CN116880254A - Control method and device of mower - Google Patents
Control method and device of mower Download PDFInfo
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- CN116880254A CN116880254A CN202310710177.XA CN202310710177A CN116880254A CN 116880254 A CN116880254 A CN 116880254A CN 202310710177 A CN202310710177 A CN 202310710177A CN 116880254 A CN116880254 A CN 116880254A
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- 239000000523 sample Substances 0.000 claims abstract description 178
- 238000001514 detection method Methods 0.000 claims abstract description 40
- 238000004146 energy storage Methods 0.000 claims abstract description 37
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000009467 reduction Effects 0.000 abstract description 6
- 238000004904 shortening Methods 0.000 abstract description 6
- 230000006870 function Effects 0.000 description 33
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- 238000010586 diagram Methods 0.000 description 9
- 238000004590 computer program Methods 0.000 description 6
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- 238000002604 ultrasonography Methods 0.000 description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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Abstract
According to the control method and the control device of the mower, the main control board receives the control signal sent by the control device and used for indicating the opening or closing of the detection function of the ultrasonic probe, generates the switching signal for controlling the opening or closing of the ultrasonic probe according to the control signal, and opens or closes the ultrasonic probe according to the switching signal, wherein the control device comprises a terminal connected with the main control board in a wireless mode, the ultrasonic probe, a machine operation device or an energy storage device of the mower. By means of the control signal sent by any control equipment, the control of the working state of the ultrasonic probe of the mower is achieved, and the problems of single-package endurance shortening, probe service life reduction and interference with normal operation of the mower under special working condition scenes caused by normal starting of the ultrasonic obstacle avoidance function are avoided.
Description
Technical Field
The invention relates to the technical field of intelligent mowers, in particular to a control method and device of a mowing machine.
Background
The existing intelligent mower has an automatic walking function, can mow in a set range, can automatically bypass after being contacted with an obstacle, has a certain climbing capacity and an automatic return charging function, and is suitable for trimming and maintaining lawns in places such as home courtyards and public greenbelts.
At present, an intelligent mower capable of realizing an automatic obstacle avoidance function is generally loaded with an ultrasonic sensor, and the ultrasonic sensor is developed by utilizing the characteristics of ultrasonic waves. The ultrasonic wave has the characteristics of high frequency, short wavelength, less diffraction phenomenon, good directivity, directional propagation as rays and the like. The ultrasonic waves can generate obvious reflection when encountering impurities or interfaces, echo is formed, and Doppler effect can be generated when the ultrasonic waves collide with a living body. Therefore, the ultrasonic sensor can be used for measuring the distance between the intelligent mower and the obstacle during working, the intelligent mower can sense in advance when approaching the obstacle, and avoid or bypass actions in advance, so that the damage to the interior of the mower caused by collision with the obstacle is avoided.
However, the above-mentioned ultrasonic obstacle avoidance function of the existing intelligent mower is always in an on state, that is, the ultrasonic sensor is always in a working state after the intelligent mower is started, and the automatic control of a user or the automatic control of a machine on or off of the function cannot be realized. The ultrasonic obstacle avoidance function is in a normally open state, so that on one hand, the power consumption is increased, and the single-package endurance time is shortened; on the other hand, the service life of the ultrasonic probe is shortened. In addition, under certain specific working scenes (such as heavy rainy days, adhesion of obstacles on the surface of a probe, returning to a charging station across boundary lines, and the like), if the ultrasonic obstacle avoidance function is started, the normal operation of the machine can be influenced.
Disclosure of Invention
The invention provides a control method and a control device for a mower, which solve the problems of shortened single-package endurance time, shortened service life of a probe and interference with normal operation of the mower under special working condition scenes caused by normal starting of an ultrasonic obstacle avoidance function.
A first aspect of the present invention provides a control method of a lawn mower including a main control board and an ultrasonic probe, the main control board being connected to the ultrasonic probe, the method comprising:
the main control board receives a control signal sent by control equipment, and the control signal is used for indicating the opening or closing of the detection function of the ultrasonic probe;
the main control board generates a switch signal for controlling the ultrasonic probe to be turned on or off according to the control signal;
and the main control board turns on or off the ultrasonic probe according to the switch signal.
