Gang mowing unit and gang mowing method, device, medium, product

Abstract

The application provides a linkage mower set, comprising a remote controller, a plurality of positioning base stations, a plurality of mowers, and a plurality of positioning tags; the remote controller is in communication connection with each mower, and is used for sending a control signal to the mower to control the running state of each mower; the mower receives the control signal sent by the remote controller, and controls its own running according to the control signal; each mower can upload its own position data to the remote controller, and obtain the position data of all other mowers to avoid collision and keep formation among the mowers. Each positioning tag is in communication connection with a plurality of positioning base stations to locate the position of the positioning tag; each positioning tag is in communication connection with the remote controller, and is used for sending its own position to the remote controller; at least one positioning tag is arranged on each mower to determine the position of the positioning tag as the position of the mower provided with the positioning tag. The application improves the mowing efficiency.

Description

Technical Field

[0001] This application relates to the field of integrated lawn mowing technology, and in particular to an integrated lawn mowing unit and integrated lawn mowing method, equipment, medium, and product. Background Technology

[0002] Currently, lawnmowers are classified according to their usage, including shoulder-mounted, push-mounted, riding, and remote-controlled types; and according to their size, including large and small machines.

[0003] Furthermore, the current usage of lawnmowers is as follows: shoulder-mounted lawnmowers are generally used for very small lawns and edge trimming due to their very small mowing area; push-mounted and remote-controlled lawnmowers are suitable for small lawns, but their efficiency is relatively low, and the labor cost is relatively high for municipal and orchard mowing; ride-on lawnmowers are generally larger, with a mowing area 2 to 3 times that of push-mounted lawnmowers, and their mowing efficiency for large areas is relatively high, but they are cumbersome to use for large and irregular lawns in parks, and cannot enter many places. For orchard mowing, they are difficult to use due to the obstruction of fruit trees.

[0004] As can be seen from the above, the existing technology has at least the following technical problems: small equipment is suitable for small lawns and irregular lawns, while large equipment is suitable for large areas of regular lawns. This results in small equipment having a narrow body and a small area to mow at a time, which has good passability but low mowing efficiency. Large equipment has a wide body and a wide area to mow at a time, which has high mowing efficiency but poor passability in narrow places. Summary of the Invention

[0005] This application provides a combined lawn mower unit and a combined lawn mowing method, equipment, medium, and product to solve the problems in the background art mentioned above.

[0006] In a first aspect, this application provides a linked lawn mower unit, including: a remote controller, multiple positioning base stations, multiple lawn mowers, and multiple positioning tags;

[0007] The remote controller is communicatively connected to each of the lawnmowers and is used to send control signals to each of the lawnmowers to control the operating status of each of the lawnmowers.

[0008] The lawnmower receives control signals sent by the remote controller and controls its own operation according to the control signals;

[0009] Each lawnmower uploads its own location coordinates to the remote controller and obtains the coordinates of other lawnmowers in the unit from the remote controller, so as to achieve coordinate position sharing among the lawnmowers, thereby maintaining formation and avoiding collisions.

[0010] Each of the positioning tags is communicatively connected to multiple positioning base stations to locate the position of the positioning tag via the positioning base stations;

[0011] Each of the positioning tags is communicatively connected to the remote controller and is used to send the coordinates of its own location to the remote controller;

[0012] Each lawnmower is equipped with at least one of the positioning tags, used to determine the coordinates of the positioning tag as the coordinates of the lawnmower on which the positioning tag is located.

[0013] Optionally, the positioning base station is an ultra-wideband positioning base station, and the positioning tag is an ultra-wideband positioning tag.

[0014] Optionally, each lawnmower is equipped with a gyroscope module, which is used to upload its own heading angle to the remote controller and obtain the heading angles of other lawnmowers from the remote controller.

[0015] Optionally, the remote control includes a first two-way joystick, a second two-way joystick, a touch screen display, and a first processor. The first two-way joystick, the second two-way joystick, the touch screen display, and the first processor are communicatively connected. The first two-way joystick is used to control the forward or backward speed of the lawnmower, and the second two-way joystick is used to control the angular velocity of the lawnmower turning left or right.

[0016] Secondly, this application provides a coordinated mowing method, wherein the coordinated mowing method is completed collaboratively by multiple mowers included in any coordinated mowing unit described in the first aspect above. For any mower in the unit, the coordinated mowing method includes:

[0017] The system receives real-time data from the remote controller, specifying the operating parameters that the lawn mower unit should possess at the current time. These operating parameters include the unit's coordinates, direction of travel, and speed.

[0018] Obtain the first coordinates of the location of the first lawnmower and the second coordinates of the location of the second lawnmower at the current time. The first lawnmower is any lawnmower in the unit, and the second lawnmower is any other lawnmower in the unit other than the first lawnmower.

[0019] Based on the unit's operating parameters, the first coordinate, and the second coordinate, a first running direction and a first running speed of the first lawnmower are generated.

