Methods, systems, devices, storage media for cruise control of lawnmowers and ride-on lawnmowers

Abstract

This invention discloses a method, system, device, storage medium, and riding-type lawnmower for cruise control. It acquires cruise control speed setting operation signals, cruise control switch operation signals, and the current state information of the riding-type lawnmower's control mechanism, and determines whether the control mechanism is in the zero position. If the control mechanism is in the zero position, it further determines whether cruise control is effectively activated. If cruise control is effectively activated, it updates the cruise control target speed and, based on pre-aiming and following control technology, controls the riding-type lawnmower to travel at the updated cruise control target speed along the target heading in a constant straight line. This achieves cruise control while automatically maintaining straight-line travel. This invention enables the riding-type lawnmower to maintain straight-line travel and cruise control as needed during operation, reducing user operation difficulty and labor intensity, and improving user experience.

Description

Technical Field

[0001] This invention relates to the field of automatic control technology for lawnmowers, and in particular to a method, system, device, storage medium, and ride-on lawnmower for constant speed cruise control of a lawnmower. Background Technology

[0002] A lawnmower is a mechanical device used for harvesting hay and mowing lawns. It can cut hay and weeds in gardens. Lawnmowers can be classified into handheld lawnmowers, push lawnmowers, and ride-on lawnmowers according to their movement method. Among them, ride-on lawnmowers are suitable for mowing larger lawn areas.

[0003] Currently, the motion control (control of travel direction (forward, backward, and turning) and travel speed) of ride-on lawnmowers mainly takes the following three forms:

[0004] 1. Steering wheel + foot pedal control: The steering wheel controls the direction of travel (turning), the accelerator pedal in the foot pedal controls the speed of travel, and the gear shift pedal in the foot pedal controls forward and reverse switching. This control method requires the installation of a steering mechanism, accelerator pedal and forward / reverse shifting mechanism on the lawnmower, and requires hand and foot coordination, which is costly and has poor operation convenience.

[0005] 2. Controlled by left and right control handles and foot pedals. Pushing the left and right control handles forward or backward at the same time will move the machine forward or backward respectively. Pushing the left and right control handles forward and backward at the same time will turn the machine. The foot pedal (accelerator pedal) controls the speed. This control method requires the coordination of the left and right hands to control the direction of travel. At the same time, it requires the use of both hands and feet to achieve the motion control of the whole machine. The structure is complex, the cost is high, and the operation is not convenient.

[0006] 3. Single control handle: The lawnmower's direction and speed can be controlled simultaneously using a single universal handle. This control method is simple in structure, easy to operate, and low in cost.

[0007] Existing ride-on lawnmowers lack automatic, constant-speed, straight-line driving capabilities. When manually operating a ride-on lawnmower, factors such as driving experience, driving skills, and uneven lawn surfaces make it difficult to maintain a constant, straight-line speed. Users must constantly correct the direction of travel using the steering wheel or steering handle and manually control the speed. If the mower cannot travel in a straight line, the resulting mowing pattern will be unsightly, reducing lawn quality. Furthermore, constantly correcting the direction of travel and manually controlling the speed through the steering wheel or steering handle increases the user's workload and reduces the user experience.

[0008] In conclusion, how to control a ride-on lawnmower to automatically maintain a straight line and achieve constant speed cruise during the mowing process is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0009] The purpose of this invention is to provide a method, system, device, storage medium, and riding lawnmower for controlling constant speed cruise, so that the riding lawnmower can automatically maintain straight-line travel and achieve constant speed cruise during the mowing process.

[0010] To achieve the above-mentioned objectives of the present invention, according to a first aspect of the present invention, a method for controlling cruise control of a lawnmower is provided, applied to a ride-on lawnmower, wherein the ride-on lawnmower is equipped with a cruise control speed setting module and a cruise control switch module, the method comprising:

[0011] The system acquires the cruise control speed setting operation signal, the cruise control switch operation signal, and the current status information of the control mechanism of the ride-on lawnmower, wherein the control mechanism is used to accept user operations to control the travel speed and travel direction of the ride-on lawnmower.

[0012] The linear speed of the riding lawnmower during this cruise is determined based on the cruise speed setting operation signal.

[0013] Determine whether the control mechanism is in the zero position based on the current state information of the control mechanism;

[0014] When it is determined that the control mechanism of the riding lawnmower is in the zero position, the cruise control is further determined to be in an effective activated state based on the cruise control switch operation signal.

[0015] When it is determined that cruise control is in an effective activated state, the cruise control target speed of the riding lawnmower is updated based on the determined cruise control linear speed for this time.

[0016] Based on the pre-aiming and following control technology, the riding lawnmower is controlled to travel at an updated constant speed along the target straight line according to the target heading.

[0017] Preferably, before updating the target speed of the ride-on lawnmower based on the determined current cruise linear speed, the method further includes:

[0018] Obtain the current heading and current position coordinates of the ride-on lawnmower;

[0019] Based on the cruise control switch operation signal, it is determined whether the motion mode of the riding lawnmower has switched from non-cruise mode to cruise mode.

[0020] If the riding lawnmower switches from non-constant speed cruise mode to constant speed cruise mode, the current heading is marked as the target heading, the current motion mode is marked as constant speed cruise mode, and the equation expression of the target straight line is determined based on the current heading and the current position coordinates.

[0021] Preferably, the ride-on lawnmower has two GNSS antennas symmetrically arranged on its left and right sides, and the acquisition of the current heading and current position coordinates of the ride-on lawnmower includes:

[0022] Obtain the position coordinates of the two GNSS antennas;

[0023] The current heading of the riding lawnmower is calculated based on the position coordinates of the two GNSS antennas;

[0024] The current position coordinates of the ride-on lawnmower are calculated based on the position coordinates of the two GNSS antennas and the current heading.

[0025] Preferably, the method further includes:

[0026] When it is determined that the control mechanism of the riding lawnmower is not in the zero position, the current control mode of the riding lawnmower is marked as manual driving mode, and the current linear speed of the riding lawnmower is updated based on the current status information of the control mechanism.

[0027] Preferably, the operating mechanism includes a universal handle, which is used to control the travel speed and direction of the ride-on lawnmower;

[0028] Accordingly, obtaining the current status information of the control mechanism of the ride-on lawnmower includes:

[0029] In response to an operation on the universal handle, the current position vector information of the universal handle is obtained, wherein the current position vector information includes polar radius information and polar angle information, the polar radius information is used to characterize the moving distance of the universal handle relative to the initial position, and the polar angle information is used to characterize the rotation angle of the universal handle relative to the reference direction;

[0030] The step of determining whether the control mechanism is in the zero position based on the current state information of the control mechanism includes:

[0031] The position of the universal handle is determined based on the polar diameter information in the current position vector information. If the absolute value of the polar diameter of the universal handle is less than or equal to a preset distance, the universal handle is determined to be in the zero position; otherwise, the universal handle is determined not to be in the zero position.

