CN117055573A

CN117055573A - Mower man-machine cooperative control method, system, device, storage medium and riding mower based on auxiliary driving

Info

Publication number: CN117055573A
Application number: CN202311189169.1A
Authority: CN
Inventors: 丁波; 向高林; 梅江; 王显钢
Original assignee: Chongqing Rato Technology Co Ltd
Current assignee: Chongqing Rato Technology Co Ltd
Priority date: 2023-09-14
Filing date: 2023-09-14
Publication date: 2023-11-14

Abstract

The invention discloses a mower man-machine cooperative control method, a mower man-machine cooperative control system, a mower man-machine cooperative control device, a storage medium and a riding mower, wherein the current state information of an operating mechanism and a switch state signal of an auxiliary driving switch are obtained; judging whether the operating mechanism is in a zero position; judging the current driving control mode; judging whether a trigger signal for changing the on-off state of the auxiliary driving switch is received or not; selecting one operation route from the operation route set as a target operation route based on the current course and the current position coordinates; controlling the mower to automatically walk along a target operation route, and marking the current driving control mode of the mower as an auxiliary driving mode; detecting whether an obstacle exists in a preset area in front of the mower in real time through an obstacle detection sensor; the mower is controlled to avoid obstacle to run through man-machine cooperation. The invention can improve the automation degree and mowing efficiency of riding mower driving on the premise of using fewer sensors.

Description

Mower man-machine cooperative control method, system, device, storage medium and riding mower based on auxiliary driving

Technical Field

The invention relates to the technical field of automatic control of mowers, in particular to a mower man-machine cooperative control method, a system, a device, a storage medium and a riding mower based on auxiliary driving.

Background

A mower is a mechanical device for harvesting grass and trimming lawns, which can cut grass and weeds in gardens. Mowers can be classified into hand-held mowers, hand-push mowers, and riding mowers according to a walking manner, wherein the riding mowers are suitable for trimming lawns with a large area.

Lawn trimming is the most important and frequent link in the lawn maintenance process, and belongs to labor-intensive work, and the working intensity is high.

At present, the existing riding mower mainly adopts manual driving, and the automation degree of the operation is not enough; in addition, the riding mower with the unmanned function generally has an obstacle avoidance function in the operation process, when an obstacle is detected, the mower is stopped, and after waiting for corresponding treatment by an operator, the mower can continue to cut the mower, so that frequent stopping is caused in the advancing process of the unmanned mower, and the mowing efficiency is lower; thirdly, unmanned mower with automatic obstacle avoidance and detouring functions can be installed on the periphery of the mower to sense surrounding operation environments, so that the cost of the mower is increased in a multiplied mode, and certain safety problems exist in the grass cutting operation process of the unmanned mower.

In view of the foregoing, how to improve the automation degree and mowing efficiency of riding mower driving with fewer sensors is a problem that needs to be solved by those skilled in the art.

Disclosure of Invention

The invention aims to provide a mower man-machine cooperative control method, a mower man-machine cooperative control system, a mower man-machine cooperative control device, a storage medium and a riding mower, which can improve the automation degree and the mowing efficiency of riding mower driving on the premise of using fewer sensors.

In order to achieve the above object, according to a first aspect of the present invention, there is provided a riding mower having an obstacle detection sensor at a front end thereof, an auxiliary driving switch provided thereon, the riding mower automatically entering an auxiliary driving mode when the auxiliary driving switch is turned on, wherein in the auxiliary driving mode, the riding mower is capable of automatically walking according to a pre-planned work route;

the method comprises the following steps:

acquiring current state information of an operating mechanism of the riding mower and a switch state signal of an auxiliary driving switch, wherein the operating mechanism is used for receiving user operation to control the travelling speed and the travelling direction of the riding mower;

Judging whether the operating mechanism is in a zero position or not based on the current state information of the operating mechanism;

when the control mechanism of the riding mower is judged to be in a zero position, judging a current driving control mode based on a switch state signal of the auxiliary driving switch, wherein the driving control mode comprises an auxiliary driving mode and a manual driving mode;

when the current driving control mode is determined to be a manual driving mode, further determining whether a trigger signal for changing the on-off state of the auxiliary driving switch is received;

when the trigger signal is judged to be received, the current heading, the current position coordinates and a working route set of the riding mower are obtained, wherein the working route set comprises a plurality of preplanned working routes which are connected in sequence;

selecting one working route from the working route set as a target working route based on the current course and the current position coordinates;

controlling the riding mower to automatically walk along the target working route, and marking the current driving control mode of the riding mower as an auxiliary driving mode;

detecting whether an obstacle exists in a preset area in front of the riding mower in real time through the obstacle detection sensor in the process of automatically walking operation of the riding mower along the target operation route;

When an obstacle is detected in a preset area in front of the riding mower, the riding mower is controlled to avoid obstacle running through man-machine cooperation.

Preferably, the method further comprises:

when the current driving control mode is judged to be an auxiliary driving mode, further judging whether a trigger signal for changing the switching state of the auxiliary driving switch is received or not;

and when the trigger signal is received, closing the auxiliary driving mode, marking the current driving control mode as a manual driving mode, and controlling the riding mower to stop travelling.

Preferably, the method further comprises:

when the trigger signal is not received, further judging whether the auxiliary driving running state is a pause state or not;

when the auxiliary driving running state is judged to be a pause state, acquiring the current course and the current position coordinate of the riding mower;

judging whether the riding mower currently meets a recovery auxiliary driving condition or not based on the current course and the current position coordinates;

and when the riding mower is judged to currently meet the recovery auxiliary driving condition, controlling the riding mower to recover the auxiliary driving mode, and marking the auxiliary driving running state as running.