Optionally, the control device includes any one of the following:
a terminal wirelessly connected to the main control board, the ultrasonic probe, a machine operation device, or an energy storage device of the mower;
optionally, the control device is the ultrasonic probe, and the control signal is an echo signal sent by the ultrasonic probe; the main control board receives a control signal sent by control equipment, and the main control board comprises:
the main control board receives echo signals of ultrasonic signals transmitted by the ultrasonic probe and reflected by obstacles;
the main control board obtains the distance between the mower and the obstacle according to the echo signal;
and if the distance is smaller than the preset distance, the main control board determines that the echo signal is used for indicating the detection function of the ultrasonic probe to be closed.
Optionally, before the main control board receives the echo signal reflected by the obstacle, the main control board further includes:
the main control board obtains the sending time of the ultrasonic probe to send ultrasonic signals;
the main control board obtains the distance between the mower and the obstacle according to the echo signal, and the main control board comprises:
and the main control board acquires the distance between the mower and the obstacle according to the sending time, the receiving time of the echo signal and the propagation speed of the ultrasonic wave in the air.
Optionally, the mower further comprises a temperature sensor, wherein the temperature sensor is connected with the main control panel; the main control board further comprises:
the main control board acquires the temperature parameters of the current environment monitored by the temperature sensor;
and the main control board determines the propagation speed of the ultrasonic wave in the air according to the temperature parameter.
Optionally, the control device is the ultrasonic probe, and the control signal is an ultrasonic signal emitted by the ultrasonic probe; the main control board receives a control signal sent by control equipment, and the main control board comprises:
the main control board obtains the sending time of the ultrasonic signal sent by the ultrasonic probe and starts a timer at the sending time point;
and if the main control board does not receive the echo signal sent by the ultrasonic probe after the timer is overtime, the main control board determines that the ultrasonic signal is used for indicating the detection function of the ultrasonic probe to be closed.
Optionally, after the master control board receives the control signal sent by the control device, the method further includes:
the main control board obtains closing time for closing the ultrasonic probe;
the main control board determines restarting time according to the closing time, the farthest detection distance of the ultrasonic probe and the advancing speed of the mower;
and the main control board opens the ultrasonic probe in a preset time period before the restarting time according to the restarting time.
Optionally, the control device is an energy storage device of the mower, and the control signal is a low-power signal sent by the energy storage device; the main control board receives a control signal sent by control equipment, and the main control board comprises:
the main control board acquires a low-power signal sent by the energy storage device; the low-power signal is a signal sent by the energy storage device when the current power of the mower is smaller than the preset power;
and the main control board determines the low-power signal to be used for indicating the detection function of the ultrasonic probe to be closed according to the low-power signal.
A second aspect of the present invention provides a control device for a mower, comprising:
a receiving module, configured to receive a control signal sent by a control device, where the control signal is used to instruct on or off of a detection function of the ultrasonic probe, and the control device includes any one of the following: a terminal wirelessly connected to the main control board, the ultrasonic probe, a machine operation device, or an energy storage device of the mower;
the generation module is used for generating a switching signal for controlling the ultrasonic probe to be turned on or turned off according to the control signal;
and the execution module is used for opening or closing the ultrasonic probe according to the switch signal.
A third aspect of the present invention provides a control device for a mower, comprising:
a memory; a processor; a computer program;
wherein the computer program is stored in the memory and is configured to be executed by the processor to control the turning on or off of the probe function of the ultrasound probe.
A fourth aspect of the invention provides a computer readable storage medium having stored thereon a computer program for execution by a processor to implement the method of any of the first aspects.
According to the control method and the control device for the mower, which are provided by the embodiment of the invention, the main control board receives the control signal which is sent by the control device and is used for indicating the opening or closing of the detection function of the ultrasonic probe, generates the switching signal for controlling the opening or closing of the ultrasonic probe according to the control signal, and opens or closes the ultrasonic probe according to the switching signal, wherein the control device comprises a terminal which is in wireless connection with the main control board, the ultrasonic probe, a machine operation device or an energy storage device of the mower. By means of the control signal sent by any control equipment, the control of the working state of the ultrasonic probe of the mower is achieved, and the problems of single-package endurance shortening, probe service life reduction and interference with normal operation of the mower under special working condition scenes caused by normal starting of the ultrasonic obstacle avoidance function are avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it will be obvious that the drawings in the following description are some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort to a person skilled in the art.
