Height control method for a harvesting device, harvesting device and readable storage medium

Abstract

The application is suitable for the technical field of intelligent control, and provides a height control method of a collection device, the collection device and a readable storage medium. The collection device is connected with a self-moving device, the self-moving device comprises a cutting assembly, the collection device comprises a collection assembly, and the collection assembly is used for collecting cutting objects of the cutting assembly. The height control method of the collection device specifically comprises the following steps: acquiring a first ground clearance of the cutting assembly; determining a second ground clearance according to the first ground clearance, and adjusting a ground clearance of the collection assembly to the second ground clearance; and adjusting the ground clearance of the collection assembly from the second ground clearance to a third ground clearance according to working data of the collection assembly. The embodiment of the application can reduce the operation complexity of the control mode of the collection assembly.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of intelligent control, and particularly relates to a height control method of a collection device, the collection device and a readable storage medium. BACKGROUND

[0002] The process of a cutting work generally includes two parts of cutting a to-be-cut object and collecting a cutting object. In the related art, the two processes are usually performed by different devices, and the working height in different processes is usually set by a user according to an actual environment.

[0003] Taking a mowing robot working in an outdoor scene as an example, since the height of grass vegetation varies in many ways, if the grass vegetation is too low, the height of fallen leaves or grass clippings will also be low. Therefore, the user needs to set the cutting height and the fallen leaf collection height respectively in different processes.

[0004] The above control mode needs the user to frequently set the height of the collection assembly, and the operation complexity is high. SUMMARY

[0005] The height control method of the collection device, the collection device and the readable storage medium provided in the embodiments of the present application can solve the problem of high operation complexity of the height control mode of the collection assembly.

[0006] The first aspect of the embodiments of the present application provides a height control method of a collection device, the collection device is connected with a self-moving device, the self-moving device includes a cutting assembly, the collection device includes a collection assembly, the collection assembly is used to collect cutting objects of the cutting assembly, and the method includes: acquiring a first ground clearance of the cutting assembly; determining a second ground clearance according to the first ground clearance, and adjusting the ground clearance of the collection assembly to the second ground clearance; and adjusting the ground clearance of the collection assembly from the second ground clearance to a third ground clearance according to working data of the collection assembly.

[0007] The second aspect of the embodiments of the present application provides a height control device of a collection device, the collection device is connected with a self-moving device, the self-moving device includes a cutting assembly, the collection device includes a collection assembly, the collection assembly is used to collect cutting objects of the cutting assembly, and the height control device includes: an acquisition unit, configured to acquire a first ground clearance of the cutting assembly; a first control unit, configured to determine a second ground clearance according to the first ground clearance, and adjust the ground clearance of the collection assembly to the second ground clearance; and a second control unit, configured to adjust the ground clearance of the collection assembly from the second ground clearance to a third ground clearance according to working data of the collection assembly.

[0008] The third aspect of the embodiments of the present application provides a collection device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the height control method of the collection device when executing the computer program.

[0009] The fourth aspect of the embodiments of the present application provides a computer readable storage medium, which stores a computer program, and the computer program implements the steps of the height control method of the collection device when executed by a processor.

[0010] The fifth aspect of the embodiments of the present application provides a computer program product, which, when executed on a collection device, causes the collection device to perform the height control method of the collection device according to the first aspect.

[0011] In the embodiments of the present application, by acquiring the first ground clearance of the cutting assembly, the ground clearance of the collection assembly for collecting the cutting material of the cutting assembly is adjusted to the second ground clearance according to the first ground clearance, and then the ground clearance of the collection assembly is adjusted from the second ground clearance to the third ground clearance according to the working data of the collection assembly. Therefore, the user only needs to set the first ground clearance of the cutting assembly and the second ground clearance of the collection assembly, and the ground clearance of the collection assembly can be adjusted in linkage with reference to the ground clearance of the cutting assembly, without the user setting the second ground clearance of the collection assembly again, thereby reducing the operation complexity of the control mode of the collection assembly. Meanwhile, after the collection assembly starts working at the second ground clearance automatically adjusted according to the first ground clearance, the third ground clearance can be adjusted on the basis of the second ground clearance with reference to the working data, thereby improving the material collection effect of the collection assembly to a certain extent. The user only needs to set the height once, and the different tasks of cutting and collection can be completed, thereby effectively reducing the operation complexity. BRIEF DESCRIPTION OF DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0013] Figure 1 is an implementation flow diagram of the height control method of the collection device provided by the embodiments of the present application;

[0014] Figure 2 is a mathematical model diagram for calculating the first ground clearance provided by the embodiments of the present application;

[0015] Figure 3is a specific implementation flowchart of step S103 provided by an embodiment of the present application.

[0016] Figure 4 is a first specific implementation flowchart of step S102 provided by an embodiment of the present application.

[0017] Figure 5 is a second specific implementation flowchart of step S102 provided by an embodiment of the present application.

[0018] Figure 6 is a structural schematic diagram of a height control device of a collection device provided by an embodiment of the present application.

[0019] Figure 7 is a structural schematic diagram of a collection device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0020] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work belong to the protection scope of the present application.

[0021] In the related art, the user needs to set the height of the cutting assembly when cutting the object to be cut and the height of the collection assembly when collecting the cut object. When the height of the object to be cut has multiple changes, the user needs to frequently set the height of the collection assembly to adapt to the change in the height of the cut object caused by the change in the height of the object to be cut. Therefore, this way has high operation complexity.