[0020] It runs in the first direction and at the first speed to complete the mowing task.

[0021] Optionally, the remote controller determines the unit's operating parameters in real time using the following two methods and sends them to the first lawnmower:

[0022] The first method: The remote control receives the unit's running direction and speed input by the user through the operation keys of the remote control, and records them as the first unit's running direction and first unit's running speed;

[0023] The remote controller obtains the actual location of the lawnmower unit at the current time.

[0024] The remote controller acquires the discretized unit coordinates that are closest to and in front of the actual position of the unit, and records them as the first discretized unit coordinates. The first discretized unit coordinates are then determined as the unit coordinates in the unit operation parameters.

[0025] The remote controller sends the first unit's running direction, first unit's running speed, and first discretized unit's coordinates as unit operation parameters to the first lawnmower;

[0026] The discretized unit coordinates are determined by the following method: along the preset unit operation path from the beginning to the end, a coordinate position is obtained at a predetermined interval, thereby discretizing the preset unit operation path and obtaining multiple discretized unit coordinates;

[0027] The second method: at predetermined intervals, the remote control obtains the actual location of the lawnmower unit at the current time;

[0028] Obtain the coordinates of the discretized unit that is closest to and in front of the actual position of the unit, which is the first discretized unit coordinates;

[0029] Obtain the unit running direction and unit running speed corresponding to the coordinates of the first discretized unit, and record them as the second unit running direction and the second unit running speed, respectively;

[0030] The coordinates of the first discretized unit, the running direction of the second unit, and the running speed of the second unit are sent to the first lawnmower as the unit's operating parameters.

[0031] Optionally, when the unit's operating parameters for the current time are determined using the first method, the method further includes the following during the unit's operation:

[0032] When a first mowing mode instruction is received, the predetermined mowing width carried by the first mowing mode instruction is obtained. The first mowing mode is one of a number of mowing modes that are predetermined.

[0033] Obtain the mowing width of the first lawnmower;

[0034] The horizontal mowing overlap length of the unit is determined based on the predetermined mowing width and its own mowing width;

[0035] Based on the mowing overlap length, the first coordinate, and the second coordinate, a third coordinate is generated. The third coordinate is the coordinate that the first mower should be located within the unit when the unit is in the first mowing mode.

[0036] Optionally, during the operation of the first lawnmower, the method further includes:

[0037] At predetermined intervals, the actual running direction of the first lawnmower is obtained.

[0038] When the actual running direction is inconsistent with the first running direction, a running direction adjustment command is generated so that the first lawnmower adjusts its running direction according to the first running direction.

[0039] Thirdly, embodiments of this application provide a remote control device, including:

[0040] One or more processors;

[0041] Memory is used to store one or more instructions;

[0042] When one or more instructions are executed by one or more processors, they cause one or more processors to perform the method described in the second aspect above.

[0043] Fourthly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, the computer program being used to implement the method of the second aspect described above.

[0044] Fifthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the method described in the second aspect.

[0045] The linked lawnmower unit provided in this application includes a remote controller, multiple positioning base stations, multiple lawnmowers, and multiple positioning tags. The remote controller sends control signals to the lawnmowers, and the lawnmowers receive the control signals and control their own operation accordingly. This allows each lawnmower to operate in a predetermined formation, speed, and direction, and to switch between narrow and wide mowing modes based on instructions from the remote controller, enabling the lawnmower unit to operate smoothly at any location on the lawn. In contrast, existing technologies use only a single lawnmower, resulting in low mowing efficiency. Therefore, this application improves mowing efficiency compared to existing technologies. Attached Figure Description

[0046] 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 some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 This is a schematic diagram of the structure of a linked lawn mower unit provided in an embodiment of this application;

[0048] Figure 2 A top view of a narrow-section mode provided in an embodiment of this application;

[0049] Figure 3 A narrow-cut side-top view provided for an embodiment of this application;

[0050] Figure 4 A narrow-cut side view provided for an embodiment of this application;

[0051] Figure 5 A top view in a wide-cut mode provided for an embodiment of this application;

[0052] Figure 6 A wide-cut side-top view provided for an embodiment of this application;

[0053] Figure 7 This is a schematic diagram illustrating a typical application provided in an embodiment of this application.

[0054] Figure 8 This application provides a flowchart of a linked lawn mowing method;

[0055] Figure 9 A flowchart illustrating a method for generating third coordinates provided in this application embodiment;

[0056] Figure 10 A flowchart illustrating a method for adjusting the running direction of a lawnmower, as provided in this application embodiment;

[0057] Figure 11 This is a schematic diagram of the structure of a computer system according to an embodiment of this application.

[0058] In the image, 1-location tag; 2-lawn mower; 3-location base station. Detailed Implementation

[0059] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application are described clearly and completely below. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are also within the scope of protection of this application. In addition, it should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other. The present application will now be described in detail with reference to the accompanying drawings and embodiments.

