Mowing robot walking motor collision detection method and device, electronic equipment and storage medium

Abstract

The invention relates to a collision detection method and device for a walking motor of a mowing robot. The method comprises the steps of collecting a current value, a speed value and a slope inclination angle of the walking motor of the mowing robot; calculating a current change rate Ax and a speed change quantity Vx; judging whether collision occurs or not; and when the collision is judged to occur, executing a recovery process to restart mowing. The device comprises an acquisition module, a calculation module, a judgment module and an execution module. The invention further relates to electronic equipment and a storage medium. By utilizing the collision detection method and device for the walking motor of the mowing robot, the electronic equipment and the storage medium, the problem that the walking control of the traditional mowing robot usually depends on detecting the current change of the walking motor or a Hall sensor to judge whether slipping or collision occurs or not can be solved; in the prior art, the attitude of the mower or the actual collision force cannot be accurately obtained, frequent shutdown caused by collision is easily misjudged, the operation is interrupted, and the work is difficult to complete; and excessive impact forces damage the lawn or the machine itself.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot and garden machinery control, and particularly relates to a mowing robot walking motor collision detection method and device, electronic equipment and storage medium. BACKGROUND

[0002] At present, intelligent mowing robots have been widely used in automatic mowing operations of lawns. The mowing robot can autonomously walk and mow within a set range without manual operation. However, the outdoor use environment is complex and changeable, and the lawn terrain may have different slopes, uneven areas, and different grass heights. These factors will affect the walking stability of the mowing robot, easily leading to phenomena such as wheel skidding, robot collision with obstacles, and further damage to the lawn. For example, when the mowing robot travels on a wet or steep slope, the wheels may spin and skid; when encountering fixed obstacles (such as tree stumps and stones), the robot may continuously collide and damage the turf.

[0003] Traditional mowing robot walking control usually relies on detecting the current change of the walking motor or using the Hall sensor of the motor to determine whether skidding or collision occurs. However, simple threshold judgment of current or Hall signal cannot accurately obtain the inclination angle (attitude) of the mowing robot or the actual force of the collision. On different slope lawns, the change patterns of the walking motor current and speed are different. If a fixed threshold is still used to detect abnormalities, two extreme cases may occur: one is that the threshold is set too low, the system is too sensitive, and the mowing robot is frequently stopped due to misjudgment of collision when climbing normally or slightly bumping, causing work interruption and difficulty in completing the work smoothly; the other is that the threshold is set too high, the system is slow to react, and when a serious collision actually occurs, the mowing robot cannot stop in time, causing excessive collision force to damage the lawn or the robot itself. Both of these two cases will bring bad user experience.

[0004] Therefore, the prior art has defects and needs to be improved and developed. SUMMARY

[0005] This invention provides a method, apparatus, electronic device, and storage medium for detecting collisions in the walking motor of a lawnmower robot. It addresses the problem that traditional lawnmower robot walking control typically relies on detecting changes in the current of the walking motor or using a Hall sensor integrated into the motor to determine whether slippage or a collision has occurred. However, simply using a threshold value based on current or Hall signals cannot accurately determine the lawnmower's tilt angle (posture) or the actual force of a collision. On lawns with varying slopes, the patterns of change in the walking motor's current and speed differ. If a fixed threshold is still used to detect anomalies, two extreme situations may occur: first, if the threshold is set too low, the system becomes overly sensitive, causing the lawnmower robot to misinterpret collisions during normal inclines or slight bumps, frequently stopping and interrupting operations; second, if the threshold is set too high, the system becomes sluggish, failing to stop in time when a serious collision actually occurs, resulting in excessive impact force damaging the lawn or the machine itself.

[0006] In a first aspect, the present invention provides a method for collision detection of the walking motor of a lawnmower robot, comprising:

[0007] The current and speed values ​​of the walking motor of the lawnmower are collected in real time, as well as the slope and tilt angle of the lawnmower's location.

