CN117762138A - Mowing method for mowing robot - Google Patents
Mowing method for mowing robot Download PDFInfo
- Publication number
- CN117762138A CN117762138A CN202311762789.XA CN202311762789A CN117762138A CN 117762138 A CN117762138 A CN 117762138A CN 202311762789 A CN202311762789 A CN 202311762789A CN 117762138 A CN117762138 A CN 117762138A
- Authority
- CN
- China
- Prior art keywords
- mowing
- robot
- motor
- mowing robot
- current
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000008569 process Effects 0.000 claims abstract description 14
- 230000004044 response Effects 0.000 claims abstract description 8
- 244000025254 Cannabis sativa Species 0.000 claims description 12
- 238000001914 filtration Methods 0.000 claims description 4
- 238000005070 sampling Methods 0.000 claims description 4
- 230000007474 system interaction Effects 0.000 claims description 3
- 238000011065 in-situ storage Methods 0.000 abstract description 9
- 230000009471 action Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 241000526657 Microchloa Species 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Abstract
The invention provides a mowing method for a mowing robot, wherein the mowing robot performs normal mowing operation in a light-load area at an initial speed V0, the mowing robot acquires the operation electrical parameters of a mowing motor in real time and compares the acquired electrical parameters with threshold parameters, when the operation electrical parameters of the mowing motor start exceeding the threshold parameters and last for delta T time, the current mowing robot is judged to enter a heavy-load area, the mowing robot stops advancing at the moment and rotates in situ for one circle, the mowing motor is in a working state in the rotating process, and after the rotating process is finished, the mowing robot continues mowing operation in the heavy-load area at a speed V1 towards the previous advancing direction. The invention judges the lawn condition of the current position by the motor operation electrical parameter of the mowing motor, and timely eliminates the missed cutting area caused by the response time lag of the system by rotating the mowing mode in situ, thereby guiding the path planning, avoiding the invalid working process and improving the working efficiency.
Description
Technical Field
The invention belongs to the technical field of mowing robots, and particularly relates to a mowing method for a mowing robot.
Background
With the increasing intellectualization of mowing robot technology due to the application of new technology, intelligent mowing robots have tended to replace traditional mowing robots. However, the intelligent degree of the current mowing robot is low, and the lawn condition cannot be detected timely. In order to improve mowing efficiency, in the mowing process, the mowing robot adjusts the running speed according to the grass density to mow, when a scene with small grass density works, the mowing robot needs to accelerate the advancing speed, improves the working efficiency on the basis of no leakage cutting, and reduces battery consumption. When the grass is flourishing in a scene work, the mowing robot needs to reduce the advancing speed, reduces the rotating speed of the mowing motor, can improve the stability of the advancing process, and can avoid the condition that the mowing robot leaks to cut and the motor is blocked, but because the response of the system is lagged, the advancing speed is changed, and when the mowing robot enters the grass flourishing area from the grass sparse area, the mowing robot leaks to cut in a certain range and cannot be eliminated in time.
Disclosure of Invention
The invention aims to provide a mowing method for a mowing robot, which is used for mowing a lawn in a lawn working area, collecting electric parameters such as current, voltage and power of a mowing motor, feeding back the condition of a lawn in real time, rotating the mowing robot to mow when the mowing robot enters a grass flourishing area from a grass sparse area, eliminating a missed mowing area caused by the change of the condition of the grass in time, guiding the path planning of the mowing robot, reducing missed mowing and maximizing mowing efficiency.
The technical solution for realizing the purpose of the invention is as follows:
a mowing method for a mowing robot comprises the steps that the mowing robot performs normal mowing operation in a light-load area at an initial speed V0, the mowing robot collects operation electrical parameters of a mowing motor in real time and compares the collected electrical parameters with threshold parameters, when the operation electrical parameters of the mowing motor exceed the threshold parameters, starting time T0 is recorded, delta T time is continued, current time T1 is recorded, delta T=t1-T0 is judged, the mowing robot is flourishing in current position, the mowing robot enters a heavy-load area, at the moment, the mowing robot stops advancing and rotates in place for one circle, the mowing motor is in an operating state in the rotating process, after the rotating process is finished, the mowing robot continues mowing operation in the heavy-load area at a speed V1 towards the previous advancing direction, and V0 is larger than V1.
Further, the electrical parameters include current, voltage, power.