[0032] Preferably, the riding lawnmower includes a walking mechanism and a walking drive mechanism, wherein,

[0033] The walking mechanism includes a passive omnidirectional wheel, a left drive wheel, and a right drive wheel disposed at the bottom of the riding lawnmower; the walking drive mechanism includes a left drive motor that is driven and connected to the left drive wheel, and a right drive motor that is driven and connected to the right drive wheel.

[0034] Accordingly, the method of controlling the riding lawnmower to travel at an updated constant speed along the target straight line according to the target heading based on the pre-aiming and following control technology includes:

[0035] Calculate the lateral deviation, where the lateral deviation is the distance from the current position of the riding lawnmower to the target straight line;

[0036] Calculate the equation of the aiming line, where the aiming line is the straight line formed by connecting the current position of the riding lawnmower to the aiming point;

[0037] Calculate the heading deviation between the current heading of the riding lawnmower and the pre-aimed straight line;

[0038] Based on the lateral deviation and heading deviation, a preset PID control model is used to calculate the control quantities of the left and right drive wheels when the riding lawnmower travels at a constant speed along the target straight line at the target cruise target speed and heading. The control quantities include angular deviation control quantities and lateral deviation control quantities.

[0039] Calculate the target rotational speeds of the left and right drive wheels based on the control quantities of the left and right drive wheels;

[0040] The output voltage of the left and right drive motors is controlled according to the target rotation speeds of the left and right drive wheels, so that the riding lawnmower travels at a constant speed along the target straight line at the target cruise target speed and on the target heading.

[0041] According to a second aspect of the present invention, a cruise control system for a lawnmower is provided, applicable to a ride-on lawnmower, wherein the ride-on lawnmower is equipped with a cruise speed setting module and a cruise switch module, the system comprising:

[0042] The operation signal acquisition module is used to acquire the cruise control speed setting operation signal, the cruise control switch operation signal, and the current status information of the control mechanism of the riding lawnmower. The control mechanism is used to accept user operation to control the travel speed and travel direction of the riding lawnmower.

[0043] The cruise speed determination module is used to determine the current cruise linear speed of the riding lawnmower based on the cruise speed setting operation signal.

[0044] The operating mechanism status judgment module is used to determine whether the operating mechanism is in the zero position based on the current status information of the operating mechanism;

[0045] The cruise control activation status determination module is used to determine whether cruise control is in an effective activation state based on the cruise control switch operation signal when the control mechanism of the riding lawnmower is determined to be in the zero position.

[0046] The cruise control target speed update module is used to update the cruise control target speed of the ride-on lawnmower based on the determined cruise control linear speed when it is determined that cruise control is in an effective activated state.

[0047] The cruise control module is used to control the riding lawnmower to travel at a constant speed along the target straight line according to the target heading at the updated cruise target speed based on the pre-aiming and following control technology.

[0048] Preferably, the system further includes:

[0049] The heading and position acquisition module is used to acquire the current heading and current position coordinates of the riding lawnmower before updating the target speed of the riding lawnmower based on the determined linear speed of the current constant speed cruise.

[0050] The cruise control mode switching judgment module is used to determine whether the motion mode of the riding lawnmower has switched from non-cruise control mode to cruise control mode based on the cruise control switch operation signal.

[0051] The first state processing module is used to mark the current heading as the target heading, mark the current motion mode as the cruise mode, and determine the equation expression of the target straight line based on the current heading and the current position coordinates when the riding lawnmower switches from non-cruise mode to cruise mode.

[0052] Preferably, the ride-on lawnmower has two GNSS antennas symmetrically arranged on its left and right sides. The heading and position acquisition module, when acquiring the current heading and current position coordinates of the ride-on lawnmower, is specifically used for:

[0053] Obtain the position coordinates of the two GNSS antennas;

[0054] The current heading of the riding lawnmower is calculated based on the position coordinates of the two GNSS antennas;

[0055] The current position coordinates of the ride-on lawnmower are calculated based on the position coordinates of the two GNSS antennas and the current heading.

[0056] Preferably, the system further includes:

[0057] The second state processing module is used to mark the current control mode of the riding lawnmower as manual driving mode when it is determined that the control mechanism of the riding lawnmower is not in the zero position, and to update the current linear speed of the riding lawnmower based on the current state information of the control mechanism.

[0058] Preferably, the operating mechanism includes a universal handle, which is used to control the travel speed and direction of the ride-on lawnmower;

[0059] Accordingly, obtaining the current status information of the control mechanism of the ride-on lawnmower includes:

[0060] In response to an operation on the universal handle, the current position vector information of the universal handle is obtained, wherein the current position vector information includes polar radius information and polar angle information, the polar radius information is used to characterize the moving distance of the universal handle relative to the initial position, and the polar angle information is used to characterize the rotation angle of the universal handle relative to the reference direction;

[0061] The step of determining whether the control mechanism is in the zero position based on the current state information of the control mechanism includes:

[0062] The position of the universal handle is determined based on the polar diameter information in the current position vector information. If the absolute value of the polar diameter of the universal handle is less than or equal to a preset distance, the universal handle is determined to be in the zero position; otherwise, the universal handle is determined not to be in the zero position.

[0063] Preferably, the riding lawnmower includes a walking mechanism and a walking drive mechanism, wherein,

[0064] The walking mechanism includes a passive omnidirectional wheel, a left drive wheel, and a right drive wheel disposed at the bottom of the riding lawnmower; the walking drive mechanism includes a left drive motor that is driven and connected to the left drive wheel, and a right drive motor that is driven and connected to the right drive wheel.

[0065] Accordingly, the method of controlling the riding lawnmower to travel at an updated constant speed along the target straight line according to the target heading based on the pre-aiming and following control technology includes:

[0066] Calculate the lateral deviation, where the lateral deviation is the distance from the current position of the riding lawnmower to the target straight line;

[0067] Calculate the equation of the aiming line, where the aiming line is the straight line formed by connecting the current position of the riding lawnmower to the aiming point;

[0068] Calculate the heading deviation between the current heading of the riding lawnmower and the pre-aimed straight line;

[0069] Based on the lateral deviation and heading deviation, a preset PID control model is used to calculate the control quantities of the left and right drive wheels when the riding lawnmower travels at a constant speed along the target straight line at the target cruise target speed and heading. The control quantities include angular deviation control quantities and lateral deviation control quantities.

