Lawn mowing robot and method for correcting the path of the lawn mowing robot

Abstract

The present invention discloses a lawn mowing robot and a correction method for correcting the distance of the lawn mowing robot. The lawn mowing robot comprises: a lawn mowing element; a body; a driving component, a running wheel and a motor connected to the running wheel; a first detection module, detecting the first distance of the lawn mowing robot body in a cycle; a second detection module, detecting the motion parameters of the driving component in the cycle and calculating the second distance of the lawn mowing robot in the cycle; a fault judgment module, judging whether the difference between the second distance and the first distance is greater than or equal to a first preset value; a correction module; and a control module. When the difference between the second distance and the first distance is greater than or equal to the first preset value, the control module controls the correction module to correct the actual distance of the lawn mowing robot to the sum of the initial distance at the beginning of the cycle and the first distance. The actual distance detection accuracy of the lawn mowing robot is high.

Description

Technical Field

[0001] The invention relates to an intelligent device, in particular to a lawn mowing robot and a method for correcting the distance of the lawn mowing robot. Background Art

[0002] A lawn mower robot usually includes a detection unit for calculating the travel distance of the lawn mower robot. The existing detection unit is usually an odometer for detecting the motion parameters of the running wheels to calculate the travel distance. When the lawn mower robot is walking on the ground outside, it is easy for the lawn mower robot to slip, slide sideways or landslide. At this time, the running wheels idle or stop rotating, so that the travel distance detected by the measurement unit will have a large error. Summary of the invention

[0003] In order to solve the deficiencies of the prior art, an object of the present invention is to provide a lawn mowing robot with higher distance detection accuracy and a method for correcting the distance of the lawn mowing robot.

[0004] In order to achieve the above object, the present invention adopts the following technical solution:

[0005] A lawn mowing robot comprises: a lawn mowing element; a body for supporting the lawn mowing element; a driving component comprising a running wheel for supporting the body to drive the body to walk on the ground and a motor connected to the running wheel to drive the running wheel to rotate; a first detection module for detecting the motion parameters of the lawn mowing robot body within a cycle and calculating a first distance of the lawn mowing robot within the cycle; a second detection module for detecting the motion parameters of the driving component within the cycle and calculating a second distance of the lawn mowing robot within the cycle; a fault judgment module for judging whether the difference between the second distance and the first distance is greater than or equal to a first preset value; a correction module for correcting the actual distance of the lawn mowing robot; a control module connected to the fault judgment module and the correction module respectively; wherein, when the difference between the second distance and the first distance is greater than or equal to the first preset value, the control module controls the correction module to correct the actual distance of the lawn mowing robot to the sum of the initial distance at the beginning of the cycle and the first distance.

[0006] In one embodiment, the period is greater than or equal to 1 millisecond and less than or equal to 100 milliseconds.

[0007] In one embodiment, when the body of the lawn mower robot has a first driving speed, the first preset value is a first value; when the body of the lawn mower robot has a second driving speed, the first preset value is a second value; wherein, when the first driving speed is greater than the second driving speed, the first value is greater than the second value.

[0008] In one embodiment, the first preset value when the first distance of the lawn mowing robot in one cycle is a first value is greater than the first preset value when the first distance of the lawn mowing robot in one cycle is a second value, and the first value is greater than the second value.

[0009] In one embodiment, the lawn mowing robot further includes: a setting module connected to the fault judgment module; the setting module is used to set the size of the first preset value.

[0010] In one embodiment, when the difference between the second distance and the first distance is greater than or equal to a first preset value within a first number of consecutive cycles, the setting module increases the magnitude of the first preset value.

[0011] In one embodiment, when the difference between the second distance and the first distance is greater than or equal to a first preset value in a first number of consecutive cycles, the setting module sets the size of the first preset value to change with the change of the first number.

[0012] In one embodiment, the fault judgment module also determines whether the difference between the first distance and the second distance is greater than or equal to a second preset value; and when the difference between the first distance and the second distance is greater than or equal to the second preset value, the control module controls the correction module to correct the actual distance of the lawn mowing robot to the sum of the initial distance at the beginning of the cycle and the first distance.

[0013] A lawn mowing robot comprises: a lawn mowing element; a body for supporting the lawn mowing element; a driving component comprising a walking wheel supporting the body to drive the body to walk on the ground and a motor connected to the walking wheel to drive the walking wheel to rotate; a first detection module for detecting the motion parameters of the lawn mowing robot body within a cycle and calculating a first distance of the lawn mowing robot within the cycle; a second detection module for detecting the motion parameters of the driving component within the cycle and calculating a second distance of the lawn mowing robot within the cycle; a fault judgment module for judging whether the difference between the first distance and the second distance is greater than or equal to a preset value; a correction module for correcting the actual distance of the lawn mowing robot; a control module connected to the fault judgment module and the correction module respectively; wherein, when the difference between the first distance and the second distance is greater than or equal to the preset value, the control module controls the correction module to correct the actual distance of the lawn mowing robot to the sum of the initial distance at the beginning of the cycle and the first distance.

[0014] A correction method for correcting the distance of a lawn mowing robot, the lawn mowing robot comprises a body and a driving component, the driving component comprises running wheels supporting the body to drive the body to walk on the ground and a motor connected to the running wheels to drive the running wheels to rotate, the correction method comprises the steps of: detecting motion parameters of the body of the lawn mowing robot within a cycle and calculating a first distance of the lawn mowing robot within the cycle, and detecting motion parameters of the driving component within the cycle to calculate a second distance of the lawn mowing robot within the cycle; judging whether the difference between the second distance and the first distance is greater than or equal to a first preset value; and when the difference between the second distance and the first distance is greater than or equal to the first preset value, correcting the actual distance of the lawn mowing robot to the sum of the initial distance at the beginning of the cycle and the first distance.

[0015] In one embodiment, the method further includes the step of setting the size of the first preset value according to a change in a motion parameter of the lawn mowing robot.

