A garden tool ground clearance detection method, device, system and mower

Abstract

The present application belongs to the technical field of garden tool control, and particularly relates to a garden tool off-ground detection method, device, system and lawn mower. The method comprises the following steps: acquiring displacement information of the garden tool within a preset time period; determining a slope value of a movement path of the garden tool within the preset time period according to the displacement information; and generating a stop control instruction to control the garden tool to stop when the slope value is greater than a preset slope value. The present application can determine whether the garden tool is lifted up by using the displacement information of the garden tool. When the lifting sensor of the garden tool fails, the present application can perform secondary detection on the lifting state of the garden tool, so as to ensure that the garden tool can stop in time after being lifted up, and thus the safety of personnel is ensured.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of garden tool control, and particularly relates to a garden tool off-ground detection method, device, system and lawn mower. BACKGROUND

[0002] The garden tool such as the lawn mower may be lifted by a person in the working process, and the cutting blade group in operation may cause damage to the human body in this case. Therefore, the lawn mower is generally equipped with a lifting sensor. When the lawn mower is lifted by a person, the lifting sensor detects that the lawn mower leaves the ground, and a stop command is triggered to ensure the safety of the personnel. However, in actual application scenarios, the lifting sensor may fail. At this time, the automatic stop function of the lawn mower cannot be triggered after the lawn mower is lifted, and therefore a bottom-up safety protection measure is needed to ensure that the lawn mower can be stopped in time after being lifted. SUMMARY

[0003] In view of the above-mentioned shortcomings of the prior art, the purpose of the present application is to provide a garden tool off-ground detection method, device, system and lawn mower, which can control the garden tool to stop when the garden tool leaves the ground, so as to ensure the safety of the personnel.

[0004] To achieve the above-mentioned purpose and other related purposes, the present application provides a garden tool off-ground detection method, comprising the following steps:

[0005] Obtaining displacement information of the garden tool in a preset time period;

[0006] Determining an off-ground distance of the garden tool in the preset time period according to the displacement information;

[0007] Generating a stop control instruction to control the garden tool to stop when the off-ground distance is greater than a certain threshold.

[0008] In an optional embodiment of the present application, the step of determining the off-ground distance of the garden tool in the preset time period according to the displacement information comprises:

[0009] Determining a slope value of a motion path of the garden tool in the preset time period according to the displacement information.

[0010] In an optional embodiment of the present application, the step of generating a stop control instruction to control the garden tool to stop when the off-ground distance is greater than a certain threshold comprises:

[0011] Generating a stop control instruction to control the garden tool to stop when the preset slope value is greater than a preset slope value.

[0012] In an optional embodiment of the present application, the step of acquiring the displacement information of the garden tool in the preset time period comprises:

[0013] acquiring first position information of the garden tool at a first time;

[0014] acquiring second position information of the garden tool at a second time, the second time being separated from the first time by the preset time period.

[0015] In an optional embodiment of the present application, the step of determining the slope value of the movement path of the garden tool in the preset time period according to the displacement information comprises:

[0016] calculating the slope value of a straight line path between the position of the garden tool at the first time and the position of the garden tool at the second time according to the first position information and the second position information.

[0017] In an optional embodiment of the present application, the first position information is RTK positioning information of the garden tool at the first time, and the second position information is RTK positioning information of the garden tool at the second time.

[0018] In an optional embodiment of the present application, the step of calculating the slope value of a straight line path between the position of the garden tool at the first time and the position of the garden tool at the second time according to the first position information and the second position information comprises:

[0019] determining the horizontal displacement amount of the garden tool between the first time and the second time according to the first position information and the second position information;

[0020] determining the vertical displacement amount of the garden tool between the first time and the second time according to the first position information and the second position information;

[0021] calculating the slope value according to the horizontal displacement amount and the vertical displacement amount.