[0070] Calculate the target rotational speeds of the left and right drive wheels based on the control quantities of the left and right drive wheels;

[0071] The output voltage of the left and right drive motors is controlled according to the target rotation speeds of the left and right drive wheels, so that the riding lawnmower travels at a constant speed along the target straight line at the target cruise target speed and on the target heading.

[0072] According to a third aspect of the present invention, a lawnmower cruise control device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements any of the lawnmower cruise control methods described in the first aspect above.

[0073] According to a fourth aspect of the present invention, a computer-readable storage medium is provided storing a computer program that, when executed by a processor, implements any of the lawnmower cruise control methods described in the first aspect above.

[0074] According to a fifth aspect of the present invention, a rideable lawnmower is provided, including the lawnmower cruise control device described in the third aspect above.

[0075] As can be seen from the above technical solutions, the present invention provides a method, system, device, storage medium, and riding lawnmower for cruise control. It acquires the cruise speed setting operation signal, the cruise switch operation signal, and the current state information of the riding lawnmower's control mechanism. Based on the current state information of the control mechanism, it determines whether the control mechanism is in the zero position. If the control mechanism is in the zero position, it further determines whether cruise control is in an effective active state based on the cruise switch operation signal. When cruise control is determined to be in an effective active state, the target cruise speed of the riding lawnmower is updated based on the determined current cruise linear speed. Furthermore, based on the pre-aiming and following control technology, the riding lawnmower is controlled to travel at the updated target cruise speed along the target heading at a constant speed, thereby enabling the riding lawnmower to perform cruise control while automatically maintaining a straight line.

[0076] This invention improves the motion control system architecture and motion control strategy of the riding lawnmower, enabling the riding lawnmower to maintain straight line and cruise speed as needed during operation. This solves the problem that the riding lawnmower cannot maintain a constant speed and straight line during operation, resulting in unsightly lawn cut texture. At the same time, it reduces the labor intensity of the user in operating the riding lawnmower, reduces the difficulty of operation, and improves the user experience.

[0077] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0078] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0079] The above-mentioned additional aspects and / or advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, wherein:

[0080] Figure 1 This is a flowchart illustrating a preferred embodiment of the lawnmower cruise control method of the present invention.

[0081] Figure 2 This is a schematic diagram showing the position of the universal handle in polar coordinates in a preferred embodiment of the present invention;

[0082] Figure 3This is a schematic diagram illustrating the calculation of the current position coordinates of the lawnmower in a preferred embodiment of the present invention;

[0083] Figure 4 This is a schematic diagram illustrating the analysis of a preferred embodiment of the present invention, which uses pre-aiming and following control technology to control a lawnmower to automatically maintain straight-line travel.

[0084] Figure 5 This is a schematic diagram of the structure of a lawnmower cruise control system according to a preferred embodiment of the present invention;

[0085] Figure 6 This is a schematic diagram of the structure of a lawnmower cruise control device in a preferred embodiment of the present invention. Detailed Implementation

[0086] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0087] like Figure 1 As shown, this embodiment of the invention provides a method for cruise control of a lawnmower. This method is applied to a ride-on lawnmower, which is equipped with a cruise speed setting module and a cruise switch module. The method may include the following steps:

[0088] S1, acquire cruise control speed setting operation signal, cruise control switch operation signal and current status information of the control mechanism of the riding lawnmower, wherein the control mechanism is used to accept user operation to control the travel speed and travel direction of the riding lawnmower.

[0089] During the mowing process, the user controls the speed and direction of the mower using a control mechanism. Specifically, the control mechanism can be a steering wheel + accelerator pedal + gear shift pedal, or it can be left and right control handles + accelerator pedal, or it can be a single control handle (universal handle).

[0090] When a ride-on lawnmower needs to achieve cruise control while automatically maintaining a straight line, it is first necessary to acquire the cruise control speed setting operation signal, the cruise control switch operation signal, and the current status information of the ride-on lawnmower's control mechanism. This information is then used to analyze the upcoming driving state (straight or turning) of the ride-on lawnmower, and the cruise control speed setting operation signal and the cruise control switch operation signal are used to determine whether to activate cruise control and the target speed for cruise control.

[0091] Specifically, the current state information of the control mechanism can be obtained by sensors installed on the control mechanism. For example, the current state information of the steering wheel can be obtained by detecting the steering wheel rotation angle by a rotary encoder installed on the steering wheel, while the current state information of the accelerator pedal can be obtained by detecting the accelerator pedal opening degree by a accelerator pedal opening degree sensor installed on the accelerator pedal.

[0092] S2, determine the current cruise linear speed of the riding lawnmower based on the cruise speed setting operation signal;

[0093] After obtaining the cruise control speed setting operation signal, the cruise control switch operation signal, and the current status information of the riding lawnmower's control mechanism, it is necessary to determine the current cruise control linear speed of the riding lawnmower based on the cruise control speed setting operation signal.

[0094] Specifically, the cruise control setting operation signal is triggered by the user operating the cruise control speed setting module on the ride-on lawnmower. For example, the cruise control setting operation signal can be a signal triggered by the speed adjustment button (+, -) or speed adjustment wheel on the display panel of the ride-on lawnmower.

[0095] Specifically, when the cruise control speed setting module is a speed adjustment button (+, -), the + button increases the cruise control speed, and the - button decreases the cruise control speed; when the cruise control speed setting module is a speed adjustment wheel, scrolling the wheel forward increases the speed and scrolling the wheel backward decreases the speed.

[0096] Furthermore, the cruise control setting operation signal, if it is a button, indicates that the + or - signal has been pressed; if it is a scroll wheel, it indicates the angle of rotation forward or backward.

[0097] When determining the current cruise linear speed of a ride-on lawnmower based on the cruise speed setting operation signal, the system adjusts the speed based on the number of acceleration / deceleration signals triggered, adding or subtracting a corresponding number of times from the default cruise speed (the system sets the acceleration / deceleration value corresponding to each acceleration / deceleration signal to a fixed value), thus obtaining the current cruise linear speed.

[0098] S3, determine whether the control mechanism is in the zero position based on the current state information of the control mechanism; if so, execute S4.

[0099] Once the current cruise linear speed of the riding lawnmower is determined, the current status information of the control mechanism is used to determine whether the control mechanism is in the zero position. By determining whether the control mechanism is in the zero position, it can be known whether the user is currently operating the control mechanism. Therefore, if it is determined that the user is not currently operating the control mechanism, the cruise control strategy intervention process is initiated, thereby avoiding conflicts between the user's control mechanism signal and the automatic cruise control signal.