Preferably, the method further comprises:

when the control mechanism of the riding mower is judged not to be in a zero position, judging whether the current driving control mode is an auxiliary driving mode or not based on the switch state signal of the auxiliary driving switch;

when the current driving control mode is judged to be the auxiliary driving mode, marking the auxiliary driving running state as a pause state;

acquiring the current course and the current position coordinates of the riding mower;

and outputting the recovery auxiliary driving prompt information when the riding mower is judged to currently meet the recovery auxiliary driving condition.

Preferably, the plurality of preplanned operation routes sequentially connected in the operation route set comprise a plurality of first operation routes which are uniformly arranged at intervals and a plurality of second operation routes which connect two adjacent first operation routes, wherein the first operation routes are straight-line routes;

accordingly, the determining whether the riding mower currently meets the recovery auxiliary driving condition based on the current heading and the current position coordinates comprises:

Calculating the distance between the current position and the target operation route, the distance between the current position and the next first operation route and the distance between the projection point of the current position on the target operation route and the end point of the target operation route based on the current course and the current position coordinates;

and judging whether the distance between the current position and the target operation route, the distance between the current position and the next first operation route and the distance between the projection point of the current position on the target operation route and the end point of the target operation route meet the recovery auxiliary driving condition or not.

Preferably, when detecting that an obstacle exists in a preset area in front of the riding mower, cooperatively controlling the riding mower to avoid the obstacle through a man-machine comprises:

when detecting that an obstacle exists in a preset area in front of the riding mower, sending out an obstacle prompt signal;

controlling the riding mower to run at a reduced speed according to a preset S-shaped speed curve according to the distance between the riding mower and an obstacle;

acquiring current state information of an operating mechanism of the riding mower in the deceleration running process;

judging whether manual operation is intervened or not based on the current state information of the operating mechanism of the riding mower;

If manual operation intervention exists, controlling the riding mower to run on the basis of manual operation so as to avoid an obstacle;

and if no manual operation is involved, controlling the riding mower to stop running when the distance between the riding mower and the obstacle reaches a preset distance so as to avoid collision between the riding mower and the obstacle.

According to a second aspect of the present invention, there is provided a riding mower-based cooperative control system for a mower, the riding mower-based cooperative control system being applied to a riding mower, wherein an obstacle detection sensor is arranged at the front end of the riding mower, an auxiliary driving switch is arranged on the riding mower, and when the auxiliary driving switch is turned on, the riding mower automatically enters an auxiliary driving mode, wherein in the auxiliary driving mode, the riding mower can automatically walk according to a pre-planned working route;

the system comprises:

a first information acquisition module for acquiring current state information of an operating mechanism of the riding mower and a switch state signal of an auxiliary driving switch, wherein the operating mechanism is used for receiving user operation to control the travelling speed and the travelling direction of the riding mower;

The control mechanism position judging module is used for judging whether the control mechanism is in a zero position or not based on the current state information of the control mechanism;

the first driving control mode judging module is used for judging a current driving control mode based on the switch state signal of the auxiliary driving switch when judging that the operating mechanism of the riding mower is at a zero position, wherein the driving control mode comprises an auxiliary driving mode and a manual driving mode;

the switch trigger signal judging module is used for further judging whether a trigger signal for changing the switch state of the auxiliary driving switch is received or not when the current driving control mode is judged to be a manual driving mode;

the second information acquisition module is used for acquiring the current heading, the current position coordinates and the operation route set of the riding mower when the trigger signal is received, wherein the operation route set comprises a plurality of preplanned operation routes which are connected in sequence;

a working route selection module, configured to select a working route from the working route set as a target working route based on the current heading and the current position coordinates;

the automatic walking control module is used for controlling the riding mower to automatically walk along the target working route and marking the current driving control mode of the riding mower as an auxiliary driving mode;

The obstacle detection control module is used for detecting whether an obstacle exists in a preset area in front of the riding mower in real time through the obstacle detection sensor in the process of automatically walking the riding mower along the target working route;

and the obstacle avoidance driving control module is used for controlling the riding mower to avoid obstacle driving through man-machine cooperation when detecting that an obstacle exists in a preset area in front of the riding mower.

Preferably, the system further comprises:

the second switch trigger signal judging module is used for further judging whether a trigger signal for changing the switch state of the auxiliary driving switch is received or not when the current driving control mode is judged to be the auxiliary driving mode;

and the driving control mode switching module is used for closing the auxiliary driving mode when the trigger signal is received, marking the current driving control mode as a manual driving mode and controlling the riding mower to stop travelling.

Preferably, the system further comprises:

the auxiliary driving running state judging module is used for further judging whether the auxiliary driving running state is a pause state or not when judging that the trigger signal is not received;

The third information acquisition module is used for acquiring the current course and the current position coordinate of the riding mower when the auxiliary driving running state is judged to be a pause state;

the first auxiliary driving recovery condition judging module is used for judging whether the riding mower currently meets the recovery auxiliary driving condition or not based on the current course and the current position coordinates;

and the auxiliary driving mode recovery module is used for controlling the riding mower to recover the auxiliary driving mode and marking the auxiliary driving running state as running when the riding mower is judged to currently meet the recovery auxiliary driving condition.

Preferably, the system further comprises:

the second driving control mode judging module is used for judging whether the current driving control mode is an auxiliary driving mode or not based on the switch state signal of the auxiliary driving switch when judging that the operating mechanism of the riding mower is not in a zero position;

the auxiliary driving running state marking module is used for marking the auxiliary driving running state as a pause state when judging that the current driving control mode is the auxiliary driving mode;

a fourth information acquisition module for acquiring a current heading and a current position coordinate of the riding mower;

The second auxiliary driving recovery condition judging module is used for judging whether the riding mower currently meets the recovery auxiliary driving condition or not based on the current course and the current position coordinates;

and the auxiliary driving recovery prompting module is used for outputting recovery auxiliary driving prompting information when the riding mower is judged to currently meet the recovery auxiliary driving condition.

and if no manual operation is involved, controlling the riding mower to stop running when the distance between the riding mower and the obstacle reaches a preset distance so as to avoid collision between the riding mower and the obstacle. .