[0022] In view of this, the present application provides a height control method of a collection device, which can be applied to the collection device to realize automatic height control of the collection device. Specifically, the collection device can adjust the height according to the height linkage when the self-moving device performs the cutting work, thereby saving the cumbersome process required by the user to set the height of the collection device and reducing the operation complexity of the height control of the collection device.

[0023] In order to illustrate the technical solutions of the present application, the following specific embodiments are described.

[0024] Figure 1 Fig. 1 shows an implementation flowchart of a height control method of a collection device provided by an embodiment of the present application. The method can be applied to the collection device and can be applied to the situation where the operation complexity of the height control of the collection device needs to be reduced.

[0025] The collection device is configured to collect the cuttings. Specifically, the collection device can collect the cuttings through a collection assembly. In some embodiments, the collection assembly can include components for moving the cuttings, a storage for storing the cuttings, and other related components. The components for moving the cuttings can be selected according to actual conditions, such as a suction cup, a roller brush, a hairbrush, etc.

[0026] The cuttings can be obtained by cutting the object to be cut by the self-moving device through the cutting assembly. For example, the cuttings can refer to fallen leaves or grass clippings obtained by cutting the lawn by the self-moving device through the cutting assembly. The self-moving device can be a device with self-moving assistance function. The self-moving assistance function can be implemented by a vehicle terminal, and the corresponding self-moving device can be a vehicle with the vehicle terminal. The self-moving device can also be a semi-self-moving device or a fully autonomous moving device. For example, the self-moving device can be a lawn mower, a sweeper, a robot with navigation function, etc. The self-moving device can automatically drive according to the cutting work task set by the user, and perform cutting work in the working area indicated by the cutting work task to cut the object to be cut through the cutting assembly. The specific structure of the cutting assembly can be adjusted according to actual conditions, such as a blade, a cutter head, etc.

[0027] In the embodiments of the present application, in order to realize the height linkage adjustment of the collection device and the self-moving device, the collection device and the self-moving device can interact data through wired communication or wireless communication, and the collection device can be fixedly or detachably arranged on the self-moving device. In some embodiments, the collection device can be powered based on the power supply of the self-moving device after establishing a connection with the self-moving device.

[0028] Specifically, the height control method of the collection device can include the following steps S101-S103.

[0029] Step S101: obtaining a first ground clearance of the cutting assembly.

[0030] In the embodiments of the present application, the first ground clearance of the cutting assembly refers to the current working height of the cutting assembly, that is, the actual height of the cutting assembly. When the height of the object to be cut changes, the first ground clearance of the cutting assembly can change according to the height change of the object to be cut, and then the cutting assembly can cut the object to be cut.

[0031] In some embodiments, the user can set the first ground clearance of the cutting assembly. The collection device can obtain the first ground clearance set by the user sent by the self-moving device.

[0032] In some embodiments, the collection device can determine the first ground clearance of the cutting assembly according to sensor information collected by sensors such as image sensors, laser sensors, etc. For example, the collection device can take a picture of the cutting assembly through a camera, and determine the first ground clearance based on the coordinate position of the cutting assembly in the pixel coordinate system and the coordinate position of the ground in the pixel coordinate system.

[0033] In other embodiments, the collection device can also obtain the first ground clearance detected by the self-moving device, considering that the self-moving device generally supports a self-detection function of the first ground clearance. For details, please refer to Figure 2 , Figure 2 A mathematical model for calculating the first ground clearance is shown. As shown in the figure, the cutter head of the self-moving device is connected to the machine body through a swing arm, and is driven by the swing arm. The self-moving device can be configured with a position sensor, and the motor and the position sensor for controlling the swing arm are located at the connection between the swing arm and the machine body in the figure. In the figure, L represents the length of the swing arm, H represents the ground clearance of the position sensor, b represents the ground clearance of the end of the swing arm, and h represents the first ground clearance of the cutting assembly. The cutting assembly is fixed to a known initial height H0, and the self-moving device can calculate the initial angle of the swing arm L according to the initial height H0: Figure 2

[0034] θ0=arcos((H-(H0+BB2B)) / L),

[0035] where BB2B=b-h. At this time, the initial encoding value of the encoder of the motor is encode_zero. When the first ground clearance is h, the self-moving device can calculate the angle corresponding to the target height:

[0036] θ=arcos((H-(h+BB2B)) / L),

[0037] Then the angle value required to reach the first ground clearance is Δθ=θ-θ0. At this time, the encoding value increment of the encoder is:

[0038]

[0039] where Encode_max is the maximum encoding value output by the encoder, and ΔEncode is the encoder increment rotated by the motor relative to the initial encoding value encode_zero. Therefore, the self-moving device can calculate Δθ according to the current encoding value Encode of the encoder, the initial encoding value encode_zero, and the maximum encoding value Encode_max output by the encoder. At this time:

[0040] Δθ=(Encode-encode_zero) / Encode_max×360, ​

[0041] After calculating Δθ, the first ground clearance can be calculated:

[0042] h = H - L x cos(Δθ + θ0) - BB2B.

[0043] It can be understood that the above model is only an example, and different mathematical models can be used to calculate the first ground clearance when the positions of the cutting assembly, the swing arm, and the motor driving the cutting assembly to rise or fall are set differently.

[0044] More specifically, the self-moving device can perform self-checking of the first ground clearance at a first preset frequency, and broadcast the broadcast data packet carrying the first ground clearance at a second preset frequency. The first preset frequency and the second preset frequency can be the same or different. The collection device can obtain the broadcast data packet and parse the first ground clearance therefrom. Since there can be multiple devices in the environment of the collection device that are broadcasting different data packets, or different modules in the self-moving device can send different broadcast data packets, the broadcast data packet carrying the first ground clearance can also carry a first identifier, which can be used to identify the sender (e.g., the cutting assembly) of the broadcast data packet. The collection device can parse the broadcast data packet to obtain the first ground clearance carried by the broadcast data packet when the first identifier is detected to be consistent with a second identifier of the cutting assembly stored by the collection assembly.

