A lawn mowing method and a lawn mowing system for improving the success rate of a lawn mower getting out of trouble

Abstract

The present invention relates to a mowing method and a mowing system for improving the success rate of a lawn mower getting out of trouble, aiming to solve the problem of the relatively low success rate of the existing lawn mower getting out of trouble. The mowing method for improving the success rate of a lawn mower getting out of trouble provided by the present invention includes the following steps: when the lawn mower is turned on, obtain the initial values of the left-turn penalty value and the right-turn penalty value, and start timing the penalty value decay timer; when the lawn mower touches the boundary line or an obstacle, control the rotation direction and rotation angle of the lawn mower according to the relationship between the left-turn penalty value and the right-turn penalty value and the maximum penalty threshold; update the penalty value in the rotation direction according to the rotation direction of the lawn mower each time; obtain the decay duration recorded by the penalty value decay timer, and decay the left-turn penalty value and the right-turn penalty value according to the relationship between the decay duration and the decay period.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control technology, and in particular, to a mowing method and a mowing system for improving the success rate of a lawn mower getting out of trouble. Background Art

[0002] At present, for an intelligent lawn mower without a navigation and positioning module, its working mode basically adopts random cutting within a specified boundary line range, and the coverage rate of the mowing area is increased by increasing the mowing time.

[0003] During the working process of the lawn mower, it will inevitably encounter the boundary line and collide with obstacles. The lawn mower mainly uses the boundary line signal sensor to sense the information inside and outside the boundary line to judge whether it is near the boundary line, and uses the collision sensor or ultrasonic sensor to sense whether there are obstacles in the traveling direction of the lawn mower. When encountering the boundary line or an obstacle, the lawn mower generally takes the way of turning or turning around to avoid, and finally enables the lawn mower to work normally autonomously inside the boundary line.

[0004] For an intelligent lawn mower without a navigation and positioning module, such as Figure 1 , the lawn mower generally performs cutting in a straight-line track manner within the safe area. When the machine encounters an obstacle or the boundary line, the machine will adjust the direction of the vehicle head to avoid the obstacle or prevent leaving the boundary line. The turning or turning-around action of the machine basically depends on the current encountered obstacle or boundary line signal, lacking consideration of the previous collision objects and boundary line information, which often increases the probability that the machine will get stuck in a local dilemma and cannot get out. As Figure 2 shown, the machine does not consider the information of the previous collision with the obstacle, and only determines the turning direction of the machine based on the boundary line information of the machine, resulting in the machine being brought into a working dead end formed by an obstacle and the boundary line, greatly affecting the cutting efficiency of the machine. If the previous collision information is considered, the machine may choose to turn in the opposite direction when encountering the boundary line for the first time to escape the dilemma. The actual working environment of the intelligent lawn mower is more complex, and adopting a single or fixed turning strategy increases the probability of the machine getting stuck. Summary of the Invention

[0005] In view of the above analysis, the embodiments of the present invention aim to provide a mowing method and a mowing system for improving the success rate of a lawn mower getting out of trouble, so as to solve the problem of the low success rate of the existing lawn mower getting out of trouble.

[0006] On the one hand, the present invention provides a mowing method for improving the success rate of a lawn mower getting out of trouble, including the following steps:

[0007] When the lawn mower is turned on, obtain the initial values of the left-turn penalty value and the right-turn penalty value, and start timing the penalty value decay timer;

[0008] When the lawn mower touches the boundary line or an obstacle, control the rotation direction and rotation angle of the lawn mower according to the relationship between the left-turn penalty value and the right-turn penalty value and the maximum penalty threshold;

[0009] Update the penalty value in the rotation direction according to the rotation direction of the lawn mower each time;

[0010] Obtain the decay duration recorded by the penalty value decay timer, and decay the left-turn penalty value and the right-turn penalty value according to the relationship between the decay duration and the decay period.

[0011] Further, when the lawn mower touches the boundary line or an obstacle, if both the left-turn penalty value and the right-turn penalty value are less than the maximum penalty threshold, the lawn mower rotates in the direction with the smaller penalty value at an angle less than the angle threshold; if one of the left-turn penalty value and the right-turn penalty value is greater than or equal to the maximum penalty threshold, the lawn mower rotates in the direction with the smaller penalty value at an angle greater than or equal to the angle threshold.

[0012] Further, if the rotation angle of the lawn mower is greater than or equal to the angle threshold in a certain rotation, decay the left-turn penalty value and the right-turn penalty value after updating the penalty value.

[0013] Further, when the lawn mower touches the boundary line or an obstacle, control the rotation direction and rotation angle of the lawn mower according to the relationship between the left-turn penalty value and the right-turn penalty value and the maximum penalty threshold and the minimum penalty threshold.