According to a third aspect of the present invention, there is provided a driving-assisted-based cooperative control device for a mower, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements any one of the driving-assisted-based cooperative control methods of the first aspect when executing the computer program.

According to a fourth aspect of the present invention, there is provided a computer readable storage medium storing a computer program, which when executed by a processor, implements any one of the assisted driving based mower cooperative control methods described in the first aspect.

According to a fifth aspect of the present invention, there is provided a riding mower comprising the assisted driving based mower human-machine cooperative control device according to the third aspect.

According to the technical scheme, the invention provides the auxiliary driving-based mower man-machine cooperative control method, the auxiliary driving-based mower man-machine cooperative control system, the auxiliary driving-based mower man-machine cooperative control device, the storage medium and the riding-type mower, and the movement control strategy of the riding-type mower is improved by additionally arranging the auxiliary driving switch and combining the on-off state signal of the auxiliary driving switch, so that a user can select a corresponding driving control mode according to needs, and under the auxiliary driving mode, the riding-type mower can automatically operate according to a pre-planned operation route, and the degree of automation is improved; in addition, the front end of the mower is only provided with the obstacle detection sensor to detect the operation environment in front of the mower, and the operation safety can be ensured and the mowing operation efficiency is improved by combining a man-machine cooperative obstacle avoidance mode.

Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.

Drawings

In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

The above-described additional aspects and/or advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:

FIG. 1 is a schematic flow chart of a method for collaborative control of a mower based on assisted driving in a preferred embodiment of the present application;

FIG. 2 is a schematic flow chart of a method for collaborative control of a mower based on assisted driving in another preferred embodiment of the present application;

FIG. 3 is a schematic view of the calculation of the current position coordinates of a mower according to a preferred embodiment of the present application;

FIG. 4 is a schematic view of the area coverage of a front predetermined area of a riding mower according to a preferred embodiment of the present application;

FIG. 5 is a schematic diagram of a human-machine cooperative obstacle avoidance process in a preferred embodiment of the present invention;

FIG. 6 is a schematic structural view of a cooperative control system of a mower based on assisted driving in a preferred embodiment of the present invention;

fig. 7 is a schematic structural view of a cooperative control apparatus for a mower based on assisted driving in a preferred embodiment of the present invention.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. 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 be within the scope of the invention.

As shown in fig. 1, the embodiment of the invention provides a mower man-machine cooperative control method based on auxiliary driving, which is applied to a riding mower, wherein an obstacle detection sensor is arranged at the front end of the riding mower, an auxiliary driving switch is arranged on the riding mower, and when the auxiliary driving switch is started, the riding mower automatically enters an auxiliary driving mode, wherein in the auxiliary driving mode, the riding mower can automatically walk according to a pre-planned operation route;

The method may comprise the steps of:

s1, acquiring current state information of an operating mechanism of a riding mower and a switch state signal of an auxiliary driving switch;

during riding mowing, a user controls the travel speed and travel direction of the riding mower through the steering mechanism. Therefore, whether the user is operating the operating mechanism at the present moment can be judged by the present state information of the operating mechanism, and the present traveling speed and traveling direction of the riding mower can be obtained by analyzing the present state information of the operating mechanism under the condition that the user is operating the operating mechanism.

When the riding mower needs to be controlled cooperatively by a man-machine for mowing, the current state information of an operating mechanism of the riding mower and the on-off state signal of an auxiliary driving switch are required to be acquired at first, so that the current driving control mode of the riding mower and the running state (straight running or turning) and the running speed of the riding mower to be entered are judged through the current state information of the operating mechanism and the on-off state signal of the auxiliary driving switch.

Specifically, the operating mechanism may be a steering wheel, an accelerator pedal, a forward/reverse gear shift pedal, left and right operating handles, an accelerator pedal, or a single operating handle (universal handle).

For the control mode of a control mechanism formed by a steering wheel, an accelerator pedal and a forward and backward gear shifting pedal, the steering wheel controls the advancing direction (turning) and the accelerator pedal to control the advancing speed and the backward switching, the control mode needs to install a steering mechanism, the accelerator pedal and the forward and backward gear shifting mechanism on a mower, and needs the cooperation of hands and feet to operate, so that the cost is high and the operation convenience is poor;

for the control mode of the control mechanism formed by the left control handle, the right control handle and the accelerator pedal, the left control handle and the right control handle push forwards or push backwards simultaneously to realize forward and backward respectively, the left control handle and the right control handle push forwards or backwards to realize turning, and the accelerator pedal controls the travelling speed, so that the control mode needs the cooperation of left hand and right hand to control the travelling direction, and meanwhile, the control mode needs hands and feet to realize the motion control of the whole machine, and has complex structure, higher cost and poorer operation convenience;

for the control mode of the control mechanism formed by the single control handle, namely, the travelling direction and the travelling speed of the mower are simultaneously controlled by one universal handle, the control mode has a simple structure, is convenient to operate and has lower cost.

In this embodiment, the steering mechanism employs a universal handle, i.e., the travel direction and travel speed of the mower are controlled simultaneously by the universal handle. The current position information (comprising the distance information from the origin of coordinates and the included angle information from the reference direction) of the universal handle corresponds to the travelling speed control parameter and the travelling direction control parameter of the riding mower one by one, namely, the travelling speed and the travelling direction of the riding mower can be controlled by acquiring the current position information of the universal handle and searching a pre-established corresponding relation table of the position of the universal handle, the travelling speed control parameter and the travelling direction control parameter. The manner of simultaneously controlling the traveling direction and traveling speed of the riding mower by using the universal handle belongs to the prior art, and the control principle thereof is not described herein.