[0045] Step S102, determining a second ground clearance according to the first ground clearance, and adjusting the ground clearance of the collection assembly to the second ground clearance.

[0046] That is, after obtaining the first ground clearance of the cutting assembly, the collection device can adjust the ground clearance of the collection assembly to the second ground clearance.

[0047] Specifically, in some embodiments, the collection device can directly use the first ground clearance as the second ground clearance. In other embodiments, the collection device can also determine a ground clearance that has a height difference with the first ground clearance satisfying a preset height difference threshold as the second ground clearance. The height difference threshold can be set according to actual needs. In other embodiments, the collection device can also determine the second ground clearance according to the first ground clearance by other calculation methods, which are not limited in the embodiments of the present application.

[0048] It should be noted that the height adjustment mode of the collection assembly can be selected according to actual conditions, and the application does not limit this. For example, the collection device can separately adjust the ground clearance of the collection assembly through changes in the internal structure, or can simultaneously adjust the ground clearance of each component (including the collection assembly) arranged on the chassis by changing the ground clearance of the chassis through changes in the internal structure. For another example, when the collection device is arranged on the self-moving device through the connecting piece, the collection device can send an adjustment command to the self-moving device, and the self-moving device adjusts the connecting piece according to the adjustment command, so that the ground clearance of the entire collection device changes.

[0049] In step S103, the ground clearance of the collection assembly is adjusted from the second ground clearance to the third ground clearance according to the working data of the collection assembly.

[0050] In the embodiments of the application, the working data can refer to the data collected when the collection assembly works at the second ground clearance. The working data can represent whether the collection assembly is in a normal working state, and the third ground clearance is the ground clearance when the collection assembly is in the normal working state. According to the working data of the collection assembly, the collection device can adjust the ground clearance of the collection assembly from the second ground clearance to the third ground clearance, so that the collection assembly can work normally.

[0051] In the embodiments of the application, by obtaining the first ground clearance of the cutting assembly, the ground clearance of the collection assembly for collecting the cutting material of the cutting assembly is adjusted to the second ground clearance according to the first ground clearance, and then the ground clearance of the collection assembly is adjusted from the second ground clearance to the third ground clearance according to the working data of the collection assembly. In this way, the user only needs to set the first ground clearance of the cutting assembly, and the second ground clearance of the collection assembly can be adjusted in linkage with reference to the ground clearance of the cutting assembly. The user does not need to set the second ground clearance of the collection assembly again, which reduces the operation complexity of the collection assembly. At the same time, after the collection assembly is automatically adjusted to the second ground clearance according to the first ground clearance and starts to work, the collection assembly can be further adjusted to the third ground clearance based on the second ground clearance and with reference to the working data, which improves the material collection effect of the collection assembly to some extent. The user only needs to set the height once, and can complete the different tasks of cutting and collection, which effectively reduces the operation complexity.

[0052] In some specific embodiments, the collection assembly can include a rolling brush and a push rod motor. When the rolling brush rolls, the cutting material can be brought into the storage reservoir for storing the cutting material. The rolling brush is connected with the push rod of the push rod motor, and the rolling brush can rise or fall when the push rod of the push rod motor moves, so as to change the ground clearance of the rolling brush.

[0053] For example, if the elongation direction of the push rod end is away from the ground, the height of the brush from the ground at the end of the push rod will increase when the push rod is elongated under the drive of the push rod motor, and the height of the brush from the ground at the end of the push rod will decrease when the push rod is retracted under the drive of the push rod motor. For another example, if the elongation direction of the push rod end is close to the ground, the height of the brush from the ground at the end of the push rod will decrease when the push rod is elongated under the drive of the push rod motor, and the height of the brush from the ground at the end of the push rod will increase when the push rod is retracted under the drive of the push rod motor.

[0054] Correspondingly, after the collection device obtains the second ground clearance, the target extension and retraction amount of the push rod can be determined according to the second ground clearance, and the movement of the push rod motor can be controlled according to the target extension and retraction amount to adjust the ground clearance of the brush to the second ground clearance.

[0055] Specifically, before adjusting the second ground clearance, the collection device can perform self-checking on the push rod motor to determine the extension and retraction speed of the push rod driven by the push rod motor. The extension and retraction speed can be specifically divided into the elongation speed when the push rod is elongated and the retraction speed when the push rod is retracted.

[0056] For example, the collection device can control the push rod to retract through the push rod motor, and determine whether the push rod motor stops rotating by sampling the working parameters such as current and voltage of the push rod motor through an analog to digital converter (ADC). When the ADC sampling value is 0, it indicates that the push rod motor stops rotating, and the first time point is recorded. Then, the collection device can control the push rod to elongate through the push rod motor until the ADC sampling value is 0 again, and the second time point is recorded. Then, the collection device can control the push rod to retract again through the push rod motor until the ADC sampling value is 0 again, and the third time point is recorded. According to the first time point and the second time point, the collection device can obtain the time length required for the entire elongation process of the push rod, and then calculate the elongation speed of the push rod driven by the push rod motor from the time length and the length of the push rod. Similarly, according to the second time point and the third time point, the collection device can obtain the time length required for the entire retraction process of the push rod, and then calculate the retraction speed of the push rod driven by the push rod motor from the time length and the length of the push rod, and the self-checking is completed.

