A lawnmower control method, lawnmower system and lawnmower

Abstract

The application provides a mower control method, a mower system and a mower. The mower has at least two mowers. The mower includes a master mode, a slave mode and a working mode. A boundary map is stored in the mower. The plurality of mowers simultaneously perform mowing work on a working area. The method comprises the following steps: setting the master mode; sending a switching instruction to other mowers; switching the other mowers to the slave mode according to the switching instruction; planning a working path according to the boundary map, and dividing the working path into a plurality of sub-paths according to the number of mowers; sending the corresponding sub-paths to the mowers in the slave mode; switching the mowers in the slave mode to the working mode after receiving the sub-paths, and mowing according to the corresponding sub-paths; and mowing according to the corresponding sub-paths after switching to the working mode. The application can allocate tasks to each slave mower, and any mower can become a master mower when needed, thereby improving the working efficiency of the mower and eliminating the map drawing work of a new mower.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of lawn mowers, and particularly relates to a lawn mower control method, a lawn mower system and a lawn mower. BACKGROUND

[0002] A lawn mower is a garden tool for trimming lawns, vegetation and the like, and generally comprises a self-propelled mechanism, a cutter mechanism and a power source, the power source can be a gasoline engine, a battery pack and the like, and with the emergence of a multi-sensor intelligent lawn mower, path planning is possible, and the lawn mower can work along a preset path, but if multiple lawn mowers cannot cooperate well, it will lead to repeated work, waste of hardware resources and affect work efficiency. SUMMARY

[0003] The application provides a lawn mower control method, a lawn mower system and a lawn mower to improve the problem that repeated work, waste of hardware resources and work efficiency are affected due to the fact that multiple lawn mowers cannot cooperate well.

[0004] A lawn mower control method, having at least two lawn mowers, the lawn mowers comprising a master mode, a slave mode and a working mode, and the lawn mowers storing a boundary map, and the multiple lawn mowers simultaneously performing lawn mowing work on a working area; the working method comprising:

[0005] setting one of the lawn mowers as the master mode;

[0006] sending a switching instruction to other lawn mowers; the other lawn mowers automatically switching to the slave mode according to the switching instruction;

[0007] planning a working path according to the boundary map, and dividing the working path into a plurality of sub-paths according to the number of lawn mowers;

[0008] sending the corresponding sub-paths to the lawn mowers in the slave mode; the lawn mowers in the slave mode switching to the working mode after receiving the sub-paths, and performing lawn mowing work according to the corresponding sub-paths;

[0009] automatically switching to the working mode to perform lawn mowing work according to the corresponding sub-paths.

[0010] In an embodiment of the application, the working method further comprises:

[0011] when in the working mode, counting the current working progress of the lawn mowers.

[0012] In an embodiment of the application, the working method further comprises:

[0013] when any one of the lawn mowers completes the lawn mowing work, automatically switching to the master mode;

[0014] sending switching instructions and work progress collection instructions to other lawn mowers; the other lawn mowers automatically switch to slave mode according to the switching instructions;

[0015] receiving work progress of the lawn mowers in the slave mode, and selecting a lawn mower with the slowest work progress according to the work progress;

[0016] re-dividing an unfinished part of a sub-path of the lawn mower with the slowest work progress as a sub-path segment of the lawn mower itself and the lawn mower with the slowest work progress;

[0017] sending the corresponding sub-path segment to the lawn mower with the slowest work progress, and the lawn mower with the slowest work progress switches to the working mode after receiving the corresponding sub-path segment and performs the mowing operation according to the corresponding sub-path segment; the other lawn mowers in the slave mode switch to the working mode to perform the mowing operation;

[0018] automatically switching to the working mode to perform the mowing operation according to the corresponding sub-path segment.

[0019] In an embodiment of the present application, the lawn mower in the slave mode switches to the working mode after receiving the work switching instructions sent by the lawn mower in the master mode.

[0020] In an embodiment of the present application, the lawn mower automatically switches to the working mode when the duration of the lawn mower in the slave mode is greater than a first preset value and continues to perform the mowing operation.

[0021] In an embodiment of the present application, the working method further comprises: detecting the current remaining power of the lawn mower when in the working mode.

[0022] In an embodiment of the present application, the working method further comprises:

[0023] automatically switching to the master mode when the current remaining power of the lawn mower is less than a threshold value;

[0024] sending switching instructions and work progress collection instructions to other lawn mowers; the other lawn mowers automatically switch to slave mode according to the switching instructions;

[0025] receiving work progress of the lawn mowers in the slave mode, and selecting a lawn mower with the fastest work progress according to the work progress;

[0026] dividing and sending the unfinished part of the sub-path of the lawn mower to the lawn mower with the fastest work progress, and the lawn mower with the fastest work progress switches to the working mode after receiving and performs the mowing operation according to the corresponding sub-path and the unfinished part of the sub-path of the lawn mower; the other lawn mowers in the slave mode switch to the working mode to perform the mowing operation;

[0027] After the plan is completed, return to recharge.

[0028] In one embodiment of the present invention, the lawnmower in slave mode switches to operation mode after receiving a work switching command from the lawnmower in master mode.

[0029] In one embodiment of the present invention, the lawnmower automatically switches to the working mode after the duration of the slave mode exceeds a second preset value, and continues to perform lawn mowing.

[0030] The present invention also proposes a lawnmower system, comprising:

[0031] At least two lawnmowers;

[0032] The lawnmower can set a working path according to the boundary map of the working area, and divide the working path into different sub-paths according to the number of lawnmowers;

[0033] The lawnmowers can interact with each other to transmit and receive work information.

[0034] In one embodiment of the present invention, the work information includes at least a boundary map, the work path divided into different sub-paths, the work progress of the lawnmower, switching instructions, and work progress collection instructions.

[0035] In one embodiment of the present invention, the lawnmower is provided with a mode switching unit, which controls the lawnmower to switch between master mode, slave mode and operation mode.

[0036] In one embodiment of the present invention, the lawnmower is further provided with a path planning unit, which sets the working path according to the boundary map of the working area and divides the working path into different sub-paths according to the number of lawnmowers.

[0037] The present invention also proposes a lawnmower, which has a master mode, a slave mode and an operation mode;

[0038] When in master mode, the lawnmower can send commands to other lawnmowers.

[0039] When in slave mode, the lawnmower is able to receive commands.

[0040] When in operation mode, the lawnmower works normally.

[0041] This invention proposes a lawnmower control method, a lawnmower system, and a lawnmower. The lawnmower can automatically identify and switch between master mode and slave mode. In master mode, the lawnmower can plan a working path and divide the working path into a corresponding number of sub-paths according to the number of lawnmowers. The lawnmower in master mode can transmit map information, working path information, and lawnmower information to the lawnmowers in slave mode, and can assign tasks to each slave lawnmower, improving the working efficiency of multiple lawnmowers. Furthermore, any lawnmower can become the master lawnmower when needed, further improving the working efficiency of multiple lawnmowers and eliminating the need for map drawing for new lawnmowers. Attached Figure Description

[0042] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 This is a structural block diagram of a lawnmower system according to one embodiment of the present invention.

[0044] Figure 2 This is a schematic diagram of information transmission between the master lawnmower and the slave lawnmower in a lawnmower system according to one embodiment of the present invention.

[0045] Figure 3 This is a schematic diagram of a control method according to one embodiment of the present invention.

[0046] Figure 4 This is another schematic diagram of the control method of the present invention in one embodiment.

[0047] Figure 5 This is another schematic diagram of the control method of the present invention in one embodiment.

[0048] Figure 6 This is a schematic diagram of the working path of the lawnmower in a control method according to one embodiment of the present invention. Detailed Implementation

[0049] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

[0050] It should be noted that the diagrams provided in the embodiments only schematically illustrate the basic concepts of the present application, and 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 proportions of the components in actual implementation can be arbitrarily changed, and the layout pattern of the components can be more complex.

[0051] The present application provides a mower control method, a mower system and a mower to improve the problem of repeated work, waste of hardware resources and low work efficiency caused by poor cooperation between multiple mowers. In the embodiments, the mower system includes at least two mowers 100, and the mowers 100 can set a working path according to a boundary map of a working area, and divide the working path into different sub-paths according to the number of mowers. Meanwhile, the mowers can interact with each other to transmit and receive working information.

[0052] As shown in Figures 1-2 In the embodiments, the mower 100 includes a control unit 10, a path planning unit 20, a storage unit 30 and a communication unit 40, and the mower has a master mode, a slave mode and a working mode. Specifically, the control unit 10 is configured to control the mower to mow along the sub-paths and to control the mower to switch between the master mode, the slave mode and the working mode. The mower in the master mode is a master mower, and the mower in the slave mode is a slave mower. When the mower is in the master mode, the mower can send instructions to other mowers, and when the mower is in the slave mode, the mower can receive instructions. When the mower is in the working mode, the mower works normally.

[0053] As shown in Figures 1-2As shown, in the embodiment, the mower works in a working area 1, and a boundary map of the working area can be automatically downloaded by the mower from a database or collected on site by driving the mower. The path planning unit 20 is connected with the control unit 10, for planning a working path of the mower within the boundary of the working area, and the working path can also be divided into several sub-paths according to the number of mowers, so that different mowers work along different sub-paths; the storage unit 30 is connected with the control unit 10 and the path planning unit 20, for storing the boundary map of the working area and the working path divided into several sub-paths; the communication unit 40 is connected with the control unit 10, the path planning unit 20 and the storage unit 30, for interacting with other mowers, so as to transmit and receive working information between master mowers and slave mowers, and in the embodiment, the communication unit 40 is a wireless transmission unit. In addition, the working information includes the boundary map, the working path divided into different sub-paths, the working progress of the mower, the switching instruction, the working switching instruction and the working progress collection instruction.

[0054] As shown in the embodiment, the working method comprises the following steps: Figures 1-2 As shown, in the embodiment, the mower further comprises a positioning unit 50, which is an RTK positioning unit, and the RTK positioning unit uses RTK differential information of a wireless receiving base station to realize accurate positioning, so that the mower works along the working path.

[0055] As shown in the embodiment, the working method comprises the following steps: Figures 1-2 As shown in the embodiment, the mower further comprises a working progress statistical unit 60 and a power detection unit 70, the working progress statistical unit 60 is used to count the working progress of the mower, and the power detection unit 70 is used to detect the current power of the mower, and if the current power is less than a pre-set threshold value, it indicates that the power of the mower is insufficient.

[0056] As shown in the embodiment, the working method comprises the following steps: Figure 3 As shown in the embodiment, the working method can coordinate multiple mowers to work, so as to avoid repeated work between multiple mowers, thereby avoiding waste of hardware resources and affecting work efficiency. The mower stores a boundary map, and multiple mowers simultaneously work in a working area. The mower has three different working modes, which are master mode, slave mode and working mode, and the mower can switch between the three working modes. The mower in the master mode is a master mower, and the mower in the slave mode is a slave mower.

[0057] As shown in the embodiment, the working method comprises the following steps: Figure 3 As shown in the embodiment, the working method comprises the following steps:

[0058] S1. Set one of the lawnmowers to main mode;

[0059] S2. Send a switching command to other lawnmowers; the other lawnmowers automatically switch to slave mode according to the switching command.

[0060] S3. Based on the boundary map, plan the work path and divide the work path into several sub-paths according to the number of lawnmowers;

[0061] S4. Send the corresponding sub-path to the lawnmower in slave mode; after receiving the sub-path, the lawnmower in slave mode automatically switches to work mode and performs mowing according to the corresponding sub-path.

[0062] S5. Automatically switch to work mode and perform lawn mowing according to the corresponding sub-path.

[0063] like Figure 3 As shown, in steps S1 and S2, when the mowing operation begins, one mower is set to master mode so that it acts as the master mower, and the master mower sends a switching command to other mowers through the communication unit 40. The other mowers automatically switch to slave mode as slave mowers according to the switching command.

[0064] like Figure 3 and Figure 6 As shown, in step S3, the main lawnmower stores boundary land. Figure 1 The main lawnmower plans its working path based on the boundary map. Furthermore, the main lawnmower divides the planned working path into several sub-paths according to the number of lawnmowers and numbers each sub-path. The number of sub-paths corresponds to the number of lawnmowers.

[0065] like Figure 3 and Figure 6 As shown, in some embodiments, the master mower sends a switching command to other mowers. The other mowers automatically switch to slave mode as slave mowers according to the switching command, and then give a feedback signal to the master mower so that the master mower can obtain the number of mowers in order to divide the work path.

[0066] like Figure 3 and Figure 6As shown, as an example, the mowers are provided as an example, for example, 3, including the first mower 101, the second mower 102 and the third mower 103, wherein the first mower 101 is provided as a master mode as a master mower, the first mower 101 sends the switching instruction to the second mower 102 and the third mower 103, so that the two mowers of the second mower 102 and the third mower 103 are switched to the slave mode as the slave mower, and the first mower 101 divides the planned working path into 3 segments, corresponding to the first sub-path 2, the second sub-path 3 and the third sub-path 4 respectively, and the sub-path of each mower does not coincide. In this embodiment, the boundary map, the working path divided into different sub-paths is stored in the storage unit 30, and the planning of the working path and the division of the sub-path are realized by the path planning unit 20.

[0067] As shown in Figure 3 and Figure 6 As shown, in this embodiment, in step S4, the mower in master mode sends the corresponding sub-path to the mower in slave mode, and the mower in slave mode automatically switches to the working mode after receiving the sub-path, and mows according to the corresponding sub-path.

[0068] Continuing the above example, the first mower 101 sends the boundary map and the corresponding sub-path to the second mower 102 and the third mower 103, and exists in the storage unit 30 of the slave mower, and the first mower 101 is also used to allocate the sub-path to be worked to each slave mower and itself, each mower corresponds to a numbered sub-path, for example, the first sub-path 2 is allocated to the first mower 101, the second sub-path 3 is allocated to the second mower 102, and the third working path end 4 is allocated to the third mower 103, the second mower 102 and the third mower 103 automatically switch to the working mode after receiving the sub-path to be worked, and mow according to the corresponding sub-path, that is, the second mower 102 mows along the second sub-path 3, and the third mower 103 mows along the third sub-path 4. In this embodiment, the master mower transmits the boundary map and the working path divided into different sub-paths to the slave mower through the communication unit 40, and informs other mowers to switch mode or work through the communication unit 40. In an embodiment of the present application, when the mower is in master mode or slave mode, the cutting blade of the mower stops working to save energy and avoid affecting the interaction signal.

[0069] As shown in Figure 3 and Figure 6As shown in step S5, the mower automatically switches to the working mode to mow according to the corresponding sub-path. In the above example, the first mower 101 automatically switches to the working mode after completing the task allocation and mows according to the corresponding sub-path, i.e., the first mower 101 mows along the first sub-path 2.

[0070] As shown in step S5, the mower automatically switches to the working mode to mow according to the corresponding sub-path. In the above example, the first mower 101 automatically switches to the working mode after completing the task allocation and mows according to the corresponding sub-path, i.e., the first mower 101 mows along the first sub-path 2. Figure 4 and Figure 6 As shown in the embodiment, the mower control method further includes: when in the working mode, counting the current working progress of the mower. When the mower completes the current working task, the mower that completes the task switches to the master mode as the master mower, and re-allocates the working task to the mower that needs help. Specifically, the step of re-allocating the working task to the mower that needs help includes:

[0071] S11, when any mower completes the mowing work, automatically switching to the master mode;

[0072] S12, sending a switching instruction and a working progress collection instruction to other mowers; other mowers automatically switch to the slave mode according to the switching instruction;

[0073] S13, receiving the working progress of the mower in the slave mode, and selecting the mower with the slowest working progress according to the working progress;

[0074] S14, re-dividing the unfinished part of the sub-path of the mower with the slowest working progress as the sub-path segment of itself and the mower with the slowest working progress;

[0075] S15, sending the corresponding sub-path segment to the mower with the slowest working progress; the mower with the slowest working progress receives the corresponding sub-path segment and switches to the working mode, and mows according to the corresponding sub-path segment; other mowers in the slave mode switch to the working mode to mow;

[0076] S16, automatically switching to the working mode to mow according to the corresponding sub-path segment.