Specifically, the current state information of the steering mechanism may be implemented by a sensor mounted on the steering mechanism, for example, for the current state information of the steering wheel, the steering wheel rotation angle may be detected by a rotary encoder mounted on the steering wheel; for the current state information of the accelerator pedal, the opening of the accelerator pedal can be detected by an accelerator opening sensor arranged on the accelerator pedal to obtain the current state information; for the current state information of the universal handle, the position coordinates of the universal handle can be detected by the Hall sensor based on an electromagnetic induction technology.

S2, judging whether the operating mechanism is in a zero position or not based on the current state information of the operating mechanism;

after the current state information of the operating mechanism of the riding mower is acquired, whether the operating mechanism is at the zero position at the current moment can be identified and judged by analyzing the current state information of the operating mechanism. In this embodiment, since the steering mechanism employs the universal handle, whether the universal handle is in the zero position or not can be determined by the current state information of the steering mechanism (the position coordinates of the universal handle).

Specifically, in the present embodiment, the position coordinates of the universal handle are set to (x _h ，y _h ) The maximum movement distance of the universal handle is 1024 units of length, when |x _h | < 100 units long, and |y _h And if the absolute value is less than 100 units long, judging that the universal handle is at the zero position, otherwise, judging that the universal handle is not at the zero position.

In this embodiment, whether the user's hand is manually operated is determined based on whether the universal handle is in the zero position, and further, the determination of the driving control mode is performed, that is, the operation intention of the user (whether the mower is to be driven manually or automatically (i.e., the auxiliary driving) is determined by detecting the operation condition of the user, so that whether the auxiliary driving mode is to be executed is determined based on the determined user intention.

S3, when the control mechanism of the riding mower is judged to be in a zero position, judging a current driving control mode based on a switch state signal of an auxiliary driving switch;

in order to accurately determine the current driving control mode of the lawn mower and thereby determine whether to execute the auxiliary driving mode, it is necessary to further determine the current driving control mode based on the on-off state signal of the auxiliary driving switch on the basis of determining that the steering mechanism of the riding lawn mower is at the zero position.

Specifically, the driving control modes include an assist driving mode and a manual driving mode. The switch state signal of the auxiliary driving switch has an on state and an off state, when the auxiliary driving switch is in the off state, the current driving control mode is judged to be a manual driving mode, and when the auxiliary driving switch is in the on state, the current driving control mode is judged to be an auxiliary driving mode.

Specifically, in this embodiment, the auxiliary driving switch adopts a trigger switch, if the current driving control mode is marked by the system as a manual driving mode, when the trigger switch is triggered (for example, a user presses the trigger switch, or the trigger switch receives other trigger signals), the trigger switch sends a trigger pulse signal to the system, the current driving control mode is marked by the system as an auxiliary driving mode, when the trigger switch is triggered again, the trigger switch sends a trigger pulse signal to the system again, the current driving control mode is marked by the system as a manual driving mode, that is, each time the auxiliary driving switch is triggered, the driving control mode is changed once.

S4, when the current driving control mode is judged to be a manual driving mode, whether a trigger signal for changing the switching state of the auxiliary driving switch is received or not is further judged;

if it is determined that the current driving control mode is the manual driving mode, it is further determined whether a trigger signal for changing the on/off state of the assist driving switch is received in order to determine whether to execute the assist driving mode, and if the corresponding trigger signal is received, it is determined that the assist driving mode needs to be executed.

S5, when the trigger signal is judged to be received, the current course, the current position coordinates and the operation route set of the riding mower are obtained;

on the basis of the manual driving mode, if a corresponding trigger signal is received, it is determined that the auxiliary driving mode needs to be executed, and therefore, in order to control the mower to automatically drive, the current heading, the current position coordinates and the working route set of the riding mower need to be acquired.

Specifically, in this embodiment, as shown in fig. 3, two GNSS antennas (i.e., GNSS antenna 1 and GNSS antenna 2) are symmetrically disposed on the left and right sides of the riding mower, and acquiring the current heading and the current position coordinates of the riding mower includes:

acquiring position coordinates of two GNSS antennas;

calculating the current heading of the riding mower based on the position coordinates of the two GNSS antennas;

the current position coordinates of the riding mower are calculated based on the position coordinates of the two GNSS antennas and the current heading.

Note that, the coordinate system XOY shown in fig. 3 is a geodetic coordinate system with the GNSS base station as an origin, that is, a northeast coordinate system, the northeast coordinate X is an eastern position in a geographic coordinate system with the GNSS base station as an origin, the northbound coordinate Y is a northbound position in a geographic coordinate system with the GNSS base station as an origin, and the heaven coordinate is an heaven position in a geographic coordinate system with the GNSS base station as an origin.

In fig. 3, B represents the tread of the driving wheel, L represents the baseline length of the on-board GNSS (two GNSS antennas are symmetrically disposed on the left and right sides of the riding mower), and H represents the center of the on-board GNSS to the center of the tread O _C Distance of O _C Representing the centre of track of the drive wheel of a riding mower, also the calculation point of the riding mower when the XOY coordinate system is used to calculate its own position, i.e. O when describing the position of the riding mower _C Coordinates in an XOY coordinate system; the current heading of the mower is the included angle between the current traveling direction of the mower and the east coordinate X.