[0014] Further, when the lawn mower touches the boundary line or an obstacle:

[0015] If both the left-turn penalty value and the right-turn penalty value are less than or equal to the minimum penalty threshold, if the lawn mower touches the boundary line, the lawn mower rotates a first preset angle to the side where the left boundary line sensor or the right boundary line sensor exits the boundary line later; if the lawn mower touches an obstacle, the lawn mower rotates a second preset angle in the default direction;

[0016] If one of the left-turn penalty value and the right-turn penalty value is greater than or equal to the maximum penalty threshold, the lawn mower rotates a third preset angle in the direction with the smaller penalty value;

[0017] If one of the left-turn penalty value and the right-turn penalty value is between the minimum penalty threshold and the maximum penalty threshold, and the other is less than the maximum penalty threshold, the lawn mower rotates a second preset angle in the direction with the smaller penalty value;

[0018] If the rotation angle of the lawn mower is greater than or equal to the angle threshold in a certain rotation, decay the left-turn penalty value and the right-turn penalty value after updating the penalty value;

[0019] The first preset angle < the third preset angle, the second preset angle < the third preset angle, the third preset angle ≥ the angle threshold, the minimum penalty threshold < the maximum penalty threshold;

[0020] Preferably, 90° ≤ the first preset angle ≤ 130°, 35° ≤ the second preset angle ≤ 90°, and the third preset angle = 180° ± 10°.

[0021] Further, when the lawn mower turns due to touching the boundary line, if it turns left, the left-turn penalty value is added to the boundary-line penalty value, and if it turns right, the right-turn penalty value is added to the boundary-line penalty value;

[0022] When the lawn mower turns due to touching an obstacle, if it turns left, the left-turn penalty value is added to the obstacle penalty value, and if it turns right, the turning penalty value is added to the obstacle penalty value;

[0023] Preferably, the obstacle penalty value > the boundary-line penalty value;

[0024] Preferably, the obstacle penalty value is 1.1 to 1.5 times the boundary-line penalty value.

[0025] Further, the left-turn penalty value and the right-turn penalty value are attenuated by multiplying by an attenuation rate, which is a decimal between 0 and 1.

[0026] Further, when the ultrasonic sensor of the lawn mower detects an obstacle, if the ultrasonic sensor detects that the obstacle is closer to the left side of the lawn mower within a continuous preset time period, the left-turn penalty value is added to the ultrasonic penalty value;

[0027] If the ultrasonic sensor detects that the obstacle is closer to the right side of the lawn mower within a continuous preset time period, the right-turn penalty value is added to the ultrasonic penalty value;

[0028] Preferably, the ultrasonic penalty value > the boundary-line penalty value, and the ultrasonic penalty value ≈ the obstacle penalty value;

[0029] Preferably, the ultrasonic penalty value is 1.1 to 1.5 times the boundary-line penalty value.

[0030] Further, obtain the attenuation duration recorded by the penalty value attenuation timer:

[0031] When the attenuation duration is an integer multiple of the attenuation period, attenuate the left-turn penalty value and the right-turn penalty value; or

[0032] When the attenuation duration accumulates to the attenuation period, while attenuating the left-turn penalty value and the right-turn penalty value, reset the attenuation duration to zero and start timing again.

[0033] On the other hand, the present invention provides a mowing system capable of implementing the above-mentioned mowing method for improving the success rate of the mower getting out of trouble. The mowing system includes:

[0034] A mower, provided with a left boundary line sensor, a right boundary line sensor, an ultrasonic sensor, a penalty value decay timer and a controller. The controller is configured to at least be able to receive signals generated by the left boundary line sensor, the right boundary line sensor and the ultrasonic sensor, record the decay duration of the penalty value decay timer, and control the operation of the mower through the mowing method;

[0035] A boundary line, which cooperates with the area to be mowed, and the boundary line defines the mowing area of the mower;

[0036] Preferably, it further includes a base station, provided with a docking part that cooperates with the mower, and the docking part is configured to at least be able to supply electric energy to the mower.

[0037] In the present invention, the above-mentioned technical solutions can also be combined with each other to achieve more preferred combination schemes. Other features and advantages of the present invention will be described in the subsequent description, and some advantages can be obvious from the description, or can be understood by implementing the present invention. The objectives and other advantages of the present invention can be achieved and obtained through the content specifically pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The drawings are only for the purpose of showing specific embodiments, and are not considered as a limitation to the present invention. Throughout the drawings, the same reference signs represent the same components.

[0039] Figure 1 It is a schematic diagram of the walking of an intelligent mower without a navigation and positioning module in the safe area in the background art;

[0040] Figure 2 It is a schematic diagram of an intelligent mower without a navigation and positioning module getting into trouble in the background art;

[0041] Figure 3 It is a schematic diagram of the mower getting out of trouble in the example in the specific embodiment;

[0042] Figure 4 It is a schematic diagram of the mowing system in the specific embodiment.