[0016] In one embodiment, the method further includes the steps of: determining whether the difference between the first distance and the second distance is greater than or equal to a second preset value; and when the difference between the first distance and the second distance is greater than or equal to the second preset value, correcting the actual distance of the lawn mowing robot to the sum of the initial distance at the beginning of the cycle and the first distance.

[0017] A correction method for correcting the distance of a lawn mowing robot, the lawn mowing robot comprises a body and a driving component, the driving component comprises running wheels supporting the body to drive the body to walk on the ground and a motor connected to the running wheels to drive the running wheels to rotate, the correction method comprises the steps of: detecting the motion parameters of the body of the lawn mowing robot within a cycle and calculating a first distance of the lawn mowing robot within the cycle, and detecting the motion parameters of the driving component within the cycle and calculating a second distance of the lawn mowing robot within the cycle; judging whether the difference between the first distance and the second distance is greater than or equal to a preset value; and when the difference between the first distance and the second distance is greater than or equal to the preset value, correcting the actual distance of the lawn mowing robot to the sum of the initial distance at the beginning of the cycle and the first distance.

[0018] The present invention is beneficial in that the accuracy of distance detection of the lawn mowing robot can be improved by periodically detecting the first distance and the second distance of the lawn mowing robot and correcting the actual distance. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a perspective view of a lawn mowing robot in one embodiment;

[0020] Figure 2 yes Figure 1 A plan view of the lawn mowing robot when it is driving within the boundary line area;

[0021] Figure 3 yes Figure 1The module structure diagram of the lawn mowing robot in the figure;

[0022] Figure 4 yes Figure 1 A flowchart of a method for correcting the path of a lawn mowing robot;

[0023] Figure 5 yes Figure 1 A flowchart of another method for correcting the distance of the lawn mowing robot;

[0024] Figure 6 yes Figure 1 A flow chart of a method for determining a slipping phenomenon of a lawn mowing robot;

[0025] Figure 7 yes Figure 1 A flowchart of another method for determining the slippage of a lawn mowing robot;

[0026] Figure 8 yes Figure 1 A flow chart of a method for determining a side slip or landslide phenomenon of a lawn mowing robot;

[0027] Fig. 9 yes Figure 1 A flow chart of another method for determining the side slip or landslide phenomenon of a lawn mowing robot. DETAILED DESCRIPTION

[0028] Figure 1 The lawn mower robot 100 is an outdoor walking power tool, which is usually used to mow lawns, weeds and other vegetation outdoors. The lawn mower robot 100 can walk outdoors automatically without the user pushing it by hand. The lawn mower robot 100 can automatically mow the lawn according to its own or user-side control system.

[0029] like Figure 2 As shown, the mowing robot 100 can walk in a boundary line area 200 set outdoors to cut vegetation. The boundary of the boundary line area 200 can be a cable, which surrounds the cable to form the boundary line area 200. Or the boundary can also be a virtual boundary on a map, which surrounds the virtual boundary to form a virtual boundary line area 200. A charging pile 300 for charging the mowing robot 100 is set in the boundary line area 200 or on the boundary. When the power of the mowing robot 100 is insufficient, the mowing robot 100 automatically walks to the charging pile 200 for charging.

[0030] like Figure 1As shown, the mowing robot 100 includes: a mowing element 11, a housing 12, a walking assembly 13, a first motor 14 and a second motor. The mowing element 11 is used to cut grass on the ground. The housing 12 is used to support the mowing element 11, the walking assembly 13, the first motor 14 and the second motor. The walking assembly 13 includes a first walking wheel 131, the first walking wheel 131 is connected to the first motor 14, and the first motor 14 drives the first walking wheel 131 to rotate. The walking assembly 13 also includes a second walking wheel, the second walking wheel is installed to the front side of the housing 12, and the second walking wheel is not connected to the first motor 14. In other words, the first motor 14 only drives the first walking wheel 131 to rotate, and the second walking wheel serves the purpose of auxiliary support and walking. It can be understood that in other embodiments, the mowing robot 100 may also include a plurality of first motors 14 that drive the first walking wheel 131 and the second walking wheel respectively. The second motor is used to drive the mowing element 11 to rotate to achieve the mowing function. In other embodiments, the lawn mower robot 100 may also include only one motor, which drives the walking assembly 13 and the lawn mowing element 11. In this embodiment, the first walking wheel 131 and the first motor 14 driving the first walking wheel 131 are considered as a driving assembly 15 for driving the lawn mower robot 100 to walk on the ground.

[0031] like Figure 3As shown, the lawn mower robot 100 further includes a first detection module 161 and a second detection module 162. The first detection module 161 is used to detect the motion parameters of the body 10a of the lawn mower robot 100 within a period T and calculate the first distance △S1 of the lawn mower robot 100 within the period T. The second detection module 162 is used to detect the motion parameters of the driving component 15 within the period T and calculate the second distance △S2 of the lawn mower robot 100 within the period T. The body 10a of the lawn mower robot 100 can be understood as a motion parameter of the entire lawn mower robot. Specifically, during detection, the first detection module 161 can obtain the motion parameters of the body 10a of the lawn mower robot 100 by detecting the motion parameters of the housing 12, or the first detection module 161 can obtain the motion parameters of the body 10a of the lawn mower robot 100 by detecting the motion parameters of other parts that move forward or backward synchronously with the housing 12. Specifically, the motion parameters of the body 10a may be the acceleration of the body 10a or the posture of the body 10a, and finally the first distance △S1 of the body 10a is calculated. It can be understood that within a short period T, the first distance △S1 calculated by detecting the motion parameters of the body 10a is substantially the same as the actual distance of the mowing robot 100 in the period. The second detection module 162 can calculate the second distance △S2 of the mowing robot 100 by detecting the motion parameters of the first motor 14, or the second detection module 162 can also calculate the second distance △S2 of the mowing robot 100 by detecting the motion parameters of the first walking wheel 131.