The obtained position coordinates of the two GNSS antennas are respectively (x) ₁ ,y ₁ )、(x ₂ ,y ₂ ) The current heading of riding mower is theta _t The current position coordinates are (x _t ,y _t ) The following steps are:

the current heading theta of the riding mower can be calculated by the two formulas respectively _t And the current position coordinates (x _t ,y _t )。

Specifically, the job route set includes a plurality of pre-planned job routes connected in sequence. The operation route planning of the mower belongs to the prior art and is not described herein.

S6, selecting a working route from the working route set as a target working route based on the current course and the current position coordinates;

after the current heading, the current position coordinates and the operation route set of the riding mower are obtained, in order to realize automatic driving of the mower, a target operation route needs to be determined first, namely, one operation route is selected from the operation route set to serve as the target operation route according to the current heading and the current position coordinates, and specifically, one operation route closest to the current position coordinates in the operation route set can be selected as the target route.

S7, controlling the riding mower to automatically walk along a target working route, and marking the current driving control mode of the riding mower as an auxiliary driving mode;

after the target working route is selected, the riding mower is controlled to automatically walk along the target working route, and the current driving control mode of the riding mower is marked as an auxiliary driving mode.

S8, detecting whether an obstacle exists in a preset area in front of the riding mower in real time through an obstacle detection sensor in the process that the riding mower automatically walks along a target operation route;

in order to avoid damage to equipment and safety accidents caused by collision of the riding mower with obstacles, it is necessary to detect whether an obstacle exists in a preset area in front of the riding mower in real time through an obstacle detection sensor during automatic walking operation of the riding mower along a target operation route.

S9, when an obstacle is detected in a preset area in front of the riding mower, the riding mower is controlled to avoid obstacle to run through man-machine cooperation.

If an obstacle is detected in a preset area in front of the riding mower, the obstacle avoidance running of the riding mower can be controlled through man-machine cooperation in order to effectively avoid the obstacle while improving the working efficiency.

In summary, the present embodiment provides a method for collaborative control of a mower based on assisted driving, which includes first obtaining current state information of an operating mechanism of a riding mower and a switch state signal of an assisted driving switch; then judging whether the operating mechanism is in a zero position or not based on the current state information of the operating mechanism; then when the control mechanism of the riding mower is judged to be in a zero position, judging the current driving control mode based on a switch state signal of the auxiliary driving switch; then, when the current driving control mode is judged to be a manual driving mode, whether a trigger signal for changing the switching state of the auxiliary driving switch is received or not is further judged; then when the trigger signal is judged to be received, the current course, the current position coordinates and the operation route set of the riding mower are obtained; then, selecting a working route from the working route set as a target working route based on the current course and the current position coordinates; then controlling the riding mower to automatically walk along a target working route, and marking the current driving control mode of the riding mower as an auxiliary driving mode; then detecting whether an obstacle exists in a preset area in front of the riding mower in real time through an obstacle detection sensor in the process that the riding mower automatically walks along a target operation route; finally, when an obstacle is detected in a preset area in front of the riding mower, the riding mower is controlled to avoid obstacle to run through man-machine cooperation.

According to the auxiliary driving-based mower human-machine cooperative control method, the auxiliary driving switch is additionally arranged, and the motion control strategy of the riding mower is improved by combining the switch state signal of the auxiliary driving switch, so that a user can select a corresponding driving control mode according to needs, and under the auxiliary driving mode, the riding mower can automatically operate according to a pre-planned operation route, and the degree of automation is improved; in addition, the front end of the mower is only provided with the obstacle detection sensor to detect the operation environment in front of the mower, and the operation safety can be ensured and the mowing operation efficiency is improved by combining a man-machine cooperative obstacle avoidance mode.

In one embodiment, as shown in fig. 2, the method may further include the following steps, based on the above embodiment:

s10, when the current driving control mode is judged to be an auxiliary driving mode, whether a trigger signal for changing the switching state of an auxiliary driving switch is received or not is further judged;

if the current driving control mode is the auxiliary driving mode, in order to judge whether to change the driving control mode, whether to receive a trigger signal for changing the switch state of the auxiliary driving switch is further judged.

S11, when the trigger signal is received, the auxiliary driving mode is closed, the current driving control mode is marked as a manual driving mode, and the riding mower is controlled to stop travelling.

If the current driving control mode is the auxiliary driving mode and a trigger signal for changing the switch state of the auxiliary driving switch is received (for example, the user presses the auxiliary driving switch), the current driving control mode is required to be changed, namely, the auxiliary driving mode is required to be closed, the current driving control mode is marked as the manual driving mode, the riding mower is controlled to stop travelling, and therefore the mower is controlled to run by manually operating the operating mechanism.

s12, when the trigger signal is not received, whether the auxiliary driving running state is a pause state is further judged;

if it is determined that the current driving control mode is the auxiliary driving mode, the trigger signal is not received, and it is necessary to further determine whether the auxiliary driving operation state is a suspended state in order to determine whether the auxiliary driving mode needs to be continuously maintained.

Specifically, when the auxiliary driving mode is normally operated, the auxiliary driving operation state is in operation, and if the user intervenes in manual operation (such as manual control obstacle avoidance) during the operation of the auxiliary driving mode, the system automatically marks the auxiliary driving operation state as a suspension state (the auxiliary driving mode is not exited, and the mower is temporarily manually operated by the user to run).

S13, when the auxiliary driving running state is judged to be a pause state, the current course and the current position coordinates of the riding mower are obtained;

if it is determined that the auxiliary driving operation state is a suspended state, that is, it indicates that the manual control is currently temporarily entered, since the auxiliary driving mode has not been exited, in this process, it is necessary to acquire the current heading and the current position coordinates of the riding mower in real time so as to determine whether the auxiliary driving mode can be resumed through the current heading and the current position coordinates.

S14, judging whether the riding mower currently meets the recovery auxiliary driving condition or not based on the current course and the current position coordinates;

that is, whether the riding mower currently meets the preset recovery auxiliary driving condition is judged according to the current course and the current position coordinates, so that whether the auxiliary driving mode can be recovered is determined.

