical concept and features of the present invention and are intended to enable those skilled in the art to understand the content of the present invention and implement the same according to the content of the present invention, and not to limit the scope of the present invention. All equivalent changes and modifications made with the scope of the claims should be covered by the claims.
Claims (10)
1. The mower is characterized by comprising a mower body, a controller and a cutter disc on the mower body, wherein the diameter of the cutter disc is a, the cutter disc is biased to one side of the mower, and the distance from the edge of the cutter disc, which is close to the longitudinal midline of the mower body, to the longitudinal midline of the mower body is b;
the controller is used for planning the mower body to travel according to an arcuate path, the arcuate path comprises a long side and a short side, and the length of the short side is consistent; and after the mower moves from the starting position to the finishing point according to the bow-shaped path, returning to the starting position along the completed bow-shaped path from the finishing point.
2. The mower of claim 1 wherein the cutterhead is offset to the right of the mower body and the cutterhead edge is adjacent to the longitudinal centerline of the mower body;
If the advancing direction of the bow-shaped path is from left to right, the length of the short side of the bow-shaped path is not more than 2a;
And if the travelling direction of the arch-shaped path is from right to left, the length of the short side of the arch-shaped path is not more than a.
3. The mower of claim 1 wherein the cutterhead is offset to the left of the mower body and the cutterhead edge is adjacent to the longitudinal centerline of the mower body;
If the advancing direction of the bow-shaped path is from left to right, the length of the short side of the bow-shaped path is not more than a;
if the travelling direction of the bow-shaped path is from right to left, the length of the short side of the bow-shaped path is not more than 2a.
4. The mower of claim 1 wherein the cutterhead is offset to the right of the mower body and the cutterhead intersects the longitudinal centerline of the mower body;
If the travelling direction of the bow-shaped path is from left to right, the length of the short side of the bow-shaped path is not more than 2 (a-b);
And if the travelling direction of the arch-shaped path is from right to left, the length of the short side of the arch-shaped path is not more than a.
5. The mower of claim 1 wherein the cutterhead is offset to the left of the mower body and the cutterhead intersects the longitudinal centerline of the mower body;
If the advancing direction of the bow-shaped path is from left to right, the length of the short side of the bow-shaped path is not more than a;
If the traveling direction of the arcuate path is from right to left, the length of the short side of the arcuate path is not greater than 2 (a-b).
6. The mower of claim 1 wherein the cutterhead is offset to the right of the mower body and the cutterhead edge is to the right of the longitudinal centerline of the mower body;
If the travelling direction of the bow-shaped path is from left to right, the length of the short side of the bow-shaped path is not more than (a+b);
if the traveling direction of the arcuate path is from right to left, the length of the short side of the arcuate path is not greater than (a+b).
7. A method of path planning for a mower, comprising the steps of:
Acquiring working map information;
determining a starting point and an extending direction of a working path according to the working map information;
Obtaining offset parameters of a cutter head, wherein the offset parameters comprise the diameter a of the cutter head, and the distance from the edge of the cutter head, which is close to the longitudinal midline of the mower body, to the longitudinal midline of the mower body is b;
Planning an arcuate path for the mower according to the extending direction and the offset parameter, wherein the arcuate path comprises a long side and a short side, and the lengths of the short sides are consistent; and after the mower moves from the starting position to the finishing point according to the bow-shaped path, returning to the starting position along the completed bow-shaped path from the finishing point.
8. The mower path planning method according to claim 7, wherein the planning process of the length of the short side of the arcuate path includes:
the cutter head is biased to the right side of the mower body, and the edge of the cutter head is adjacent to the longitudinal midline of the mower body; if the advancing direction of the bow-shaped path is from left to right, the length of the short side of the bow-shaped path is not more than 2a; if the advancing direction of the bow-shaped path is from right to left, the length of the short side of the bow-shaped path is not more than a;
The cutter head is biased to the left side of the mower body, and the edge of the cutter head is adjacent to the longitudinal midline of the mower body; if the advancing direction of the bow-shaped path is from left to right, the length of the short side of the bow-shaped path is not more than a; if the advancing direction of the bow-shaped path is from right to left, the length of the short side of the bow-shaped path is not more than 2a;
the cutter head is biased to the right side of the mower body, and the edge of the cutter head is positioned on the right side of the longitudinal midline of the mower body; if the travelling direction of the bow-shaped path is from left to right, the length of the short side of the bow-shaped path is not more than (a+b); if the traveling direction of the arcuate path is from right to left, the length of the short side of the arcuate path is not greater than (a+b).
9. The mower path planning method according to claim 7, wherein the planning process of the length of the short side of the arcuate path includes:
The cutter head is biased to the right side of the mower body and is intersected with the longitudinal midline of the mower body; if the travelling direction of the bow-shaped path is from left to right, the length of the short side of the bow-shaped path is not more than 2 (a-b); if the advancing direction of the bow-shaped path is from right to left, the length of the short side of the bow-shaped path is not more than a;
The cutter head is arranged on the left side of the mower body in an offset manner and is intersected with the longitudinal midline of the mower body; if the advancing direction of the bow-shaped path is from left to right, the length of the short side of the bow-shaped path is not more than a; if the traveling direction of the arcuate path is from right to left, the length of the short side of the arcuate path is not greater than 2 (a-b).
10. A mower path planning method according to any of claims 7 to 9, characterized in that said method further comprises the step of:
And controlling the mower to travel to the boundary of the working map, enabling one side of the bias azimuth of the mower to face the boundary, and controlling the mower to mow one circle along the boundary of the map.
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