[0032] When the lawn mower robot 100 is driving on the ground normally, within a relatively short period T, the first distance △S1 and the second distance △S2 are basically the same. At this time, the actual distance of the lawn mower robot 100 can be calculated by the first distance △S1 or the second distance △S2. However, when the lawn mower robot 100 slips, slides sideways or landslides while driving on the ground, the first distance △S1 and the second distance △S2 of the lawn mower robot 100 within a period T are different. The slip phenomenon refers to the first running wheel 131 rotating normally under the drive of the first motor 14, but the lawn mower robot 100 stops walking, or the running distance of the lawn mower robot 100 is less than the running distance that the lawn mower robot 100 should travel when driven by the first running wheel 131, that is, the first running wheel 131 is idling. Specifically, when the mowing robot 100 is walking outdoors, if the mowing robot 100 is walking on an uneven ground, the raised obstacles on the ground may cause the first running wheel 131 to idle, so that the mowing robot 100 is prone to slipping. Alternatively, when the mowing robot 100 is walking on a wet ground, the friction between the ground and the running assembly 13 is small, and the first running wheel 131 is also prone to idle, so the mowing robot 100 may also slip. When the mowing robot 100 is on a ground with a certain slope, especially when the ground is relatively wet, if the body 10a moves but the first running wheel 131 does not rotate, it can be determined that the mowing robot 100 may have a landslide or side slip.

[0033] In this embodiment, the lawn mower robot 100 further includes a fault judgment module 17, a correction module 181, a control module 182 and an execution module 19. The fault judgment module 17 is connected to the first detection module 161, and the fault judgment module 17 is also connected to the second detection module 162. The fault judgment module 17 can judge whether the difference between the second distance △S2 and the first distance △S1 is greater than or equal to the first preset value C1. The correction module 181 is used to correct the actual distance of the lawn mower robot 100. The control module 182 is connected to the fault judgment module 17, and the control module 182 is also connected to the execution module 19. When the difference between the second distance △S2 and the first distance △S1 is greater than or equal to the first preset value C1, the control module 182 controls the correction module 181 to correct the actual distance of the lawn mower robot 100 to the sum of the initial distance at the beginning of the cycle T and the first distance △S1. Specifically, the fault judgment module 17 includes a first fault judgment module 171, and the first fault judgment module 171 is mainly used to judge whether the lawn mower robot 100 may have a slipping problem.

[0034] When the lawn mower robot 100 slips, the first distance △S1 is closer to the actual distance of the lawn mower robot 100 in the cycle T, while the second distance △S2 is greater than the actual distance of the lawn mower robot 100. Therefore, the actual distance of the lawn mower robot 100 is corrected to the sum of the initial distance at the beginning of the cycle T and the first distance △S1, so that the calculation of the distance of the lawn mower robot 100 can be more accurate. At the same time, in this embodiment, the first distance △S1 and the second distance △S2 are both detected within a certain cycle T. In this way, through the setting of the cycle T, the lawn mower robot 100 can cyclically correct the distance, so that the real-time calculation of the distance of the lawn mower robot 100 is more accurate. In addition, we know that even when the lawn mower robot 100 is driving normally on the ground, due to the limitation of the detection accuracy of the first detection module 161, the first distance △S1 cannot be completely the same as the actual distance of the lawn mower robot 100. Similarly, due to the limitation of the detection accuracy of the second detection module 162, the second distance △S2 cannot be completely the same as the actual distance of the lawn mower robot 100. Therefore, the fault judgment condition is set to whether the difference between the second distance △S2 and the first distance △S1 is greater than or equal to the first preset value C1, and the first preset value C1 is also greater than 0. This can avoid the situation where the actual distance of the lawn mower robot 100 is not accurately corrected.

[0035] The fault judgment module 17 further includes a second fault judgment module 172. The second fault judgment module 172 is connected to the first detection module 161 and the second detection module 162, and the second fault judgment module 172 is used to judge whether the difference between the first distance △S1 and the second distance △S2 is greater than or equal to the second preset value C2. When the difference between the first distance △S1 and the second distance △S2 is greater than or equal to the second preset value C2, the control module 182 controls the correction module 181 to correct the actual distance of the lawn mowing robot 100 to the sum of the initial distance at the beginning of the cycle T and the first distance △S1.

[0036] Specifically, when the lawn mower robot 100 has a side slip or landslide phenomenon, the first distance △S1 is closer to the actual distance of the lawn mower robot 100 in the period T, and the second distance △S2 will be less than the actual distance of the lawn mower robot 100. Therefore, at this time, the actual distance of the lawn mower robot 100 is corrected to the sum of the initial distance at the beginning of the period T and the first distance △S1, so that the calculation of the distance of the lawn mower robot 100 can be more accurate. At the same time, in this embodiment, the first distance △S1 and the second distance △S2 are both detected within a certain period T. In this way, through the setting of the period T, the lawn mower robot 100 can cyclically correct the distance, so that the real-time calculation of the distance of the lawn mower robot 100 is more accurate. In addition, we know that even when the lawn mower robot 100 is driving normally on the ground, the first distance △S1 cannot be completely the same as the actual distance of the lawn mower robot 100 due to the detection accuracy of the first detection module 161. Similarly, the second distance △S2 cannot be completely the same as the actual distance of the lawn mower robot 100 due to the detection accuracy of the second detection module 162. Therefore, the condition for fault judgment is set to whether the difference between the first distance △S1 and the second distance △S2 is greater than or equal to the second preset value C2, and the second preset value C2 is greater than 0, so as to avoid the situation where the actual distance of the lawn mower robot 100 is not accurately corrected.