Fig. 1 is a schematic structural view of a mower according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a control method of a mower according to an embodiment of the present invention;
fig. 3 is a second schematic flow chart of a control method of a mower according to an embodiment of the present invention;
fig. 4 is a flowchart illustrating a third method for controlling a mower according to an embodiment of the present invention;
fig. 5 is a flow chart diagram of a control method of a mower according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a control device of a mower according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram II of a control device of a mower according to an embodiment of the present invention;
fig. 8 is a schematic diagram III of a control device of a mower according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.
Fig. 1 is a schematic structural diagram of a mower according to an embodiment of the present invention, and as shown in fig. 1, the mower 100 provided in this embodiment includes a main control board 101, an ultrasonic probe 102, and an energy storage device 103. The main control board 101 is connected to the ultrasonic probe 102 and the energy storage device 103, respectively.
The ultrasonic probe 102 is configured to transmit an ultrasonic signal, and to receive an echo signal reflected by an obstacle and transmit the echo signal to the main control board 101.
The energy storage device 103 is used for monitoring the current electric quantity of the mower 100 in real time, and sending a low-electric-quantity signal to the main control board 101 when the current electric quantity is insufficient, so that the main control board 101 returns to the charging station according to a preset return route.
Optionally, the mower 100 further includes a machine operation device 104, where the machine operation device 104 is connected to the main control board 101, and the machine operation device 104 of this embodiment may be a touch display device or a machine operation button, which is not specifically limited in this embodiment.
Optionally, the mower 100 further includes a temperature sensor 105, where the temperature sensor 105 is connected to the main control board 101, and the temperature sensor 105 is configured to detect a temperature parameter of the current working environment of the mower 100, and send the temperature parameter to the main control board 101. Those skilled in the art will recognize that at different temperatures, the propagation speed of ultrasonic waves in air varies, and the higher the temperature, the faster the propagation speed. By arranging the temperature sensor on the mower, the control precision of the main control panel of the mower is improved.
Based on the mower, the invention provides a control method of the mower, which aims to solve the problems of single-package endurance time shortening, probe service life reduction and interference with normal operation of the mower under special working condition scenes caused by normal starting of an ultrasonic obstacle avoidance function in the prior art. In order that the above-recited objects, features and advantages of the present invention will become more apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Fig. 2 is a schematic flow chart of a control method of a mower according to an embodiment of the present invention, as shown in fig. 1, the control method of a mower according to the embodiment specifically includes the following steps:
s201, a main control board receives a control signal sent by control equipment;
the control signal is used for indicating the on or off of the detection function of the ultrasonic probe.
The control apparatus of the present embodiment includes any one of the following:
a terminal, an ultrasonic probe, a machine operation device or an energy storage device of a mower which are connected with the main control panel in a wireless manner;
the terminal of the embodiment can be a mobile terminal, such as a smart phone, a tablet computer and the like, and a user executes corresponding operation by logging in an application program of the mobile terminal to realize remote control of an ultrasonic probe of the mower; the terminal of this embodiment may also be a fixed terminal, such as a computer device of a master control room. The present embodiment is not particularly limited as to the type of terminal.
In addition, the terminal is wirelessly connected with the main control board of the mower, and specific connection modes include WIFI connection, bluetooth connection and the like, and the wireless connection mode is not particularly limited in this embodiment, so long as the terminal and the main control board of the mower can communicate with each other.
Specifically, different types of control devices correspond to different control signals: if the control equipment is a terminal in wireless connection with the main control board, the control signal is a control instruction sent by the terminal to open or close the ultrasonic probe; if the control equipment is an ultrasonic probe, the control signal is an echo signal sent by the ultrasonic probe, or an ultrasonic signal sent by the ultrasonic probe; if the control equipment is the machine operation equipment, the control signal is a control instruction sent by the machine operation equipment to open or close the ultrasonic probe; if the control device is an energy storage device of the mower, the control signal is an electric quantity signal sent by the energy storage device.
In this embodiment, the machine operation device may be a touch display device, and the user may select to turn on or off the ultrasonic probe through a preset touch manner on a virtual operation interface of the touch display device, where the specific touch manner includes a single click, a double click, a sliding, and the like, and the user may set the touch manner according to personal preference. After the touch display equipment receives the touch signal, a control instruction corresponding to the touch signal is sent to a main control panel of the mower. The machine operation device may be a switch button provided on the mower, through which a user turns on or off the ultrasonic probe of the mower.