[0043] Reference Signs:

[0044] 1 - Mower; 11 - Left boundary line sensor; 12 - Right boundary line sensor; 2 - Boundary line; 3 - Obstacle; 4 - Base station. SPECIFIC EMBODIMENTS

[0045] The preferred embodiments of the present invention will be specifically described below with reference to the accompanying drawings. The accompanying drawings form a part of the present invention and are used together with the embodiments of the present invention to explain the principles of the present invention, rather than to limit the scope of the present invention.

[0046] In the description of the embodiments of the present invention, it should be noted that unless otherwise clearly specified and limited, the term "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meaning of the above terms in the present invention can be understood according to specific circumstances.

[0047] The terms "top", "bottom", "above...", "below", and "on..." used throughout the description are relative positions with respect to the components of the device, such as the relative positions of the top and bottom substrates inside the device. It can be understood that the device is multifunctional and is independent of its orientation in space.

[0048] The normal working surface of the present invention can be a plane or a curved surface, which can be inclined or horizontal. For the convenience of description, the embodiments of the present invention are placed on a horizontal plane and used on the horizontal plane, and "high and low" and "up and down" are defined accordingly.

[0049] Embodiment 1

[0050] This embodiment discloses a mowing method for improving the success rate of a lawn mower getting out of trouble, as Figures 3 to 4 shown, including the following steps:

[0051] S100: When the lawn mower 1 is turned on, obtain the initial values of the left-turn penalty value and the right-turn penalty value, and start timing the penalty value decay timer;

[0052] S200: When the lawn mower 1 touches the boundary line 2 or the obstacle 3, control the rotation direction and rotation angle of the lawn mower according to the relationship between the left-turn penalty value and the right-turn penalty value and the maximum penalty threshold;

[0053] S300: Update the penalty value (this penalty value is the left-turn penalty value or the right-turn penalty value) in the rotation direction according to the rotation direction of the lawn mower 1 each time, that is, if the lawn mower 1 turns left, update the left-turn penalty value, and if the lawn mower 1 turns right, update the right-turn penalty value;

[0054] S400: Obtain the decay duration recorded by the penalty value decay timer, and decay the left-turn penalty value and the right-turn penalty value according to the relationship between the decay duration and the decay period.

[0055] It should be noted that the above-mentioned lawn mower 1 is an intelligent lawn mower without a navigation module. The left-turn penalty value and the right-turn penalty value are parameters related to factors such as the rotation direction and rotation angle of the lawn mower 1, and are not fixed values, that is, the left-turn penalty value and the right-turn penalty value are parameters updated according to the rotation direction and rotation angle of the lawn mower 1. The labels "S100", "S200", "S300", "S400" of the above steps and the labels "S500", "S600" of the following steps do not represent the order of the steps, but are only identifiers for distinguishing different steps.

[0056] For the lawn mowing method of the present invention to improve the success rate of the lawn mower getting out of trouble, on the one hand, by considering the past contact situations of the lawn mower with obstacles and boundary lines, specifically quantifying the past contact situations through the update of the left-turn penalty value and the right-turn penalty value, to more reasonably control the rotation of the lawn mower (the rotation includes the rotation direction and the rotation angle), effectively reducing the probability of the lawn mower getting into trouble, and even being able to completely avoid the possibility of the lawn mower getting into trouble; on the other hand, the influence of the past contact of the lawn mower with obstacles and boundary lines on the rotation of the existing lawn mower decays continuously over time, making the influence of the distant contact on the rotation of the existing lawn mower almost disappear, preventing the generation of ineffective actions, and thus improving the mowing efficiency and use effect of the lawn mower.

[0057] A specific implementation manner of the step S200 is that when the lawn mower 1 touches the boundary line 2 or the obstacle 3:

[0058] If both the left-turn penalty value and the right-turn penalty value are less than the maximum penalty threshold, the lawn mower rotates in the direction with the smaller penalty value by an angle less than the angle threshold (that is, if the left-turn penalty value ≤ the right-turn penalty value, the lawn mower 1 rotates to the left by an angle less than the angle threshold; if the left-turn penalty value > the right-turn penalty value, the lawn mower 1 rotates to the right by an angle less than the angle threshold);

[0059] If one of the left-turn penalty value and the right-turn penalty value is greater than or equal to the maximum penalty threshold, the lawn mower rotates in the direction with the smaller penalty value by an angle greater than or equal to the angle threshold (that is, if the left-turn penalty value ≤ the right-turn penalty value, the lawn mower 1 rotates to the left by an angle greater than or equal to the angle threshold; if the left-turn penalty value > the right-turn penalty value, the lawn mower 1 rotates to the right by an angle greater than or equal to the angle threshold).