[0037] It is understandable that the period T of the first distance △S1 detected based on the slip phenomenon and the period T of the first distance △S1 detected based on the side slip phenomenon may also be different, so that the actual distance of the mowing robot 100 can be further detected more accurately according to different working conditions of the mowing robot 100. For example, in one embodiment, the mowing robot 100 includes two first detection modules 161 and two second detection modules 162, and the two first detection modules 161 can detect the motion parameters of the body 10a of the mowing robot 100 in different periods T respectively, and the two second detection modules 162 can also detect the motion parameters of the driving component 15 in different periods T respectively.

[0038] like Figure 4 As shown, the method for correcting the path of the lawn mowing robot 100 includes the following steps:

[0039] P1, detects the motion parameters of the body 10a of the mowing robot 100 in a cycle T and calculates the first distance △S1 of the mowing robot 100 in the cycle, and detects the motion parameters of the driving component 15 in the cycle T and calculates the second distance △S2 of the mowing robot 100 in the cycle. Specifically, in a cycle T, the first detection module 161 detects the motion parameters of the body 10a of the mowing robot 100 from the moment t1 at the beginning of the cycle T and calculates the first distance △S1 generated by the mowing robot 100 in the cycle T, wherein the distance that the mowing robot 100 has traveled at the moment t1 is the initial distance St1, and the second detection module 162 detects the motion parameters of the driving component 15 from the moment t1 at the beginning of the cycle T and calculates the second distance △S2 generated by the mowing robot 100 in the cycle T.

[0040] P2, determine whether the difference between the second distance △S2 and the first distance △S1 is greater than or equal to the first preset value C1. The first fault judgment module 171 receives the data detected by the first detection module 161 and the second detection module 162, and then determines whether the difference between the second distance △S2 and the first distance △S1 is greater than or equal to the first preset value C1, that is, whether the formula is satisfied:

[0041] △S2-△S1≥C1;

[0042] When the difference between the second distance ΔS2 and the first distance C is greater than or equal to the first preset value C1, the process proceeds to the next step. When the difference between the second distance ΔS2 and the first distance ΔS1 is less than the first preset value C1, the process returns to step P1 to continue the detection.

[0043] P3, correct the actual distance St2 of the mowing robot 100 to the sum of the initial distance St1 at the beginning of the cycle T and the first distance △S1. When the first fault judgment module 171 judges that the difference between △S2 and △S1 is greater than or equal to the first preset value C1, the judgment result is sent to the control module 182, and the control module 182 controls the correction module 181 to correct the actual distance of the mowing robot 100. Specifically, the correction module 181 corrects the actual distance St2 of the mowing robot 100 at time t2 when the cycle T ends to the sum of the initial distance St1 at the beginning of the cycle T and the first distance △S1, that is, the actual distance St2 at time t2 is corrected according to the following formula:

[0044] St2= St1+△S1;

[0045] When the difference between the second distance ΔS2 and the first distance ΔS1 is smaller than the first preset value C1, the process returns to step P1 to continue the detection.

[0046] like Figure 5As shown, step P21 is further included between step P2 and step P1. Specifically: when the difference between the second distance △S2 and the first distance △S1 is less than the first preset value C1, it is further determined whether the difference between the first distance △S1 and the second distance △S2 is greater than or equal to the second preset value C2, that is, whether the formula is satisfied:

[0047] △S1-△S2≥C2;

[0048] When the difference between the first distance △S1 and the second distance △S2 is greater than or equal to the second preset value C2, the process proceeds to step P3, and the correction module 181 corrects the actual distance St2 of the mowing robot 100 at time t2 when the cycle T ends to the sum of the initial distance St1 at the beginning of the cycle T and the first distance △S1. If the difference between the first distance △S1 and the second distance △S2 is less than the second preset value C2, the process returns to step P1 to continue the detection. It should be noted that, understandably, there is no order between step P2 and step P21. In other implementations, step P21 may be performed first, and then step P2.

[0049] When the difference between the second distance △S2 and the first distance △S1 is less than the first preset value C1, and the difference between the first distance △S1 and the second distance △S2 is less than the second preset value C2, the correction module 181 fuses the first distance △S1 and the second distance △S2 to obtain a fused distance △S, and then the correction module 181 corrects the actual distance St2 of the mowing robot 100 at time t2 to the sum of the initial distance St1 and the fused distance △S. That is:

[0050] △S=f(△S1, △S2);

[0051] In this way, the detection accuracy of the first detection module 161 and the second detection module 162 can be taken into consideration at the same time, so that the detection accuracy of the distance of the lawn mowing robot 100 can be further improved.

[0052] In this embodiment, the first detection module 161 uses an inertial measurement unit, and the second detection module 162 uses an odometer. In this way, when the lawn mower robot 100 travels for a long time, the inertial measurement unit will accumulate errors, which may make the detection result inaccurate. Of course, in a shorter period of time T, the detection result of the inertial measurement unit is relatively accurate. Therefore, in some other embodiments, when the difference between the second distance △S2 and the first distance △S1 is less than the first preset value C1, and the difference between the first distance △S1 and the second distance △S2 is also less than the second preset value C2, the correction module 181 corrects the actual distance St2 of the lawn mower robot 100 at time t2 to the sum of the initial distance St1 and the second distance △S2.

[0053] In this embodiment, the detection period T of the first detection module 161 is greater than or equal to 1 millisecond and less than or equal to 100 milliseconds. In this way, the accuracy of the detection of the actual distance of the mowing robot 100 can be improved. Further, the period T is greater than or equal to 10 milliseconds and less than or equal to 50 milliseconds. On the one hand, it can avoid the problem of program errors caused by too frequent detection, and on the other hand, it can also reduce the length of the detection period, so that the detection accuracy of the actual distance is further improved.