[0008] Using the same time T as a cycle, calculate the rate of change of current Ax and the change of velocity Vx between the previous time cycle and the next time cycle;

[0009] The current change rate Ax and the velocity change amount Vx are compared with preset current change rate thresholds and preset velocity change amount thresholds set according to the slope tilt angle, respectively; when both the current change rate Ax and the velocity change amount Vx exceed the corresponding preset thresholds, a collision is determined to have occurred; otherwise, it is determined that no collision has occurred and the mowing continues.

[0010] Once a collision is detected, a recovery process is executed to restart lawn mowing.

[0011] Furthermore, the slope tilt angle at the location of the lawnmower can be obtained in real time by using a tilt sensor installed on the lawnmower.

[0012] Furthermore, the greater the slope angle, the greater the values ​​of the preset current change rate threshold and the preset speed change threshold.

[0013] Furthermore, the calculation of the rate of change of current Ax and the change of velocity Vx between the previous time period and the next time period, using the same time T as a cycle, includes:

[0014] Based on the current sampling resistor connected in series in the drive circuit of the walking motor, the voltage drop across the sampling resistor is collected every time T using the analog-to-digital converter module built into the MCU.

[0015] The motor current value I is calculated using Ohm's law based on the resistance value R of the current sampling resistor and the voltage drop value U.

[0016] The motor current value of the previous time period and the motor current value of the next time period are obtained according to the above process. The absolute value of the difference between the average motor current value of the previous time period and the average motor current value of the next time period is divided by the time period T to obtain the current change rate Ax.

[0017] Based on the speed signal fed back by the Hall sensor built into the walking motor, the MCU reads the speed signal and calculates the average number of revolutions in the previous time period and the average number of revolutions in the next time period. The absolute value of the difference between the average number of revolutions in the previous time period and the average number of revolutions in the next time period is divided by the time period T to obtain the speed change Vx.

[0018] Furthermore, the step of executing a recovery process to restart lawn mowing after a collision is determined includes:

[0019] Based on the base station signal connected to the lawnmower, the walking motor of the lawnmower stops when the base station signal cannot be received; when the base station signal can be received, the walking speed of the lawnmower is reduced.

[0020] Send commands to control the lawnmower robot to retreat a predetermined distance, and detect whether it has crossed the boundary line of its working area during the retreat process;

[0021] If the robot does not cross the boundary line, a command is sent to make it rotate a predetermined angle and move forward again to continue mowing, and the collision detection method is continuously executed until the robot gets out of trouble; otherwise, the walking motor of the robot is stopped.

[0022] A second aspect of the present invention provides a collision detection device for the walking motor of a lawnmower robot, comprising:

[0023] The data acquisition module is used to collect the current and speed values ​​of the walking motor of the lawnmower robot in real time, as well as the slope and tilt angle of the lawnmower robot's location.

[0024] The calculation module is used to calculate the rate of change of current Ax and the change of velocity Vx between the previous time period and the next time period, with the same time T as one period.

[0025] The judgment module is used to compare the current change rate Ax and the speed change amount Vx with preset current change rate threshold and preset speed change amount threshold respectively set according to the slope tilt angle; when both the current change rate Ax and the speed change amount Vx exceed the corresponding preset threshold, it is determined that a collision has occurred; otherwise, it is determined that no collision has occurred and the mowing continues.

[0026] The execution module is used to execute the recovery process to restart lawn mowing when a collision is detected.

[0027] In a third aspect, the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the electronic device implements the aforementioned lawnmower robot walking motor collision detection method.

[0028] In a fourth aspect, the present invention provides a computer-readable storage medium for storing a computer program that, when run on a computer, causes the computer to execute the lawnmower robot walking motor collision detection method.

[0029] Beneficial effects:

[0030] As can be seen from the above technical solutions, the present invention provides a collision detection method for the walking motor of a lawnmower robot, which has the following beneficial effects:

[0031] 1. Improving collision detection accuracy through joint determination of current change rate and speed change: By calculating the current change rate Ax and speed change Vx of the walking motor within a fixed time period T, a collision is determined only when both exceed their corresponding thresholds. Compared to methods that rely solely on current overload or speed drops, this invention reduces the possibility of misjudgments caused by noise or load fluctuations affecting a single detection quantity, thus improving the accuracy and stability of collision detection.