[0060] It should be noted that when the lawn mower 1 touches the boundary line 2, the rotation angle selected by the lawn mower 1 in any of the above situations should ensure that the lawn mower 1 can return to the safe area defined by the boundary line 2 for mowing.

[0061] With such a setting, when one of the left-turn penalty value and the right-turn penalty value is greater than or equal to the maximum penalty threshold, the lawn mower 1 may be in a state of frequently touching the boundary line 1 and the obstacle 3, which causes at least one of the left-turn penalty value and the right-turn penalty value to accumulate to above the maximum penalty threshold (including the maximum penalty value). It is urgent to make a large-angle turn to get out of trouble. In order to enable the lawn mower to get out of trouble in time and avoid the lawn mower getting into trouble, manual intervention must be carried out to continue normal work, so as to improve the intelligent effect of the lawn mower.

[0062] The lawn mowing method for improving the success rate of the lawn mower getting out of trouble further includes the following steps:

[0063] S500: If the rotation angle of the lawn mower 1 in a certain rotation is greater than or equal to the angle threshold, after updating the penalty value, the left-turn penalty value and the right-turn penalty value are attenuated simultaneously.

[0064] With such a setting, on the one hand, it avoids the infinite accumulation of the left-turn penalty value and the right-turn penalty value. On the other hand, when the lawn mower 1 makes a large-angle turn with an angle greater than or equal to the angle threshold, it means that it is very likely that the lawn mower can get out of trouble in this rotation and does not need to make continuous large-angle turns, reducing the time wasted by the lawn mower due to continuous large turns and the machine wear, so as to improve the mowing efficiency and the use effect of the lawn mower.

[0065] A preferred implementation manner of step S200 is that when the lawn mower 1 touches the boundary line 2 or the obstacle 3, the rotation direction and the rotation angle of the lawn mower are controlled according to the relationship between the left-turn penalty value and the right-turn penalty value and the maximum penalty threshold and the minimum penalty threshold. Specifically, when the lawn mower 1 touches the boundary line 2 or the obstacle 3:

[0066] If both the left-turn penalty value and the right-turn penalty value are less than or equal to the minimum penalty threshold, when the lawn mower 1 touches the boundary line 2, the lawn mower 1 rotates by a first preset angle towards the side where the left boundary line sensor 11 and the right boundary line sensor 12 cross the boundary line later (that is, if the left boundary line sensor 11 of the lawn mower 1 crosses the boundary line first, the lawn mower rotates to the right by the first preset angle, otherwise the lawn mower rotates to the left by the first preset angle, which means if the right boundary line sensor 12 of the lawn mower 1 crosses the boundary line first, the lawn mower rotates to the left by the first preset angle. It should be noted that if the left boundary line sensor 11 and the right boundary line sensor 12 cross the boundary line 2 simultaneously, the lawn mower can choose to rotate to the left or right by the first preset angle. At this time, it can be randomly selected by the lawn mower itself, or a default direction can be set. Preferably, when encountering the situation of crossing the boundary line simultaneously, a default direction can be fixed, and this default direction can be set by the factory of the lawn mower or set by the user of the lawn mower); if the lawn mower touches an obstacle, the lawn mower rotates by a second preset angle towards the default direction (the default direction can be to the left or right, which is consistent with the above default direction setting, that is, it can be set by the factory of the lawn mower or set by the user of the lawn mower).

[0067] If one of the left-turn penalty value and the right-turn penalty value is greater than or equal to the maximum penalty threshold, the lawn mower rotates by a third preset angle towards the direction with the smaller penalty value (that is, if the left-turn penalty value is less than or equal to the right-turn penalty value, the lawn mower 1 rotates to the left by the third preset angle, otherwise the lawn mower 1 rotates to the right by the third preset angle, which means if the left-turn penalty value is greater than the right-turn penalty value, the lawn mower 1 rotates to the right by the third preset angle).

[0068] If the left-turn penalty value and the right-turn penalty value are in a situation other than both being less than or equal to the minimum penalty threshold and one being greater than or equal to the maximum penalty threshold, that is, one of the left-turn penalty value and the right-turn penalty value is between the minimum penalty threshold and the maximum penalty threshold (the range does not include the minimum penalty threshold and the maximum penalty threshold) and the other is less than the maximum penalty threshold, the lawn mower rotates by a second preset angle towards the direction with the smaller penalty value (that is, if the left-turn penalty value is less than or equal to the right-turn penalty value, the lawn mower rotates to the left by the second preset angle, otherwise the lawn mower 1 rotates to the right by the second preset angle, which means if the left-turn penalty value is greater than or equal to the right-turn penalty value, the lawn mower 1 rotates to the right by the second preset angle).

[0069] The first preset angle < the third preset angle, the second preset angle < the third preset angle, the third preset angle ≥ the angle threshold, the minimum penalty threshold < the maximum penalty threshold.

