Lawn mowing control method, system and readable storage medium for lawn mower

Abstract

The present invention relates to a mowing control method, system and readable storage medium of a lawn mower, the mowing control method comprising: obtaining the GPS coordinates of the current position point from a GPS module in real time, and obtaining the positioning information of the current position point from a positioning module; when the lawn mower passes through the shielding area from the first high-precision area and enters the second high-precision area, according to the GPS coordinates and positioning information of at least one position point in the first high-precision area, and the GPS coordinates and positioning information of at least one position point in the second high-precision area, the positioning information of each position point in the shielding area is re-determined, and an actual mowing route in the shielding area is generated; the uncut area is adjusted according to the actual mowing route, and the mowing route of the uncut area is re-planned; and mowing navigation control is performed according to the re-planned mowing route. Through this technical solution, the missed mowing area can be mowed in time during the mowing process. Therefore, the mowing efficiency and mowing performance are improved.

Description

Technical Field

[0001] The present invention relates to the field of lawn mowers, and in particular to a lawn mowing control method, system and readable storage medium of a lawn mower. Background Art

[0002] When a lawn mower is mowing, there are often trees, buildings and obstacles in the working area, which easily form an area where satellite signals are blocked. If the satellite signal is blocked by trees, buildings and obstacles, the lawn mower cannot obtain high-precision GPS information, and thus cannot calibrate the inaccurate position, direction and other information, which will reduce the mowing efficiency and mowing performance of the lawn mower (missed mowing). Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a mowing control method, system and readable storage medium for a lawn mower in view of the defect in the prior art that the mowing efficiency and mowing performance of the lawn mower decrease when the lawn mower enters a blocked area.

[0004] The technical solution adopted by the present invention to solve the technical problem is: constructing a mowing control method of a lawn mower, comprising:

[0005] Obtain the GPS coordinates of the current location point from the GPS module in real time, and obtain the positioning information of the current location point from the positioning module;

[0006] When the lawn mower passes through the shielding area from the first high-precision area and enters the second high-precision area, the positioning information of each position point in the shielding area is re-determined according to the GPS coordinates and positioning information of at least one position point in the first high-precision area and the GPS coordinates and positioning information of at least one position point in the second high-precision area, and an actual mowing route in the shielding area is generated;

[0007] adjusting the uncut area according to the actual mowing route, and replanning the mowing route for the uncut area;

[0008] Mowing navigation control is performed according to the replanned mowing route.

[0009] Preferably, based on the GPS coordinates and positioning information of at least one location point in the first high-precision area and the GPS coordinates and positioning information of at least one location point in the second high-precision area, the positioning information of each location point in the shielded area is re-determined, and an actual mowing route in the shielded area is generated, including:

[0010] Determine the heading angle of the first location point according to the GPS coordinates of the first location point in the first high-precision area;

[0011] Determine the heading angle of the second location point according to the GPS coordinates of the second location point in the second high-precision area;

[0012] Calculating the heading angle deviation value of each position point in the occlusion area according to the heading angle of the first position point and the heading angle of the second position point;

[0013] The positioning information of each position point in the occlusion area is re-determined according to the heading angle deviation value of each position point in the occlusion area, and the positioning information of the first position point and / or the positioning information of the second position point.

[0014] Preferably, the first position point is the last position point in the first high-precision area;

[0015] The second position point is the first position point in the second high-precision area.

[0016] Preferably, it also includes:

[0017] The RTK status of the current position point is obtained from the GPS module in real time, and whether the lawn mower is in an obstructed area or a high-precision area is determined according to the RTK status, wherein the RTK status includes: a fixed solution state and a non-fixed solution state, and the non-fixed solution state includes: a floating point solution state, a differential solution state, and a single point solution state.

[0018] Preferably, adjusting the uncut area according to the actual mowing route comprises:

[0019] Identify a missed mowing area according to the actual mowing route and the mowing route recorded in the shielded area;

[0020] The current uncut area is adjusted according to the missed-cut area.

[0021] The present invention also constructs a mowing control system for a lawn mower, comprising:

[0022] The acquisition module is used to obtain the GPS coordinates of the current location point from the GPS module in real time, and to obtain the positioning information of the current location point from the positioning module;

[0023] a re-determination module, configured to, when the lawn mower passes through the obstruction area from the first high-precision area to the second high-precision area, re-determine the positioning information of each position point in the obstruction area according to the GPS coordinates and positioning information of at least one position point in the first high-precision area and the GPS coordinates and positioning information of at least one position point in the second high-precision area, and generate an actual mowing route in the obstruction area;

[0024] a route planning module, configured to adjust the uncut area according to the actual mowing route and re-plan the mowing route for the uncut area;

[0025] The navigation module is used to perform mowing navigation control according to the re-planned mowing route.