[0032] 2. Introducing slope tilt angle and threshold linkage to adapt to different slope conditions: The tilt angle of the lawnmower robot's location is acquired in real time by a tilt sensor, and the preset current change rate threshold and preset speed change threshold are dynamically adjusted according to the slope, so that the higher the slope, the higher the threshold. This method can adaptively adjust the judgment sensitivity under different working conditions such as uphill, downhill, and flat ground, avoiding the misjudgment of increased current and speed changes during normal climbing as collisions, and improving the applicability of the method in complex terrain.

[0033] 3. Specific current and speed acquisition circuits and algorithms are employed to facilitate practical implementation and reproduction: A method is provided to calculate the motor current value I by connecting a series current sampling resistor, measuring the voltage drop across the sampling resistor using an MCU analog-to-digital converter module, and combining this with Ohm's law. Simultaneously, the speed signal is acquired using the built-in Hall sensor of the walking motor, and the average rotational speed difference is calculated. All the above technical means are derived from mature motor drive and detection circuits, facilitating implementation of the method of this invention on existing hardware by those skilled in the art, ensuring the feasibility of the solution.

[0034] 4. Balancing Response Speed ​​and Anti-interference Capability through Periodic Averaging and Differential Calculation: The method calculates the average motor current and average revolutions within a time period T, and then subtracts the average values ​​from the previous and subsequent periods, dividing by T to obtain Ax and Vx. Compared to directly subtracting instantaneous sampled values, this method is equivalent to performing time-window averaging filtering on the signal, which helps reduce the impact of short-term spike noise while retaining sensitivity to sudden changes in current and speed. This results in detection results that possess both fast response speed and a certain degree of anti-interference capability.

[0035] 5. The recovery process combining base station signal and boundary line detection facilitates automatic escape from obstacles and protects the lawn: After a collision is detected, the recovery process, which controls the walking speed based on the base station signal, retreats a predetermined distance, and checks whether it has crossed the boundary line of the work area, ensures that the lawnmower robot avoids exceeding the work area or contacting the base station during the escape process. Simultaneously, by rotating at a predetermined angle to move forward again and repeating collision detection until it escapes or stops, it helps prevent prolonged idle spinning of the wheels from damaging the lawn, improving the continuity of mowing operations and the lawn protection effect.

[0036] It should be understood that all combinations of the foregoing concepts and the additional concepts described in more detail below can be considered part of the inventive subject matter of this disclosure, provided that such concepts do not contradict each other.

[0037] The foregoing and other aspects, embodiments, and features of the teachings of the present invention will be more fully understood from the following description in conjunction with the accompanying drawings. Other additional aspects of the invention, such as features and / or beneficial effects of exemplary embodiments, will become apparent from the following description or may be learned through practice of specific embodiments according to the teachings of the present invention. Attached Figure Description

[0038] The accompanying drawings are not drawn to scale. In the drawings, each identical or nearly identical component shown in the various figures may be denoted by the same reference numeral. For clarity, not every component is labeled in each figure. Embodiments of various aspects of the invention will now be described by way of example and with reference to the accompanying drawings, wherein:

[0039] Figure 1This is a flowchart illustrating the collision detection method for the walking motor of a lawnmower robot according to an embodiment of this application.

[0040] Figure 2 This is a flowchart of step S104 of a collision detection method for the walking motor of a lawnmower robot according to an embodiment of this application.

[0041] Figure 3 This is a flowchart of step S108 of a collision detection method for the walking motor of a lawnmower robot according to an embodiment of this application.

[0042] Figure 4 This is a schematic diagram of an electronic device according to an embodiment of this application. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention without creative effort are within the scope of protection of the present invention. Unless otherwise defined, the technical or scientific terms used herein should have the ordinary meaning understood by those skilled in the art to which this invention pertains.