S202, a main control board generates a switch signal for controlling the ultrasonic probe to be turned on or off according to a control signal;
in this example, after receiving a control signal sent by the control device, the main control board determines to turn on or off the ultrasonic probe of the mower according to the control signal;
if the control signal indicates to turn on the ultrasonic probe, the main control board generates a switch signal 1;
if the control signal indicates to turn off the ultrasonic probe, the main control board generates a switching signal 0.
S203, the main control board turns on or off the ultrasonic probe according to the switching signal.
The main control board opens or closes the ultrasonic probe according to the switch signal 1 or 0, so that the automatic control of a user or the automatic control of the opening or closing of the ultrasonic probe of the mower is realized under a specific working scene, and the problems of single-package endurance time shortening, probe service life reduction and interference with the normal work of the mower under a special working condition scene caused by the fact that the ultrasonic probe of the existing mower is in a normally open state are avoided.
According to the control method of the mower, the main control board receives the control signal sent by the control device and used for indicating the opening or closing of the detection function of the ultrasonic probe, generates the switching signal for controlling the opening or closing of the ultrasonic probe according to the control signal, and opens or closes the ultrasonic probe according to the switching signal, wherein the control device comprises a terminal in wireless connection with the main control board, the ultrasonic probe, a machine operation device or an energy storage device of the mower. By means of the control signal sent by any control equipment, the control of the working state of the ultrasonic probe of the mower is achieved, and the problems of single-package endurance shortening, probe service life reduction and interference with normal operation of the mower under special working condition scenes caused by normal starting of the ultrasonic obstacle avoidance function are avoided.
If the control device is an ultrasonic probe, the control signal is an echo signal sent by the ultrasonic probe, the main control board determines whether the ultrasonic probe of the mower needs to be closed according to the echo signal, if the ultrasonic probe of the mower needs to be closed through analysis of the echo signal, a switch signal for indicating the closing of the ultrasonic probe is generated, and therefore the detection function of automatically closing the ultrasonic probe through the main control board of the mower under special working condition scenes (such as heavy rain and adhesion of obstacles on the surface of the probe) is achieved. The following examples describe the control method of the present invention in detail with respect to the deployment of the control device for the ultrasonic probe.
Fig. 3 is a second flow chart of a control method of a mower according to an embodiment of the present invention, as shown in fig. 3, the control method of a mower according to the present embodiment includes the following steps:
s301, acquiring the sending time of ultrasonic signals emitted by an ultrasonic probe by a main control board;
it should be noted that the ultrasonic probe of this embodiment is currently in an on state, the ultrasonic probe periodically transmits an ultrasonic signal, and the main control board correspondingly acquires the transmission time of the ultrasonic signal according to the ultrasonic signal transmitted by the ultrasonic probe.
S302, the main control board receives echo signals of ultrasonic signals transmitted by the ultrasonic probe and reflected by obstacles;
when an ultrasonic signal encounters an obstacle in the detection range of the ultrasonic probe, the ultrasonic probe receives an echo signal reflected by the obstacle, and at this time, the ultrasonic probe transmits the echo signal to the main control board. Correspondingly, the main control board acquires the receiving time of the echo signal according to the echo signal.
S303, the main control board acquires the distance between the mower and the obstacle according to the echo signal;
specifically, the main control board obtains the distance between the mower and the obstacle according to the sending time of the ultrasonic signal, the receiving time of the echo signal and the propagation speed of the ultrasonic wave in the air.
Let the transmission time of the ultrasonic signal be t 1 The receiving time of the echo signal is t 2 The propagation speed of ultrasonic waves in the air is c, and the distance between the mower and the obstacle is S, then S can be obtained through a formula I:
it should be noted that, the propagation speed of the ultrasonic wave in the air is affected by the ambient temperature, and the propagation speed specifically satisfies the formula two:
where c is the propagation velocity of the ultrasonic wave in air (unit: m/s), and T is the ambient temperature (unit: K).
It can be seen that the propagation velocity of ultrasonic waves in air is different at different ambient temperatures. Therefore, in order to ensure the accuracy of the distance of the mower from the obstacle acquired by the main control board, the mower further includes a temperature sensor, wherein the temperature sensor is connected with the main control board.