Further, the electrical parameter is the mower motor operating current.
Further, the mowing motor MCU detects the voltage on the mowing motor sampling resistor in real time, and carries out mean value filtering processing to obtain the current mowing motor working current It.
Further, the threshold current I0 is 6A.
Further, V0 is 0.5m/s, V1 is 0.2m/s, and DeltaT is 0.5s.
Further, the mowing robot comprises a four-wheel walking motor, after the mowing robot stops advancing, the mowing robot rotates in situ for 360 degrees by taking the central position between two rear-drive wheels as the center of a circle, and in the rotating process, a mowing motor cutterhead is utilized for carrying out circular mowing, so that a mowing missing area is eliminated.
Further, the length d=v0 (Δt+t) of the missed cut region, T is the system interaction response time, and the radius R of the circle rotated by the mowing robot is greater than D.
Further, the mowing robot performs heavy-load mowing operation at a speed V1 in a heavy-load area, acquires an operation electrical parameter of the mowing motor, compares the acquired electrical parameter with a threshold parameter, records a starting time T2 when the operation electrical parameter of the mowing motor is lower than the threshold parameter, and continues for a delta T time, and records a current time T3, wherein delta T=t3-T2, the mowing robot determines that grass at the current position is sparse, the mowing robot walks out of the heavy-load area and enters a low-load area, the operation speed of the mowing robot is increased from V1 to V0, and the mowing robot continues mowing operation in the light-load area at a speed V0.
Compared with the prior art, the method has the remarkable advantages that:
the invention judges the lawn condition of the current position by the motor operation electrical parameter of the mowing motor, and timely eliminates the missed cutting area caused by the response time lag of the system by rotating the mowing mode in situ, thereby guiding the path planning, avoiding the invalid working process and improving the working efficiency.
Drawings
Fig. 1 is an internal block diagram of the mowing robot of the present invention.
Fig. 2 is a heavy duty mowing flow chart of the mowing robot of the present invention.
Fig. 3 is a heavy duty mowing schematic view of the mowing robot of the present invention.
Fig. 4 is a light-load mowing flow chart of the mowing robot of the invention.
Fig. 5 is a schematic view of a light-load mowing robot of the present invention.
Fig. 6 is a schematic view of a rotary-in-place mowing robot of the present invention.
Detailed Description
The invention will be described in detail with reference to the accompanying drawings and detailed description.
Referring to fig. 1, a block diagram of the internal components of a self-walking device (e.g., a mowing robot) according to the present invention. The mowing robot comprises a main control unit, a boundary signal receiving unit, a display unit, a charging unit, a power supply unit, a sensor unit, other functional units, a mowing unit, a mowing robot and the like. The main control unit is used as the brain of the mowing robot and is responsible for interacting with each unit and a user in the mowing robot to control the action of the mowing robot. And the boundary signal receiving unit is used for determining a working area and guiding the mowing robot to work in the working area, wherein the working area can be bordered or borderless. The display unit is used for interacting with a user and providing various current data and various instructions of the user for the mowing robot. And the charging unit charges a power supply of the mowing robot through the base station. And the power supply unit is used as a heart of the mowing robot and is connected with a main power supply to generate various power supplies required by the mowing robot work. The sensor unit comprises various sensors and circuits thereof which are installed on the mowing robot, and the sensor unit comprises a Hall sensor, an acceleration sensor, a tilt sensor, an ultrasonic sensor, a millimeter wave sensor and the like. The mowing unit comprises a mowing motor microcontroller and a driving circuit, and is responsible for the action of the mowing motor of the mowing robot. The mowing robot comprises a walking motor microcontroller and a driving circuit, and is responsible for the running action of the mowing robot, including but not limited to a 4-wheel walking motor. Other functional module units are used as the selecting and matching functions of the mowing robot, and comprise a voice circuit, an audible and visual alarm circuit and the like.
Referring to fig. 2, 3, a heavy-duty mowing flow chart and a heavy-duty mowing flow chart of the mowing robot according to the present invention. The mowing robot performs normal mowing operation in a light-load area at an initial speed V0, a mowing motor MCU in a mowing unit detects voltage on a mowing motor sampling resistor in real time, and average value filtering processing is performed to obtain current mowing motor working current It, and then It is smaller than I0.