[0044] The terms "first," "second," and similar words used in the specification and claims of this patent application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, unless the context clearly indicates otherwise, the singular forms of "an," "a," or "the," etc., do not indicate a quantity limitation, but rather indicate the presence of at least one. Terms such as "comprising" or "including" mean that the element or object preceding "comprising" encompasses the features, integrals, steps, operations, elements, and / or components listed following "comprising" or "including," and do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or collections thereof. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; these relative positional relationships may change accordingly when the absolute position of the described object changes.

[0045] Traditional lawnmower robot movement control typically relies on detecting changes in the current of the walking motor or using the motor's built-in Hall effect sensors to determine if slippage or collisions have occurred. However, simply using current or Hall effect signal thresholds cannot accurately determine the lawnmower's tilt angle (posture) or the actual force of a collision. The patterns of current and speed changes in the walking motor vary across different grass slopes. If a fixed threshold is still used to detect anomalies, two extreme scenarios may occur: First, if the threshold is set too low, the system becomes overly sensitive, causing the lawnmower to misinterpret normal inclines or slight bumps as collisions and frequently stop, interrupting operations and hindering successful completion of the job; second, if the threshold is set too high, the system becomes sluggish, failing to stop in time when a serious collision actually occurs, resulting in excessive impact force damaging the lawn or the machine itself. Both scenarios will lead to a poor user experience.

[0046] Therefore, embodiments of the present invention provide a collision detection method for the walking motor of a lawnmower robot, referring to... Figure 1 ,include:

[0047] Step S102: Real-time acquisition of the current and speed values ​​of the walking motor of the lawnmower robot, as well as the slope and tilt angle of the lawnmower robot's location.

[0048] Step S104: Using the same time T as a cycle, calculate the rate of change of current Ax and the change of velocity Vx between the previous time cycle and the next time cycle.

[0049] Step S106: Compare the current change rate Ax and the velocity change amount Vx with the preset current change rate threshold and preset velocity change amount threshold set according to the slope tilt angle, respectively; when both the current change rate Ax and the velocity change amount Vx exceed the corresponding preset threshold, a collision is determined to have occurred; otherwise, it is determined that no collision has occurred and the mowing continues.

[0050] Step S108: After a collision is determined, execute the recovery process to restart mowing.

[0051] The specific process is as follows: During the lawnmower operation, the controller collects the current and speed values ​​of the walking motor in real time and obtains the slope angle of its location through the tilt sensor. The controller divides the time axis into several time periods of length T. At the end of each time period, the current and speed data collected in that period are statistically analyzed and compared with the data of the previous time period to obtain the current change rate Ax and speed change amount Vx. Subsequently, based on the currently collected slope angle, the controller selects the corresponding current change rate threshold and speed change amount threshold from a preset threshold strategy. If both Ax and Vx exceed their respective thresholds, the controller determines that the lawnmower has collided and stops its current forward operation, entering the recovery process; if at least one does not exceed the threshold, it is considered that no collision has occurred, and the lawnmower continues to mow along the original path. The value of T can be determined based on the motor inertia, sensor response speed, and processor performance. For example, a range of tens to hundreds of milliseconds can be selected to ensure that the system can respond to collision events in a timely manner without causing excessive data fluctuations due to excessively short periods.

[0052] Through the above process, collisions can be comprehensively determined using state variables of both current and velocity changes within a unified framework. The threshold can be adjusted based on slope data to match the determination criteria with the actual terrain load. This method facilitates real-time identification of genuine collision events under various working conditions, including flat ground, uphill, and downhill slopes, and allows for timely initiation of a recovery process after a collision. This prevents the lawnmower robot from continuing to push against obstacles or slipping in place, reducing the risk of damage to the lawn and equipment.

[0053] In some embodiments, the slope tilt angle of the lawnmower's location is obtained in real time by using a tilt sensor installed on the lawnmower.