[0022] In an optional embodiment of the present application, when the slope value is greater than a preset slope value, the step of generating a stop control instruction to control the garden tool to stop comprises:

[0023] when the horizontal displacement amount of the garden tool is less than a preset horizontal displacement amount, and the upward vertical displacement amount of the garden tool is greater than a preset vertical displacement amount, a stop control instruction is generated to control the garden tool to stop.

[0024] To achieve the above object and other related objects, the present application further provides a garden tool off-ground detection device, comprising:

[0025] a data acquisition module configured to acquire displacement information of the garden tool within a preset time period;

[0026] an operation module configured to determine a ground clearance of the garden tool within the preset time period according to the displacement information;

[0027] an execution module configured to generate a shutdown control instruction to control the garden tool to shut down when the ground clearance is greater than a certain threshold.

[0028] To achieve the above object and other related objects, the present application further provides a garden tool control system, comprising

[0029] an RTK positioning module configured to send RTK positioning information of the garden tool;

[0030] a control module in communication connection with the RTK positioning module, configured to receive the RTK positioning information and calculate a displacement trajectory of the garden tool within a unit time, determine a ground clearance of the garden tool according to the displacement trajectory, and control the garden tool to shut down when the ground clearance is greater than a certain threshold.

[0031] In an optional embodiment of the present application, further comprising:

[0032] a wheel speed sensor configured to detect a wheel speed of the garden tool;

[0033] a path planning module configured to plan a walking path of the garden tool;

[0034] an IMU module configured to detect an attitude of the garden tool and calculate a position of the garden tool;

[0035] a storage module configured to store map data of a working area of the garden tool;

[0036] The wheel speed sensor, the path planning module, the IMU module and the storage module are in communication connection with the control module respectively.

[0037] To achieve the above object and other related objects, the present application further provides a mower, comprising

[0038] an RTK positioning module configured to send RTK positioning information of the mower;

[0039] a control module in communication connection with the RTK positioning module, configured to receive the RTK positioning information and calculate a displacement trajectory of the mower within a unit time, determine a ground clearance of the mower according to the displacement trajectory, and control the mower to shut down when the ground clearance is greater than a certain threshold.

[0040] The technical effect of the present application is that the present application can determine whether the garden tool is lifted by using the displacement information of the garden tool, and when the lifting sensor of the garden tool fails, the present application can perform secondary detection on the lifting state of the garden tool, so as to ensure that the garden tool can be stopped in time after being lifted, and thus the safety of the personnel is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 is a principle diagram of an RTK differential positioning method;

[0042] Figure 2 、 Figure 3 is a principle diagram of the garden tool off-ground detection method provided by the embodiment of the present application;

[0043] Figure 4 is a flowchart of the garden tool off-ground detection method provided by the embodiment of the present application;

[0044] Figure 5 is a flowchart of the garden tool position acquisition method provided by the embodiment of the present application;

[0045] Figure 6 is a flowchart of the slope calculation method provided by the embodiment of the present application;

[0046] Figure 7 is a flowchart of the lawn mower safety control method provided by the embodiment of the present application;

[0047] Figure 8 is a functional module block diagram of the garden tool off-ground detection device provided by the embodiment of the present application;

[0048] Figure 9 is a structural block diagram of the garden tool control system provided by the embodiment of the present application. DETAILED DESCRIPTION

[0049] The embodiments of the present application will be described in detail below through specific concrete examples, and those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in the present specification. The present application can also be implemented or applied through other different specific embodiments, and each detail in the present specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0050] It is to be noted that the diagrams provided in the following embodiments only schematically illustrate the basic concepts of the present application, and thus only the components related to the present application are shown in the diagrams, rather than being drawn according to the number, shape and size of the components in actual implementation, the shapes, number and proportion of the components in actual implementation can be arbitrarily changed, and the layout pattern of the components can be more complex.