[0100] S4, determine whether cruise control is in a valid activated state based on the cruise control switch operation signal; if so, execute S5.

[0101] When the control mechanism is determined to be in the zero position, it indicates that there is no signal from the user to manually control the speed and direction of the lawnmower. At this point, the cruise control switch operation signal is used to further determine whether the cruise control is effectively activated. That is, in non-cruise control mode, it is checked whether the cruise control switch has been pressed (i.e., triggered). If the cruise control switch has been pressed, the cruise control is determined to be effectively activated. In cruise control mode, it is checked whether the cruise control button has not been pressed (i.e., not triggered). If the cruise control switch has not been pressed, the cruise control is determined to be effectively activated.

[0102] S5, update the target speed of the ride mower for constant speed cruise based on the determined linear speed of constant speed cruise.

[0103] When it is determined that cruise control is effectively activated, the cruise control strategy is activated, that is, the cruise control function is executed. At this time, the target speed of the ride mower needs to be updated based on the determined cruise linear speed. In other words, the determined cruise linear speed is set as the target speed of the ride mower.

[0104] S6, based on pre-aiming and following control technology, controls the riding lawnmower to travel at an updated constant speed along the target straight line at the target heading.

[0105] After obtaining the target speed for the ride-on lawnmower's constant speed cruise, the ride-on lawnmower is then controlled to perform constant speed cruise function, automatically maintaining a constant speed straight-line driving state. That is, based on the pre-aiming and following control technology, the ride-on lawnmower is controlled to drive at a constant speed straight-line along the target heading at the updated constant speed cruise target speed, so that the ride-on lawnmower can automatically maintain a constant speed straight-line driving state during the mowing process.

[0106] In summary, this embodiment provides a method for controlling the cruise speed of a lawnmower. First, it acquires the cruise speed setting operation signal, the cruise speed switch operation signal, and the current state information of the control mechanism of the riding lawnmower. Then, it determines the current cruise speed linear velocity of the riding lawnmower based on the cruise speed setting operation signal. Next, it determines whether the control mechanism is in the zero position based on the current state information of the control mechanism. If the control mechanism is in the zero position, it further determines whether the cruise speed is effectively activated based on the cruise speed switch operation signal. When it is determined that the cruise speed is effectively activated, it updates the target cruise speed of the riding lawnmower based on the determined current cruise speed linear velocity. Finally, it controls the riding lawnmower to travel at a constant speed along the target straight line according to the target heading at the updated cruise speed target speed, thereby enabling the riding lawnmower to perform cruise speed control while automatically maintaining straight-line travel.

[0107] This embodiment improves the motion control system architecture and motion control strategy of the riding lawnmower, enabling the riding lawnmower to maintain straight line and cruise speed as needed during operation. This solves the problem that the user cannot maintain a constant speed and straight line during the operation of the riding lawnmower, resulting in an unsightly lawn cut texture. At the same time, it reduces the labor intensity of the user in operating the riding lawnmower, reduces the difficulty of operation, and improves the user experience.

[0108] In one embodiment, before updating the cruise target speed of the riding lawnmower based on the determined current cruise linear speed, the method may further include:

[0109] Obtain the current heading and current position coordinates of the ride-on lawnmower;

[0110] The motion mode of the riding lawnmower is determined based on the cruise control switch operation signal to determine whether the motion mode of the riding lawnmower has switched from non-cruise mode to cruise mode.

[0111] If the riding lawnmower switches from non-cruise mode to cruise mode, the current heading is marked as the target heading, the current motion mode is marked as cruise mode, and the equation of the target straight line is determined based on the current heading and current position coordinates.

[0112] When implementing the constant speed straight-line driving control strategy, it is necessary to first determine whether the riding lawnmower's motion mode has switched from non-constant speed cruise mode to constant speed cruise mode. If the riding lawnmower's motion mode has switched from non-constant speed cruise mode to constant speed cruise mode, it means that this constant speed straight-line driving control cycle has just begun. At this time, it is necessary to mark the current heading as the target heading, mark the current motion mode as constant speed cruise mode, and determine the equation expression of the target straight line based on the current heading and current position coordinates. That is, it is necessary to first determine the direction and path of straight-line driving in the straight-line driving cycle.

[0113] It is understandable that if the riding lawnmower is not switching from a non-cruise mode to a cruise mode, that is, if the riding lawnmower's current motion mode was also in cruise mode at the previous moment, then there is no need to perform the steps of marking the current heading as the target heading, marking the current motion mode as cruise mode, and determining the equation expression of the target straight line based on the current heading and current position coordinates. Instead, it can directly perform cruise control to maintain straight-line driving based on the heading and path at the previous moment.

[0114] like Figure 4 As shown, let the current heading of the ride-on lawnmower be θ. t (θ t (This represents the angle between the current direction of travel of the ride-on lawnmower and the eastward X-axis), with the target straight line being L. target , (x t ,y t θ represents the current position coordinates of the ride-on lawnmower. target For the target course.

[0115] Mark the current heading as the target heading, that is, let the target heading θ target =θ t (target heading θ) target (This represents the angle between the target line and the eastward X-axis).

[0116] The process of determining the equation for the target straight line based on the current heading and current position coordinates is as follows:

[0117] 1. The general form of the equation of a straight line is Ax + By + C = 0. Finding the equation of a straight line is equivalent to finding the parameters A, B, and C.

[0118] a, when B is not zero, i.e., A 2 +B 2 When ≠0, the slope of the line is

[0119] b, when B = 0, there is no slope;

[0120] c. When parallel to the X-axis, A = 0, B ≠ 0, C ≠ 0;

[0121] d, When parallel to the Y-axis, A≠0, B=0, C≠0;

[0122] e, when it coincides with the X-axis, A=0, B≠0, C=0;

[0123] f, when it coincides with the Y-axis, A≠0, B=0, C=0;

[0124] When g passes through the origin, C = 0, A 2 +B 2 ≠0;

[0125] h, when it intersects both the X and Y axes, A*B≠0.

[0126] 2. In this embodiment, the current position coordinates (x, y) of the riding lawnmower are used. t ,y t ) and target heading θ target Find the equation of the line:

[0127] (1) When θ target =π / 2 or 3π / 2

[0128] A = -1

[0129] B=0

[0130] C = x t

[0131] (2) When θ target ≠π / 2, and θ target When ≠3π / 2

[0132] A = tan(θ) target )

[0133] B = -1

[0134] C = -A × x t -B×y t

[0135] The current heading θ of the ride-on lawnmower t and target heading θ target The angle range is [0, 2π].