Optionally, before the main control board obtains the distance between the mower and the obstacle according to the sending time of the ultrasonic signal, the receiving time of the echo signal and the propagation speed of the ultrasonic wave in the air, the method further comprises:
the main control board acquires the temperature parameters of the current environment monitored by the temperature sensor; the main control board determines the propagation speed of ultrasonic waves in the air according to the temperature parameters. The distance between the mower and the obstacle obtained through the steps is more accurate.
And S304, if the distance is smaller than the preset distance, the main control board determines that the echo signal is used for indicating the detection function of the ultrasonic probe to be closed.
Those skilled in the art will understand that under a special working condition environment, such as an obstacle adhered to the ultrasonic probe or a rainy day, when the ultrasonic signal emitted by the ultrasonic probe encounters the obstacle adhered to the probe or a rain curtain formed by raindrops, an echo signal is immediately generated, which causes erroneous judgment on the obstacle and affects the normal operation of the mower. In order to avoid the phenomenon, the main control board judges whether the distance is smaller than a preset distance according to the acquired distance between the mower and the obstacle, and if the distance is smaller than the preset distance, the main control board determines that the echo signal is used for indicating the detection function of the ultrasonic probe to be closed.
By setting the preset distance, real-time monitoring of the current working condition environment of the mower or the ultrasonic probe is realized, and when the echo signal abnormality is determined, S305 and S306 are executed.
S305, the main control board generates a switch signal for controlling the ultrasonic probe to be closed according to the echo signal;
s306, the main control board closes the ultrasonic probe according to the switch signal.
The implementation principle and technical effect of S305 and S306 in this embodiment are the same as those of S202 and S203 in the above embodiment, and will not be described here again.
Through the embodiment, the detection function of automatically closing the ultrasonic probe through the main control panel of the mower under special working condition scenes is realized, and the influence on the normal work of the mower due to frequent echo signals caused by heavy rain or the adhesion of obstacles on the surface of the probe is avoided.
If the control equipment is an ultrasonic probe, the control signal is an ultrasonic signal emitted by the ultrasonic probe, and the main control board does not receive an echo signal of the ultrasonic signal in a preset time period, the main control board determines that no obstacle exists in a detectable range of the ultrasonic probe in a certain time period, and generates a switch signal for indicating to close the ultrasonic probe, so that the problems of single-packet sequence number time shortening and probe service life reduction caused by normal starting of an obstacle avoidance function of the ultrasonic probe are avoided. The following describes in detail a control method in which the main control board does not receive the echo signal in a preset time period in combination with a specific embodiment.
Fig. 4 is a flowchart third of a control method of a mower according to an embodiment of the present invention, as shown in fig. 4, where the control method of a mower according to the embodiment includes the following steps:
s401, acquiring the transmission time of an ultrasonic signal transmitted by an ultrasonic probe by a main control board, and starting a timer at the transmission time point;
in this embodiment, the inherent attribute of the ultrasonic probe includes the furthest detection distance of the ultrasonic probe, in which the receiving time of the ultrasonic probe for detecting the echo signal at the latest can be determined according to the propagation speed of the ultrasonic wave in the air at normal temperature, and the main control board sets the preset duration of the timer according to the receiving time and the transmitting time of the ultrasonic signal.
After the main control board obtains the sending time of the ultrasonic signal emitted by the ultrasonic probe, a timer is started. The timer is used for indicating whether the echo signal received by the main control panel is overtime.
If the main control board receives the echo signal sent by the ultrasonic probe before the timer is overtime, the main control board determines that an obstacle exists in the detection range of the ultrasonic probe, and further, the main control board determines that the distance between the mower and the obstacle is larger than a preset distance according to the echo signal, and the main control board adjusts the walking route of the mower in advance according to the distance between the mower and the obstacle, so that the mower is prevented from being damaged inside due to collision between the mower and the obstacle.
S402, if the main control board does not receive the echo signal sent by the ultrasonic probe after the timer is overtime, the main control board determines that the ultrasonic signal is used for indicating the detection function of the ultrasonic probe to be closed;
after the timer is overtime, the main control board does not receive the echo signal sent by the ultrasonic probe, and then the main control board determines that no obstacle exists in the detection range of the ultrasonic probe, and the main control board can automatically close the ultrasonic probe of the mower in a preset time period, so that the single-package endurance time of the mower is prolonged.
S403, the main control board generates a switch signal for controlling the ultrasonic probe to be closed according to the ultrasonic signal;
s404, the main control board turns off the ultrasonic probe according to the switch signal;
in this embodiment, S403 and S404 have the same implementation principle and technical effect as S202 and S203 in the foregoing embodiment, and are not described herein.