[0057] According to the second ground clearance, the collection device can determine the target extension and retraction amount of the push rod, and then determine the target driving time and target driving mode of the push rod motor according to the extension and retraction speed and the target extension and retraction amount. The target driving mode can include control of elongation and control of retraction of the push rod, and the target driving time refers to the time length required for controlling the extension and retraction of the push rod to reach the target extension and retraction amount. The collection device can adjust the ground clearance of the brush to the second ground clearance by controlling the push rod motor to operate in the target driving mode within the driving time.

[0058] In some implementations, the collecting device can reset the push rod before each adjustment, restoring the brush's ground clearance to the default height. In this case, the target extension / retraction amount can be calculated based on the default and second ground clearance heights. For example, assuming that the brush rises by 1mm for every 1mm extension of the push rod, the target extension / retraction amount is equal to the height difference between the default and second ground clearance heights. The target drive time and target drive mode of the push rod motor can be determined from the extension / retraction speed and the target extension / retraction amount.

[0059] In other embodiments, the collecting device may also record the adjusted height of the roller brush after each adjustment. In this case, the target extension / retraction amount can be calculated based on the previously recorded height and the second height. The target drive time and target drive mode of the push rod motor can be determined from the extension / retraction speed and the target extension / retraction amount.

[0060] After adjusting the roller brush to the second ground clearance height, the collection device can control the collection component to operate at the second ground clearance height to obtain operating data of the collection component at that height. Then, based on the operating data of the collection component, the collection device can adjust the ground clearance height of the collection component from the second ground clearance height to the third ground clearance height.

[0061] Specifically, in some embodiments, the above-mentioned collection component may also include a roller brush motor for controlling the rotation of the roller brush, and the above-mentioned operating data may specifically include the rotational speed, current and voltage of the roller brush motor.

[0062] like Figure 3 As shown, the aforementioned step S103 may specifically include steps S301 to S302.

[0063] Step S301: Calculate the torque of the roller brush motor based on its rotational speed, current, and voltage.

[0064] Torque is a physical quantity that refers to the rotational effect produced when a force acts on an object. For a motor, under the condition of fixed power, torque is inversely proportional to the motor speed; the faster the speed, the smaller the torque, and vice versa. Therefore, the torque of the brush motor can be calculated based on its speed, current, and voltage.

[0065] Specifically, in some possible implementations, the torque of the roller brush motor is T = 9550P / n, where the unit of torque T is N·m; P = UI represents the output power of the roller brush motor in kW, where U represents voltage and I represents current; and n represents the rotational speed of the roller brush motor in r / min.

[0066] Step S302: Adjust the height of the roller brush from the ground from the second height to the third height according to the torque of the roller brush motor.

[0067] In some embodiments of the present application, the magnitude of the torque T can be used to determine the load condition of the rolling brush when it is working. The load condition can also be understood as the resistance experienced by the rolling brush when it is rolling. By comparing the torque T with a preset torque threshold, it can be determined whether the torque T is too large. When the torque T is too large, it means that the rolling brush is too close to the ground or obstacles, causing the rolling of the rolling brush to be blocked and unable to work normally. At this time, the ground clearance of the rolling brush needs to be increased so that the rolling brush is away from the ground. When the torque T is too small, it means that the rolling brush is too far away from the plane where the cuttings are located, causing the rolling brush / collection assembly to be lightly loaded or unloaded, and unable to effectively collect the cuttings. At this time, the ground clearance of the rolling brush needs to be reduced so that the rolling brush is close to the plane where the cuttings are located.

[0068] Specifically, the collection device can obtain the torque T1 of the push rod motor when the rolling brush is unloaded (does not contact the ground or obstacles) through experimental testing, the torque T2 when the rolling brush is close to the stall, and the torque T3 when the collection effect of the rolling brush is optimal. According to the torque T3 and a preset torque error err, T3±err can be used as the torque range when the collection effect of the rolling brush is optimal. When the torque T is in the torque range, it can be confirmed that the ground clearance of the rolling brush reaches the third ground clearance.

[0069] In some embodiments, step S302 can include the following steps:

[0070] Step S3021, if the torque T is less than the first preset torque threshold, the collection device can reduce the ground clearance of the rolling brush until the torque T is greater than or equal to the first preset torque threshold, and it is confirmed that the ground clearance of the rolling brush reaches the third ground clearance.

[0071] Step S3022, if the torque T is greater than the second preset torque threshold, the collection device can increase the ground clearance of the rolling brush until the torque T is less than or equal to the second preset torque threshold, and it is confirmed that the ground clearance of the rolling brush reaches the third ground clearance.

[0072] Wherein, the second preset torque threshold is greater than the first preset torque threshold. For example, T3-err can be used as the first preset torque threshold, and T3+err can be used as the second preset torque threshold. That is, if the torque T satisfies T1

[0073] Considering that the stall of the rolling brush can easily cause damage to the collection assembly, a third preset torque threshold for protecting the collection device can also be set for the collection device. At this time, step S3022 can further include the following steps:

[0074] If the torque T is greater than the second preset torque threshold and less than a third preset torque threshold, the collecting device increases the ground clearance of the roller brush until the torque T is less than or equal to the second preset torque threshold, and confirms that the ground clearance of the roller brush reaches the third ground clearance.