[0051] Firstly, the principle of the RTK differential positioning method is described. Figure 1 The principle of the RTK differential positioning method is described. The base station stores its own accurate position information, receives satellite positioning information, compares the satellite positioning information with the accurate position information, obtains RTK differential information, and sends the RTK differential information to the lawn mower. The lawn mower also receives satellite positioning information, and the lawn mower corrects the satellite positioning information by receiving the RTK differential information, and finally obtains accurate positioning information. The positioning accuracy of the RTK differential positioning method is high, and the displacement in X, Y and Z directions can be obtained, so the recognition sensitivity for the short stroke motion such as the lifting action of the garden tool is high.

[0052] Based on the RTK differential positioning technology, the embodiment of the present application provides a lawn mower which can determine whether the machine body is lifted by a person through RTK positioning information. It can be understood that the present application is not only suitable for lawn mowers, but also for other types of garden tools such as sweepers and snow blowers.

[0053] Firstly, the principle of the off-ground detection of the present application is described. The lawn mower mainly travels on flat ground, so it can be determined that the lifting action occurs as long as the off-ground distance is greater than a certain threshold value, for example, when the vertical displacement of the garden tool within a predetermined time period is greater than a certain threshold value, it can be determined that the lawn mower is lifted. Further, please refer to Figure 2 As shown in the figure, the lawn mower may also walk on a slope in the normal working state, but it can be understood that the slope that the lawn mower can adapt to is obviously limited, for example, Figure 3 As shown in the figure, when it is detected that the slope of the movement path of the lawn mower is greater than the limit slope that it can adapt to, it is proved that the lawn mower obviously does not rely on its own power to complete this displacement, so the greatest possibility is that the lawn mower is lifted by a person. Based on this, in order to exclude the interference of the lawn mower working on the slope, the present application also designs a method for verifying the slope.

[0054] Please refer to Figure 4 As shown in the figure, a method for detecting the off-ground of a garden tool, comprising the following steps:

[0055] S100: obtaining the displacement information of the garden tool within a predetermined time period.

[0056] Please refer to Figure 5As shown, in one specific embodiment, the displacement information of the garden tool is obtained using the following method:

[0057] S110: Obtain the first position information of the garden tool at the first moment;

[0058] S120: Obtain the second position information of the garden tool at a second moment, wherein the second moment is spaced apart from the first moment by the preset time interval.

[0059] In a preferred embodiment, the first location information is the RTK positioning information of the garden tool at the first moment, and the second location information is the RTK positioning information of the garden tool at the second moment. Since RTK positioning information has high positioning accuracy, and garden tools such as lawnmowers will generate a movement of at least 50cm when they are lifted by hand, RTK positioning information can accurately identify this position change.

[0060] It is understood that, in addition to using RTK positioning information for identification, the displacement information can also be achieved using other high-precision positioning methods. For example, acceleration and angular velocity information collected by the IMU module can be used to predict the displacement amount and direction of the garden tool, or the acceleration and angular velocity information of the IMU module can be fused with RTK differential positioning information to further improve the identification accuracy of the displacement information.

[0061] S200: Based on the displacement information, determine the distance of the garden tool from the ground within the preset time period; in a specific embodiment, the distance from the ground can be verified, for example, by the vertical displacement or by the slope value of the movement path;

[0062] Please see Figure 5 , 6 As shown, in one specific embodiment, the slope value is obtained using the following method:

[0063] S210: Based on the first location information and the second location information, calculate the slope value of the straight path between the position of the garden tool at the first time and the position of the garden tool at the second time.

[0064] Furthermore, step S210 specifically includes the following steps:

[0065] S211: Based on the first position information and the second position information, determine the horizontal displacement of the garden tool between the first time and the second time.

[0066] S212: Based on the first position information and the second position information, determine the vertical displacement of the garden tool at the first time and the second time.

[0067] S213: calculating the slope value according to the horizontal displacement and the vertical displacement.

[0068] It can be understood that the horizontal displacement of the garden tool contains both the displacement in the X direction and the displacement in the Y direction, and when calculating, the displacement in the X direction and the displacement in the Y direction should be synthesized into the total horizontal displacement amount by using a trigonometric function and then participate in the calculation of the slope.

[0069] S300: generating a shutdown control instruction to control the garden tool to shut down when the slope value is greater than a preset slope value.