[0136] In one embodiment, such as Figure 3 , Figure 4 As shown, two GNSS antennas (GNSS antenna 1 and GNSS antenna 2) are symmetrically arranged on the left and right sides of the ride-on lawnmower. The current heading and current position coordinates of the ride-on lawnmower are obtained by:

[0137] Obtain the position coordinates of the two GNSS antennas;

[0138] The current heading of the riding lawnmower is calculated based on the position coordinates of the two GNSS antennas;

[0139] The current position coordinates of the ride-on lawnmower are calculated based on the position coordinates of the two GNSS antennas and the current heading.

[0140] It should be noted that, Figure 3 , Figure 4 The coordinate system XOY shown is a geodetic coordinate system with the GNSS base station as the origin, i.e., the northeast-sky coordinate system. The east coordinate X is the eastward position in the geographic coordinate system with the GNSS base station as the origin. The north coordinate Y is the northward position in the geographic coordinate system with the GNSS base station as the origin. The sky coordinate is the skyward position in the geographic coordinate system with the GNSS base station as the origin. Figure 3 In the diagram, B represents the wheelbase of the drive wheels, L represents the baseline length of the vehicle-mounted GNSS (two GNSS antennas are symmetrically arranged on the left and right sides of the ride-on lawnmower), and H represents the distance from the center of the vehicle-mounted GNSS antenna to the center of the wheelbase. C The distance, O C This represents the center of the wheelbase of the drive wheels of the ride-on lawnmower, and is also the calculation point for calculating the lawnmower's position in the XOY coordinate system. In other words, when describing the position of the ride-on lawnmower, it refers to O... C Coordinates in the XOY coordinate system.

[0141] Let the position coordinates of the two obtained GNSS antennas be (x1, y1) and (x2, y2) respectively, and the current heading of the ride-on lawnmower be θ. t The current position coordinates are (x t ,y t Then we have:

[0142]

[0143]

[0144] The current heading θ of the riding lawnmower can be calculated using the two formulas above. t and current position coordinates (x) t ,y t ).

[0145] In one embodiment, the method may further include:

[0146] When it is determined that the control mechanism of the riding lawnmower is not in the zero position, the current control mode of the riding lawnmower is marked as manual driving mode, and the current linear speed of the riding lawnmower is updated based on the current status information of the control mechanism.

[0147] In this embodiment, if it is determined that the control mechanism of the riding lawnmower is not in the zero position, that is, the user is manually operating the control mechanism based on the user operation (current state information of the control mechanism), it indicates that there is no need to intervene in the constant speed straight driving control strategy at this time. Then, the current control mode of the riding lawnmower is marked as manual driving mode, and the current linear speed of the riding lawnmower is updated based on the current state information of the control mechanism, so that the riding lawnmower travels according to the user operation.

[0148] Specifically, such as Figure 2 As shown, the formula for calculating the current linear velocity v of the lawnmower is as follows:

[0149] V max The maximum linear speed of the lawnmower

[0150] In one embodiment, the control mechanism includes a universal handle for controlling the speed and direction of travel of the riding lawnmower;

[0151] like Figure 2 The diagram shows the position of the universal joint handle in polar coordinates. The current position of the universal joint handle is h. For ease of calculation, the maximum radius of motion of the universal joint handle is assumed to be 1024 units. θ h This represents the angle by which the handle deviates from the Y-axis, where θ can be determined using trigonometric functions. h The calculation formula is as follows:

[0152]

[0153] Where, x h and y h These are the X and Y coordinates of the current position of the universal handle, respectively.

[0154] Specifically, in this embodiment, obtaining the current state information of the control mechanism of the riding lawnmower includes:

[0155] In response to an operation on the universal handle, the current position vector information of the universal handle is obtained. The current position vector information includes polar radius information and polar angle information. The polar radius information is used to characterize the distance the universal handle moves relative to its initial position (the origin of the universal handle's polar coordinate system), and the polar angle information is used to characterize the rotation angle of the universal handle relative to the reference direction (the Y-axis direction of the universal handle's polar coordinate system).

[0156] Specifically, the polar angle information of the gimbal handle (i.e., θ) h Both the polarity information and the current position coordinates (x, y) of the gimbal handle can be obtained. h y h ) was calculated.

[0157] Determining whether the control mechanism is in the zero position based on its current status information includes:

[0158] The system determines whether the universal handle is at zero position based on the polar diameter information in the current position vector information of the universal handle. If the absolute value of the polar diameter of the universal handle is less than or equal to the preset distance, the universal handle is determined to be at zero position; otherwise, the universal handle is determined not to be at zero position.

[0159] It should be noted that the preset distance can be adjusted according to the actual situation.

[0160] Specifically, in this embodiment, since the absolute value of the extreme diameter of the universal handle is related to the position coordinates of the universal handle, it is possible to determine whether the universal handle is at the zero position based on its coordinates. When |x h |<100 and|y h If | < 100, the universal handle is determined to be in the zero position; otherwise, the universal handle is determined to be in the non-zero position.

[0161] In this embodiment, the manual operation mode is determined based on whether the universal handle is in the zero position. That is, the user's operation intention (whether to manually or automatically control the lawnmower) is determined by detecting the user's operation. Based on the determined user intention, the system determines whether to intervene in the constant speed straight-line driving control strategy.

[0162] In one embodiment, the riding lawnmower includes a walking mechanism and a walking drive mechanism.

[0163] It should be noted that the walking mechanism of the riding lawnmower in this application can be either a rear-drive or front-drive mechanism. For a riding lawnmower with a rear-drive walking mechanism, the passive swivel casters are installed at the front bottom of the lawnmower and are responsible for steering, while the left and right drive wheels are symmetrically installed on the left and right sides of the rear bottom of the lawnmower and are responsible for driving the lawnmower forward. For a riding lawnmower with a front-drive walking mechanism, the passive swivel casters are installed at the rear bottom of the lawnmower and are responsible for steering, while the left and right drive wheels are symmetrically installed on the left and right sides of the front bottom of the lawnmower and are responsible for driving the lawnmower forward. Specifically, one passive swivel caster responsible for steering can be located at the center of one end of the lawnmower's bottom, or two can be symmetrically located on the left and right sides of one end of the lawnmower's bottom. In this embodiment, the riding lawnmower eliminates complex steering mechanisms, gear shifting mechanisms, and other components. By controlling the speed difference and rotation direction of the left and right drive wheels, the riding lawnmower's speed and direction of travel can be controlled, which improves ease of operation and greatly reduces equipment costs.

[0164] like Figure 3 , Figure 4As shown, the walking mechanism includes a passive omnidirectional wheel, a left drive wheel, and a right drive wheel located at the bottom of the riding lawnmower; the walking drive mechanism includes a left drive motor that is driven by the left drive wheel and a right drive motor that is driven by the right drive wheel.