[0075] If the torque T is greater than or equal to the third preset torque threshold, the collecting device controls the roller brush motor to stop working to protect the collecting device. The third preset torque threshold is greater than the second preset torque threshold. For example, T3+err can be set as the second preset torque threshold, and the torque T2 of the roller brush near the locked state can be set as the third preset torque threshold. That is, if the torque T satisfies T3+err < T < T2, it means that the torque is too large, but the roller brush is not locked, and the collecting device can increase the ground clearance of the roller brush until the torque T ≤ T3+err, and confirms that the ground clearance of the roller brush reaches the third ground clearance. If the torque T satisfies T > T2, it means that the roller brush is locked, and at this time the work should be stopped, and the collecting device can control the roller brush motor to stop working.

[0076] In some embodiments, the collecting device can control the roller brush motor to restart when the stop working time of the roller brush motor reaches a time threshold. The time threshold can be adjusted according to actual conditions, for example, it can be set to 10 seconds, 1 minute, etc. In other embodiments, the user can also control the collecting device to restart the roller brush motor.

[0077] In the embodiments of the present application, the collecting device can adjust the ground clearance of the roller brush from the second ground clearance to the third ground clearance according to the torque of the roller brush motor, so as to avoid the locked state or the empty load of the roller brush, and make the roller brush close to the plane where the cutting object is located, thereby improving the collection effect of the collecting device on the cutting object.

[0078] In some embodiments of the present application, the collecting device can obtain the mapping relationship between the load condition and the voltage or current of the roller brush obtained through experimental tests. Specifically, through pre-experimental tests, the current I1 or voltage U1 of the push rod motor when the roller brush is in an empty load state (without contacting the ground or obstacles), the current I2 or voltage U2 when the roller brush is in a locked state (i.e., when the load is too large), and the current I3 or voltage U3 when the collection effect of the roller brush is best can be obtained.

[0079] The collection device can determine the load condition of the roller brush according to the voltage of the roller brush motor and a mapping relationship between the load condition of the roller brush and the voltage. The collection device can also determine the load condition of the roller brush according to the current of the roller brush motor and a mapping relationship between the load condition of the roller brush and the current. When the roller brush is in an empty state or an underload state, the collection device can reduce the ground clearance of the roller brush, so that the roller brush is close to the plane on which the cutting object is located. When the load of the roller brush is too large, the ground clearance of the roller brush can be increased, so that the roller brush is away from the ground. The adjustment of the ground clearance is stopped until the current difference between the current of the roller brush motor and the current I3 at which the collection effect of the roller brush is best is within a preset error range, and / or until the voltage difference between the voltage of the roller brush motor and the voltage U3 at which the collection effect of the roller brush is best is within a preset error range.

[0080] In the embodiments of the present application, the collection device can adjust the ground clearance of the roller brush from the second ground clearance to the third ground clearance according to the mapping relationship between the load condition of the roller brush and the voltage or the current obtained through pre-testing, so as to avoid the stall or empty state of the roller brush, and make the roller brush close to the plane on which the cutting object is located, thereby improving the collection effect of the collection device on the cutting object.

[0081] In actual application, the collection device and the self-moving device usually have a certain positional offset, in other words, the self-moving device and the collection device usually cannot perform the cutting and collection work at the same time and at the same position. In order to achieve high-precision control, the positional offset needs to be considered when the collection device is controlled to adjust the height in conjunction with the self-moving device.

[0082] In some embodiments, as shown in Figure 4 The step of adjusting the ground clearance of the collection assembly to the second ground clearance can specifically include the following steps S401 to S403.

[0083] In step S401, a first time at which the cutting assembly is adjusted to the first ground clearance is acquired.

[0084] As an example, when the self-moving device cuts the cutting object by the cutting assembly, the first ground clearance and the first time at which the cutting assembly is located at the first ground clearance can be recorded, and the first time is put into a broadcast data packet for broadcasting, so that the collection device can acquire the first time carried in the broadcast data packet.

[0085] As another example, the collection device can determine the first ground clearance at which the cutting assembly is located through sensor information, and record a sampling time at which the sensor samples, so as to take the sampling time as the first time.

[0086] In step S402, a preset control delay is acquired.

[0087] The control delay is used to delay the control of the collection device to compensate for the control error caused by the position offset. Specifically, assuming that the cutting assembly performs cutting work at the first ground clearance at the working area A at the first time, due to the existence of the position offset, the collection assembly reaches the working area A at the second time, and the time difference between the second time and the first time is the control delay.

[0088] In some embodiments, the collection device can determine the control delay according to the offset of the position offset and the moving speed of the self-moving device or the moving speed of the collection device. The moving speed can be a preset default speed, or can be a moving speed set by the user when setting the ground clearance of the self-moving speed performing cutting work. In other embodiments, the control delay can also be set by the user according to the experience value, which is not limited in the present application.

[0089] Step S403, if the time difference between the current time and the first time reaches the preset control delay, the ground clearance of the collection assembly is adjusted to the second ground clearance.

[0090] In some embodiments of the present application, the collection device can obtain the current time through the counter. If the time difference between the current time and the first time reaches the preset control delay, it means that the current time is the second time in the foregoing example, that is, the working area of the collection assembly is consistent with the working area when the cutting assembly is adjusted to the first ground clearance. At this time, the collection device can adjust the ground clearance of the collection assembly to the second ground clearance.

[0091] Of course, if the time difference between the current time and the first time does not reach the preset control delay, the collection device can wait until the time difference between the current time and the first time reaches the preset control delay, and then adjust the ground clearance.

[0092] In other embodiments, as shown in Figure 5 The step of adjusting the ground clearance of the collection assembly to the second ground clearance can specifically include the following steps S501 to S503.

[0093] Step S501, obtaining the first area information of the first working area where the cutting assembly is adjusted to the first ground clearance.