And S15, when the riding mower is judged to currently meet the recovery auxiliary driving condition, controlling the riding mower to recover the auxiliary driving mode, and marking the auxiliary driving running state as running.

If the riding mower currently meets the resume auxiliary driving condition, controlling the riding mower to resume the auxiliary driving mode and marking the auxiliary driving operation state as running (i.e. updating the auxiliary driving operation state from the pause state to running).

s16, judging whether the current driving control mode is an auxiliary driving mode or not based on a switch state signal of an auxiliary driving switch when the control mechanism of the riding mower is judged not to be in a zero position;

in order to determine whether the current manual driving mode or the auxiliary driving mode is performed, it is necessary to determine the current driving control mode based on the on-off state signal of the auxiliary driving switch further, on the basis of determining that the steering mechanism of the riding mower is not zero (indicating that the user is performing a manual operation at this time).

S17, when the current driving control mode is judged to be the auxiliary driving mode, marking the auxiliary driving running state as a pause state;

if the current driving control mode is the auxiliary driving mode and the operating mechanism of the riding mower is not in the zero position, the fact that the user is manually involved in the auxiliary driving process (such as manual obstacle avoidance) is indicated, and at the moment, the auxiliary driving running state is marked as a pause state.

S18, acquiring the current course and the current position coordinates of the riding mower;

s19, judging whether the riding mower currently meets the recovery auxiliary driving condition or not based on the current course and the current position coordinates;

And S20, outputting recovery auxiliary driving prompt information when the riding mower is judged to currently meet the recovery auxiliary driving condition.

Under the condition that the auxiliary driving operation state is a pause state, the current course and the current position coordinate of the riding mower are required to be acquired in real time, whether the auxiliary driving mode can be restored or not is judged through the current course and the current position coordinate, if the auxiliary driving restoration condition is met currently, auxiliary driving restoration prompt information is output, a user is reminded to release manual operation, and therefore the auxiliary driving mode is restored to operate.

Specifically, as shown in fig. 5, in one embodiment, the plurality of pre-planned job routes sequentially connected in the job route set include a plurality of first job routes arranged at uniform intervals and a plurality of second job routes connecting two adjacent first job routes. For the convenience of explanation of the working principle of the present invention, in this embodiment, the first working route is exemplified by a straight line route, and the second working route is an arc-shaped turning-around route connecting two adjacent straight line routes.

As shown in fig. 5, on the basis of the above example, determining whether the riding mower currently satisfies the recovery auxiliary driving condition based on the current heading and the current position coordinates includes:

Specifically, as shown in FIG. 5, L _target Representing a target job route; h represents the current position point D on the target working route L _target The distance from the projection point to the end point of the target operation route; the point A represents a point at which deceleration obstacle avoidance starts to be performed after an obstacle is detected; the point B represents a point where the obstacle is stopped after the obstacle is detected and the obstacle is stopped after the deceleration is executed; the point C is between the AB line segments and represents a point at which manual driving is started; point D represents a manual driving end point (current position point); point E (E) ₁ 、E ₂ 、E ₃ ) A point indicating that the automatic driving is returned to the first work route (straight route) after the assistance driving is resumed from the manual driving end point D; s is S ₁ Representing the distance from the obstacle when the speed reduction obstacle avoidance is executed after the obstacle is detected in the automatic operation of the mower; s is S ₀ Indicating that in the automatic operation of the mower, after detecting an obstacle, stopping the distance from the obstacle after the speed reduction and the obstacle avoidance are executed; s is S ₂ Indicating that the mower executes manual driving and the stopped point D is away from the target working route L _target I.e., the distance of the current location from the target work route; s is S ₃ Indicating the distance of the current position point D from the next first working route.

The specific calculation process for calculating the distance between the current position and the target operation route, the distance between the current position and the next first operation route and the distance between the projection point of the current position on the target operation route and the end point of the target operation route based on the current course and the current position coordinates is as follows:

1. the distance S of the current position from the target working route can be calculated according to the current position coordinates and the linear equation of the target working route (linear route) ₂ ；

2. The distance S of the current position from the next working route can be calculated according to the current position coordinates and the linear equation of the next first working route (linear route) ₃ ；

3. The distance H from the projected point of the current position on the target working route to the end point of the target working route may be calculated from the current position coordinates and the linear equation of the target working route (linear route).

The specific judging process for judging whether the distance between the current position and the target operation route, the distance between the current position and the next first operation route and the distance between the projection point of the current position on the target operation route and the end point of the target operation route meet the recovery auxiliary driving condition is as follows:

if condition 1 is satisfied (condition 1 is S ₂ < threshold 1 and H > threshold 2), it is determined that the recovery-assist driving condition is satisfied, as shown in fig. 5, at which time the mower is automatically controlled to run from point D to point E1;

if the condition 1 is not satisfied, but the condition 2 is satisfied (the condition 2 is S ₂ < threshold 1 and H < threshold 2), it is determined that the recovery-assist driving condition is satisfied, as shown in fig. 5, at which time the mower is automatically controlled to run from point D to point E2;

if neither condition 1 nor condition 2 is satisfied, but condition 3 is satisfied (condition 3 is S ₃ < threshold 1 and H < threshold 2), it is determined that the recovery-assist driving condition is satisfied, as shown in fig. 5, at which time the mower is automatically controlled to run from point D to point E3;

if the conditions 1, 2 and 3 are not satisfied, the automatic recovery is not possible, and the mower needs to be manually driven to a position satisfying the conditions.