[0070] By setting a minimum penalty threshold, on the one hand, the lawn mower 1 can be rotated to a safe area in the optimal direction according to the angle between the lawn mower and the tangent of the boundary line, thereby improving the mowing efficiency and use effect of the lawn mower 1; on the other hand, it can eliminate the interference of long-term contact on the existing actions of the lawn mower, improve the effectiveness of the actions of the lawn mower, and improve the efficiency of the lawn mower in getting out of trouble, that is, get out of trouble faster.

[0071] In one implementation of step 300, when the lawn mower 1 turns due to touching the boundary line 2, if it turns left, the penalty value of left turn is added to the boundary line penalty value, and if it turns right, the penalty value of right turn is added to the boundary line penalty value;

[0072] When the lawn mower 1 turns due to hitting the obstacle 3, if it turns left, the left turn penalty value is added to the obstacle penalty value, and if it turns right, the turnover penalty value is added to the obstacle penalty value.

[0073] Preferably, the obstacle penalty value is greater than the boundary line penalty value. Further, the obstacle penalty value is 1.1 to 1.5 times the boundary line penalty value.

[0074] One implementation of step S400 is to obtain the decay time recorded by the penalty value decay timer, and when the decay time is an integer multiple of the decay period, the left turn penalty value and the right turn penalty value are decayed. Another implementation of step S400 is to obtain the decay time recorded by the penalty value decay timer, and when the decay time accumulates to the decay period (i.e., the decay time = the decay period), the left turn penalty value and the right turn penalty value are decayed, and the decay time is reset to zero and then restarted (i.e., the penalty value decay timer is refreshed to zero and the timing is restarted).

[0075] In the steps S400 and S500, the left turn penalty value and the right turn penalty value are decayed by multiplying by a decay rate, and the decay rate is a decimal between 0 and 1. It should be noted that in the present invention, the left turn penalty value and the right turn penalty value are always decayed simultaneously.

[0076] Preferably, the left turn penalty value and the right turn penalty value are 0. In the following, leftPunishValue may represent the left turn penalty value, and rightPunishValue may represent the right turn penalty value. When the lawn mower is turned on, leftPunishValue=0, rightPunishValue=0. Of course, in practical applications, the initial value may also be other values, not limited to zero.

[0077] The following can use maxValue to represent the maximum punishment threshold, minValue to represent the minimum punishment threshold, boundaryPunishValue to represent the boundary line punishment value, obstaclePunishValue to represent the obstacle punishment value, and turnAroundRate to represent the attenuation rate.

[0078] An implementation manner of the present invention when the lawn mower touches the boundary line. When leftPunishValue ≤ minValue and rightPunishValue ≤ minValue, if the left boundary line sensor 11 exits the boundary line first, the lawn mower 1 rotates to the right by a first preset angle, otherwise the lawn mower 1 rotates to the left by a first preset angle;

[0079] When leftPunishValue ≥ maxValue or rightPunishValue ≥ maxValue, if leftPunishValue ≤ rightPunishValue, the lawn mower 1 rotates to the left by a third preset angle, otherwise the lawn mower rotates to the right by a third preset angle;

[0080] When minValue < leftPunishValue < maxValue (i.e., leftPunishValue ∈ (minValue, maxValue)) and rightPunishValue < maxValue, or minValue < rightPunishValue < maxValue (i.e., rightPunishValue ∈ (minValue, maxValue)) and leftPunishValue < maxValue, if leftPunishValue ≤ rightPunishValue, the lawn mower rotates to the left by a second preset angle, otherwise the lawn mower rotates to the right by a second preset angle;

[0081] Meanwhile, if the lawn mower turns left, boundaryPunishValue is added to leftPunishValue; if the lawn mower turns right, boundaryPunishValue is added to rightPunishValue. When the lawn mower turns at the third preset angle, after leftPunishValue or rightPunishValue is updated, leftPunishValue and rightPunishValue are multiplied by turnAroundRate. When the decay duration is an integer multiple of the decay period, leftPunishValue and rightPunishValue are multiplied by turnAroundRate.

[0082] An implementation manner of the present invention when the lawn mower touches an obstacle. When leftPunishValue ≤ minValue and rightPunishValue ≤ minValue, the lawn mower turns the second preset angle in the default direction.

[0083] When leftPunishValue ≥ maxValue or rightPunishValue ≥ maxValue, if leftPunishValue ≤ rightPunishValue, the lawn mower 1 turns left by the third preset angle; otherwise, the lawn mower 1 turns right by the third preset angle.

[0084] When minValue < leftPunishValue < maxValue (i.e., leftPunishValue ∈ (minValue, maxValue)) and rightPunishValue < maxValue, or minValue < rightPunishValue < maxValue (i.e., rightPunishValue ∈ (minValue, maxValue)) and leftPunishValue < maxValue, if leftPunishValue ≤ rightPunishValue, the lawn mower turns left by the second preset angle; otherwise, the lawn mower turns right by the second preset angle.