[0165] Figure 4 In, (x t ,y t (x) represents the position coordinates of the lawnmower at time t (i.e., its current position coordinates), (x) td ,y td S represents the aiming point of the lawnmower at time t. d The target distance is indicated by Δd, where Δd represents the lateral deviation between the current position of the lawnmower and the target line, and l represents the target distance. preview The straight line from the lawnmower's current position to the target point at time t, θ target Indicates the target heading, θ t Δ represents the heading of the lawnmower at time t. θ P represents the difference between the current heading angle and the forward heading angle of the lawnmower. f P represents the foot of the perpendicular from the current position of the lawnmower to the target line. preview Indicates the aiming point.

[0166] Accordingly, controlling a ride-on lawnmower to travel at an updated constant speed along the target straight line according to the target heading, based on the pre-aiming and following control technology, includes:

[0167] 1. Calculate the lateral deviation, where the lateral deviation Δd is the current position of the lawnmower (x). t ,y t ) to the target line L target The distance, of which,

[0168]

[0169] 2. Calculate the equation of the pre-aimed line L. preview The current position of the ride-on lawnmower (x t ,y t ) to the aiming point P preview (x preview ,y preview The straight line formed by connecting the lines of )

[0170] The aiming point is the current position of the lawnmower (x). t ,y t On the target line L target The foot of the perpendicular P on f (x f ,y f Add the aiming distance S to the target's straight-line direction of travel. d The calculated points;

[0171] The pre-aiming distance S d Related to the lawnmower's walking speed;

[0172] S d =mv, where m represents the proportionality coefficient (a constant) and v represents the lawnmower's walking speed.

[0173] a, find the foot of the perpendicular P. f (x f ,y f ):

[0174]

[0175]

[0176] b. Calculate the distance from the current position of the lawnmower to the aiming point:

[0177]

[0178] c, Calculate the aiming point P preview (x preview ,y preview ):

[0179] x preview =x t +S×cos(θ target )

[0180] y preview =x t +S×sin(θ target )

[0181] Therefore, the aiming line L can be calculated. preview The expression for the heading of the target line and the heading of the target line.

[0182] 3. Calculate the current heading θ of the riding lawnmower. t With the pre-aimed straight line L preview The heading deviation Δθ between them:

[0183] Δθ=θ preview -θ t

[0184] 4. Based on lateral deviation and heading deviation, a preset PID control model is used to calculate the control quantities of the left and right drive wheels when the riding lawnmower travels at a constant speed along the target straight line at the target heading. The control quantities include angle deviation control quantity and lateral deviation control quantity.

[0185]

[0186]

[0187] in:

[0188] angle_control: Angle deviation control value

[0189] KP angle : P parameter of PID control for angle deviation

[0190] KI angle : PID control of angle deviation - I parameter

[0191] KD angle : PID D parameter of angle deviation control quantity

[0192] hori_control: Lateral deviation control quantity

[0193] KP d : P parameter of PID control for angle deviation

[0194] KI d : PID controller I parameter for angle deviation control

[0195] KD d : PID D parameter of angle deviation control quantity

[0196] 5. Calculate the target rotational speeds of the left and right drive wheels based on the control quantities of the left and right drive wheels;

[0197] speed_control_data=K×angle_control-hori_control

[0198] v left =v current +ackerman×speed_control_data

[0199] v rigth =v current -(1-ackerman)×speed_control_data

[0200] in

[0201] v left Speed ​​of the left drive wheel

[0202] v right Speed ​​of the right drive wheel

[0203] K: Weight of angle control quantity

[0204] Ackerman: Weighting of left and right wheel speed control quantities

[0205] 6. Based on the determined target rotational speeds of the left and right drive wheels, control the output voltages of the left and right drive motors so that the riding lawnmower can cruise at a constant speed along the target straight line according to the target heading.

[0206] like Figure 5 As shown, this embodiment of the invention also provides a cruise control system for a lawnmower, applied to a ride-on lawnmower. The ride-on lawnmower is equipped with a cruise speed setting module and a cruise switch module. The system may include:

[0207] The operation signal acquisition module 201 is used to acquire the cruise speed setting operation signal, the cruise switch operation signal, and the current status information of the control mechanism of the ride mower. The control mechanism is used to accept user operation to control the travel speed and travel direction of the ride mower.

[0208] The cruise speed determination module 202 is used to determine the current cruise linear speed of the riding lawnmower based on the cruise speed setting operation signal.

[0209] The operating mechanism status judgment module 203 is used to determine whether the operating mechanism is in the zero position based on the current status information of the operating mechanism;

[0210] The cruise control activation status determination module 204 is used to determine whether the cruise control is in an effective activation state based on the cruise control switch operation signal when the control mechanism of the riding lawnmower is determined to be in the zero position.

[0211] The cruise target speed update module 205 is used to update the cruise target speed of the ride-on lawnmower based on the determined cruise linear speed when it is determined that the cruise is in an effective activated state.

[0212] The cruise control module 206 is used to control the riding lawnmower to travel at a constant speed in a straight line along the target heading at the updated cruise target speed based on the pre-aiming and following control technology.

[0213] In one embodiment, the system may further include:

[0214] The heading and position acquisition module is used to acquire the current heading and current position coordinates of the riding lawnmower before updating the target speed of the riding lawnmower based on the determined current constant speed cruise linear speed.

[0215] The cruise control mode switching judgment module is used to determine whether the motion mode of the riding lawnmower has switched from non-cruise mode to cruise mode based on the cruise control switch operation signal.

[0216] The first state processing module is used to mark the current heading as the target heading, mark the current motion mode as the cruise mode, and determine the equation expression of the target straight line based on the current heading and the current position coordinates when the riding lawnmower switches from non-cruise mode to cruise mode.

[0217] In one embodiment, two GNSS antennas are symmetrically arranged on the left and right sides of the ride-on lawnmower. The heading and position acquisition module is specifically used to acquire the current heading and current position coordinates of the ride-on lawnmower for:

[0218] Obtain the position coordinates of the two GNSS antennas;

[0219] The current heading of the riding lawnmower is calculated based on the position coordinates of the two GNSS antennas;

[0220] The current position coordinates of the ride-on lawnmower are calculated based on the position coordinates of the two GNSS antennas and the current heading.

[0221] In one embodiment, the system may further include:

[0222] The second state processing module is used to mark the current control mode of the riding lawnmower as manual driving mode when it is determined that the control mechanism of the riding lawnmower is not in the zero position, and to update the current linear speed of the riding lawnmower based on the current state information of the control mechanism.