[0054] By employing specific tilt sensors to acquire slope inclination angles, the control system can accurately obtain current terrain slope information and use it as input for threshold setting. This facilitates the linkage adjustment between the threshold and the slope, thereby improving the rationality of collision judgment under different slope conditions. The selection and installation methods of tilt sensors are widely disclosed in existing technologies. Commonly used attitude sensing modules can connect to an MCU via a standard communication interface, allowing the MCU to periodically read angle data. The specific form of the threshold function can be set based on actual test results; for example, a piecewise linear function or a lookup table method can be used, selecting different thresholds according to different slope ranges.

[0055] A tilt sensor is fixedly mounted on the lawnmower robot. This tilt sensor can be an attitude measurement module containing a three-axis accelerometer and a three-axis gyroscope. It obtains the robot's tilt angle relative to the horizontal plane by calculating the direction of gravitational acceleration or the integral of angular velocity. The controller periodically reads the angle value output by the tilt sensor as the current slope tilt angle. The controller has a preset correspondence between slope angles and threshold values. For example, when the slope angle is less than θ1, the current change rate threshold and velocity change threshold are set to smaller values ​​to improve collision detection sensitivity; when the slope angle is between θ1 and θ2, the current change rate threshold and velocity change threshold are appropriately increased; when the slope angle is greater than θ2, a higher threshold is used to allow for larger current fluctuations and velocity changes that are normal during climbing. These settings can be expressed as a monotonically increasing function, meaning that the larger the slope, the larger the corresponding threshold.

[0056] In some embodiments, the greater the slope angle, the larger the values ​​of the preset current change rate threshold and the preset speed change threshold.

[0057] By linking the slope angle to preset thresholds for current change rate and speed change, this feature enables the collision detection method to adapt to slope variations. For steep uphill sections, the current of the drive motor naturally increases and the speed decreases during normal operation; increasing the threshold can prevent normal climbing from being mistaken for a collision. For areas with gentle slopes or near-flat terrain, a lower threshold allows for more sensitive detection of minor collisions. This strategy helps balance the detection rate and false alarm rate across different terrain scenarios.

[0058] In some embodiments, the rate of change of current Ax and the change of velocity Vx between one time period and the next time period are calculated using the same time period T as a cycle, with reference to... Figure 2 ,include:

[0059] Step S1041: Based on the current sampling resistor connected in series in the drive circuit of the walking motor, the voltage drop across the sampling resistor is collected every time T using the analog-to-digital conversion module built into the MCU.

[0060] Step S1042: Calculate the motor current value I using Ohm's law based on the resistance value R of the current sampling resistor and the voltage drop value U.

[0061] Step S1043: According to the above process, obtain the motor current value of the previous time period and the motor current value of the next time period. Take the absolute value of the difference between the average motor current value of the previous time period and the average motor current value of the next time period and divide it by the time period T to obtain the current change rate Ax.

[0062] Step S1044: Based on the speed signal fed back by the Hall sensor built into the walking motor, the MCU reads the speed signal and calculates the average number of revolutions in the previous time period and the average number of revolutions in the next time period. The absolute value of the difference between the average number of revolutions in the previous time period and the average number of revolutions in the next time period is divided by the time period T to obtain the speed change Vx.

[0063] Through the above calculation method, both the rate of change of current Ax and the change of speed Vx have clear physical quantities and algorithmic definitions, which is beneficial for those skilled in the art to directly implement them using existing motor drive hardware and MCU resources. Utilizing periodic averaging and differential methods to process current and speed signals can suppress transient noise and reflect sudden changes in motor load and speed, thus improving the practical reliability of the collision detection algorithm.

[0064] Within each time cycle, the MCU can average the current values ​​sampled multiple times to obtain the average motor current value for that cycle. After two adjacent cycles, the absolute value of the difference between the average motor current values ​​of the previous and subsequent cycles is calculated and divided by the time cycle T to obtain the current change rate Ax. Similarly, the speed signal is acquired using the Hall sensor built into the walking motor, and the number of Hall pulses is counted within each time cycle to calculate the average revolutions per minute (RPM). The speed change Vx is obtained by calculating the absolute value of the difference between the average RPMs of two adjacent cycles and dividing by T.