[0054] The size of the first preset value C1 can be adjusted or set, so that the size of the first preset value C1 can be adjusted in real time according to the actual conditions and operating conditions of the mowing robot 100, thereby improving the detection accuracy of the actual distance of the mowing robot 100. Specifically, in this embodiment, the mowing robot 100 also includes a first setting module 173 for setting the first preset value C1. The first setting module 173 is connected to the first fault judgment module 171, and the first setting module 173 can set the size of the first preset value C1 in real time. In this embodiment, when the difference between the second distance △S2 and the first distance △S1 in the continuous first number of cycles T is greater than or equal to the first preset value C1, the error of the actual distance corrected by the correction module 181 according to the first distance △S1 detected by the first detection module 161 will continue to increase. At this time, the first setting module 173 changes the size of the first preset value C1 according to the change of the first number, thereby reducing the detection error. Further, the first setting module 173 increases the size of the first preset value C1 according to the increase of the first number.

[0055] In some embodiments, the size of the first preset value C1 may also change according to the change of the driving speed of the mowing robot 100. When the driving speed of the mowing robot 100 is relatively high, the error between the detected first distance △S1 and the second distance △S2 will increase. Therefore, when the driving speed of the mowing robot 100 increases, the first setting module 173 may increase the first preset value C1. Specifically, when the body 10a of the mowing robot 100 has a first driving speed, the first preset value C1 is a first value, and when the body 10a of the mowing robot 100 has a second driving speed, the first preset value C1 is a second value. When the first driving speed is greater than the second driving speed, the first value is greater than the second value.

[0056] In other embodiments, the first preset value C1 may also change with the change of the first distance △S1. Specifically, the first preset value C1 when the first distance △S1 of the mowing robot 100 in a cycle T is a first value is greater than the first preset value C1 when the first distance △S1 of the mowing robot 100 in a cycle T is a second value, wherein the first value is greater than the second value.

[0057] Similarly, the size of the second preset value C2 can be adjusted or set, so that the size of the second preset value C2 can be adjusted in real time according to the actual conditions and operating conditions of the mowing robot 100, thereby improving the detection accuracy of the actual distance of the mowing robot 100. Specifically, in this embodiment, the mowing robot 100 also includes a second setting module 174 for setting the second preset value C2. The second setting module 174 is connected to the second fault judgment module 172, and the second setting module 174 can set the size of the second preset value C2 in real time. In this embodiment, when the difference between the first distance △S1 and the second distance △S2 in the continuous first number of cycles T is greater than or equal to the second preset value C2, the error of the actual distance corrected by the correction module 181 according to the first distance △S1 detected by the first detection module 161 will continue to increase. At this time, the second setting module 174 changes the size of the second preset value C2 according to the change of the first number, thereby reducing the detection error. Further, the second setting module 174 increases the size of the second preset value C2 according to the increase of the first number.

[0058] In some embodiments, the size of the second preset value C2 may also change according to the change of the driving speed of the mowing robot 100. When the driving speed of the mowing robot 100 is relatively high, the error between the detected first distance △S1 and the second distance △S2 will increase. Therefore, when the driving speed of the mowing robot 100 increases, the setting module may increase the second preset value C2. Specifically, when the body 10a of the mowing robot 100 has a first driving speed, the second preset value C2 is a first value, and when the body 10a of the mowing robot 100 has a second driving speed, the second preset value C2 is a second value. When the first driving speed is greater than the second driving speed, the first value is greater than the second value.

[0059] In other embodiments, the second preset value C2 may also change with the change of the first distance △S1. Specifically, the second preset value C2 when the first distance △S1 of the mowing robot 100 in a cycle T is a first value is greater than the second preset value C2 when the first distance △S1 of the mowing robot 100 in a cycle T is a second value, wherein the first value is greater than the second value.

[0060] Thus, the method for correcting the distance of the lawn mower robot 100 further includes the step of setting the size of the first preset value C1 according to the change of a motion parameter of the lawn mower robot 100. As mentioned above, the motion parameter may be the driving speed of the body 10a of the lawn mower robot 100 or the first distance △S1 within a cycle T, or the motion parameter may also be the number of consecutive cycles T in which the difference between the first distance △S1 and the second distance △S2 is greater than or equal to the first preset value C1.

[0061] The mowing robot 100 may further include an execution module 19, which is used to execute a response program. When the difference between the second distance △S2 and the first distance △S1 in each cycle T of the continuous n1 cycles T is greater than or equal to the first preset value C1, the control module 182 controls the execution module 19 to execute the response program. That is, in the continuous n1 cycles T, each cycle T satisfies the formula:

[0062] △S2-△S1≥C1.

[0063] Specifically, when the difference between the second distance △S2 and the first distance △S1 is greater than or equal to the first preset value C1 in the continuous n1 cycles T, the first fault judgment module 171 determines that the lawn mower robot 100 has slipped. In this embodiment, the number of continuous cycles T that meet the difference between the second distance △S2 and the first distance △S1 is greater than or equal to the first preset value C1 is set, so as to improve the accuracy of the judgment of the first fault judgment module 171 and reduce the misjudgment rate. We know that in the actual driving process of the lawn mower robot 100, it usually walks on the lawn, and the lawn is generally not flat enough, so the lawn mower robot 100 is more likely to meet the difference between the second distance △S2 and the first distance △S1 is greater than or equal to the first preset value C1 in a shorter cycle T. If the lawn mower robot 100 is allowed to execute the response program at this time, it is likely that the lawn mower robot 100 has been executing the response program, or the lawn mower robot 100 executes the response program as soon as it is started. Obviously, this will greatly affect the operation of the lawn mower robot 100 and reduce the work efficiency. In this embodiment, the number of consecutive cycles T that satisfy the difference between the second distance △S2 and the first distance △S1 is greater than or equal to the first preset value C1 is set, so as to avoid the problem that the mowing robot 100 executes the response program when it is not slipping or the slipping time is negligible, thereby improving the working efficiency. On the other hand, when the first fault judgment module 171 determines that the mowing robot 100 is slipping, the execution module 19 executes the response program, which can avoid the mowing robot 100 being in a slipping state all the time, thereby affecting the mowing efficiency.