Specifically, the threshold 1 in the above condition 1-3 is a lateral distance threshold, the threshold 2 is a longitudinal distance threshold, and the threshold 1 may be half of the distance between two adjacent straight lines; threshold 2 is based on mower size to ensure that the machine has enough room to turn around or turn around in place, i.e. to ensure that the process cannot go out of bounds.

In one embodiment, when an obstacle is detected in a preset area in front of the riding mower, the step of cooperatively controlling the riding mower to avoid the obstacle through a man-machine comprises the following steps:

controlling the riding mower to run at a reduced speed according to a preset S-shaped speed curve according to the distance between the riding mower and the obstacle;

if manual operation intervention exists, controlling the riding mower to run so as to avoid the obstacle based on the manual operation;

if no manual operation is involved, the riding mower is controlled to stop running when the distance between the riding mower and the obstacle reaches the preset distance so as to avoid collision between the riding mower and the obstacle.

Specifically, as shown in fig. 4, the coordinate system XO _global Y is a geodetic coordinate system taking a GNSS base station as an origin, namely a northeast coordinate system, and an eastern coordinate X is an eastern position under a geographic coordinate system taking the base station as the origin; the north coordinate Y is a north position in a geographic coordinate system with the base station as an origin; the antenna coordinate is an antenna position under a geographic coordinate system with a base station as an origin; coordinate system XO _car Y is a coordinate system of the mower, the center of the wheel track of the driving wheel is taken as a coordinate origin, the right side of X is positive, and the forward direction of Y is positive; coordinate system XO _sensor Y is the coordinate system of the obstacle detection sensor in front of the mower, the center of the sensor is taken as the origin of coordinates, the X is positive to the right, and the Y is positive to the front (with the coordinate system XO _car The Y axis of Y is coaxial); h _car-sensor For the coordinate system XO _sensor Y-coordinate origin and coordinate system XO _car Distance of Y origin; w (W) _car Is the width of the mower; s is S _dec A distance for decelerating and stopping after detecting the obstacle; w (W) _safe Representing the width of the obstacle detection zone at the side of the mower, i.e. the width safety distance; w (W) _detect Represents the width of the obstacle detection area W _detect ＝2*W _safe +W _car 。

The method for judging whether the obstacle exists in the front preset area of the riding mower comprises the following steps:

judging in a coordinate system XO _sensor In Y, -W _detect /2≤x≤W _detect 2 and y is more than or equal to 0 and less than or equal to S _dec Whether or not there is a barrier in the rangeThe obstacle, i.e. the position coordinates P of the obstacle ^sensor (x ^sensor ,y ^sensor ) Whether the range is within the range, if so, the condition that the obstacle exists in the front preset area of the riding mower is indicated.

As shown in fig. 6, the embodiment of the invention further provides a mower man-machine cooperative control system based on auxiliary driving, which is applied to a riding mower, wherein an obstacle detection sensor is arranged at the front end of the riding mower, an auxiliary driving switch is arranged on the riding mower, and when the auxiliary driving switch is started, the riding mower automatically enters an auxiliary driving mode, wherein in the auxiliary driving mode, the riding mower can automatically walk according to a pre-planned operation route;

The system may include:

a first information acquisition module 201 for acquiring current state information of an operating mechanism of the riding mower and a switch state signal of an auxiliary driving switch, wherein the operating mechanism is used for receiving a user operation to control the traveling speed and the traveling direction of the riding mower;

a steering mechanism position judging module 202, configured to judge whether the steering mechanism is in a zero position based on current state information of the steering mechanism;

a first driving control mode determining module 203, configured to determine, when it is determined that the steering mechanism of the riding mower is at a zero position, a current driving control mode based on a switch state signal of an auxiliary driving switch, where the driving control mode includes an auxiliary driving mode and a manual driving mode;

a switch trigger signal judging module 204, configured to further judge whether a trigger signal for changing the on/off state of the auxiliary driving switch is received when it is determined that the current driving control mode is the manual driving mode;

the second information obtaining module 205 is configured to obtain, when it is determined that the trigger signal is received, a current heading, a current position coordinate of the riding mower, and a working route set, where the working route set includes a plurality of pre-planned working routes that are sequentially connected;

A working route selection module 206 for selecting one working route from the working route set as a target working route based on the current heading and the current position coordinates;

an automatic travel control module 207 for controlling the riding mower to automatically travel along the target travel route and marking a current driving control mode of the riding mower as an auxiliary driving mode;

an obstacle detection control module 208, configured to detect whether an obstacle exists in a preset area in front of the riding mower in real time through an obstacle detection sensor during an automatic walking operation of the riding mower along a target operation route;

the obstacle avoidance driving control module 209 is configured to cooperatively control the obstacle avoidance driving of the riding mower by using a man-machine when an obstacle is detected in a preset area in front of the riding mower.

In one implementation, the system may further include:

and the auxiliary driving mode restoration module is used for controlling the riding mower to restore the auxiliary driving mode and marking the auxiliary driving running state as running when the riding mower is judged to currently meet the restoration auxiliary driving condition.

In one implementation, the system may further include:

the second driving control mode judging module is used for judging whether the current driving control mode is an auxiliary driving mode or not based on a switch state signal of the auxiliary driving switch when judging that the operating mechanism of the riding mower is not in a zero position;

The fourth information acquisition module is used for acquiring the current course and the current position coordinates of the riding mower;

In one implementation, the plurality of pre-planned operation routes sequentially connected in the operation route set comprise a plurality of first operation routes which are uniformly arranged at intervals and a plurality of second operation routes which connect two adjacent first operation routes, wherein the first operation routes are straight-line routes;

accordingly, determining whether the riding mower currently meets the resume-assist driving condition based on the current heading and the current position coordinates includes:

In one implementation, when an obstacle is detected in a preset area in front of the riding mower, cooperatively controlling the riding mower to avoid the obstacle through a man-machine comprises:

The working principle and the beneficial effects of the mower man-machine cooperative control system based on the auxiliary driving in the above embodiment are the same as those of the mower man-machine cooperative control method based on the auxiliary driving in the above embodiment, and are not described herein.