[0077] As shown in step S5, the mower automatically switches to the working mode to mow according to the corresponding sub-path. In the above example, the first mower 101 automatically switches to the working mode after completing the task allocation and mows according to the corresponding sub-path, i.e., the first mower 101 mows along the first sub-path 2. Figure 4 and Figure 6As shown in steps Sll and S12, when the mower completes the mowing task, the mower will automatically switch to the master mode as the master mower, and other mowers will automatically switch to the slave mode as the slave mowers after receiving the switching instruction from the master mower. It should be noted that the mower switching to the master mode can be any mower in the working process, as long as it has completed its current working task. For example, in steps S4 and S5, each mower mows along the sub-path assigned to it. When one of the mowers completes the current working task, it automatically switches to the master mode as the master mower and sends switching instructions and working progress collection instructions to other mowers through the communication unit 40.

[0078] As shown in steps Sll and S12, when the mower completes the mowing task, the mower will automatically switch to the master mode as the master mower, and other mowers will automatically switch to the slave mode as the slave mowers after receiving the switching instruction from the master mower. It should be noted that the mower switching to the master mode can be any mower in the working process, as long as it has completed its current working task. For example, in steps S4 and S5, each mower mows along the sub-path assigned to it. When one of the mowers completes the current working task, it automatically switches to the master mode as the master mower and sends switching instructions and working progress collection instructions to other mowers through the communication unit 40. Figure 4 and Figure 6 As shown in steps S13 and S14, all slave mowers switching to the slave mode upload their current working progress to the master mower, and the working progress is stored in the storage unit 30. The master mower selects the mower with the slowest working progress based on the working progress and re-divides the unfinished part of the sub-path of the mower with the slowest working progress as its own and the sub-path segment of the mower with the slowest working progress, and assigns the cutting task to provide assistance.

[0079] Continuing the above example, when the first mower 101 switches to the master mode as the master mower after completing the mowing task, and informs the second mower 102 and the third mower 103 to switch to the slave mode as the slave mowers, the second mower 102 and the third mower 103 upload their current working progress to the first mower 101, and the first mower 101 selects the mower with the slowest working progress from them, for example, the second mower 102, that is, the first mower 101 re-divides the unfinished part of the second sub-path 3 corresponding to the second mower 102 into sub-path segments corresponding to itself and the second mower 102.

[0080] In step S15, the master mower sends the corresponding sub-path to the mower with the slowest working progress in the slave mode, and the mower with the slowest working progress in the slave mode switches to the working mode after receiving the corresponding sub-path and mows according to the sub-path. Continuing the above example, the first mower 101 re-divides the unfinished second sub-path 3 into several sub-path segments and sends the corresponding sub-path segments to the second mower 102 in the slave mode, and the second mower 102 in the slave mode switches to the working mode after receiving the corresponding sub-path segments and mows according to the sub-path segments. At this time, other mowers in the slave mode switch to the working mode to mow.

[0081] In step S16, the master mower automatically switches to the working mode to mow according to the corresponding sub-path. For example, the first mower 101 automatically switches to the working mode to mow according to the corresponding sub-path segment after completing the task assignment.

[0082] In the embodiment, the method for the mower to switch to the working mode includes: the mower in the slave mode receives the working switch instruction sent by the mower in the master mode, and then switches to the working mode, or the mower automatically switches to the working mode when the duration of the mower in the slave mode is greater than a first preset value, and continues to mow. It should be noted that the first preset value is greater than the time T, and the time T is the duration from when the mower in the master mode sends the switch instruction to the other mowers in step S12 to when the mower with the slowest working progress receives the corresponding sub-path segment in step S15.

[0083] As shown in Figures 1-3 , Figure 5 and Figure 6 , in the embodiment, the method for controlling the mower further includes: when in the working mode, detecting the current remaining power of the mower. When the power of the mower is insufficient, the mower switches to the master mode and selects the optimal mower to help complete the work and returns to charge. Specifically, the steps of selecting the optimal mower to help complete the work and returning to charge include:

[0084] S21, when the current remaining power of the mower is less than a threshold value, automatically switching to the master mode;

[0085] S22, sending a switch instruction and a working progress collection instruction to the other mowers; the other mowers automatically switch to the slave mode according to the switch instruction;

[0086] S23, receiving the working progress of the mower in the slave mode, and selecting the mower with the fastest working progress according to the working progress;

[0087] S24, dividing and sending the unfinished part of the sub-path of the mower to the mower with the fastest working progress; the mower with the fastest working progress receives the unfinished part of the sub-path and switches to the working mode, and mows according to the corresponding sub-path and the unfinished part of the sub-path of the mower; the other mowers in the slave mode switch to the working mode to mow;

[0088] S25, returning to charge after the planning is completed.

[0089] As shown in Figures 1-3 , Figure 5 and Figure 6As shown, in steps S21 and S22, when the current remaining power of the mower is less than a threshold value, the host mode is automatically switched to, and a switching instruction and a working progress collection instruction are sent to other mowers, and the other mowers are automatically switched to the slave mode according to the switching instruction. Continuing the above example, when the first mower 101 is insufficient in power, i.e., the current remaining power of the first mower 101 is less than a threshold value, the first mower 101 is automatically switched to the host mode as the host mower, and sends a switching instruction and a working progress collection instruction to the second mower 102 and the third mower 103, so that the second mower 102 and the third mower 103 are switched to the slave mode as the slave mowers, and send their working progress to the first mower 101.

[0090] In steps S23 and S24, the mower in the host mode receives the working progress of the mower in the slave mode, and the host mower selects the mower with the fastest working progress according to the working progress, divides and sends the unfinished part of the sub-path of the mower to the mower with the fastest working progress, and the mower with the fastest working progress receives the unfinished part of the sub-path of the mower and is switched to the working mode according to the corresponding sub-path, so as to help itself complete the remaining work.

[0091] Continuing the above example, the first mower 101 receives the working progress from the second mower 102 and the third mower 103, selects the mower with the fastest working progress according to the working progress of the second mower 102 and the third mower 103, e.g., the second mower 102, divides and sends the unfinished part of the sub-path of the first mower 101 to the second mower 102, and the second mower 102 receives the unfinished part of the sub-path of the first mower 101 and is switched to the working mode according to the corresponding sub-path, so as to help the first mower 101 continue to complete the unfinished part. In some embodiments, the second mower 102 first continues to mow along its own corresponding second sub-path 3, and when the working task of the second sub-path 3 is completed, continues to mow along the unfinished part of the first sub-path 2 corresponding to the first mower 101. At this time, the other mowers in the slave mode are switched to the working mode to perform the mowing work.

[0092] In step S25, after the planning is completed, the lawn mower returns to charge after the unfinished part of the sub-path of the lawn mower is divided and sent to the lawn mower with the fastest work progress, for example, the first lawn mower 101 sends the unfinished part of the corresponding first sub-path 2 to the second lawn mower 102, and then the first lawn mower 101 returns to charge.

[0093] In the embodiment, the method for the lawn mower to switch to the working mode includes: the lawn mower in the slave mode receives the working switch instruction sent by the lawn mower in the master mode, and then switches to the working mode, or the lawn mower automatically switches to the working mode when the lawn mower in the slave mode lasts for more than a second preset value, and continues to mow the lawn, and it should be noted that the second preset value is greater than the time T2, and the time T2 is the time during which the lawn mower in the master mode sends the switch instruction to the lawn mower in the slave mode to S24, and the lawn mower receives the unfinished part of the sub-path of the master lawn mower.

[0094] The present application provides a lawn mower control method, a lawn mower system and a lawn mower, the lawn mower can automatically identify and switch between the master mode and the slave mode, the lawn mower in the master mode can plan a working path, and divide the working path into a corresponding number of sub-paths according to the number of lawn mowers, the lawn mower in the master mode can transmit map information, working path information and lawn mower information to the lawn mower in the slave mode, and can assign tasks to each slave lawn mower, thereby improving the working efficiency of multiple lawn mowers. And any lawn mower can become a master lawn mower when needed, thereby improving the working efficiency of the lawn mower and eliminating the need for new lawn mower mapping work.

[0095] The above description is only the preferred embodiment of the present application and the explanation of the applied technical principles, and those skilled in the art should understand that the scope involved in the present application is not limited to the technical solutions formed by the specific combination of the above technical features, and also covers other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept, for example, the technical solutions formed by replacing the above features with the technical features disclosed in the present application (but not limited to) having similar functions.