[0064] In this embodiment, the execution module 19 may include an alarm module 191. When the first fault judgment module 171 judges that the lawn mower robot 100 has a slipping phenomenon, the alarm module 191 can promptly send an alarm signal to the user. The alarm signal can be a sound signal. In this way, when the alarm module 191 generates a sound signal, if the user is not near the lawn mower robot 100, but is doing other things indoors, the user can promptly hear the sound signal of the lawn mower robot 100 having a fault, so that the user can arrive in time to get the lawn mower robot 100 out of trouble, thereby improving the working efficiency of the lawn mower robot 100. Alternatively, the alarm signal is a light signal. In this way, when in a relatively dim environment or a relatively noisy environment, the user can promptly discover that the lawn mower robot 100 has a fault, so as to promptly get the lawn mower robot 100 out of trouble. Alternatively, the alarm signal can also be an alarm sign appearing on a display screen of the lawn mower robot 100 itself. Alternatively, the alarm module 191 can directly transmit an alarm signal to a mobile phone, a computer or other devices at the user end, so that the user can more easily find that the lawn mowing robot 100 has a fault.

[0065] In this embodiment, the execution module 19 also includes an obstacle avoidance module 192. When the first fault judgment module 171 determines that the mowing robot 100 is slipping, the obstacle avoidance module 192 controls the mowing robot 100 to respond to an action, so that the mowing robot 100 automatically escapes from the predicament. The action response may be to stop the mowing robot 100, the action response may be to make the mowing robot 100 retreat, the action response may be to make the mowing robot 100 turn, the action response may be to make the mowing robot 100 change the driving speed, etc. Finally, the mowing robot 100 responds to an action, so that the mowing robot 100 no longer slips. It can be understood that the obstacle avoidance module 192 controls the mowing robot 100 to respond to an action, or the alarm module 191 sends an alarm signal, which is considered to be the execution module 19 executing the response program.

[0066] We know that when the lawn mowing robot 100 slips, it is possible that the difference between the second distance △S2 and the first distance △S1 in a certain period T is less than the first preset value C1. Therefore, the first fault judgment module 171 can also judge whether the number of periods T in which the difference between the second distance △S2 and the first distance △S1 is greater than or equal to the first preset value C1 in consecutive periods n2 to n3 T is greater than or equal to n2. When the number of periods T in which the difference between the second distance △S2 and the first distance △S1 is greater than or equal to the first preset value C1 in consecutive periods n2 to n3 T is greater than or equal to n2, the control module 182 controls the execution module 19 to execute the response program. In this way, omissions in fault judgment can be avoided, thereby improving the accuracy of slip judgment. In this embodiment, n1 is less than n2, and n2 is less than n3, which makes fault judgment more reasonable. Specifically, if the number of consecutive cycles T satisfying the formula: △S2-△S1≥C1 is greater than or equal to n2 within n2 to n3 consecutive cycles T, it is considered that the lawn mower robot 100 has slipped. It can be understood that if the ratio of the number of cycles T satisfying the difference between the second distance △S2 and the first distance △S1 is greater than or equal to the first preset value C1 to n3 within n2 to n3 consecutive cycles T is greater than or equal to a preset value, it is also considered to indirectly determine whether the number of cycles T satisfying the difference between the second distance △S2 and the first distance △S1 is greater than or equal to the first preset value C1 is greater than or equal to n2.

[0067] The second fault judgment module 172 can also judge whether the difference between the first distance △S1 and the second distance △S2 is greater than or equal to the second preset value C2. When the difference between the first distance △S1 and the second distance △S2 is greater than or equal to the second preset value C2 in each of the consecutive k1 cycles T, the control module 182 controls the execution module 19 to execute the response program. That is, in the consecutive k1 cycles T, each cycle T satisfies the formula:

[0068] △S1-△S2≥C2.

[0069] Specifically, when the difference between the first distance △S1 and the second distance △S2 is greater than or equal to the second preset value C2 within k1 consecutive cycles T, the second fault judgment module 172 determines that the mowing robot 100 has a side slip or landslide phenomenon. In this embodiment, the number of consecutive cycles T that meet the difference between the first distance △S1 and the second distance △S2 is greater than or equal to the second preset value C2 is set, so as to improve the accuracy of the judgment of the second fault judgment module 172 and reduce the misjudgment rate. We know that in the actual driving process of the mowing robot 100, it usually walks on the lawn, and the lawn is generally not flat enough, so the mowing robot 100 is more likely to meet the difference between the first distance △S1 and the second distance △S2 is greater than or equal to the second preset value C2 within a shorter cycle T. If the mowing robot 100 is allowed to execute the response program at this time, it is very likely that the mowing robot 100 will always execute the response program, or the mowing robot 100 will execute the response program as soon as it is started. Obviously, this will greatly affect the operation of the mowing robot 100 and reduce the work efficiency. In this embodiment, the number of continuous cycles T that satisfy the difference between the first distance △S1 and the second distance △S2 is greater than or equal to the second preset value C2 is set, so as to avoid the problem that the mowing robot 100 also executes the response program when it does not slide or the sliding time can be ignored, thereby improving the work efficiency. On the other hand, when the second fault judgment module 172 determines that the mowing robot 100 has a sliding phenomenon or a landslide phenomenon, the execution module 19 executes the response program, which can avoid the mowing robot 100 being in a sliding state or a landslide state, thereby affecting the efficiency of mowing.

[0070] Similarly, when the second fault determination module 172 determines that the lawn mower robot 100 has a side slip or landslide phenomenon, the alarm module 191 may send an alarm signal, or the obstacle avoidance module 192 may control the lawn mower robot 100 to respond with an action.

[0071] When the lawn mower robot 100 experiences a side slip or landslide phenomenon, it is possible that the difference between the first distance △S1 and the second distance △S2 in a certain period T is less than the second preset value C2. Therefore, the second fault judgment module 172 can also judge whether the number of periods T in which the difference between the first distance △S1 and the second distance △S2 is greater than or equal to the second preset value C2 in consecutive k2 to k3 periods T is greater than or equal to k2. When the number of periods T in which the difference between the first distance △S1 and the second distance △S2 is greater than or equal to the second preset value C2 in consecutive k2 to k3 periods T is greater than or equal to k2, the control module 182 controls the execution module 19 to execute the response program. In this way, omissions in fault judgment can be avoided, thereby improving the accuracy of side slip or landslide judgment. In this embodiment, k1 is less than k2, and k2 is less than k3, which makes fault judgment more reasonable. Specifically, if the number of periods T in which the difference between the first distance △S1 and the second distance △S2 is greater than or equal to the second preset value C2 is greater than or equal to k2 within the continuous k2 to k3 periods T, it is considered that the lawn mowing robot 100 has a side slip or landslide phenomenon. It can be understood that if the ratio of the number of periods T in which the difference between the first distance △S1 and the second distance △S2 is greater than or equal to the second preset value C2 to k3 within the continuous k2 to k3 periods T is greater than or equal to a preset value, it is also considered to indirectly determine whether the number of periods T in which the difference between the first distance △S1 and the second distance △S2 is greater than or equal to the second preset value C2 is greater than or equal to k2.

[0072] As shown in FIG6 , the control method of the lawn mower robot 100 is specifically a method for determining whether the lawn mower robot 100 is slipping and how to respond, which includes the following steps:

[0073] Q1, detects the motion parameters of the body 10a of the lawn mower robot 100 within a period T and calculates the first distance △S1 of the lawn mower robot 100 within the period, and detects the motion parameters of the driving component 15 within the period T and calculates the second distance △S2 of the lawn mower robot 100 within the period.

[0074] Q2, judge whether the difference between the second distance △S2 and the first distance △S1 in each cycle T of the continuous n1 cycles T is greater than or equal to the first preset value C1. When the difference between the second distance △S2 and the first distance △S1 in each cycle T of the continuous n1 cycles T is greater than or equal to the first preset value C1, proceed to the next step. If the difference between the second distance △S2 and the first distance △S1 in each cycle T of the continuous n1 cycles T is not greater than or equal to the first preset value C1, return to step Q1 to continue testing.

[0075] Q3, when the difference between the second distance and the first distance in each of the consecutive n1 periods is greater than or equal to the first preset value, control the lawn mowing robot 100 to execute a response program.

[0076] like Figure 6 As shown, step Q12 may be included between step Q1 and step Q2. Specifically, before determining whether the difference between the second distance △S2 and the first distance △S1 in each cycle T of the consecutive n1 cycles T is greater than or equal to the first preset value C1, it is also possible to first determine whether the difference between the second distance △S2 and the first distance △S1 in the cycle T is greater than or equal to the first preset value C1. In this way, if the difference between the second distance △S2 and the first distance △S1 is not less than the first preset value C1 in a cycle T, it is possible to directly return to step Q1 to perform the detection of the next cycle T, thereby improving the efficiency of program operation.

[0077] like Figure 7 As shown, step Q21 may be included between step Q2 and step Q3. Specifically, when the difference between the second distance △S2 and the first distance △S1 in the continuous n1 cycles T is not satisfied to be greater than or equal to the first preset value C1, it can be further determined whether the number of cycles T in which the difference between the second distance △S2 and the first distance △S1 in the continuous n2 to n3 cycles T is greater than or equal to the first preset value C1 is greater than or equal to n2. If yes, the next step Q3 is also performed; if not, the process returns to step Q1. It can be understood that there is no order between step Q2 and step Q21. In other implementations, step Q21 may be performed first, and then step Q2.

[0078] As shown in FIG8 , another method for controlling the lawn mower robot 100 is specifically a method for determining whether the lawn mower robot 100 has a side slip phenomenon or a landslide phenomenon and how to respond, which includes the following steps:

[0079] R1, detects the motion parameters of the body 10a of the lawn mower robot 100 within a period T and calculates the first distance △S1 of the lawn mower robot 100 within the period T, and detects the motion parameters of the driving component 15 within the period T and calculates the second distance △S2 of the lawn mower robot 100 within the period T.

[0080] R2, determine whether the difference between the first distance △S1 and the second distance △S2 in each cycle T of the continuous k1 cycles T is greater than or equal to the second preset value C2. When the difference between the first distance △S1 and the second distance △S2 in each cycle T of the continuous k1 cycles T is greater than or equal to the second preset value C2, proceed to the next step. If the difference between the first distance △S1 and the second distance △S2 in each cycle T of the continuous k1 cycles T is not greater than or equal to the second preset value C2, return to step R1 to continue testing.

[0081] R3, when the difference between the first distance ΔS1 and the second distance ΔS2 in each cycle T of k1 consecutive cycles T is greater than or equal to a second preset value C2, control the lawn mowing robot 100 to execute a response program.

[0082] like Figure 8 As shown, step R12 may be included between step R1 and step R2. Specifically, before determining whether the difference between the first distance △S1 and the second distance △S2 in each cycle T of the consecutive k1 cycles T is greater than or equal to the second preset value C2, it is also possible to first determine whether the difference between the first distance △S1 and the second distance △S2 in the cycle T is greater than or equal to the second preset value C2. In this way, if the difference between the first distance △S1 and the second distance △S2 is not less than the second preset value C2 in a cycle T, it is possible to directly return to step R1 for the next cycle detection, thereby improving the efficiency of program operation.

[0083] like Fig. 9 As shown, step R21 may be included between step R2 and step R3. Specifically, when the difference between the first distance △S1 and the second distance △S2 in the continuous k1 cycles T is not satisfied, it can be further determined whether the number of cycles T in which the difference between the first distance △S1 and the second distance △S2 in the continuous k2 to k3 cycles T is greater than or equal to the second preset value C2 is greater than or equal to k2. If yes, the next step R3 is also performed; if not, the process returns to step R1. It can be understood that there is no order between step R2 and step R21. In other implementations, step R21 may be performed first, and then step R2. .