Comparing the mowing current It with a preset threshold current I0, recording a starting time T0 and a current time T1 when the working current It of the mowing motor starts to exceed the threshold current I0, wherein the current time T1 is recorded, and judging that grass is flourishing at the current position and the mowing robot enters a heavy-load area.
The mowing motor MCU uploads current information to the mowing robot main control MCU, the main control MCU sends an instruction to the mowing robot to control the mowing robot to stop advancing and rotate in situ for one circle, namely 360 degrees, and the mowing motor is in a working state in the rotating process. After the rotation is finished, the mowing robot continues to mow in the heavy-load area at the speed V1 towards the forward direction.
The specific height will be described below as an example.
For example, in one embodiment, V0 is set to 0.5m/s, V1 is set to 0.2m/s, the threshold current I0 is set to 6A, and the hold time ΔT is set to 0.5s. The mowing robot mows in a light-load area at the speed of 0.5m/s, monitors the current It of the mowing motor in real time, detects that It is less than 6A when the mowing robot enters a heavy-load area, starts timing, and controls the mowing robot to stop advancing when It is continuously more than 6A and is kept for 0.5s, wherein the mowing motor does not stop working. The mowing robot takes the center position between the two rear-drive wheels as the center of a circle, rotates in situ for 360 degrees, and mows the circular ring by utilizing the mowing motor cutterhead in the rotating process, so that the missed mowing area is eliminated. After one turn in place, the mowing robot continues to mow in the heavy load area at a speed of 0.2m/s towards the forward direction.
Referring to fig. 4, 5, a light-load mowing flow chart and a light-load mowing flow chart of the mowing robot according to the present invention. The mowing robot carries out heavy-duty mowing operation at a speed V1 in a heavy-duty area, a mowing motor MCU in a mowing unit detects voltage on a mowing motor sampling resistor in real time, average value filtering processing is carried out on the voltage, and current mowing motor working current It is obtained, and then It is larger than I0.
Comparing the mowing current It with a preset threshold current I0, recording a starting time T2 and a current time T3 when the working current It of the mowing motor is lower than the threshold current I0, and recording the current time T3, wherein the delta T=t3-T2, judging that grass at the current position is sparse, and the mowing robot walks out of a heavy load area and enters a low load area.
The mowing motor MCU uploads the current information to the mowing robot main control MCU, the main control MCU sends an instruction to the mowing robot, the mowing robot is controlled to increase the running speed from V1 to V0, and the mowing robot continues mowing work in a light-load area at the speed V0.
Referring to fig. 6, a schematic view of a rotary-in-place mowing robot in accordance with the present invention. When the mowing robot enters a heavy-load area from a light-load area, the change of the running speed is delayed due to response time reasons such as current detection of a mowing motor, system interaction and the like, and a missed mowing area appears. The width of the missed cutting area is equal to the mowing width of the advancing direction of the mowing robot, the length of the missed cutting area is related to the response time and the running speed of the system, and the length D=v0 (delta T+T), wherein V0 is the initial running speed of the mowing robot, delta T is the motor current detection holding time, and T is the interactive response time of the system.
For example, in one embodiment, V0 is 0.5m/s, Δt is 0.5s, T is 0.2s, then d=0.5 (0.5+0.2) =0.35 m, and the length of the drain region is 0.35m.
When the mowing robot needs to rotate in situ, the travelling motor stops advancing, the mowing robot rotates in situ for 360 degrees by taking the central position between the two rear-drive wheels as the center of a circle, and mowing is performed in situ by utilizing the mowing motor cutter disc in the rotating process, so that a missed mowing area is eliminated. It should be noted that the radius R of the circle when the mowing robot rotates needs to satisfy the condition that the radius R is greater than the length D of the missed cut region, otherwise, a partial missed cut phenomenon still exists.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A mowing method for a mowing robot is characterized in that,
the method comprises the steps that a mowing robot performs normal mowing operation in a light-load area at an initial speed V0, the mowing robot collects operation electrical parameters of a mowing motor in real time, the collected electrical parameters are compared with threshold parameters, when the operation electrical parameters of the mowing motor exceed the threshold parameters, starting time T0 is recorded, delta T time is continued, current time T1 is recorded, delta T=t1-T0 is recorded, the condition that grass at the current position is flourishing is judged, the mowing robot enters a heavy-load area, at the moment, the mowing robot stops advancing and rotates in place for one circle, the mowing motor is in an operating state in the rotating process, after the rotating process is finished, the mowing robot advances towards the previous advancing direction, and mowing operation is continued in the heavy-load area at a speed V1, and V0 is larger than V1.
