Method for identifying grass conditions based on motor load by mowing robot
A lawn-mowing robot and identification method technology are applied in the field of lawn-mowing robots' identification of grass conditions based on motor loads, which can solve problems such as the lawn-mowing robot's inability to perceive lawn conditions, lack of effective detection methods, and inability to plan paths, and achieve fast computing speed. , improve work efficiency, the effect of simple algorithm
Inactive Publication Date: 2019-07-12
HANGZHOU JINGYI INTELLIGENT SCI & TECH
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Problems solved by technology
In the absence of effective detection methods, mowing robots cannot perceive the lawn conditions in the global scope, and cannot perform global path planning
Method used
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[0012] The present invention will be further described below in conjunction with accompanying drawing:
[0013] refer to figure 1 A lawnmowing robot carries out a grass condition identification method based on a motor load, the lawnmowing robot is provided with a centrally controlled processor, the processor is connected to a motor controller, the motor controller is connected to a mowing motor, and the The mowing motor is connected to the mowing mechanism, and the mowing mechanism is set as a cutter, and can also be set as a mowing rope. During the working process of the mowing mechanism, the grass will increase the load of the mowing motor, resulting in slower rotation speed.
[0014] The described processor setting grass condition recognition method is characterized in that: the described grass condition recognition method comprises the following steps:
[0015] (1) the processor controls the rotation of the mowing motor through PWM, and starts the PID controller to set t...
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Disclosed is a method for identifying grass conditions based on the motor load by a mowing robot. A processor for central control is arranged on the mowing robot, and is connected with a motor controller. The motor controller is connected with a mowing motor, the mowing motor is connected with a mowing mechanism, and the grass condition identification method is set in the processor. The method includes the following steps: starting a PID (proportion integration differentiation) controller to set the speed of the mowing motor to be V; measuring the PWM (pulse-width modulation) output as D undera no-load condition; if the PWM value output by the PID controller exceeds a set value, determining that grass flourishes at the current position; allowing the mowing robot to reciprocate in situ until the PWM value output by the PID controller returns to normal. The method has the advantages that the grass conditions at the current position can be directly determined, the working mode of the mowing robot can be guided, and accordingly, the working efficiency is improved.
Description
technical field [0001] The invention relates to a grass condition recognition method for a mowing robot based on a motor load, and belongs to the field of pattern recognition. Background technique [0002] The mowing robot is powered by batteries. In a unit of time, the area that the mower can effectively handle the lawn is an important indicator for evaluating the efficiency of the mowing robot. How to reduce invalid working time and improve work efficiency is the main research content of path planning. In the absence of effective detection means, the lawnmowing robot cannot perceive the lawn conditions in the global scope, and cannot carry out path planning in the global scope. But in a local area, if the condition of the lawn at the current location can be sensed, it will also provide effective help for path planning. Contents of the invention [0003] In order to solve the above problems, the present invention provides a grass condition identification method based on...
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Login to View More IPC IPC(8): A01D34/00
CPCA01D34/008
Inventor 刘瑜
Owner HANGZHOU JINGYI INTELLIGENT SCI & TECH