[0065] To obtain the rate of change of current Ax and the change of velocity Vx, a current sampling resistor is connected in series in the drive circuit of the lawnmower robot's walking motor. This sampling resistor has a known small resistance value R. The MCU's analog-to-digital converter module acquires the voltage drop U across this sampling resistor at time intervals T via an analog input port. The controller calculates the motor current I at that moment according to Ohm's law I=U / R.

[0066] In existing DC motor and brushless motor drive systems, measuring current through a series shunt resistor is a mature practice. The MCU can calculate the current value by sampling the voltage across the resistor using the ADC. This embodiment adopts this method, requiring only a small resistor in series in the motor power supply circuit. By designing appropriate amplification and sampling circuits based on the resistor parameters, the required sampling accuracy can be met. Furthermore, Hall effect sensors are widely used to feed back motor speed in wheeled robots and electric vehicles, calculating the speed by counting Hall pulses per unit time. Calculating the average value within a time period T and the difference between adjacent periods are conventional methods in digital signal processing. This embodiment uses an averaging and differential method to reduce the impact of single-sample noise on the results. Technicians can select the sampling frequency and averaging number according to actual needs, such as performing multiple ADC samples and averaging within each period to improve the stability of current estimation. For speed measurement, hardware and software filtering can be used to reduce Hall signal jitter.

[0067] In some embodiments, upon determining that a collision has occurred, a recovery process is executed to restart lawn mowing, see reference. Figure 3 ,include:

[0068] Step S1081: Based on the lawnmower's connection to the base station signal, when the base station signal cannot be received, the lawnmower's walking motor is stopped; when the base station signal can be received, the walking speed of the lawnmower is reduced.

[0069] Step S1082: Send a command to control the lawnmower robot to retreat a predetermined distance, and detect whether it has crossed the boundary line of its working area during the retreat process;

[0070] Step S1083: If the boundary line is not crossed, a command is sent to make the mowing robot rotate a predetermined angle and move forward again to continue mowing, and the collision detection method is continuously executed until the mowing robot gets out of trouble; otherwise, the walking motor of the mowing robot is stopped.

[0071] First, the controller detects the communication status between the lawnmower robot and the base station. If a base station signal is not received, it's assumed the robot may have moved too far from the base station or is in an unsafe position. The controller stops the walking motors to prevent the robot from continuing to move and causing unpredictable risks. When a base station signal is received, to reduce the risk of another hard collision near the base station or within the work area, the controller reduces the walking speed to a predetermined low value. Then, the controller sends a control command to make the lawnmower robot retreat a predetermined distance in the opposite direction, for example, a number of wheel circumferences. During the retreat, the robot uses a boundary detection device, such as an in-ground coil induction module, to determine if it has crossed the boundary line of the work area. If no boundary crossing signal is detected within the predetermined retreat distance, the controller sends another command to make the robot turn around a predetermined angle (e.g., 90°) and move forward again to attempt to avoid obstacles, while simultaneously restarting the collision detection process. If a collision is detected again during the attempt, the controller can repeat the above retreat and turning operations until the robot is free. If the robot is detected crossing the boundary line during the retreat, the controller stops the walking motors to prevent the robot from leaving the designated work area.

[0072] This recovery process combines base station signal and boundary line detection information to constrain the robot's movement strategy after a collision, ensuring that the lawnmower robot does not leave the designated work area or approach sensitive areas such as base stations during the escape process. Stopping movement when a base station signal is lost prevents the robot from straying out of the controllable range. When a base station signal is received, low-speed backward movement and turning are employed, drawing on the strategy of existing robot systems that use small steps and directional probing to escape in complex environments. Technicians can select appropriate backward movement distances and turning angles based on the robot's chassis structure and motor performance; for example, experiments have shown that a 20cm backward movement and a 90° turn can avoid obstacles in most situations. Low-speed movement when a base station signal is received reduces the risk of collision; the combination of backward movement and turning gradually changes the path until escape is achieved, and the walking motor stops when the safety boundary cannot be guaranteed, protecting the lawn and equipment, thus facilitating automatic escape and safe shutdown.