2. The mowing method for a mowing robot according to claim 1, wherein the electrical parameters comprise current, voltage, power.
3. The mowing method for a mowing robot according to claim 1, wherein the electrical parameter is a mowing motor operating current.
4. The mowing method for the mowing robot according to claim 3, wherein the mowing motor MCU detects the voltage on the mowing motor sampling resistor in real time, and performs mean value filtering processing to obtain the current mowing motor working current It.
5. A mowing method for a mowing robot according to claim 3, characterized in that the threshold current I0 is 6A.
6. The mowing method for a mowing robot according to claim 5, wherein V0 is 0.5m/s, V1 is 0.2m/s, Δt is 0.5s.
7. The mowing method for a mowing robot according to any one of claims 1 to 6, wherein the mowing robot comprises a four-wheel traveling motor, and the mowing robot rotates in place by 360 degrees with a center position between two rear drive wheels as a center after stopping advancing, and performs circular mowing by using a mowing motor cutter during rotation, thereby eliminating a missed mowing area.
8. The mowing method for a mowing robot according to claim 7, wherein the missed cut area length D = V0 (Δt + T), T is a system interaction response time, and the circle radius R of the mowing robot rotation is greater than D.
9. The method for mowing a robot according to claim 7, wherein the mowing robot performs a reloading mowing operation at a speed V1 in a reloading area, collects an electric parameter of operation of a mowing motor and compares the collected electric parameter with a threshold parameter, records a start time T2 and a duration Δt time, records a current time T3 when the electric parameter of operation of the mowing motor starts below the threshold parameter, wherein
And if the delta T=t3-T2, judging that the grass at the current position is sparse, enabling the mowing robot to walk out of the heavy load area and enter the low load area, and improving the running speed of the mowing robot from V1 to V0, wherein the mowing robot continues mowing work in the light load area at the speed V0.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311762789.XA CN117762138A (en) | 2023-12-19 | 2023-12-19 | Mowing method for mowing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311762789.XA CN117762138A (en) | 2023-12-19 | 2023-12-19 | Mowing method for mowing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117762138A true CN117762138A (en) | 2024-03-26 |
Family
ID=90321499
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311762789.XA Pending CN117762138A (en) | 2023-12-19 | 2023-12-19 | Mowing method for mowing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117762138A (en) |
-
2023
- 2023-12-19 CN CN202311762789.XA patent/CN117762138A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| AU653958B2 (en) | Continuous, self-contained mowing system | |
| US10105838B2 (en) | Automatically travelling device and control method therefor | |
| CN102771246B (en) | Intelligent mower system and intelligent mowing method thereof | |
| CN102880175B (en) | Automatic running device | |
| EP4070638B1 (en) | Mowing control method for intelligent mower | |
| CN103650753A (en) | Intelligent hay mower and control method thereof | |
| CN103660997B (en) | Electric lawn tractor power management system and method | |
| CN103576681A (en) | Automatic traveling device and control method thereof | |
| CN110915404A (en) | Mower and control system thereof | |
| WO2020220652A1 (en) | Automatic lawn mower and control method therefor | |
| US11712000B2 (en) | Work machine | |
| WO2020228262A1 (en) | Method for controlling autonomous mobile robot, and autonomous mobile robot system | |
| CN109845475A (en) | The u-turn control method and system of intelligent grass-removing robot | |
| CN105242675A (en) | Automatic walking equipment | |
| CN117762138A (en) | Mowing method for mowing robot | |
| CN111602097A (en) | Self-moving equipment and control method thereof | |
| EP4030256A1 (en) | Outdoor robot and control method therefor | |
| CN113068506A (en) | Greenhouse orchard mowing robot and control method thereof | |
| CN204390430U (en) | A kind of real-time driving fatigue monitoring system | |
| CN208227666U (en) | Field intelligent seeder device people | |
| CN114123399A (en) | Charging control system for track robot | |
| WO2021093851A1 (en) | Self-moving device and working method therefor | |
| CN112433521B (en) | Control method of self-walking device, self-walking device and system | |
| CN112673794B (en) | Mower and control method thereof | |
| CN110708950B (en) | Automatic walking gardening equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |