Intelligent remote control device for mowing equipment and control method thereof

Abstract

The present invention discloses an intelligent remote control device for mowing equipment and a control method thereof, comprising a touch measurement unit, an inertial measurement unit, a control unit, a main control unit, a wireless communication unit, and a power supply circuit, wherein: the touch measurement unit is located on the outer surface of the remote control device; the inertial measurement unit is located inside the remote control device and is used to detect the posture parameters of the remote control device; the control unit is used to send instructions for changing the motion state of the self-propelled device; the main control unit is respectively connected to the touch measurement unit, the inertial measurement unit, the control unit, and the wireless communication unit, and is used to detect the signal strength of the inertial measurement unit in real time, and to issue instructions to the control unit to control the walking of the self-propelled device according to the signal strength; the wireless communication unit is used for communication between the intelligent remote control device and the self-propelled device; and the power supply circuit is used to provide power. The present invention can protect the safety of the self-propelled device and the user.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent equipment, and in particular relates to an intelligent remote control device for lawn mowing equipment and a control method thereof. Background Art

[0002] With the improvement of living standards and the application of intelligent technology, people's demand for outdoor lawn care has greatly increased. For large and complex lawn sites, such as uneven lawns and field edges with many low obstacles, people will use wireless remote control devices to remotely operate large self-propelled equipment, such as lawn mowers. However, these self-propelled equipment has high power and high speed. Once the user's handheld wireless remote control device is misoperated or dropped, it is easy to cause unnecessary operations and create dangers. Summary of the invention

[0003] In view of the problem that unnecessary operations occur in the remote control device during the remote control of the lawn mowing equipment, causing safety risks, the purpose of the present invention is to provide an intelligent remote control device for the lawn mowing equipment and a control method thereof.

[0004] To achieve the above object, the present invention adopts the following technical solution:

[0005] An intelligent remote control device for mowing equipment includes a touch measurement unit, an inertial measurement unit, a control unit, a main control unit, a wireless communication unit, and a power supply circuit, wherein:

[0006] The touch measurement unit is located on the outer surface of the remote control device;

[0007] The inertial measurement unit is located inside the remote control device and is used to detect the attitude parameters of the remote control device;

[0008] The control unit is used to send instructions to change the motion state of the self-propelled device;

[0009] The main control unit is connected to the touch measurement unit, the inertial measurement unit, the control unit, and the wireless communication unit respectively, and is used to detect the signal strength of the inertial measurement unit in real time, and issue instructions to the control unit to control the walking of the self-propelled device according to the signal strength;

[0010] The wireless communication unit is used for communication between the intelligent remote control device and the self-propelled device;

[0011] The power supply circuit is used to provide power to the touch measurement unit, the inertial measurement unit, the control unit, the main control unit, and the wireless communication unit.

[0012] The device also comprises a display unit, which is powered by the power circuit and is used for displaying the status information and action information of the self-propelled device and the remote control device.

[0013] The touch measurement unit is located at the back of the remote control device and / or at the left and right sides of the remote control device.

[0014] The control unit is one or more of a joystick, a button, and a switch.

[0015] The inertial measurement unit is a gyroscope.

[0016] The self-propelled device has the following working modes:

[0017] Full speed walking, in this mode, the self-propelled equipment drive motor outputs at rated power;

[0018] Low-speed walking. In this mode, the output power of the self-propelled equipment driving motor does not exceed 60% of the rated power;

[0019] Standby working mode, in this mode the drive motor of the self-propelled equipment stops or locks.

[0020] The working mode triggering conditions are as follows:

[0021] Walking at full speed, the touch measurement unit is triggered;

[0022] When walking at a low speed, the touch measurement unit stops triggering after being triggered;

[0023] In the standby working mode, the touch measurement unit stops triggering after being triggered and continues to stop triggering for more than the preset time.

[0024] The self-propelled device is a lawn mower.

[0025] A control method of a lawn mowing device comprises the following steps:

[0026] (1) The user controls the self-propelled device to operate while holding both sides of the remote control device with both hands, triggering the multi-channel touch measurement unit located on the outer surface of the intelligent remote control device;

[0027] (2) The multi-channel touch measurement unit generates touch signals and transmits them to the main control unit;

[0028] (3) The main control unit detects at least one touch signal in real time, compares it with the set signal threshold, and issues instructions to the control unit to control the self-propelled device to move according to the signal strength.

[0029] In the step (3),

[0030] If the signal strength of the inertial measurement unit is at a normal value and there is no other fault in the remote control device, the main control unit sends a full-speed walking command to the control unit to control the self-propelled device, and the user operates the self-propelled device to perform normal work;

[0031] If the effective signal strength of the inertial measurement unit is detected to exceed the set threshold, the main control unit immediately sends a standby instruction to the self-propelled device. The self-propelled device stops all operating actions and enters the standby mode until the main control unit sends a mode switching instruction.

[0032] If the touch measurement signal cannot be detected, the main control unit sends a low-speed walking instruction to control the self-propelled device to enter the low-speed mode. At the same time, the remote control device counts down according to the set threshold time T0. If no touch signal is detected after T0 reaches zero, the main control unit sends an instruction to the control unit to control the self-propelled device to enter the standby mode. If at least one touch signal is redetected by the main control unit before T0 reaches zero, it is considered that the user is ready to resume using the remote control device. The main control unit stops the current countdown and starts a new countdown according to the set new threshold time T1, where T1 < T0. If a touch signal can always be detected after T1 reaches zero, the main control unit sends an instruction to control the self-propelled device to return to the full-speed mode for operation. If the touch signal is lost before T1 reaches zero, the countdown of T1 is stopped and the countdown starts again according to T0 until the self-propelled device enters the standby mode or the full-speed mode.

[0033] Beneficial effects: In view of the problem that unnecessary operations of the remote control device during the process of remotely controlling a self-propelled device may cause safety risks, the present invention provides an intelligent remote control device and its control method, which can protect the safety of the self-propelled device and the user. The remote control device of the present invention has a fall prevention safety function. Once the remote control device falls, it can immediately stop the actions of the self-propelled device. The remote control device of the present invention has an anti-misoperation safety function. Once the user's hand leaves the remote control device, the remote control device can reduce the running speed of the self-propelled device to ensure safety until it stops. Description of the Drawings

[0034] Figure 1 is a schematic diagram of the intelligent remote control device of the present invention;

[0035] Figure 2 is a block diagram of the internal composition of the intelligent remote control device of the present invention;

[0036] Figure 3 is a schematic diagram of the intelligent remote control device of the present invention controlling the self-propelled device to enter the working mode;

[0037] Figure 4 is a safety working flowchart of the inertial measurement unit of the intelligent remote control device of the present invention;

[0038] Figure 5 is a safety working flowchart of the touch measurement unit of the intelligent remote control device of the present invention;

[0039] Figure 6 is a schematic diagram of the appearance of the intelligent remote control device (front view);

[0040] Figure 7 This is a schematic diagram of the appearance of the intelligent remote control device (back side);

[0041] Figure 8 It is a structural schematic diagram of a touch element. DETAILED DESCRIPTION

[0042] The present invention will be further explained below in conjunction with the accompanying drawings.

[0043] like Figures 1 to 2 As shown, an intelligent remote control device for a lawn mowing device of the present invention includes a touch measurement unit, an inertial measurement unit, a control unit, a main control unit, a display unit, a wireless communication unit, and a power supply circuit, wherein:

[0044] The touch measurement unit is located on the outer surface of the remote control device, such as the back and left and right sides of the remote control device, and is used to detect whether the user is holding the remote control; the number of touch measurement units N ≥ 1, when the user holds the remote control device, the palm will trigger the touch measurement units on the left and right ends or the back to generate a touch signal.

[0045] The inertial measurement unit, located inside the remote control device, such as a three-axis gyroscope, is used to detect the posture parameters of the user when operating the remote control device.

[0046] The control unit is one or more of a joystick, a button, and a switch, and is used to control the movement of the self-propelled device.

[0047] The main control unit is connected to the touch measurement unit, the inertial measurement unit, the control unit, the main control unit, the display unit, and the wireless communication unit respectively, and is used to detect the signal strength of the inertial measurement unit in real time, and issue instructions to the control unit to control the walking of the self-propelled device according to the signal strength.

[0048] The display unit is one or more of an LCD and an indicator light, and is used to display the status information and action information of the self-propelled device and the remote control device.

[0049] The wireless communication unit is used for communication between the intelligent remote control device and the self-propelled device.

[0050] The power supply circuit is used to provide power to the touch measurement unit, the inertial measurement unit, the control unit, the main control unit, the display unit, and the wireless communication unit.

[0051] like Figure 3 As shown, the self-propelled device has the following working modes under the remote control of the remote control device:

[0052] Full speed walking, in this mode, the self-propelled equipment drive motor outputs at rated power;

[0053] Low-speed walking. In this mode, the output power of the self-propelled equipment driving motor does not exceed 60% of the rated power;

[0054] Standby working mode, in this mode the drive motor of the self-propelled equipment stops or locks.

[0055] The working mode trigger conditions are as follows:

[0056] Walking at full speed, the touch measurement unit is triggered;

[0057] When walking at a low speed, the touch measurement unit stops triggering after being triggered;

[0058] In the standby working mode, the touch measurement unit stops triggering after being triggered and continues to stop triggering for more than the preset time.

[0059] In low-speed mode, it is preferably 30% lower than the rated power. In one embodiment of the present invention, the weight of the remote control product is between 80KG-120KG. The speed is currently set to 1-1.2m / s at full speed. If a collision occurs at full speed, there is a certain risk. In low-speed mode, the speed can be limited to below 0.5m / s to reduce the risk.

[0060] Take the self-propelled device as a lawn mower, for example, in full speed mode, the lawn mower can perform all operations such as mowing, high / low speed walking, charging, communication, etc.; in low speed mode, the lawn mower cannot mow, high speed walking, and can only walk at low speed; in standby mode, the lawn mower cannot move, only keeps communicating, waiting for the remote control device to send a mode switching command. After the self-propelled device is turned on by default, it is in standby mode.

[0061] The significance of setting the low-speed mode is that, since the product is sensed by touch elements, when used outdoors, due to factors such as the user's gripping posture or changing the gripping angle during use, it is possible that at some point the user actually grips the remote control device, but the touch element does not sense it. If the machine is stopped directly at this time, it will greatly affect the user experience. In the meantime, adding a low-speed mode to ensure that the machine runs at a low speed but does not stop moving can make the user experience smoother and stop the mowing motor from rotating to minimize the risk of use. At the same time, low speed + stopping the mowing motor can also prompt the user to pay attention to the machine's usage status by changing the machine's operating status, reminding the user to hold the remote control with both hands as much as possible and focus on operating the device.

[0062] like Figure 4 As shown, a self-propelled device control method of the present invention comprises the following steps:

[0063] When the user holds the remote control device and is about to remotely control the self-propelled device to work, holding both sides of the remote control device with both hands will trigger the touch measurement units arranged on both sides and the back of the remote control device. The number N of touch measurement units is N≥1, and N touch signals are generated and sent to the main control unit. After the main control unit self-checks and detects at least one touch signal and there are no other faults, it sends a full-speed instruction to the self-propelled device, and the self-propelled device enters the full-speed mode. The user can operate the self-propelled device to work. During the user's remote control process, the main control unit continuously detects the output signals of the touch measurement units. When it cannot detect any one touch measurement signal, it is determined that the user is not holding the remote control device. The main control unit sends a low-speed instruction to the control unit to control the self-propelled device to enter the low-speed mode. At the same time, the main control unit counts down according to the set threshold time T0. If no touch signal is still detected after T0 reaches zero, the main control unit sends an instruction to the control unit to control the self-propelled device to enter the standby mode; if the main control unit redetects at least one touch signal before T0 reaches zero, it is considered that the user is ready to remotely control the device again. The main control unit stops the countdown of T0 and starts a new countdown according to the set threshold time T1, where T1 < T0. If touch signals can always be detected after T1 reaches zero, the main control unit sends an instruction to the control unit to control the self-propelled device to return to the full-speed mode to work. If the touch signal is lost before T1 reaches zero, the countdown of T1 is stopped and the countdown starts again according to T0 until the self-propelled device enters the standby mode or the full-speed mode.

[0064] The present invention will be further described below in conjunction with specific embodiments. Embodiment

[0065] In one embodiment, T0 = 60s and T1 = 10s are set. When the remote control device cannot detect a touch signal, the self-propelled device enters the low-speed mode, and the remote control device starts counting down from 60. If no touch signal is detected when the count reaches 0, the remotely controlled self-propelled device enters the standby mode. If a touch signal is detected in the middle of the countdown, for example, when the count reaches 40, the current countdown is stopped and the countdown starts from 10. If a touch signal is continuously detected for 10s, the self-propelled device is controlled to re-enter the full-speed mode. Otherwise, the remote control device starts counting down from 60 again until the countdown of T0 reaches 0, the self-propelled device enters the standby mode, or the countdown of T1 reaches 0, and the self-propelled device enters the full-speed mode.

[0066] As Figure 5 , according to the safety working flowchart of the inertial measurement unit of the intelligent remote control device of the present invention. When the user normally operates the remote control device, the remote control device continuously detects the signal strength of the inertial measurement unit, denoted as , and compares it with the set signal threshold If the effective signal strength of the inertial measurement unit is detected to exceed the set threshold, the remote control device immediately sends a standby command to the self-propelled device, and the self-propelled device stops all running actions and enters the standby mode until the remote control device sends a mode switching command.

[0067] The following is a description of specific embodiments. Example

[0068] In one embodiment, the signal threshold is set Slightly lower than the standard gravitational acceleration (9.8m / s^2), such as =9m / s^2, when the user operates the remote control device normally, real-time Lower than , the self-propelled equipment works normally. When the remote control device suddenly falls, The standard gravity acceleration will be reached, which is higher than the signal threshold. The remote control device immediately sends a standby command to the self-propelled device. After receiving the command, the self-propelled device stops the current movement and remains in standby mode.

[0069] like Figures 6 to 8 The intelligent remote control device includes a remote control body 100, and touch areas 101 are arranged on both sides of the remote control body 100. The touch areas 101 extend from both sides of the remote control body 101 to the back. Since the present invention is mainly used outdoors and the use conditions are relatively harsh, the sensing components of the touch area 101 are arranged on the inner side of the machine, and the touch area 101 itself is a cover made of hard plastic or other materials. The touch element 200 is arranged in the remote control and fits the inner wall of the cover of the touch area 101. Specifically, the sensing component 201 on the touch element 200 fits the inner wall of the cover of the touch area 101, and the connecting part 202 extends from the end of the sensing component 201 and is connected to the main control through the socket 203. Since the remote control body 100 itself needs to meet certain waterproof, dustproof and strength requirements, the cover at the touch area 101 will use a material similar to the remote control body, and will not use glass or other materials to improve the touch sensing sensitivity. Therefore, the problem of insufficient sensitivity of the touch element may occur. If the machine is stopped directly when the touch element is not sensed, it will greatly affect the user experience.

[0070] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An intelligent remote control device for lawn mowing equipment, characterized in that: It includes a touch measurement unit, an inertial measurement unit, a control unit, a main control unit, a wireless communication unit, and a power supply circuit, wherein: The touch measurement unit is located on the outer surface of the remote control device; The inertial measurement unit is located inside the remote control device and is used to detect the attitude parameters of the remote control device; The control unit is used to send instructions to change the motion state of the self-propelled device; The main control unit is connected to the touch measurement unit, the inertial measurement unit, the control unit, and the wireless communication unit respectively, and is used to detect the signal strength of the inertial measurement unit in real time, and issue instructions to the control unit to control the walking of the self-propelled device according to the signal strength; The wireless communication unit is used for communication between the intelligent remote control device and the self-propelled device; The power supply circuit is used to provide power to the touch measurement unit, the inertial measurement unit, the control unit, the main control unit, and the wireless communication unit; The self-propelled device has the following working modes: Full speed walking, in this mode, the self-propelled equipment drive motor outputs at rated power; Low-speed walking. In this mode, the output power of the self-propelled equipment driving motor does not exceed 60% of the rated power; Standby working mode, in this mode, the driving motor of the self-propelled equipment stops or locks; The working mode triggering conditions are as follows: Walking at full speed, the touch measurement unit is triggered; When walking at a low speed, the touch measurement unit stops triggering after being triggered; In the standby working mode, the touch measurement unit stops triggering after being triggered and continues to stop triggering for more than the preset time.

2. The intelligent remote control device for lawn mowing equipment according to claim 1, characterized in that: The device also comprises a display unit, which is powered by the power circuit and is used for displaying the status information and action information of the self-propelled device and the remote control device.

3. The intelligent remote control device for lawn mowing equipment according to claim 1, characterized in that: The touch measurement unit is located at the back of the remote control device and / or at the left and right sides of the remote control device.

4. The intelligent remote control device for lawn mowing equipment according to claim 1, characterized in that: The control unit is one or more of a joystick, a button, and a switch.

5. The intelligent remote control device for lawn mowing equipment according to claim 1, characterized in that: The inertial measurement unit is a gyroscope.

6. The intelligent remote control device for lawn mowing equipment according to claim 1, characterized in that: The self-propelled device is a lawn mower.

7. A lawn mowing equipment control method based on the intelligent remote control device according to any one of claims 1 to 6, characterized in that: The following steps are involved: (1) The user controls the self-propelled device to operate while holding both sides of the remote control device with both hands, triggering the multi-channel touch measurement unit located on the outer surface of the intelligent remote control device; (2) The multi-channel touch measurement unit generates touch signals and transmits them to the main control unit; (3) The main control unit detects at least one touch signal in real time, compares it with the set signal threshold, and issues instructions to the control unit to control the self-propelled device to move according to the signal strength.

8. The control method according to claim 7, characterized in that: In the step (3), If the signal strength of the inertial measurement unit is at a normal value and there is no other fault in the remote control device, the main control unit sends a full-speed walking command to the control unit to control the self-propelled device, and the user operates the self-propelled device to perform normal work; If it is detected that the effective signal strength of the inertial measurement unit exceeds the set threshold, the main control unit immediately sends a standby command to the self-propelled device, and the self-propelled device stops all running actions and enters the standby mode until the main control unit sends a mode switching command; When the touch measurement signal cannot be detected, the main control unit sends a low-speed walking instruction to control the self-propelled device to enter the low-speed mode. At the same time, the remote control device counts down according to the set threshold time T0. If no touch signal is detected after T0 reaches zero, the main control unit sends an instruction to the control unit to control the self-propelled device to enter the standby mode. If at least one touch signal is redetected by the main control unit before T0 reaches zero, it is considered that the user is ready to resume using the remote control device. The main control unit stops the current countdown and starts a new countdown according to the set new threshold time T1, where T1 < T0. If touch signals can always be detected after T1 reaches zero, the main control unit sends an instruction to control the self-propelled device to return to the full-speed mode for operation. If the touch signal is lost before T1 reaches zero, the countdown of T1 is stopped and the countdown starts again according to T0 until the self-propelled device enters the standby mode or the full-speed mode.

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