As shown in fig. 7, the embodiment of the present invention further provides a driving-assisted-based cooperative control device 3 for a mower, which includes a memory 301, a processor 302, and a computer program 303 stored in the memory 301 and executable on the processor 302, and when the processor 302 executes the computer program 303, the driving-assisted-based cooperative control method for a mower in any one of the embodiments is implemented.

Specifically, the driving-assisted mower-human cooperative control device 3 may be an intelligent device having a memory and a processor, such as an industrial personal computer, a PC, or an intelligent mobile terminal, or may be a computer component having a memory and a processor, such as a controller, a CPU, and a GPU. In the present embodiment, the driving-assist-based mower-human cooperative control device 3 may be a motion controller of a riding mower.

The embodiment of the invention also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and when the computer program is executed by a processor, the mower man-machine cooperative control method based on auxiliary driving in any embodiment is realized.

The embodiment of the invention also provides a riding mower, which comprises the mower man-machine cooperative control device based on the auxiliary driving.

In the embodiments provided in the present application, it should be understood that the disclosed method and system may be implemented in other manners. The system embodiment described above is merely illustrative, for example, the division of modules is merely a logical function division, and there may be other division manners in actual implementation, such as: multiple modules or components may be combined, or may be integrated into another system, or some features may be omitted, or not performed. In addition, the various components shown or discussed may be coupled or directly coupled or communicatively coupled to each other via some interface, whether indirectly coupled or communicatively coupled to devices or modules, whether electrically, mechanically, or otherwise.

In addition, each functional module in each embodiment of the present application may be integrated in one processor, or each module may be separately used as one device, or two or more modules may be integrated in one device; the functional modules in the embodiments of the present application may be implemented in hardware, or may be implemented in a form of hardware plus a software functional unit.

Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the above method embodiments may be implemented by program instructions and associated hardware, where the program instructions may be stored in a computer readable storage medium, and where the program instructions, when executed, perform steps comprising the above method embodiments; and the aforementioned storage medium includes: a mobile storage device, a Read Only Memory (ROM), a magnetic disk or an optical disk, or the like, which can store program codes.

It should be appreciated that the use of "systems," "devices," "units," and/or "modules" in this disclosure is but one way to distinguish between different components, elements, parts, portions, or assemblies at different levels. However, if other words can achieve the same purpose, the word can be replaced by other expressions.

As used in the specification and in the claims, the terms "a," "an," "the," and/or "the" are not specific to a singular, but may include a plurality, unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that the steps and elements are explicitly identified, and they do not constitute an exclusive list, as other steps or elements may be included in a method or apparatus. The inclusion of an element defined by the phrase "comprising one … …" does not exclude the presence of additional identical elements in a process, method, article, or apparatus that comprises an element.

Wherein, in the description of the embodiments of the present application, unless otherwise indicated, "/" means or, for example, a/B may represent a or B; "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In addition, in the description of the embodiments of the present application, "plurality" means two or more than two.

The terms "first" and "second" are used below for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature.

If a flowchart is used in the present application, the flowchart is used to describe the operations performed by a system according to an embodiment of the present application. It should be appreciated that the preceding or following operations are not necessarily performed in order precisely. Rather, the steps may be processed in reverse order or simultaneously. Also, other operations may be added to or removed from these processes.

The mower man-machine cooperative control method, system, device, storage medium and riding mower based on auxiliary driving provided by the application are described in detail. The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. The present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A mower man-machine cooperative control method based on auxiliary driving is applied to a riding mower and is characterized in that:

the front end of the riding mower is provided with an obstacle detection sensor, the riding mower is provided with an auxiliary driving switch, and when the auxiliary driving switch is turned on, the riding mower automatically enters an auxiliary driving mode, wherein in the auxiliary driving mode, the riding mower can automatically walk according to a pre-planned operation route;

the method comprises the following steps:

2. The assisted drive based mower human-machine cooperative control method of claim 1, further comprising:

3. The assisted drive based mower co-control method of claim 2, further comprising:

4. The assisted drive based mower human-machine cooperative control method of claim 1, further comprising:

5. The assisted driving based mower human-computer cooperative control method according to claim 3 or 4, wherein a plurality of pre-planned operation routes sequentially connected in the operation route set comprise a plurality of first operation routes which are uniformly arranged at intervals and a plurality of second operation routes which connect two adjacent first operation routes, wherein the first operation routes are straight line routes;

6. The method of collaborative control of a ride-based lawnmower of any one of claims 1-4, wherein the co-controlling obstacle avoidance travel of the ride-on lawnmower by human-machine when an obstacle is detected in a predetermined area in front of the ride-on lawnmower comprises:

7. Mower man-machine cooperative control system based on auxiliary driving is applied to riding mower, its characterized in that:

the system comprises:

the first switch trigger signal judging module is used for further judging whether a trigger signal for changing the switch state of the auxiliary driving switch is received or not when the current driving control mode is judged to be a manual driving mode;

8. A mower man-machine cooperative control device based on auxiliary driving, comprising a memory, a processor and a computer program stored in the memory and capable of running on the processor, and the mower man-machine cooperative control device is characterized in that:

the processor, when executing the computer program, implements the driving assistance-based cooperative control method for a mower as claimed in any one of claims 1 to 6.

9. A computer-readable storage medium storing a computer program, characterized in that:

the computer program, when executed by a processor, implements a driving assistance based cooperative control method for a lawnmower as claimed in any one of claims 1 to 6.

10. A riding mower comprising the assisted steering based mower co-controller of claim 8.