[0085] Meanwhile, if the lawn mower turns left, leftPunishValue is added with obstaclePunishValue; if the lawn mower turns right, rightPunishValue is added with obstaclePunishValue; when the lawn mower turns at a third preset angle, after leftPunishValue or rightPunishValue is updated, leftPunishValue and rightPunishValue are multiplied by turnAroundRate; when the decay duration is an integer multiple of the decay period, leftPunishValue and rightPunishValue are multiplied by turnAroundRate.

[0086] The lawn mowing method for improving the success rate of the lawn mower getting out of trouble further includes the following steps:

[0087] S600: When the ultrasonic sensor of the lawn mower 1 detects an obstacle 3, if the ultrasonic sensor detects that the obstacle is closer to the left side of the lawn mower within a continuous preset duration, the left turn penalty value is added with the ultrasonic penalty value (which can be represented by usPunishValue);

[0088] If the ultrasonic sensor detects that the obstacle is closer to the right side of the lawn mower within a continuous preset duration, the right turn penalty value is added with the ultrasonic penalty value.

[0089] With such a setting, the orientation of the obstacle can be predicted in advance, and the penalty value in that orientation is accumulated according to the identified orientation, improving the efficiency of the lawn mower getting out of trouble. The setting of the continuous preset duration, on the one hand, is to avoid the influence of unimportant obstacles (obstacles that do not hinder the progress of the lawn mower and are small in size and can be straddled by the lawn mower) on the lawn mower, and on the other hand, to prevent the influence caused by the instability of the lawn mower due to jitter.

[0090] Preferably, the ultrasonic penalty value > the boundary line penalty value, the ultrasonic penalty value ≈ the obstacle penalty value (that is, the ultrasonic penalty value is approximately equal to the obstacle penalty value). Further, the ultrasonic penalty value is 1.1 - 1.5 times the boundary line penalty value.

[0091] The above maximum penalty threshold, minimum penalty threshold, angle threshold (exemplarily 160°), boundary line penalty value, obstacle penalty value, ultrasonic penalty value, attenuation rate (a decimal between 0 and 1, exemplarily, 0.8 ≤ attenuation rate ≤ 0.95), and attenuation period are empirical values, which are obtained through parameter tuning and testing. They are fixed parameters that cannot be adjusted by the lawn mower and are set according to the application scenario and function of the lawn mower at the time of factory shipment. The above first preset angle, second preset angle, and third preset angle are empirical values. Preferably, 90° ≤ first preset angle ≤ 130°, 35° ≤ second preset angle ≤ 90°, and the third preset angle is around 180° (third preset angle = 180° ± 10°). The three preset angles can always be a fixed angle within these ranges or a random angle within these ranges.

[0092] Before the lawn mower starts, the following steps are also included:

[0093] S001: Deploy the boundary line and connect to the charging dock so that it can emit boundary line signals;

[0094] S002: Calibrate the lawn mower to check whether the left boundary line sensor 11 and the right boundary line sensor 12 on it can normally receive boundary line signals, and whether the ultrasonic sensor and the penalty value attenuation timer can work properly.

[0095]

Example

[0096] The initial values of the left turn penalty value and the right turn penalty value are both 0; the attenuation period is 2 s, the attenuation rate is 0.8, the minimum penalty threshold is 5, the maximum penalty threshold is 80, the obstacle penalty value is 40, the boundary line penalty value is 30, and the default direction is to turn right; 90° ≤ first preset angle ≤ 130°, 35° ≤ second preset angle ≤ 90°, third preset angle = 180° ± 10°, and the three preset angles are randomly selected from within these ranges.

[0097] Step 1: Assume that the lawn mower starts from point ① and reaches the collision point ② after 2 s. At this time, leftPunishValue = 0, rightPunishValue = 0, both are less than the minimum penalty threshold of 5, so it rotates in the default direction, that is, turns right by 89° (at this time, the second preset angle = 89°), and at the same time updates the rightPunishValue value, that is, rightPunishValue = 0 + 40 = 40.