S405, acquiring closing time for closing the ultrasonic probe by the main control board;
s406, the main control board determines restarting time according to closing time, the furthest detection distance of the ultrasonic probe and the travelling speed of the mower;
s407, the main control board opens the ultrasonic probe in a preset time period before the restarting time according to the restarting time.
It should be noted that, in the period from when the main control board acquires the ultrasonic signal emitted by the ultrasonic probe to when the timer is overtime, the main control board turns off the ultrasonic probe, and the mower has traveled a distance on the preset route, so after the restart time is determined, the main control board needs to open the ultrasonic probe in advance in the preset period before the restart time, so that the mower is prevented from having an obstacle on the route after the farthest detection distance from the ultrasonic probe, and the mower cannot avoid collision due to the avoidance action.
According to the control method provided by the embodiment, if the main control board does not receive the echo signal of the ultrasonic signal within the preset time period, a switch signal for indicating to close the ultrasonic probe is generated, the ultrasonic probe is closed according to the switch signal, and the ultrasonic probe is opened within the preset time period before the restarting time is determined, so that the ultrasonic probe is periodically opened, and the single-package endurance time of the mower is improved.
If the control equipment is energy storage equipment of the mower, the control signal is a low-power signal sent by the energy storage equipment, and the main control board generates a switch signal for indicating to close the ultrasonic probe according to the low-power signal, so that the detection function of closing the ultrasonic probe of the mower under the condition of low power is realized, and the mower is ensured to have enough pre-stored power to return to the charging station. The control method of the mower under the low-power working condition is described in detail below with reference to the specific embodiments.
Fig. 5 is a flow chart diagram of a control method of a mower according to an embodiment of the present invention, as shown in fig. 5, the control method of a mower according to the present embodiment includes the following steps:
s501, a main control board receives a low-power signal sent by energy storage equipment; the low-power signal is a signal sent by the energy storage device when the current power of the mower is smaller than the preset power;
s502, the main control board determines a low-power signal according to the low-power signal and is used for indicating the detection function of the ultrasonic probe to be closed;
s503, the main control board generates a switch signal for controlling the ultrasonic probe to be closed according to the low-power signal;
s504, the main control board turns off the ultrasonic probe according to the switch signal.
Specifically, when the main control board receives a low-power signal sent by the energy storage device of the mower, the main control board determines the current position of the mower, generates a return route from the mower to the charging station, and returns to the charging station according to the generated return route by controlling the travelling system of the mower.
In this embodiment, after receiving the low-power signal sent by the energy storage device, the main control board returns to the charging station according to the determined return route, if the ultrasonic probe is still in the open state, the main control board will misjudge the charging station as an obstacle according to the echo signal returned by the charging station on the return route, so that the mower cannot return to the charging station for charging autonomously.
By the control method, the main control board generates the switch signal for indicating the ultrasonic probe to be turned off according to the received low-power signal, and turns off the ultrasonic probe according to the switch signal, so that the problem that the mower cannot return to the charging station for charging is avoided, and the mower is ensured to have enough pre-stored power to return to the charging station.
Fig. 6 is a schematic structural diagram of a control device of a mower according to an embodiment of the present invention, as shown in fig. 6, a control device 60 of a mower according to the present embodiment includes:
a receiving module 61, configured to receive a control signal sent by a control device, where the control signal is used to instruct turning on or off of a detection function of the ultrasonic probe, and the control device includes any one of the following: a terminal wirelessly connected to the main control board, the ultrasonic probe, a machine operation device, or an energy storage device of the mower;
a generating module 62, configured to generate a switching signal for controlling the ultrasonic probe to be turned on or off according to the control signal;
and an execution module 63 for turning on or off the ultrasonic probe according to the switching signal.
The control device of the mower provided by the embodiment of the invention can be used for executing the method executed by the main control panel in the method embodiment, and the implementation principle and the technical effect are similar, and are not repeated here.
Fig. 7 is a schematic structural diagram ii of a control device of a mower according to an embodiment of the present invention, as shown in fig. 7, if the control device is the ultrasonic probe on the basis of the control device shown in fig. 6, the control signal is an echo signal sent by the ultrasonic probe, and the receiving module is specifically configured to receive an echo signal reflected by an obstacle from the ultrasonic signal sent by the ultrasonic probe;
the control device 60 further includes: an acquisition module 64, configured to acquire a distance between the mower and an obstacle according to the echo signal;
and the determining module 65 is configured to determine that the echo signal is used to instruct the detection function of the ultrasonic probe to be turned off if the distance is smaller than a preset distance.