[0070] In a specific embodiment, the specific process of the step S300 is as follows:

[0071] When the horizontal displacement amount of the garden tool is less than a preset horizontal displacement amount and the vertical displacement amount of the garden tool upwards is greater than a preset vertical displacement amount, a shutdown control instruction is generated to control the garden tool to shut down.

[0072] Please refer to Figure 7 The following will be described in detail in combination with a specific working process of an embodiment of the present application:

[0073] In the normal working process of the mower, the RTK positioning information is detected once every preset time period T to obtain the X, Y and Z coordinates of the mower; when the horizontal position change amounts X' and Y' of adjacent two detections are less than a certain threshold (for example, the total displacement amounts in the X and Y directions are less than 40 cm), and the vertical position change amount Z' increases by more than a certain threshold (for example, the vertical position change amount is greater than the height corresponding to the maximum slope max_i that the mower can adapt to corresponding to the horizontal position change amounts X' and Y'), the control module generates a shutdown instruction to control the mower to stop working, and an alarm is generated, and after the user eliminates the alarm, the mower continues to work.

[0074] Please refer to Figure 8 The present application also provides a garden tool off-ground detection device, which comprises a data acquisition module 10, an operation module 20 and an execution module 30; the data acquisition module 10 is used to acquire the displacement information of the garden tool within a preset time period; the operation module 20 is used to determine the slope value of the movement path of the garden tool within the preset time period according to the displacement information; and the execution module 30 is used to generate a shutdown control instruction to control the garden tool to shut down when the slope value is greater than a preset slope value.

[0075] It should be noted that the garden tool off-ground detection device of the embodiment is a device corresponding to the garden tool off-ground detection method described above, and the function modules in the garden tool off-ground detection device correspond to the corresponding steps in the garden tool off-ground detection method. The garden tool off-ground detection device of the embodiment can be implemented in cooperation with the garden tool off-ground detection method. Accordingly, the related technical details mentioned in the garden tool off-ground detection device of the embodiment can also be applied to the garden tool off-ground detection method described above.

[0076] The above-mentioned function modules can be integrated into one physical entity or physically separated when actually implemented. These modules can all be implemented in the form of software called by a processing element; they can all be implemented in the form of hardware; or some modules can be implemented in the form of software called by a processing element, and some modules can be implemented in the form of hardware. In addition, these modules can be integrated together or implemented independently. The processing element described herein can be an integrated circuit having a signal processing capability. In the implementation process, some or all steps of the above method, or the above function modules can be completed by the integrated logic circuit of hardware or the instructions of software in the processing element.

[0077] Please refer to Figure 9 The application also provides a garden tool control system, comprising an RTK positioning module 1001, a control module 1000, a wheel speed sensor 1002, a path planning module 1003, an IMU module 1004 and a storage module 1005; the RTK positioning module 1001 is used to send the RTK positioning information of the garden tool; the control module 1000 is in communication connection with the RTK positioning module 1001, used to receive the RTK positioning information and calculate the displacement trajectory of the garden tool per unit time, and when the slope value of the displacement trajectory is greater than a preset value, the control module controls the garden tool to stop. The wheel speed sensor 1002 is used to detect the wheel speed of the garden tool; the path planning module 1003 is used to plan the walking path of the garden tool; the IMU module 1004 is used to detect the attitude of the garden tool and calculate the position of the garden tool; the storage module 1005 is used to store the map data of the working area of the garden tool; the wheel speed sensor, the path planning module, the IMU module and the storage module are in communication connection with the control module.

[0078] In summary, the application can determine whether the garden tool is lifted by using the displacement information of the garden tool, and when the lifting sensor of the garden tool fails, the application can perform secondary detection on the lifting state of the garden tool, so as to ensure that the garden tool can stop in time after being lifted, and thus ensure the safety of personnel.

[0079] The above-described embodiments are merely illustrative for the principles of the application and its efficacy, and are not intended to limit the application. Any modification or change to the above-described embodiments can be made by any person skilled in the art without departing from the spirit and scope of the application. Therefore, all equivalent modifications or changes made by those skilled in the art without departing from the spirit and technical ideas disclosed in the application should be covered by the claims of the application.

[0080] In the description of the description herein, many specific details are provided, such as examples of components and / or methods, in order to provide a thorough understanding of embodiments of the present application. It will be apparent, however, to one skilled in the art that the embodiments of the present application can be practiced without one or more of the specific details, or with other devices, systems, components, methods, materials, parts, etc. In other instances, well-known structures, materials, or operations are not shown or described in detail in order to avoid obscuring aspects of embodiments of the present application.

[0081] Reference throughout this specification to "an embodiment", "embodiments" or "certain embodiments" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application and is not necessarily included in all embodiments. Thus, the appearances of the phrase "in one embodiment", "in an embodiment", or "in certain embodiments" in various places throughout this specification are not necessarily referring to the same embodiment. Furthermore, the particular features, structures, or characteristics of any specific embodiment of the application can be combined in any suitable manner in one or more other embodiments. It is understood that other variations and modifications of the applications described and illustrated herein can be made based on the teachings herein, and that such variations and modifications are to be considered as within the spirit and scope of the applications.

[0082] It is also to be understood that one or more of the elements of the drawings shown can also be implemented in a more separated or more integrated manner, or even removed because in certain cases this is not operational or because it can be useful according to a particular application.

[0083] In addition, unless explicitly stated otherwise, any arrows shown in the drawings are merely to illustrate example directions of operation and are not intended to be limiting. Furthermore, unless specifically stated otherwise, the term "or" as used herein is generally intended to mean "and / or", that is, it is intended to include any and all combinations of one or more of the associated listed items. In addition, the term "comprising" as used herein is generally intended to be open-ended, that is, it is intended to mean that the item listed after the term is a list of one or more items, but that other items not listed are also contemplated.

[0084] As used in the description of the description herein and in the claims that follow, "a", "an", and "the" include plural references unless explicitly indicated otherwise. Also, as used in the description of the description herein and in the claims that follow, "in" includes "in" and "on" unless explicitly indicated otherwise.

[0085] The above description of the illustrated embodiments of the application (including what is described in the abstract) is not intended to be exhaustive or to limit the application to the precise forms disclosed. While specific embodiments of, and examples for, the application are described herein for illustrative purposes, various equivalent modifications are possible within the spirit and scope of the application, as those skilled in the relevant art will recognize and appreciate. As indicated, these modifications can be made to the above described embodiments of the application and yet the application will fall within the scope of the application. In some cases, certain features, functions, and / or elements can be combined and / or divided into separate features, functions, and / or elements. In some cases, certain features, functions, and / or elements can be omitted completely without departing from the scope of the application.

[0086] The systems and methods have been described generally herein as facilitating an understanding of the details of the application. Moreover, various specific details have been given in order to provide a thorough understanding. It will be appreciated, however, that one of ordinary skill in the relevant art will recognize and appreciate that embodiments of the application can be practiced without one or more of the specific details, or with other devices, systems, assemblies, methods, components, materials, parts, and / or the like. In other instances, well-known structures, materials, and / or operations have not been shown or described in detail in order to avoid obscuring aspects of embodiments of the application.

[0087] Accordingly, although the application has been described herein in reference to specific embodiments thereof, many modifications, alterations and changes can be suggested to one skilled in the art and it is intended to include all such modifications, alterations and changes in the scope of the present application. Accordingly, the specification and figures are to be regarded in an illustrative manner and representations are to be deemed as abstractions of the principles of the application. The application is not limited to the exact details shown and described and obvious modifications will be apparent to one skilled in the art. Thus, numerous modifications can be made to the specific embodiments described above without departing from the spirit and scope of the application. Therefore, the scope of the application is not to be determined solely by the preferred embodiments, and the scope of the application is to be only limited by the claims.