[0026] Preferably, the re-determination module comprises:

[0027] A first determining unit, configured to determine a heading angle of a first location point in the first high-precision area according to a GPS coordinate of the first location point;

[0028] A second determining unit, configured to determine a heading angle of a second location point in the second high-precision area according to the GPS coordinates of the second location point;

[0029] a calculation unit, configured to calculate a heading angle deviation value of each position point in the occlusion area according to the heading angle of the first position point and the heading angle of the second position point;

[0030] The third determination unit is used to re-determine the positioning information of each position point in the occlusion area according to the heading angle deviation value of each position point in the occlusion area, and the positioning information of the first position point and / or the positioning information of the second position point.

[0031] Preferably, it also includes:

[0032] The area determination module is used to obtain the RTK status of the current position point from the GPS module in real time, and determine whether the lawn mower is in an obstruction area or a high-precision area according to the RTK status, wherein the RTK status includes: a fixed solution state and a non-fixed solution state, and the non-fixed solution state includes: a floating point solution state, a differential solution state, and a single point solution state.

[0033] The present invention also constructs a lawn mower mowing control system, comprising a processor, wherein the processor implements the steps of the lawn mower mowing control method described above when executing a computer program.

[0034] The present invention also constructs a readable storage medium storing a computer program, and when the computer program is executed by a processor, the steps of the lawn mower mowing control method described above are implemented.

[0035] In the technical solution provided by the present invention, firstly, the GPS coordinates and positioning information of the position points of the high-precision area before and after the shielding area are used to re-determine the positioning information of each position point in the shielding area and generate an actual mowing route. Then, the uncut area is determined according to the actual mowing route, and the mowing route is re-planned, so that the missed mowing area can be mowed in time during the mowing process. Therefore, the mowing efficiency and mowing performance are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0037] Figure 1 is a flow chart of a first embodiment of a mowing control method for a lawn mower of the present invention;

[0038] Figure 2 It is a logical structure diagram of the first embodiment of the lawn mowing control system of the lawn mower of the present invention. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] Figure 1 1 is a flow chart of a first embodiment of a mowing control method for a lawn mower of the present invention. The mowing control method of this embodiment is applied to a processor of the lawn mower, and the lawn mower further includes a GPS module and a positioning module. The mowing control method of this embodiment includes:

[0041] Step S10. Obtaining the GPS coordinates of the current location point from the GPS module in real time, and obtaining the positioning information of the current location point from the positioning module;

[0042] In this step, it should be noted that the GPS module is a satellite positioning module (i.e., a mobile station), which can use differential positioning (RTK) to obtain the GPS coordinates of the current location of the lawn mower. The positioning module can be an inertial navigation module, which is based on Newton's laws of mechanics. By measuring the acceleration of the carrier in the inertial reference system, integrating it over time, and transforming it into the navigation coordinate system, it can obtain information such as speed, yaw angle, and position in the navigation coordinate system.

[0043] Step S20. When the lawn mower passes through the shielded area from the first high-precision area and enters the second high-precision area, the positioning information of each position point in the shielded area is re-determined according to the GPS coordinates and positioning information of at least one position point in the first high-precision area and the GPS coordinates and positioning information of at least one position point in the second high-precision area, and an actual mowing route in the shielded area is generated;

[0044] In this step, first, the obstruction area may be, for example, an area in the lawn mower working area obstructed by trees, buildings, obstacles, etc. Moreover, the obstruction area may be identified based on the satellite signal quality, number of satellites, RTK status, etc. in the GPS information.

[0045] When the lawn mower enters the shielded area from the first high-precision area, and finishes mowing in the shielded area according to the planned path and enters the second high-precision area, since the GPS coordinates of the two high-precision areas have high accuracy, the positioning information of each position point in the shielded area can be re-determined based on the GPS coordinates and positioning information of the position points in the high-precision area, and then the actual mowing route can be drawn based on the re-determined positioning information of each position point in the shielded area.

[0046] Step S30: adjusting the uncut area according to the actual mowing route, and replanning the mowing route for the uncut area;

[0047] In this step, it should be noted that when the lawn mower has been working for a long time, the errors of the sensors in the inertial navigation module may make the positioning information (position, direction, etc.) output by it inaccurate. In addition, since the accuracy of the GPS coordinates obtained in the occlusion area is not high, the positioning information cannot be calibrated, so the positioning information of each position point in the occlusion area is inaccurate. When mowing according to the original planned route using this inaccurate positioning information, the mowing route recorded by the system will inevitably deviate from the actual mowing route, that is, missed mowing will occur.

[0048] After the actual mowing route is determined, the unmowed area can be determined according to the actual mowing route and the mowing route recorded by the system, and then the mowing route for the unmowed area can be replanned.

[0049] Step S40: Perform mowing navigation control according to the re-planned mowing route.

[0050] Through the technical solution of this embodiment, the GPS coordinates and positioning information of the position points of the high-precision area before and after the shielding area are used to re-determine the positioning information of each position point in the shielding area and generate an actual mowing route. Then, the uncut area is determined and the mowing route is re-planned, so that the missed mowing area can be mowed in time during the mowing process without waiting for the mowing to be completed. Therefore, the mowing efficiency and mowing performance are improved.

[0051] Furthermore, in an optional embodiment, the positioning information of each position point in the occlusion area is re-determined in the following manner:

[0052] Determine the heading angle of the first location point according to the GPS coordinates of the first location point in the first high-precision area;

[0053] Determine the heading angle of the second position point according to the GPS coordinates of the second position point in the second high-precision area;

[0054] Calculate the heading angle deviation values of each position point in the occlusion area according to the heading angle of the first position point and the heading angle of the second position point;

[0055] Redetermine the positioning information of each position point in the occlusion area according to the heading angle deviation values of each position point in the occlusion area, and the positioning information of the first position point and / or the positioning information of the second position point.

[0056] The following uses a specific embodiment to illustrate the method for redetermining the positioning information of each position point in the occlusion area:

[0057] The lawn mower enters the second high-precision area from the first high-precision area through the occlusion area. Assume that the first position point is a position point in the first high-precision area (for example, the last position point), the second position point is a position point in the second high-precision area (for example, the first position point), and the third position point is a position point in the occlusion area (any position point). Moreover, for the first position point, its positioning information is (x1, y1), and the heading angle determined according to its GPS coordinates is Φ1; for the second position point, its positioning information is (x2, y2), and the heading angle determined according to its GPS coordinates is Φ2; for the third position point, its positioning information is (x3, y3), and the heading angle determined according to its GPS coordinates is Φ3. Since both the first position point and the second position point are in the high-precision area, (x1, y1) and (x2, y2) are calibrated using the corresponding GPS coordinates, so they are accurate. However, the third position point is in the occlusion area, and its corresponding GPS coordinates are inaccurate, and the positioning information cannot be calibrated using this GPS coordinate, so (x3, y3) is inaccurate and needs to be redetermined. In addition, assume that there are n position points between the second position point and the first position point, and there are i (i < n) position points between the third position point and the first position point. Since the deviation of the heading angle caused by the zero bias of the positioning module (such as the inertial navigation module) is linearly variable, the heading angle deviation value ΔΦ, the lateral mileage deviation value Δx, and the longitudinal mileage deviation value Δy of the third position point compared to the first position point can be calculated according to Formulas 1-3 respectively:

[0058] ΔΦ = (Φ2 - Φ1) * i / n; Formula 1

[0059] Δx = m * cos(Φ1 + ΔΦ); Formula 2

[0060] Δy = m * sin(Φ1 + ΔΦ); Formula 3

[0061] Wherein, m is the odometer increment of the lawn mower moving from the first position point to the third position point, and the odometer increment can be obtained by measuring the photoelectric encoder in the positioning module.

[0062] Then, the re-determined positioning information (x3′, y3′, Φ3′) of the third position point can be calculated according to formulas 4-6:

[0063] Φ3′=Φ1+ΔΦ; Formula 4

[0064] x3′=x1+Δx;Formula 5

[0065] y3′=y1+Δy; Formula 6.

[0066] Further, in an optional embodiment, step S10 also includes: acquiring the RTK state of the current position point from the GPS module in real time, and determining whether the lawn mower is in an obstruction area or a high-precision area according to the RTK state, wherein the RTK state includes: a fixed solution state, a non-fixed solution state, and the non-fixed solution state includes: a floating point solution state, a differential solution state, and a single point solution state. In this embodiment, the GPS information obtained from the GPS module includes not only GPS coordinates but also RTK states, and there are four types of RTK states: a fixed solution state, a floating point solution state, a differential solution state, and a single point solution state. If the RTK state of a position point is a fixed solution state, it means that the position point is in a high-precision area; if the RTK state of a position point is any of the other three states (non-fixed solution state), it means that the position point is in an obstruction area. Therefore, it is possible to determine whether the position point is in an obstruction area or a high-precision area according to the RTK state corresponding to the position point.

[0067] Furthermore, in an optional embodiment, the first position point is the last position point in the first high-precision area; and the second position point is the first position point in the second high-precision area. In this embodiment, since the positioning information of each position point in the occlusion area is re-determined based on the GPS coordinates and positioning information of the last position point out of the first high-precision area and the second position point entering the second high-precision area, the positioning information of each position point in the occlusion area that is re-determined can be obtained in a timely manner.

[0068] Of course, in other embodiments, the positioning information of each position point in the occlusion area can be re-determined based on the GPS coordinates and positioning information of other position points in the high-precision zone before and after the occlusion area. Alternatively, the positioning information of each position point in the occlusion area can be comprehensively determined through the GPS coordinates and positioning information of multiple position points in the front and rear high-precision zones to improve the accuracy of the re-determination of the positioning information.

[0069] Further, in an optional embodiment, adjusting the uncut area according to the actual mowing route in step S30 includes: identifying a missed mowing area according to the actual mowing route and the mowed route recorded in the shielding area; and adjusting the current uncut area according to the missed mowing area, that is, marking the missed mowing area as an uncut area.

[0070] Figure 2 1 is a logical structure diagram of the first embodiment of the mowing control system of the mower of the present invention. First of all, it is explained that the mower includes a GPS module, a positioning module (such as an inertial navigation module), etc. in addition to the mowing control system. The mowing control system of the mower of this embodiment includes: an acquisition module 10, a re-determination module 20, a route planning module 30, and a navigation module 40, wherein the acquisition module 10 is used to obtain the GPS coordinates of the current position point from the GPS module in real time, and to obtain the positioning information of the current position point from the positioning module; the re-determination module 20 is used to re-determine the positioning information of each position point in the obstruction area according to the GPS coordinates and positioning information of at least one position point in the first high-precision area and the GPS coordinates and positioning information of at least one position point in the second high-precision area when the mower passes through the obstruction area from the first high-precision area, and generates an actual mowing route in the obstruction area; the route planning module 30 is used to adjust the uncut area according to the actual mowing route, and re-plan the mowing route for the uncut area; the navigation module 40 is used to perform mowing navigation control according to the re-planned mowing route.

[0071] Furthermore, in an optional embodiment, the mowing control system of the present invention also includes an area determination module, which is used to obtain the RTK status of the current position point from the GPS module in real time, and determine whether the mower is in an obstruction area or a high-precision area according to the RTK status, wherein the RTK status includes: a fixed solution state, a non-fixed solution state, and the non-fixed solution state includes: a floating point solution state, a differential solution state, and a single point solution state.

[0072] Further, in an optional embodiment, the re-determination module 20 includes a first determination unit, a second determination unit, a calculation unit, and a third determination unit, wherein the first determination unit is used to determine the heading angle of the first position point in the first high-precision area according to the GPS coordinates of the first position point; the second determination unit is used to determine the heading angle of the second position point in the second high-precision area according to the GPS coordinates of the second position point; the calculation unit is used to calculate the heading angle deviation value of each position point in the occlusion area according to the heading angle of the first position point and the heading angle of the second position point; the third determination unit is used to re-determine the positioning information of each position point in the occlusion area according to the heading angle deviation value of each position point in the occlusion area, as well as the positioning information of the first position point and / or the positioning information of the second position point.

[0073] The present invention also constructs a lawn mower mowing control system, which includes a processor, and the processor implements the steps of the lawn mower mowing control method described above when executing a computer program.

[0074] It should be understood that in the embodiments of the present application, the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or any conventional processor, etc.

[0075] Moreover, since the processor can implement the steps of any lawn mower mowing control method provided in the embodiments of the present invention when executing the computer program, the beneficial effects that can be achieved by any lawn mower mowing control method provided in the embodiments of the present invention can be achieved. Please refer to the previous embodiments for details and will not be repeated here.

[0076] The present invention also constructs a readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned lawn mower mowing control method are implemented.