Optionally, the acquiring module 64 is further configured to acquire a transmission time of the ultrasonic signal transmitted by the ultrasonic probe;
and acquiring the distance between the mower and the obstacle according to the sending time, the receiving time of the echo signal and the propagation speed of the ultrasonic wave in the air.
Optionally, the mower further comprises a temperature sensor, wherein the temperature sensor is connected with the main control panel; the obtaining module 64 is further configured to:
acquiring a temperature parameter of the current environment monitored by the temperature sensor;
the determining module 65 is further configured to determine a propagation speed of the ultrasonic wave in air according to the temperature parameter.
Optionally, if the control device is the ultrasonic probe, the control signal is an ultrasonic signal emitted by the ultrasonic probe, and the obtaining module 64 is specifically configured to:
acquiring the sending time of an ultrasonic signal sent by the ultrasonic probe;
the executing module 63 is further configured to start a timer at the sending time point;
the determining module 65 is further configured to determine that the ultrasonic signal is used to instruct the detection function of the ultrasonic probe to be turned off if the main control board does not receive the echo signal sent by the ultrasonic probe after the timer expires.
Optionally, the acquiring module 64 is further configured to acquire a closing time for closing the ultrasonic probe;
the determining module 65 is further configured to determine a restart time according to the closing time, a farthest detection distance of the ultrasonic probe, and a travel speed of the mower;
the executing module 63 is further configured to turn on the ultrasonic probe during a preset period of time before the restart time according to the restart time.
Optionally, the control device is an energy storage device of the mower, the control signal is a low-power signal sent by the energy storage device, and the obtaining module 64 is specifically configured to:
acquiring a low-power signal sent by the energy storage equipment; the low-power signal is a signal sent by the energy storage device when the current power of the mower is smaller than the preset power;
the determining module 65 is further configured to determine, according to the low power signal, that the low power signal is used to instruct the detection function of the ultrasonic probe to be turned off.
The control device of the mower provided by the embodiment of the invention can be used for executing the method executed by the main control panel in the method embodiment, and the implementation principle and the technical effect are similar, and are not repeated here.
Fig. 8 is a schematic diagram III of a control device for a mower according to an embodiment of the present invention, as shown in fig. 8, a control device 80 for a mower according to the present embodiment includes:
a memory 81; a processor 82; a computer program;
wherein the computer program is stored in the memory 81 and is configured to perform the method of any of the above embodiments by the processor 82 to control the switching on or off of the detection function of the ultrasound probe.
Alternatively, the memory 81 may be separate or integrated with the processor 82.
When the memory 81 is a device separate from the processor 82, the control apparatus 80 may further include:
a bus 83 for connecting the memory 81 and the processor 82.
Embodiments of the present invention also provide a computer readable storage medium having stored thereon a computer program for execution by a processor of a method according to any of the embodiments described above. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a Flash Memory (Flash Memory), a Hard Disk (HDD), or a Solid State Drive (SSD); the storage medium may also comprise a combination of memories of the kind described above.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (11)
1. A control method of a lawn mower, the lawn mower comprising a main control board and an ultrasonic probe, the main control board being connected with the ultrasonic probe, the method comprising:
the main control board receives a control signal sent by control equipment, and the control signal is used for indicating the closing of the detection function of the ultrasonic probe;
the main control board generates a switch signal for controlling the ultrasonic probe to be closed according to the control signal;
the main control board turns off the detection function of the ultrasonic probe according to the switch signal;
the main control board controls the mower to return to a charging station.
2. The method of claim 1, wherein the control device is an energy storage device or an ultrasonic probe of the mower.
3. The method of claim 2, wherein the control device is an energy storage device of the mower, the control signal is a low power signal sent by the energy storage device, and the low power signal is a signal sent by the energy storage device when a current power of the mower is less than a preset power;
the main control board receives the low-power signal sent by the energy storage device and generates a switch signal for controlling the detection function of the ultrasonic probe to be closed according to the low-power signal.
4. A method according to any one of claims 1-3, wherein the main control board controlling the mower to return to a charging station comprises: the main control board generates a return path according to the current position of the mower or returns to the charging station according to a preset return path.
5. The method of claim 2, wherein the control device is an ultrasonic probe of the mower, and the control signal is an echo signal received by the ultrasonic probe; if the main control board does not receive the echo signal within a preset time period, the main control board closes the detection function of the ultrasonic probe; the main control board obtains closing time for closing the ultrasonic probe; the main control board determines restarting time according to the closing time, the furthest detection distance of the ultrasonic probe and the advancing speed of the mower; and the main control board opens the ultrasonic probe in a preset time period before the restarting time according to the restarting time.
6. A control device for a mower, comprising:
the receiving module is used for receiving a control signal, and the control signal is used for indicating the closing of the detection function of the ultrasonic probe of the mower;
the generation module is used for generating a switching signal for controlling the ultrasonic probe to be closed according to the control signal;
and the execution module is used for closing the detection function of the ultrasonic probe according to the switch signal when the control device controls the mower to return to the charging station.
7. The control device of claim 6, wherein the control signal is an electrical power signal sent by an energy storage device of the mower.
8. The control apparatus of claim 7, wherein the power signal is a low power signal, the low power signal being a signal sent by the energy storage device when a current power of the mower is less than a preset power;
the receiving module receives the low-power signal sent by the energy storage device and generates a switch signal for controlling the detection function of the ultrasonic probe to be closed according to the low-power signal.
9. The control device of claim 7, wherein the control signal is a low power signal sent by the energy storage device, the low power signal being a signal sent by the energy storage device when a current power of the mower is less than a preset power;
the control device also comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring a low-power signal sent by the energy storage equipment;
the control further comprises a determining module for determining the low-power signal to indicate the detection function of the ultrasonic probe to be closed according to the low-power signal.
10. The control device of any one of claims 6-9, wherein the control device controlling the mower to return to a charging station comprises: the mower generates a return path according to the current position of the mower or returns to a charging station according to a preset return path.
11. The control device according to claim 6, further comprising an acquisition module for acquiring a transmission time of an ultrasonic signal transmitted by the ultrasonic probe;
the execution module is further configured to start a timer at the sending time point;
the control device further comprises a determining module, wherein the determining module is used for determining that the ultrasonic signal is used for indicating the detection function of the ultrasonic probe to be closed if the control device does not receive the echo signal sent by the ultrasonic probe after the timer is overtime;
the acquisition module is also used for acquiring the closing time of closing the ultrasonic probe;
the determining module is further used for determining restarting time according to the closing time, the farthest detection distance of the ultrasonic probe and the advancing speed of the mower;
the execution module is also used for opening the ultrasonic probe in a preset time period before the restarting time according to the restarting time.
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| CN202310710177.XA CN116880254A (en) | 2018-04-20 | 2018-04-20 | Control method and device of mower |
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| CN201810362730.4A CN110389579A (en) | 2018-04-20 | 2018-04-20 | The control method and device of grass trimmer |
| CN202310710177.XA CN116880254A (en) | 2018-04-20 | 2018-04-20 | Control method and device of mower |
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| JP2001112102A (en) * | 1999-10-05 | 2001-04-20 | Denso Corp | Transfer robot |
| CN201917661U (en) * | 2010-11-29 | 2011-08-03 | 浙江亚特电器有限公司 | Mobile robot positioning system |
| CN102139164B (en) * | 2011-01-28 | 2012-05-23 | 深圳市格兰之特科技有限公司 | Flying device and method capable of automatically avoiding barrier |
| CN202026599U (en) * | 2011-03-09 | 2011-11-09 | 台州天宸智能电器有限公司 | Intelligent mower capable of avoiding obstacles by supersonic wave |
| CN103584793A (en) * | 2012-08-17 | 2014-02-19 | 乐金电子(天津)电器有限公司 | Robot vacuum cleaner and self-diagnosing method thereof |
| CN104111460B (en) * | 2013-04-22 | 2018-02-23 | 苏州宝时得电动工具有限公司 | Automatic running device and its disorder detection method |
| DE102013223240B3 (en) * | 2013-11-14 | 2014-10-30 | Volkswagen Aktiengesellschaft | Motor vehicle with occlusion detection for ultrasonic sensors |
| CN103869321B (en) * | 2014-03-28 | 2016-08-17 | 中国科学院空间科学与应用研究中心 | A kind of ultrasonic ranging system and the method controlling its range finding |
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