[0223] In one embodiment, the control mechanism includes a universal handle for controlling the speed and direction of travel of the riding lawnmower;

[0224] Accordingly, obtaining the current status information of the control mechanism of the ride-on lawnmower includes:

[0225] In response to an operation on the universal handle, the current position vector information of the universal handle is obtained. The current position vector information includes polar radius information and polar angle information. The polar radius information is used to characterize the distance the universal handle has moved relative to its initial position, and the polar angle information is used to characterize the rotation angle of the universal handle relative to the reference direction.

[0226] Determining whether the control mechanism is in the zero position based on its current status information includes:

[0227] The system determines whether the universal handle is at zero position based on the polar diameter information in the current position vector information of the universal handle. If the absolute value of the polar diameter of the universal handle is less than or equal to the preset distance, the universal handle is determined to be at zero position; otherwise, the universal handle is determined not to be at zero position.

[0228] In one embodiment, the ride-on lawnmower includes a walking mechanism and a walking drive mechanism, wherein...

[0229] The walking mechanism includes a passive omnidirectional wheel, a left drive wheel, and a right drive wheel located at the bottom of the riding lawnmower; the walking drive mechanism includes a left drive motor connected to the left drive wheel and a right drive motor connected to the right drive wheel.

[0230] Accordingly, controlling a ride-on lawnmower to travel at an updated constant speed along the target straight line according to the target heading, based on the pre-aiming and following control technology, includes:

[0231] Calculate the lateral deviation, where the lateral deviation is the distance from the current position of the riding lawnmower to the target straight line;

[0232] Calculate the equation for the aiming line, where the aiming line is the straight line formed by connecting the current position of the riding lawnmower to the aiming point;

[0233] Calculate the heading deviation between the current heading of the riding lawnmower and the pre-aimed straight line;

[0234] Based on lateral deviation and heading deviation, a preset PID control model is used to calculate the control quantities of the left and right drive wheels when the riding lawnmower travels at a constant speed along the target straight line at the target heading. The control quantities include angle deviation control quantity and lateral deviation control quantity.

[0235] Calculate the target rotational speeds of the left and right drive wheels based on the control quantities of the left and right drive wheels;

[0236] Based on the determined target rotational speeds of the left and right drive wheels, the output voltages of the left and right drive motors are controlled, enabling the ride-on lawnmower to cruise at a constant target speed and travel in a straight line along the target heading at a constant speed.

[0237] The working principle and beneficial effects of the lawnmower cruise control system in the above embodiments are the same as those of the lawnmower cruise control method in the above embodiments, and will not be repeated here.

[0238] like Figure 6 As shown, this embodiment of the invention also provides a lawnmower cruise control device 3, including a memory 301, a processor 302, and a computer program 303 stored in the memory 301 and executable on the processor 302. When the processor 302 executes the computer program 303, it implements the lawnmower cruise control method in any of the above embodiments.

[0239] This invention also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the lawnmower cruise control method in any of the above embodiments.

[0240] This invention also provides a rideable lawnmower, including the lawnmower cruise control device described in the above embodiments.

[0241] In the embodiments provided in this application, it should be understood that the disclosed methods and systems can be implemented in other ways. The system embodiments described above are merely illustrative. For example, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple modules or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, and can be electrical, mechanical, or other forms.

[0242] Furthermore, in the various embodiments of the present invention, each functional module can be fully integrated into a processor, or each module can be a separate device, or two or more modules can be integrated into a device; each functional module in the various embodiments of the present invention can be implemented in hardware or in the form of hardware plus software functional units.

[0243] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by program instructions and related hardware. The aforementioned program instructions can be stored in a computer-readable storage medium. When the program instructions are executed, they perform the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as mobile storage devices, read-only memory (ROM), magnetic disks, or optical disks.

[0244] It should be understood that the use of terms such as "system," "device," "unit," and / or "module" in this application is merely one method of distinguishing different components, elements, parts, sections, or assemblies at different levels. However, if other terms can achieve the same purpose, they may be replaced by other expressions.

[0245] As indicated in this application and claims, unless the context clearly indicates otherwise, the words "a," "an," "a," and / or "the" are not specifically singular and may include the plural. Generally, the terms "comprising" and "including" only indicate the inclusion of expressly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements. An element defined by the phrase "comprising an..." does not exclude the presence of other identical elements in the process, method, product, or apparatus that includes the element.

[0246] In the description of the embodiments of this application, unless otherwise stated, " / " means "or", for example, A / B can mean A or B; "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more.

[0247] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0248] If a flowchart is used in this application, it is used to illustrate the operations performed by the system according to embodiments of this application. It should be understood that the preceding or following operations are not necessarily performed in exact order. Instead, the steps can be processed in reverse order or simultaneously. Furthermore, other operations can be added to these processes, or one or more steps can be removed from them.

[0249] The foregoing has provided a detailed description of a lawnmower cruise control method, system, device, storage medium, and riding lawnmower provided by the present invention. The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for cruise control of a lawnmower, applied to a ride-on lawnmower, characterized in that, The ride-on lawnmower is equipped with a cruise control speed setting module and a cruise control switch module, and the method includes: The system acquires the cruise control speed setting operation signal, the cruise control switch operation signal, and the current status information of the control mechanism of the ride-on lawnmower, wherein the control mechanism is used to accept user operations to control the travel speed and travel direction of the ride-on lawnmower. The linear speed of the riding lawnmower during this cruise is determined based on the cruise speed setting operation signal. Determine whether the control mechanism is in the zero position based on the current state information of the control mechanism; When it is determined that the control mechanism of the riding lawnmower is in the zero position, the cruise control is further determined to be in an effective activated state based on the cruise control switch operation signal. When it is determined that cruise control is in an effective activated state, the cruise control target speed of the riding lawnmower is updated based on the determined cruise control linear speed for this time. Based on the pre-aiming and following control technology, the riding lawnmower is controlled to travel at an updated constant speed along the target straight line according to the target heading at the target speed. in, The control mechanism includes a universal handle, which is used to control the speed and direction of travel of the ride-on lawnmower. Accordingly, obtaining the current status information of the control mechanism of the ride-on lawnmower includes: In response to an operation on the universal handle, the current position vector information of the universal handle is obtained, wherein the current position vector information includes polar radius information and polar angle information, the polar radius information is used to characterize the moving distance of the universal handle relative to the initial position, and the polar angle information is used to characterize the rotation angle of the universal handle relative to the reference direction; The step of determining whether the control mechanism is in the zero position based on the current state information of the control mechanism includes: The polar radius information in the current position vector information of the universal handle is used to determine whether the universal handle is at the zero position. If the absolute value of the polar radius of the universal handle is less than or equal to a preset distance, the universal handle is determined to be at the zero position; otherwise, the universal handle is determined not to be at the zero position. The ride-on lawnmower includes a walking mechanism and a walking drive mechanism, wherein... The walking mechanism includes a passive omnidirectional wheel, a left drive wheel, and a right drive wheel disposed at the bottom of the riding lawnmower; the walking drive mechanism includes a left drive motor that is driven and connected to the left drive wheel, and a right drive motor that is driven and connected to the right drive wheel. Accordingly, the method of controlling the riding lawnmower to travel at an updated constant speed along the target straight line according to the target heading based on the pre-aiming and following control technology includes: Calculate the lateral deviation, where the lateral deviation is the distance from the current position of the riding lawnmower to the target straight line; Calculate the equation of the aiming line, where the aiming line is the straight line formed by connecting the current position of the riding lawnmower to the aiming point; Calculate the heading deviation between the current heading of the riding lawnmower and the pre-aimed straight line; Based on the lateral deviation and heading deviation, a preset PID control model is used to calculate the control quantities of the left and right drive wheels when the riding lawnmower travels at a constant speed along the target straight line at the target cruise target speed and heading. The control quantities include angular deviation control quantities and lateral deviation control quantities. Calculate the target rotational speeds of the left and right drive wheels based on the control quantities of the left and right drive wheels; The output voltage of the left and right drive motors is controlled according to the target rotation speeds of the left and right drive wheels, so that the riding lawnmower travels at a constant speed along the target straight line at the target cruise target speed and on the target heading.