[0084] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the above embodiments do not limit the present invention in any form, and any technical solution obtained by equivalent replacement or equivalent transformation falls within the protection scope of the present invention.

Claims

1. A lawn mowing robot, comprising: Mowing elements; a body for supporting the mowing element; A driving assembly, comprising a running wheel supporting the fuselage to drive the fuselage to walk on the ground and a motor connected to the running wheel to drive the running wheel to rotate; A first detection module, detecting motion parameters of the body of the lawn mower robot in a cycle and calculating a first distance of the lawn mower robot in the cycle; A second detection module detects the motion parameters of the driving component in the cycle and calculates a second distance of the lawn mowing robot in the cycle; a fault judgment module, for judging whether a difference between the second distance and the first distance is greater than or equal to a first preset value; A correction module, for correcting the actual distance travelled by the lawn mowing robot; A control module, connected to the fault judgment module and the correction module respectively; When the difference between the second distance and the first distance is greater than or equal to the first preset value, the control module controls the correction module to correct the actual distance of the lawn mowing robot to the sum of the initial distance at the beginning of the cycle and the first distance.

2. The lawn mowing robot according to claim 1, characterized in that: The period is greater than or equal to 1 millisecond and less than or equal to 100 milliseconds.

3. The lawn mowing robot according to claim 1, characterized in that: When the body of the lawn mower robot has a first driving speed, the first preset value is a first value; when the body of the lawn mower robot has a second driving speed, the first preset value is a second value; When the first driving speed is greater than the second driving speed, the first value is greater than the second value.

4. The lawn mowing robot according to claim 1, characterized in that: The first preset value when the first distance within one cycle of the lawn mowing robot is a first value is greater than the first preset value when the first distance within one cycle of the lawn mowing robot is a second value, and the first value is greater than the second value.

5. The lawn mowing robot according to claim 1, characterized in that: The lawn mowing robot also includes: A setting module connected to the fault judgment module; The setting module is used to set the size of the first preset value.

6. The lawn mowing robot according to claim 5, characterized in that: When the difference between the second distance and the first distance is greater than or equal to the first preset value in a first number of consecutive cycles, the setting module increases the size of the first preset value.

7. The lawn mowing robot according to claim 5, characterized in that: When the difference between the second distance and the first distance is greater than or equal to the first preset value in a first number of consecutive cycles, the setting module sets the first preset value to change with the change of the first number.

8. The lawn mowing robot according to claim 1, characterized in that: The fault judgment module further judges whether the difference between the first distance and the second distance is greater than or equal to a second preset value; When the difference between the first distance and the second distance is greater than or equal to the second preset value, the control module controls the correction module to correct the actual distance of the lawn mowing robot to the sum of the initial distance at the beginning of the cycle and the first distance.

9. A lawn mowing robot, comprising: Mowing elements; a body for supporting the mowing element; A driving assembly, comprising a running wheel supporting the fuselage to drive the fuselage to walk on the ground and a motor connected to the running wheel to drive the running wheel to rotate; A first detection module, detecting motion parameters of the body of the lawn mower robot in a cycle and calculating a first distance of the lawn mower robot in the cycle; A second detection module detects the motion parameters of the driving component in the cycle and calculates a second distance of the lawn mowing robot in the cycle; A fault judgment module, judging whether a difference between the first distance and the second distance is greater than or equal to a preset value; A correction module, for correcting the actual distance traveled by the lawn mowing robot; A control module, connected to the fault judgment module and the correction module respectively; When the difference between the first distance and the second distance is greater than or equal to the preset value, the control module controls the correction module to correct the actual distance of the lawn mowing robot to the sum of the initial distance at the beginning of the cycle and the first distance.

10. A method for correcting the distance of a lawn mower robot, the lawn mower robot comprising a body and a drive assembly, the drive assembly comprising a running wheel supporting the body to drive the body to walk on the ground and a motor connected to the running wheel to drive the running wheel to rotate, the correction method comprising the steps of: Detecting the motion parameters of the body of the lawn mower robot in a cycle and calculating a first distance of the lawn mower robot in the cycle, and detecting the motion parameters of the driving component in the cycle to calculate a second distance of the lawn mower robot in the cycle; Determining whether a difference between the second distance and the first distance is greater than or equal to a first preset value; When the difference between the second distance and the first distance is greater than or equal to the first preset value, the actual distance of the lawn mowing robot is corrected to the sum of the initial distance at the beginning of the cycle and the first distance.

11. The method for correcting the path of a lawn mowing robot according to claim 10, characterized in that: Also includes the steps: The first preset value is set according to a change in a motion parameter of the lawn mowing robot.

12. The method for correcting the path of a lawn mowing robot according to claim 10, characterized in that: Also includes the steps: Determining whether a difference between the first distance and the second distance is greater than or equal to a second preset value; When the difference between the first distance and the second distance is greater than or equal to the second preset value, the actual distance of the lawn mowing robot is corrected to the sum of the initial distance at the beginning of the cycle and the first distance.

13. A method for correcting the distance of a lawn mower robot, the lawn mower robot comprising a body and a drive assembly, the drive assembly comprising a running wheel supporting the body to drive the body to walk on the ground and a motor connected to the running wheel to drive the running wheel to rotate, the correction method comprising the steps of: Detecting the motion parameters of the body of the lawn mower robot in a cycle and calculating a first distance of the lawn mower robot in the cycle, and detecting the motion parameters of the driving component in the cycle and calculating a second distance of the lawn mower robot in the cycle; Determining whether a difference between the first distance and the second distance is greater than or equal to a preset value; When the difference between the first distance and the second distance is greater than or equal to the preset value, the actual distance of the lawn mowing robot is corrected to the sum of the initial distance at the beginning of the cycle and the first distance.

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