Claims

1. A method for detecting the ground clearance of garden tools, characterized in that, Includes the following steps: Obtain the displacement information of the garden tool within a preset time period, determined based on at least RTK positioning information of the garden tool; Based on the displacement information, the distance of the garden tool from the ground within the preset time period is determined; When the distance from the ground exceeds a certain threshold, a shutdown control command is generated to stop the garden tool. The step of determining the distance of the garden tool from the ground within the preset time period based on the displacement information includes: determining the slope value of the movement path of the garden tool within the preset time period based on the displacement information; When the distance from the ground exceeds a certain threshold, a stop control command is generated to control the garden tool to stop. The steps include: when the preset slope value exceeds the preset slope value, a stop control command is generated to control the garden tool to stop.

2. The method for detecting the ground clearance of garden tools according to claim 1, characterized in that, The step of obtaining the displacement information of the garden tool within a preset time period includes: Obtain the first position information of the garden tool at the first moment; Obtain the second location information of the garden tool at a second moment, wherein the second moment is spaced apart from the first moment by the preset time interval.

3. The method for detecting the ground clearance of garden tools according to claim 2, characterized in that, The step of determining the slope value of the movement path of the garden tool within the preset time period based on the displacement information includes: Based on the first location information and the second location information, calculate the slope value of the straight path between the position of the garden tool at the first time and the position of the garden tool at the second time.

4. The method for detecting the ground clearance of garden tools according to claim 2, characterized in that, The first location information is the RTK positioning information of the garden tool at the first moment, and the second location information is the RTK positioning information of the garden tool at the second moment.

5. The method for detecting the ground clearance of garden tools according to claim 3, characterized in that, The step of calculating the slope of the straight path between the position of the garden tool at the first time moment and the position of the garden tool at the second time moment based on the first position information and the second position information includes: Based on the first position information and the second position information, determine the horizontal displacement of the garden tool between the first time and the second time. Based on the first position information and the second position information, determine the vertical displacement of the garden tool at the first moment and the second moment. The slope value is calculated based on the horizontal displacement and the vertical displacement.

6. The method for detecting the ground clearance of garden tools according to claim 1, characterized in that, When the slope value is greater than the preset slope value, a stop control command is generated. The steps to control the garden tool to stop include: When the horizontal displacement of the garden tool is less than the preset horizontal displacement and the vertical displacement of the garden tool is greater than the preset vertical displacement, a stop control command is generated to stop the garden tool.

7. A garden tool ground-lift detection device, characterized in that, include: The data acquisition module is used to acquire the displacement information of the garden tool within a preset time period, determined based on at least RTK positioning information of the garden tool. The calculation module is used to determine the distance of the garden tool from the ground within the preset time period based on the displacement information; The execution module is used to generate a shutdown control command when the distance from the ground exceeds a certain threshold, thereby controlling the garden tool to stop.

8. A garden tool control system, characterized in that, include The RTK positioning module is used to send the RTK positioning information of the gardening tools; The control module is communicatively connected to the RTK positioning module, and is used to receive the RTK positioning information, calculate the displacement trajectory of the garden tool per unit time, determine the ground clearance of the garden tool based on the displacement trajectory, and control the garden tool to stop when the ground clearance is greater than a certain threshold.

9. The garden tool control system according to claim 8, characterized in that, Also includes: Wheel speed sensor, used to detect the wheel speed of the garden tool; The path planning module is used to plan the walking paths based on the garden functions; The IMU module is used to detect the posture of the gardening tool and calculate its position. A storage module is used to store map data of the working area of ​​the garden tools; The wheel speed sensor, path planning module, IMU module, and storage module are all communicatively connected to the control module.

10. A lawnmower, characterized in that, include: The RTK positioning module is used to send the RTK positioning information of the lawnmower; The control module is communicatively connected to the RTK positioning module, and is used to receive the RTK positioning information, calculate the displacement trajectory of the lawnmower per unit time, determine the ground clearance of the lawnmower based on the displacement trajectory, and control the lawnmower to stop when the ground clearance is greater than a certain threshold.

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