[0098] Step 2: The lawn mower continues to move forward from point ② and arrives at point ③ on the boundary line after 2 seconds. During this process, the penalty value is decayed once, that is, leftPunishValue=0, rightPunishValue=40*0.8=32. Neither leftPunishValue nor rightPunishValue is greater than the maximum penalty threshold, and neither is less than the minimum threshold. Therefore, leftPunishValue <rightPunishValue,割草机向左转动60°(此时第二预设角度=60°),同时更新leftPunishValue值,即leftPunishValue=0+30=30。

[0099] Step 3: The lawn mower continues to move forward from point ③ and reaches the collision point ④ after 4s. At this time, after two attenuation cycles, leftPunishValue=30*0.8*0.8=19.2, rightPunishValue=32*0.8*0.8=20.48. Neither leftPunishValue nor rightPunishValue is greater than the maximum penalty threshold, and neither is less than the minimum threshold. Therefore, leftPunishValue <rightPunishValue,割草机向左转动90°(此时第二预设角度=90°),同时更新leftPunishValue值,即leftPunishValue=0+30=30。

[0100] Step 4: The lawn mower continues to move from point ④ to point ⑤, and then completes the Figure 3 Escape operation of medium-rectangular obstacles.

[0101] Embodiment 2

[0102] This embodiment discloses a mowing system, which can implement the mowing method for improving the success rate of the mower getting out of trouble as described in the first embodiment above, such as Figure 4 As shown, the mowing system comprises:

[0103] A lawn mower 1 is provided with a left boundary line sensor 11, a right boundary line sensor 12, an ultrasonic sensor, a penalty value decay timer and a controller, wherein the controller is configured to at least receive signals generated by the left boundary line sensor 11, the right boundary line sensor 12 and the ultrasonic sensor, record the decay time of the penalty value decay timer and control the operation of the lawn mower through the mowing method;

[0104] A boundary line 2, which cooperates with the area to be mowed, and defines a safe area for the mower 1;

[0105] Base station 4 is provided with a docking part that cooperates with the lawn mower, and the docking part is configured to be able to provide electrical energy for the lawn mower at least.

[0106] The controller at least includes a storage module, an operation module, and a communication module. The storage module stores parameters such as a maximum penalty threshold, a minimum penalty threshold, an angle threshold, a boundary line penalty value, an obstacle penalty value, an ultrasonic penalty value, an attenuation rate, an attenuation period, a first preset angle, a second preset angle, a third preset angle, and an initial value. The operation module is connected to the storage module and can retrieve the parameters on the storage module. The operation module is at least configured to be able to run the lawn mowing method for improving the success rate of the lawn mower getting out of trouble described in the first embodiment above. The communication module is configured to be able to wirelessly connect to a remote terminal device (including intelligent terminals such as a computer and a mobile phone) so that the user can remotely and real-time view the operation status of the lawn mower through the remote terminal device.

[0107] The boundary line 2 is energized to generate a pulse electromagnetic signal with a certain frequency. And with the boundary line as the boundary, this pulse signal has two opposite polarities. Generally, it is defined that the signal inside the boundary line is a positive polarity signal, and the signal outside the boundary line is a negative polarity signal. That is, it is equivalent to forming an electronic fence along the edge of the working area (i.e., the area to be mowed) of the lawn mower. Exactly on both sides of the fence (i.e., the boundary line), the signals have opposite positive and negative polarities.

[0108] On both sides of the front end of the lawn mower 1, a left boundary line sensor 11 and a right boundary line sensor 12 are respectively provided to receive the electromagnetic signals emitted by the boundary line. The controller monitors in real time whether the lawn mower touches the boundary line through the left boundary line sensor 11 and the right boundary line sensor 12.

[0109] The shown lawn mower 1 further includes a driving walking platform, a tool head, a power supply, etc. The driving walking platform is used to drive the lawn mower 1 to walk within a safe area. The driving walking platform is electrically connected to the controller, and the controller controls the walking and rotation processes of the lawn mower 1 through the driving walking platform. The tool head is at least configured to be able to be used for mowing grass. The power supply provides electrical energy for the operation of the lawn mower and can be charged at the docking part.

[0110] Preferably, the base station 4 is located inside the boundary line, or at least the docking part is located inside the boundary line 2.

[0111] Those skilled in the art can understand that all or part of the processes of implementing the method in the above embodiment can be completed by instructing relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. Among them, the computer-readable storage medium is a disk, an optical disc, a read-only memory, or a random access memory, etc.