[0073] Another embodiment of the present invention provides a collision detection device for the walking motor of a lawnmower robot, comprising:

[0074] The data acquisition module is used to collect the current and speed values ​​of the walking motor of the lawnmower robot in real time, as well as the slope and tilt angle of the lawnmower robot's location.

[0075] The calculation module is used to calculate the rate of change of current Ax and the change of velocity Vx between the previous time period and the next time period, with the same time T as one cycle.

[0076] The judgment module is used to compare the current change rate Ax and the velocity change amount Vx with the preset current change rate threshold and preset velocity change amount threshold set according to the slope tilt angle, respectively; when both the current change rate Ax and the velocity change amount Vx exceed the corresponding preset threshold, a collision is determined to have occurred; otherwise, no collision is determined to have occurred and the mowing continues.

[0077] The execution module is used to execute the recovery process to restart lawn mowing when a collision is detected.

[0078] It should be noted that although several units or sub-units of the device have been mentioned in the detailed description above, this division is merely exemplary and not mandatory. In fact, according to embodiments of this application, the features and functions of two or more units described above can be embodied in one unit. Conversely, the features and functions of one unit described above can be further divided and embodied by multiple units.

[0079] Based on the same inventive concept as the above method embodiments, this application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it enables the electronic device to implement the control method described in the above embodiments.

[0080] In one embodiment, the electronic device may be a server, and in this embodiment, the structure of the electronic device may be as follows: Figure 4 As shown, it includes a memory, a communication module, and one or more processors.

[0081] Memory is used to store computer programs executed by the processor. Memory can be mainly divided into a program storage area and a data storage area. The program storage area can store the operating system and programs required to run instant messaging functions, etc.; the data storage area can store various instant messaging information and operation instruction sets, etc.

[0082] Memory can be volatile memory, such as random access memory (RAM); memory can also be non-volatile memory, such as read-only memory, flash memory, hard disk drive (HDD), or solid-state drive (SSD); or memory can be any other medium capable of carrying or storing a desired computer program having the form of instructions or data structures and accessible by a computer, but is not limited thereto. Memory can be a combination of the above-mentioned types of memory.

[0083] A processor may include one or more central processing units (CPUs) or digital processing units, etc. The processor is used to implement the aforementioned audio data processing methods when it invokes computer programs stored in memory.

[0084] The communication module is used to communicate with terminal devices and other servers.

[0085] This application embodiment does not limit the specific connection medium between the above-described memory, communication module, and processor. This application embodiment... Figure 4 The memory and processor are connected via a bus, and the bus is in... Figure 4 The connections between other components are illustrated with arrows and are for illustrative purposes only, not as limiting information. Buses can be categorized as address buses, data buses, control buses, etc. For ease of description, Figure 4 The text uses only one arrow to describe it, but does not indicate that there is only one bus or one type of bus.

[0086] Based on the same inventive concept as the above-described method embodiments, embodiments of the present invention also provide a computer-readable storage medium for storing a computer program. When the computer program is run on a computer, it enables an electronic device to implement the control methods described in the above embodiments. The computer-readable storage medium can be a readable signal medium or a readable storage medium. A readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof.

[0087] Based on the same inventive concept as the above-described method embodiments, embodiments of the present invention also provide a computer program product. The computer program product includes a computer program that, when run on an electronic device, causes the electronic device to perform the steps of the control methods described above according to various exemplary embodiments of this application. The program product may take the form of any combination of one or more readable media. These computer program commands can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing device to produce a machine, such that the commands executed by the processor of the computer or other programmable data processing device generate a process for implementing... Figure 1 One or more processes and / or boxes Figure 1A device that provides the functions specified in one or more boxes.

[0088] While the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the invention. Those skilled in the art can make various modifications and refinements without departing from the spirit and scope of the invention. Therefore, the scope of protection of the present invention shall be determined by the claims.