2. The lawnmower cruise control method according to claim 1, characterized in that, Before updating the target speed of the ride-on lawnmower based on the determined current cruise linear speed, the method further includes: Obtain the current heading and current position coordinates of the ride-on lawnmower; Based on the cruise control switch operation signal, it is determined whether the motion mode of the riding lawnmower has switched from non-cruise mode to cruise mode. If the riding lawnmower switches from non-constant speed cruise mode to constant speed cruise mode, the current heading is marked as the target heading, the current motion mode is marked as constant speed cruise mode, and the equation expression of the target straight line is determined based on the current heading and the current position coordinates.

3. The lawnmower cruise control method according to claim 2, characterized in that, The ride-on lawnmower has two GNSS antennas symmetrically arranged on its left and right sides. The process of obtaining the current heading and current position coordinates of the ride-on lawnmower includes: Obtain the position coordinates of the two GNSS antennas; The current heading of the riding lawnmower is calculated based on the position coordinates of the two GNSS antennas; The current position coordinates of the ride-on lawnmower are calculated based on the position coordinates of the two GNSS antennas and the current heading.

4. The lawnmower cruise control method according to claim 1, characterized in that, The method further includes: When it is determined that the control mechanism of the riding lawnmower is not in the zero position, the current control mode of the riding lawnmower is marked as manual driving mode, and the current linear speed of the riding lawnmower is updated based on the current status information of the control mechanism.

5. A cruise control system for a lawnmower, applied to a ride-on lawnmower, characterized in that, The ride-on lawnmower is equipped with a cruise control speed setting module and a cruise control switch module. The system includes: The operation signal acquisition module is used to acquire the cruise control speed setting operation signal, the cruise control switch operation signal, and the current status information of the control mechanism of the riding lawnmower. The control mechanism is used to accept user operation to control the travel speed and travel direction of the riding lawnmower. The cruise speed determination module is used to determine the current cruise linear speed of the riding lawnmower based on the cruise speed setting operation signal. The operating mechanism status judgment module is used to determine whether the operating mechanism is in the zero position based on the current status information of the operating mechanism; The cruise control activation status determination module is used to determine whether cruise control is in an effective activation state based on the cruise control switch operation signal when the control mechanism of the riding lawnmower is determined to be in the zero position. The cruise control target speed update module is used to update the cruise control target speed of the ride-on lawnmower based on the determined cruise control linear speed when it is determined that cruise control is in an effective activated state. The cruise control module is used to control the riding lawnmower to travel at a constant speed along the target straight line according to the target heading, based on the pre-aiming and following control technology, at the updated cruise target speed. The control mechanism includes a universal handle, which is used to control the speed and direction of travel of the ride-on lawnmower. Accordingly, obtaining the current status information of the control mechanism of the ride-on lawnmower includes: In response to an operation on the universal handle, the current position vector information of the universal handle is obtained, wherein the current position vector information includes polar radius information and polar angle information, the polar radius information is used to characterize the moving distance of the universal handle relative to the initial position, and the polar angle information is used to characterize the rotation angle of the universal handle relative to the reference direction; The step of determining whether the control mechanism is in the zero position based on the current state information of the control mechanism includes: The polar radius information in the current position vector information of the universal handle is used to determine whether the universal handle is at the zero position. If the absolute value of the polar radius of the universal handle is less than or equal to a preset distance, the universal handle is determined to be at the zero position; otherwise, the universal handle is determined not to be at the zero position. The ride-on lawnmower includes a walking mechanism and a walking drive mechanism, wherein... The walking mechanism includes a passive omnidirectional wheel, a left drive wheel, and a right drive wheel disposed at the bottom of the riding lawnmower; the walking drive mechanism includes a left drive motor that is driven and connected to the left drive wheel, and a right drive motor that is driven and connected to the right drive wheel. Accordingly, the method of controlling the riding lawnmower to travel at an updated constant speed along the target straight line according to the target heading based on the pre-aiming and following control technology includes: Calculate the lateral deviation, where the lateral deviation is the distance from the current position of the riding lawnmower to the target straight line; Calculate the equation of the aiming line, where the aiming line is the straight line formed by connecting the current position of the riding lawnmower to the aiming point; Calculate the heading deviation between the current heading of the riding lawnmower and the pre-aimed straight line; Based on the lateral deviation and heading deviation, a preset PID control model is used to calculate the control quantities of the left and right drive wheels when the riding lawnmower travels at a constant speed along the target straight line at the target cruise target speed and heading. The control quantities include angular deviation control quantities and lateral deviation control quantities. Calculate the target rotational speeds of the left and right drive wheels based on the control quantities of the left and right drive wheels; The output voltage of the left and right drive motors is controlled according to the target rotation speeds of the left and right drive wheels, so that the riding lawnmower travels at a constant speed along the target straight line at the target cruise target speed and on the target heading.

6. A lawnmower cruise control device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, it implements the lawnmower cruise control method as described in any one of claims 1-4.

7. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by the processor, it implements the lawnmower cruise control method as described in any one of claims 1-4.

8. A riding-type lawnmower, characterized in that, Includes the lawnmower cruise control device as described in claim 6.

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