[0077] It should be understood that the readable storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a magnetic disk or an optical disk, and other computer-readable storage media that can store program codes. Moreover, since the computer program stored in the readable storage medium can implement the steps of any mowing control method for a lawn mower provided in the embodiments of the present invention when executed, the beneficial effects that can be achieved by any mowing control method for a lawn mower provided in the embodiments of the present invention can be achieved, as detailed in the previous embodiments, which will not be repeated here.

[0078] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention shall be included in the scope of the claims of the present invention.

Claims

1. A lawn mower mowing control method, characterized in that: include: Obtain the GPS coordinates of the current location point from the GPS module in real time, and obtain the positioning information of the current location point from the positioning module; When the lawn mower passes through the shielding area from the first high-precision area and enters the second high-precision area, the positioning information of each position point in the shielding area is re-determined according to the GPS coordinates and positioning information of at least one position point in the first high-precision area and the GPS coordinates and positioning information of at least one position point in the second high-precision area, and an actual mowing route in the shielding area is generated; adjusting the uncut area according to the actual mowing route, and replanning the mowing route for the uncut area; performing mowing navigation control according to the replanned mowing route; According to the GPS coordinates and positioning information of at least one position point in the first high-precision area, and the GPS coordinates and positioning information of at least one position point in the second high-precision area, the positioning information of each position point in the shielding area is re-determined, and an actual mowing route in the shielding area is generated, including: Determine the heading angle of the first location point according to the GPS coordinates of the first location point in the first high-precision area; Determine the heading angle of the second location point according to the GPS coordinates of the second location point in the second high-precision area; Calculating the heading angle deviation value of each position point in the occlusion area according to the heading angle of the first position point and the heading angle of the second position point; The positioning information of each position point in the occlusion area is re-determined according to the heading angle deviation value of each position point in the occlusion area, and the positioning information of the first position point and / or the positioning information of the second position point.

2. The lawn mower mowing control method according to claim 1, characterized in that: The first position point is the last position point in the first high-precision area; The second position point is the first position point in the second high-precision area.

3. The lawn mower mowing control method according to claim 1, characterized in that: Also includes: The RTK status of the current position point is obtained from the GPS module in real time, and whether the lawn mower is in an obstructed area or a high-precision area is determined according to the RTK status, wherein the RTK status includes: a fixed solution state and a non-fixed solution state, and the non-fixed solution state includes: a floating point solution state, a differential solution state, and a single point solution state.

4. The lawn mower mowing control method according to claim 1, characterized in that: Adjust the uncut area according to the actual mowing route, including: Identify a missed mowing area according to the actual mowing route and the mowing route recorded in the shielded area; The current uncut area is adjusted according to the missed-cut area.

5. A lawn mower mowing control system, characterized in that: include: The acquisition module is used to obtain the GPS coordinates of the current location point from the GPS module in real time, and to obtain the positioning information of the current location point from the positioning module; a re-determination module, configured to, when the lawn mower passes through the obstruction area from the first high-precision area to the second high-precision area, re-determine the positioning information of each position point in the obstruction area according to the GPS coordinates and positioning information of at least one position point in the first high-precision area and the GPS coordinates and positioning information of at least one position point in the second high-precision area, and generate an actual mowing route in the obstruction area; a route planning module, configured to adjust the uncut area according to the actual mowing route and re-plan the mowing route for the uncut area; A navigation module, used for performing mowing navigation control according to the re-planned mowing route; The re-determination module comprises: A first determining unit, configured to determine a heading angle of a first location point in the first high-precision area according to a GPS coordinate of the first location point; A second determining unit, configured to determine a heading angle of a second location point in the second high-precision area according to the GPS coordinates of the second location point; a calculation unit, configured to calculate a heading angle deviation value of each position point in the occlusion area according to the heading angle of the first position point and the heading angle of the second position point; The third determination unit is used to re-determine the positioning information of each position point in the occlusion area according to the heading angle deviation value of each position point in the occlusion area, and the positioning information of the first position point and / or the positioning information of the second position point.

6. The lawn mowing control system of claim 5, characterized in that: Also includes: The area determination module is used to obtain the RTK status of the current position point from the GPS module in real time, and determine whether the lawn mower is in an obstruction area or a high-precision area according to the RTK status, wherein the RTK status includes: a fixed solution state and a non-fixed solution state, and the non-fixed solution state includes: a floating point solution state, a differential solution state, and a single point solution state.

7. A lawn mower mowing control system, comprising a processor, characterized in that: The processor implements the steps of the lawn mowing control method of any one of claims 1 to 4 when executing the computer program.

8. A readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the computer program implements the steps of the lawn mowing control method of any one of claims 1 to 4.

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