[0094] The first area information can be used to identify the first working area where the cutting assembly is adjusted to the first ground clearance. The first area information can include but is not limited to the color, contour and density of the object (such as the object to be cut) in the first working area.

[0095] As an example, the self-moving device can record the first area information of the first working area when cutting the object to be cut by the cutting assembly, and broadcast the first area information in a broadcast data packet, so that the collection device can obtain the first area information carried in the broadcast data packet.

[0096] As another example, the collection device can determine the first ground clearance of the cutting assembly through sensor information, and determine the first area information based on the sensor information. For example, when the sensor information is an image collected by a camera, the first area information can be determined by image recognition; when the sensor information is color information collected by a color sensor, the color information can be used as the first area information.

[0097] In step S502, the second area information of the second working area where the collection assembly is currently located is detected.

[0098] The acquisition method of the second area information can refer to the acquisition method of the first area information, which will not be described herein.

[0099] In step S503, when the second area information is consistent with the first area information, the ground clearance of the collection assembly is adjusted to the second ground clearance.

[0100] In some embodiments of the present application, when the second area information is consistent with the first area information, it means that the current time is the second time in the foregoing example, that is, the second working area of the collection assembly is the same area as the first working area when the cutting assembly is adjusted to the first ground clearance. At this time, the collection device can adjust the ground clearance of the collection assembly to the second ground clearance.

[0101] Of course, if the second area information is not consistent with the first area information, the collection device can return to step S502 until the second area information is consistent with the first area information, and then adjust the ground clearance.

[0102] In the embodiments of the present application, by Figure 4 or Figure 5 , the collection device can adjust the height when the working area of the collection assembly and the working area of the cutting assembly are consistent, which to some extent reduces the control precision error caused by the position offset between the collection device and the self-moving device.

[0103] In the foregoing embodiments, the collecting device involves two adjustments of the ground clearance, and the adjustment frequencies or triggering conditions of the two adjustments can be the same or different. In some embodiments, the collecting device can perform step S102 at a first adjustment frequency and perform step S103 at a second adjustment frequency, where the first adjustment frequency and the second adjustment frequency can be the same or different. In other embodiments, the collecting device can perform step S102 when powered on or each time the first ground clearance of the cutting assembly changes, reducing the number of data interactions with the self-moving device and performing step S103 in real time.

[0104] For ease of understanding, the height control method provided in the present application is described below with reference to a mowing scenario.

[0105] The user can set the first ground clearance of the cutting assembly of the self-moving device based on the area to be mowed, the self-moving device can broadcast the first ground clearance in the form of a broadcast data packet, and the collecting device can parse the first ground clearance from the broadcast data packet. The collecting device can adjust the ground clearance of the collecting assembly to the second ground clearance according to the first ground clearance, so as to realize the linkage height adjustment with the self-moving device. The collecting device can obtain the working data of the collecting assembly working at the second ground clearance, so as to determine the load condition of the collecting assembly, and adjust the ground clearance of the collecting assembly from the second ground clearance to the third ground clearance, so that the collecting assembly can perform the collecting work at the third ground clearance, and the collecting assembly is in a normal working state at this time. In this process, the user only needs to set the first ground clearance of the cutting assembly of the self-moving device when performing the task, and does not need to set the ground clearance of the collecting assembly, thereby effectively reducing the operation complexity of the user.

[0106] It should be noted that, for the foregoing method embodiments, in order to simply describe, they are all described as a series of action combinations, but those skilled in the art should know that the present application is not limited to the described action sequence, because according to the present application, certain steps can be performed in other sequences.

[0107] As Figure 6 FIG. 6 shows a structure schematic diagram of a height control device 600 of a collecting device according to an embodiment of the present application. The height control device 600 of the collecting device is configured on the collecting device. The collecting device is connected with a self-moving device, the self-moving device can include a cutting assembly, and the collecting device can include a collecting assembly, which can be used to collect the cutting material of the cutting assembly.

[0108] Specifically, the height control device 600 of the collecting device can include:

[0109] The acquisition unit 601 is configured to acquire a first ground clearance of the cutting assembly.

[0110] a first control unit 602, configured to determine a second ground clearance according to the first ground clearance, and adjust the ground clearance of the collecting assembly to the second ground clearance;

[0111] a second control unit 603, configured to adjust the ground clearance of the collecting assembly from the second ground clearance to a third ground clearance according to working data of the collecting assembly.

[0112] In some embodiments of the present application, the collecting assembly can include a roller brush motor and a roller brush, wherein the roller brush motor can be used to control the rolling of the roller brush; the working data can include the rotation speed, current and voltage of the roller brush motor; and the second control unit 603 can be specifically configured to: calculate the torque of the roller brush motor according to the rotation speed, current and voltage of the roller brush motor; and adjust the ground clearance of the roller brush from the second ground clearance to the third ground clearance according to the torque of the roller brush motor.

[0113] In some embodiments of the present application, the height control device 600 of the collecting device can further include a working data acquisition unit, which is specifically configured to: control the collecting assembly to work at the second ground clearance; and acquire the working data of the collecting assembly when working at the second ground clearance.

[0114] In some embodiments of the present application, the second control unit 603 can be specifically configured to: if the torque is less than a first preset torque threshold, reduce the ground clearance of the roller brush until the torque is greater than or equal to the first preset torque threshold, and confirm that the ground clearance of the roller brush reaches the third ground clearance.

[0115] In some embodiments of the present application, the second control unit 603 can be specifically configured to: if the torque is greater than a second preset torque threshold, increase the ground clearance of the roller brush until the torque is less than or equal to the second preset torque threshold, and confirm that the ground clearance of the roller brush reaches the third ground clearance, wherein the second preset torque threshold is greater than the first preset torque threshold.