Claims

1. A mowing robot walking motor collision detection method, characterized in that, The method comprises the following steps: Real-time acquisition of the current value and speed value of the walking motor of the mowing robot, and the slope inclination angle of the position where the mowing robot is located; The current change rate Ax and the speed change amount Vx between the previous time period and the next time period are calculated as a cycle with the same time T; The current change rate Ax and the speed change amount Vx are compared with the preset current change rate threshold and the preset speed change amount threshold set according to the slope inclination angle respectively; when the current change rate Ax and the speed change amount Vx both exceed the corresponding preset threshold, it is determined that a collision occurs; otherwise, it is determined that no collision occurs and the mowing continues; When it is determined that a collision occurs, a recovery process is performed to restart mowing.

2. The mowing robot walking motor collision detection method of claim 1, wherein, The slope inclination angle of the position where the mowing robot is located is obtained in real time by the tilt sensor installed on the mowing robot.

3. The mowing robot walking motor collision detection method of claim 1, wherein, The greater the slope inclination angle, the greater the values of the preset current change rate threshold and the preset speed change amount threshold.

4. The mowing robot walking motor collision detection method of claim 1, wherein, The current change rate Ax and the speed change amount Vx between the previous time period and the next time period are calculated as a cycle with the same time T, which comprises the following steps: Based on the current sampling resistor connected in series in the driving circuit of the walking motor, the voltage drop across the sampling resistor is collected every time T by using the analog-to-digital conversion module built-in the MCU; According to the resistance value R and the voltage drop value U of the current sampling resistor, the motor current value I is calculated by using Ohm's law; The motor current value of the previous time period and the motor current value of the next time period are obtained according to the above process, and the absolute value of the difference between the average motor current value of the previous time period and the average motor current value of the next time period is divided by the time period T to obtain the current change rate Ax; Based on the speed signal fed back by the Hall sensor built-in the walking motor, the average number of revolutions of the previous time period and the average number of revolutions of the next time period are calculated by using the MCU to read the speed signal, and the absolute value of the difference between the average number of revolutions of the previous time period and the average number of revolutions of the next time period is divided by the time period T to obtain the speed change amount Vx.

5. The mowing robot walking motor collision detection method of claim 1, wherein, When it is determined that a collision occurs, a recovery process is performed to restart mowing, which comprises the following steps: Based on the base station signal connected to the mowing robot, the walking motor of the mowing robot is stopped when the base station signal cannot be received, and the walking speed of the mowing robot is reduced when the base station signal can be received; An instruction is sent to control the mowing robot to retreat a predetermined distance, and whether the boundary line of the working area is exceeded during the retreat process is detected; If the boundary line is not exceeded, an instruction is sent to make the mowing robot rotate by a predetermined angle and re-advance to continue mowing, and the collision detection method is continuously executed until the mowing robot is rescued; otherwise, the walking motor of the mowing robot is stopped.

6. A mowing robot walking motor collision detection device, characterized by, The method comprises the following steps: The acquisition module is used for real-time acquisition of the current value and speed value of the walking motor of the mowing robot, and the slope inclination angle of the position where the mowing robot is located; The calculation module is used for calculating the current change rate Ax and the speed change amount Vx between the previous time period and the next time period as a cycle with the same time T; A judgment module is configured to compare the current change rate Ax and the speed change amount Vx with preset current change rate threshold and preset speed change amount threshold respectively according to the slope inclination angle; when the current change rate Ax and the speed change amount Vx both exceed the corresponding preset threshold, it is determined that a collision occurs; otherwise, it is determined that no collision occurs and the mowing continues. An execution module is configured to execute a recovery process to restart mowing when it is determined that a collision occurs.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The processor executes the computer program, so that the electronic device implements the mowing robot walking motor collision detection method in any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium is configured to store a computer program, when the computer program runs on a computer, so that the computer executes the mowing robot walking motor collision detection method in any one of claims 1-5.

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