[0112] The above are only the preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A lawn mowing method for improving the success rate of the lawn mower getting out of trouble, characterized in that, It includes the following steps: When the lawn mower is turned on, obtain the initial values of the left-turn penalty value and the right-turn penalty value, and start timing the penalty value decay timer; When the lawn mower touches the boundary line or an obstacle, control the rotation direction and rotation angle of the lawn mower according to the relationship between the left-turn penalty value and the right-turn penalty value and the maximum penalty threshold; Update the penalty value in the rotation direction according to the rotation direction of the lawn mower each time; Obtain the decay duration recorded by the penalty value decay timer, and decay the left-turn penalty value and the right-turn penalty value according to the relationship between the decay duration and the decay period; 2. The mowing method according to claim 1, characterized in that, When the lawn mower touches the boundary line or an obstacle, if both the left-turn penalty value and the right-turn penalty value are less than the maximum penalty threshold, the lawn mower rotates in the direction with the smaller penalty value at an angle less than the angle threshold; if one of the left-turn penalty value and the right-turn penalty value is greater than or equal to the maximum penalty threshold, the lawn mower rotates in the direction with the smaller penalty value at an angle greater than or equal to the angle threshold; 3. The mowing method according to claim 2, characterized in that, If the rotation angle of the lawn mower is greater than or equal to the angle threshold in a certain rotation, decay the left-turn penalty value and the right-turn penalty value after updating the penalty value; 4. The mowing method according to claim 1, characterized in that, When the lawn mower touches the boundary line or an obstacle, control the rotation direction and rotation angle of the lawn mower according to the relationship between the left-turn penalty value and the right-turn penalty value and the maximum penalty threshold and the minimum penalty threshold; 5. The mowing method according to claim 4, characterized in that, When the lawn mower touches the boundary line or an obstacle: If both the left-turn penalty value and the right-turn penalty value are less than or equal to the minimum penalty threshold, if the lawn mower touches the boundary line, the lawn mower rotates a first preset angle to the side where the left boundary line sensor or the right boundary line sensor exits the boundary line later; if the lawn mower touches an obstacle, the lawn mower rotates a second preset angle in the default direction; If one of the left-turn penalty value and the right-turn penalty value is greater than or equal to the maximum penalty threshold, the lawn mower rotates a third preset angle in the direction with the smaller penalty value; If one of the left-turn penalty value and the right-turn penalty value is between the minimum penalty threshold and the maximum penalty threshold, and the other is less than the maximum penalty threshold, the lawn mower rotates a second preset angle in the direction with the smaller penalty value; If the rotation angle of the lawn mower is greater than or equal to the angle threshold in a certain rotation, decay the left-turn penalty value and the right-turn penalty value after updating the penalty value; The first preset angle < the third preset angle, the second preset angle < the third preset angle, the third preset angle ≥ the angle threshold, the minimum penalty threshold < the maximum penalty threshold; Preferably, 90° ≤ the first preset angle ≤ 130°, 35° ≤ the second preset angle ≤ 90°, the third preset angle = 180° ± 10°; 6. The mowing method according to claim 1, wherein When the lawn mower turns due to touching the boundary line, if it turns left, add the boundary line penalty value to the left-turn penalty value, and if it turns right, add the boundary line penalty value to the right-turn penalty value; When the lawn mower turns due to touching an obstacle, if it turns left, add the obstacle penalty value to the left-turn penalty value, and if it turns right, add the obstacle penalty value to the right-turn penalty value; Preferably, the obstacle penalty value > the boundary line penalty value; Preferably, the obstacle penalty value is 1.1 to 1.5 times the boundary line penalty value.

7. The mowing method according to any one of claims 1 to 6, characterized in that The left turn penalty value and the right turn penalty value are attenuated by multiplying by the attenuation rate, which is a decimal number between 0 and 1.

8. The mowing method according to claim 1, characterized in that, When the ultrasonic sensor of the lawn mower detects an obstacle, if the ultrasonic sensor detects that the obstacle is closer to the left side of the lawn mower within a continuous preset time period, the ultrasonic penalty value is added to the left turn penalty value; If the ultrasonic sensor detects that the obstacle is closer to the right side of the lawn mower within a continuous preset time period, the ultrasonic penalty value is added to the right turn penalty value; Preferably, the ultrasonic penalty value > the boundary line penalty value, and the ultrasonic penalty value ≈ the obstacle penalty value; Preferably, the ultrasonic penalty value is 1.1 to 1.5 times the boundary line penalty value.

9. The mowing method according to claim 1, characterized in that, Obtain the attenuation duration recorded by the penalty value attenuation timer: When the attenuation duration is an integer multiple of the attenuation period, the left turn penalty value and the right turn penalty value are attenuated; Or When the attenuation duration accumulates to the attenuation period, while attenuating the left turn penalty value and the right turn penalty value, the attenuation duration is reset to zero and re-timed.

10. A mowing system, characterized in that, It is possible to implement the lawn mowing method according to any one of claims 1 to 9, and the lawn mowing system includes: A lawn mower, provided with a left boundary line sensor, a right boundary line sensor, an ultrasonic sensor, a penalty value attenuation timer, and a controller, the controller being configured to at least be able to receive signals generated by the left boundary line sensor, the right boundary line sensor, and the ultrasonic sensor, record the attenuation duration of the penalty value attenuation timer, and control the operation of the lawn mower through the lawn mowing method; A boundary line, which cooperates with the area to be mowed, and the boundary line defines the mowing area of the lawn mower; Preferably, it further includes a base station, provided with a docking part that cooperates with the lawn mower, and the docking part is configured to at least be able to supply electric energy to the lawn mower.

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