[0116] In some embodiments of the present application, the second control unit 603 can be specifically configured to: if the torque is greater than a second preset torque threshold and less than a third preset torque threshold, increase the ground clearance of the roller brush until the torque is less than or equal to the second preset torque threshold, and confirm that the ground clearance of the roller brush reaches the third ground clearance.

[0117] In some embodiments of the present application, the second control unit 603 can be specifically configured to: if the torque is greater than or equal to a third preset torque threshold, control the roller brush motor to stop, wherein the third preset torque threshold is greater than the second preset torque threshold; and control the roller brush motor to restart when the stop time of the roller brush motor reaches a time threshold.

[0118] In some embodiments of the present application, the collecting assembly can include a roller brush and a push rod motor, the roller brush being connected with the push rod of the push rod motor, and the roller brush being raised or lowered when the push rod of the push rod motor moves. The first control unit 602 can be specifically configured to: determine a target extension amount of the push rod according to the second ground clearance; and control the push rod of the push rod motor to move according to the target extension amount, so as to adjust the ground clearance of the roller brush to the second ground clearance.

[0119] In some embodiments of the present application, the height control device 600 of the collecting device can further include a self-checking unit, which is specifically configured to: perform self-checking on the push rod motor, and determine an extension speed of the push rod driven by the push rod motor. The first control unit 602 can be specifically configured to: determine a target driving time and a target driving mode of the push rod motor according to the extension speed and the target extension amount; and control the push rod motor to operate in the target driving mode within the driving time, so as to adjust the ground clearance of the roller brush to the second ground clearance.

[0120] In some embodiments of the present application, the acquisition unit 601 can be specifically configured to: acquire a broadcast data packet, the broadcast data packet carrying a first identifier; and if the first identifier is consistent with a second identifier of the cutting assembly, parse the broadcast data packet to obtain the first ground clearance carried by the broadcast data packet.

[0121] In some embodiments of the present application, the first control unit 602 can be specifically configured to: acquire a first time point at which the cutting assembly is adjusted to the first ground clearance; acquire a preset control delay; and if a time difference between a current time point and the first time point reaches the preset control delay, adjust the ground clearance of the collecting assembly to a second ground clearance.

[0122] In some embodiments of the present application, the first control unit 602 can be specifically configured to: acquire first area information of a first working area in which the cutting assembly is adjusted to the first ground clearance; detect second area information of a second working area in which the collecting assembly currently locates; and when the second area information is consistent with the first area information, adjust the ground clearance of the collecting assembly to a second ground clearance.

[0123] It should be noted that, for the convenience and brevity of description, the specific working process of the height control device 600 of the collection device can be referred to Figures 1 to 5 The corresponding process of the method is not described here.

[0124] As Figure 7 shown, a schematic diagram of a collection device provided by an embodiment of the present application. The collection device 7 can include a processor 70, a memory 71, and a computer program 72 stored in the memory 71 and executable on the processor 70, such as a height control program of the collection device. The processor 70 implements the steps in each of the above collection device height control method embodiments when executing the computer program 72, such as Figure 1 shown, steps S101-S103. Alternatively, the processor 70 implements the functions of each module / unit in each of the above device embodiments when executing the computer program 72, such as Figure 6 shown, the acquisition unit 601, the first control unit 602, and the second control unit 603.

[0125] The computer program can be divided into one or more modules / units, which are stored in the memory 71 and executed by the processor 70 to complete the present application. The one or more modules / units can be a series of computer program instruction segments capable of completing a specific function, which are used to describe the execution process of the computer program in the collection device.

[0126] For example, the computer program can be divided into an acquisition unit, a first control unit, and a second control unit. The specific functions of each unit are as follows: the acquisition unit is configured to acquire the first ground clearance of the cutting assembly; the first control unit is configured to determine a second ground clearance according to the first ground clearance, and adjust the ground clearance of the collection assembly to the second ground clearance; and the second control unit is configured to adjust the ground clearance of the collection assembly from the second ground clearance to a third ground clearance according to the working data of the collection assembly.

[0127] The collection device can include, but is not limited to, a processor 70 and a memory 71. Those skilled in the art can understand that Figure 7 is only an example of a collection device and does not constitute a limitation on the collection device, and can include more or fewer components than shown, or combine certain components, or different components, such as the collection device can also include an input / output device, a network access device, a bus, etc.

[0128] The processor 70 can be a central processing unit (CPU), and can also be other general-purpose processors, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0129] The memory 71 can be an internal storage unit of the collection device, such as a hard disk or a memory of the collection device. The memory 71 can also be an external storage device of the collection device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Further, the memory 71 can also include both the internal storage unit and the external storage device of the collection device. The memory 71 is used to store the computer program and other programs and data required by the collection device. The memory 71 can also be used to temporarily store data that has been output or will be output.

[0130] It should be noted that, for the convenience and brevity of description, the structure of the collection device can also refer to the specific description of the structure in the method embodiments, which will not be repeated here.

[0131] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional units and modules is exemplified, and in actual application, the above functions can be completed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit, and the integrated unit can be realized in the form of hardware or in the form of software functional unit. In addition, the specific names of each functional unit and module are only for easy distinction, and do not limit the protection scope of the present application. The specific working process of the units and modules in the system can refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

[0132] In the above embodiments, the description of each embodiment has its own focus, and the parts not described or recorded in a certain embodiment can be referred to the relevant description of other embodiments.