[0096] In addition to the technical features described in the specification, the remaining technical features are known to those skilled in the art, and in order to highlight the innovative features of the present application, the remaining technical features will not be described here.

Claims

1. A mowing machine control method, characterized in that: there are at least two mowing machines, the mowing machines include a master mode, a slave mode and a working mode, and a boundary map is stored in the mowing machines, and a plurality of the mowing machines simultaneously perform mowing work on a working area; the working method comprises: setting one of the mowing machines to the master mode; sending a switching instruction to the other mowing machines; the other mowing machines automatically switch to the slave mode according to the switching instruction; planning a working path according to the boundary map, and dividing the working path into a plurality of sub-paths according to the number of mowing machines; sending the corresponding sub-paths to the mowing machines in the slave mode; the mowing machines in the slave mode switch to the working mode after receiving the sub-paths, and perform mowing work according to the corresponding sub-paths; automatically switching to the working mode to perform mowing work according to the corresponding sub-paths, the working method further comprises: when in the working mode, counting the current working progress of the mowing machines, the working method further comprises: when any mowing machine completes the mowing work, automatically switching to the master mode; sending a switching instruction and a working progress collection instruction to the other mowing machines; the other mowing machines automatically switch to the slave mode according to the switching instruction; receiving the working progress of the mowing machines in the slave mode, and selecting the mowing machine with the slowest working progress according to the working progress; re-dividing the unfinished part of the sub-path of the mowing machine with the slowest working progress as the sub-path segment of itself and the mowing machine with the slowest working progress; sending the corresponding sub-path segment to the mowing machine with the slowest working progress; the mowing machine with the slowest working progress switches to the working mode after receiving the corresponding sub-path segment, and performs mowing work according to the corresponding sub-path segment; the other mowing machines in the slave mode switch to the working mode to perform mowing work; automatically switching to the working mode to perform mowing work according to the corresponding sub-path segment.

2. The lawnmower control method according to claim 1, characterized in that, The mowing machine in the slave mode switches to the working mode after receiving the working switching instruction sent by the mowing machine in the master mode.

3. The lawnmower control method according to claim 2, characterized in that, When the mowing machine in the slave mode continues for more than a first preset value, it automatically switches to the working mode and continues to perform mowing work.

4. The lawn mower control method according to claim 1, characterized by, The working method further comprises: when in the working mode, detecting the current remaining power of the mowing machine.

5. The lawnmower control method according to claim 4, characterized in that, The working method further comprises: when the current remaining power of the mowing machine is less than a threshold value, automatically switching to the master mode; sending a switching instruction and a working progress collection instruction to the other mowing machines; the other mowing machines automatically switch to the slave mode according to the switching instruction; receiving the working progress of the mowing machines in the slave mode, and selecting the mowing machine with the fastest working progress according to the working progress; dividing and sending the unfinished part of the sub-path of the mowing machine to the mowing machine with the fastest working progress; the mowing machine with the fastest working progress switches to the working mode after receiving it, and performs mowing work according to its corresponding sub-path and the unfinished part of the sub-path of the mowing machine; the other mowing machines in the slave mode switch to the working mode to perform mowing work; returning to charging after planning is completed.

6. A lawnmower system characterized in that, The application of the mowing machine control method according to any one of claims 1 to 5 comprises: at least two mowing machines; The mower can set a working path according to a boundary map of a working area, and divide the working path into different sub-paths according to the number of mowers; The mowers can interact with each other to transmit and receive working information.

7. The lawnmower system of claim 6, wherein, The working information at least includes the boundary map, the working path divided into different sub-paths, the working progress of the mowers, switching instructions and working progress collection instructions.

8. The lawnmower system of claim 6, wherein, The mower is provided with a mode switching unit, which is used to control the mower to switch between a master mode, a slave mode and a working mode.

9. The lawnmower system of claim 6, wherein, The mower is also provided with a path planning unit, which is used to set a working path according to a boundary map of a working area, and divide the working path into different sub-paths according to the number of mowers.

10. A mower applying the mower control method according to any one of claims 1 to 5, characterized in that: The mower has a master mode, a slave mode and a working mode; When in the master mode, the mower can send instructions to other mowers; When in the slave mode, the mower can receive instructions; When in the working mode, the mower works normally.

Images