[0133] Those skilled in the art can understand that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized in electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. A person skilled in the art can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0134] In the embodiments provided in the present application, it should be understood that the disclosed apparatus / collection device and method can be implemented in other ways. For example, the apparatus / collection device embodiments described above are merely schematic, for example, the division of the modules or units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed each other can be through some interface, indirect coupling or communication connection between the units or components, which can be electrical, mechanical or other forms.

[0135] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0136] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0137] The integrated module / unit, if implemented in the form of a software functional unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the above-mentioned embodiment methods can also be completed by a computer program instructing related hardware, and the computer program can be stored in a computer readable storage medium. The computer program can implement the steps of each method embodiment when executed by a processor. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or some intermediate forms. The computer readable medium can include any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the contents included in the computer readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.

[0138] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A height control method of a collecting apparatus, characterized by, The collecting device is connected with a self-moving device, the self-moving device comprises a cutting assembly, the collecting device comprises a collecting assembly for collecting cutting objects of the cutting assembly, the collecting assembly comprises a rolling brush; the method comprises: acquiring a first ground clearance of the cutting assembly; determining a second ground clearance according to the first ground clearance, and adjusting a ground clearance of the collecting assembly to the second ground clearance; adjusting the ground clearance of the collecting assembly from the second ground clearance to a third ground clearance according to working data of the collecting assembly, the working data being used to determine a torque of the rolling brush, the torque of the rolling brush being used to determine a load condition of the rolling brush during working.

2. The height control method of a collection device according to claim 1, wherein The collecting assembly further comprises a rolling brush motor, wherein the rolling brush motor is used to control rolling of the rolling brush; the working data comprises a rotating speed, a current and a voltage of the rolling brush motor; The adjusting the ground clearance of the collecting assembly from the second ground clearance to a third ground clearance according to working data of the collecting assembly comprises: calculating a torque of the rolling brush motor according to the rotating speed, the current and the voltage of the rolling brush motor; adjusting the ground clearance of the rolling brush from the second ground clearance to the third ground clearance according to the torque of the rolling brush motor.

3. The height control method of a collection device according to claim 1, wherein Before the adjusting the ground clearance of the collecting assembly from the second ground clearance to a third ground clearance according to working data of the collecting assembly, the method further comprises: controlling the collecting assembly to work at the second ground clearance; acquiring working data of the collecting assembly during working at the second ground clearance.

4. The height control method of a collection device according to claim 2, wherein The adjusting the ground clearance of the rolling brush from the second ground clearance to the third ground clearance according to the torque of the rolling brush motor comprises: if the torque is less than a first preset torque threshold, decreasing the ground clearance of the rolling brush until the torque is greater than or equal to the first preset torque threshold, and confirming that the ground clearance of the rolling brush reaches the third ground clearance; if the torque is greater than a second preset torque threshold, increasing the ground clearance of the rolling brush until the torque is less than or equal to the second preset torque threshold, and confirming that the ground clearance of the rolling brush reaches the third ground clearance, wherein the second preset torque threshold is greater than the first preset torque threshold.

5. The height control method of a collection device according to claim 4, wherein The increasing the ground clearance of the rolling brush until the torque is less than or equal to the second preset torque threshold, and confirming that the ground clearance of the rolling brush reaches the third ground clearance if the torque is greater than a second preset torque threshold comprises: if the torque is greater than the second preset torque threshold and less than a third preset torque threshold, increasing the ground clearance of the rolling brush until the torque is less than or equal to the second preset torque threshold, and confirming that the ground clearance of the rolling brush reaches the third ground clearance; if the torque is greater than or equal to the third preset torque threshold, controlling the rolling brush motor to stop, wherein the third preset torque threshold is greater than the second preset torque threshold; controlling the rolling brush motor to restart when a stop duration of the rolling brush motor reaches a duration threshold.

6. The height control method of a collection device according to Claim 1, wherein The collecting assembly further comprises a push rod motor, the roller brush is connected with a push rod of the push rod motor, when the push rod of the push rod motor moves, the roller brush rises or falls; The method further comprises: According to the second ground clearance, determining a target telescopic amount of the push rod; According to the target telescopic amount, controlling the push rod motor to move the push rod, so as to adjust the ground clearance of the roller brush to the second ground clearance.

7. The height control method of a collection device according to claim 6, wherein Before the step of controlling the push rod motor to move the push rod according to the target telescopic amount, so as to adjust the ground clearance of the roller brush to the second ground clearance, the method further comprises: Self-checking the push rod motor to determine a telescopic speed of the push rod driven by the push rod motor; The step of controlling the push rod motor to move the push rod according to the target telescopic amount, so as to adjust the ground clearance of the roller brush to the second ground clearance, comprises: According to the telescopic speed and the target telescopic amount, determining a target driving time and a target driving mode of the push rod motor; Controlling the push rod motor to run in the target driving mode for the target driving time, so as to adjust the ground clearance of the roller brush to the second ground clearance.

8. The height control method of the collecting device according to any one of claims 1 to 7, wherein the step of adjusting the ground clearance of the collecting assembly to the second ground clearance comprises: Obtaining a first time point when the cutting assembly is adjusted to the first ground clearance; Obtaining a preset control delay; If a time difference between a current time point and the first time point reaches the preset control delay, adjusting the ground clearance of the collecting assembly to the second ground clearance.

9. A collection device comprising a collection assembly, a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The processor executes the computer program to implement the steps of the height control method of the collecting device according to any one of claims 1 to 8.

10. A computer-readable storage medium storing a computer program, the computer program comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 9. The computer program is executed by the processor to implement the steps of the height control method of the collecting device according to any one of claims 1 to 8.

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