[0060] Figure 1 This is a schematic diagram of a linked lawnmower unit according to an embodiment of this application. Figure 1 As shown, the linked lawn mower unit includes: a remote controller, multiple positioning base stations 3, multiple lawn mowers 2, and multiple positioning tags 1;

[0061] For the purpose of describing direction, the equipment will no longer be numbered in the following content.

[0062] The remote controller is communicatively connected to each of the lawnmowers and is used to send control signals to each of the lawnmowers to control the operating status of each of the lawnmowers.

[0063] The lawnmower receives control signals sent by the remote controller and controls its own operation according to the control signals;

[0064] Each lawnmower uploads its own location coordinates to the remote controller and obtains the coordinates of other lawnmowers in the unit from the remote controller, so as to achieve coordinate position sharing among the lawnmowers, thereby maintaining formation and avoiding collisions.

[0065] Each of the positioning tags is communicatively connected to multiple positioning base stations to locate the position of the positioning tag via the positioning base stations;

[0066] Each of the positioning tags is communicatively connected to the remote controller and is used to send the coordinates of its own location to the remote controller;

[0067] Each lawnmower is equipped with at least one of the positioning tags, used to determine the coordinates of the positioning tag as the coordinates of the lawnmower on which the positioning tag is located.

[0068] It should be noted here that, for the sake of illustration, Figure 1 The diagram uses one lawnmower as an example, but in reality, it includes multiple lawnmowers. The connection methods of each lawnmower with other equipment are as follows: Figure 1 The lawnmower shown is the same as the one described herein, and will not be described in detail here.

[0069] The control signal includes the running direction and the running speed, so that the lawnmower runs in the running direction and the running speed, thereby realizing the lawnmower running in the forward, backward, left and right directions.

[0070] In addition to the aforementioned running speed and running direction, the running status may also include front-to-back spacing, left-to-right spacing, etc.

[0071] When a lawnmower has multiple location tags, the lawnmower's coordinates can be determined by averaging the coordinates of the multiple location tags.

[0072] Among them, the positioning tag can work with the positioning base station to realize the positioning function and obtain its own coordinates in real time.

[0073] The positioning tag can be set at any configurable location on the lawnmower, for example, such as... Figure 2 As shown, it is located at the head of the lawnmower.

[0074] The positioning base stations are arranged in a predetermined shape around the perimeter of the lawn according to their own numbers, such as rectangles, triangles, and other geometric shapes. Figure 7 As shown, the base stations are arranged in a rectangular pattern.

[0075] In addition, multiple lawnmowers can be of the same model.

[0076] The above-mentioned combined lawnmower unit is used as follows:

[0077] The staff operates the remote control and transmits control signals to it, which are the unit's operating parameters.

[0078] The remote controller sends the unit's operating parameters to each lawnmower. Each lawnmower calculates its own operating status based on the unit's operating parameters and its own coordinate position. This operating status mainly includes the operating direction and speed. The lawnmower operates according to the operating status to complete the mowing task.

[0079] During the mowing task, each mower uploads its own location coordinates to the remote controller and obtains the coordinates of other mowers in the unit from the remote controller, so as to achieve coordinate position sharing among the mowers, thereby maintaining formation and avoiding collisions.

[0080] In addition to the above methods, the following methods can also be used to mow the lawn:

[0081] Determine the preset mowing width in advance based on the actual mowing needs;

[0082] The horizontal overlap length of the lawnmowers is determined based on the preset mowing width and the mower's own mowing width. For example, if the preset mowing width is 1000 mm and the mower's own mowing width is 300 mm, then 4 lawnmowers can be used, and the horizontal overlap length is 200 mm.

[0083] Then, by pre-setting the mowing width and overlap length, the relative position of each mower within the mowing unit is calculated. This allows for adjustment of the mowing width of the linked mowing units. For example, if the mowing units are arranged in a triangular pattern, such as... Figure 5 As shown;

[0084] Furthermore, the location of each lawnmower on the lawn can be determined, so that each lawnmower is arranged in order of its relative position on the lawn according to its own number;

[0085] The remote control sends control signals to each lawnmower. After receiving the control signals, each lawnmower runs according to the speed and direction carried by the control signals, thereby mowing the grass.

[0086] When multiple lawnmowers are moving, and the width of the lawn narrows—that is, when the lawnmower unit needs to work on narrow lawns—while maintaining good maneuverability (this can be called narrow mowing mode), such as... Figures 2-4 As shown, the overlap between the mowing width of each lawnmower and the mowing width of the lawnmower in front of it is relatively large. The limit is that the mowing widths completely overlap, that is, all lawnmowers are arranged in a straight line to achieve the best passability.

[0087] When working on wide lawns requiring high mowing efficiency, this is called wide mowing mode. For example... Figure 5 and Figure 6 As shown, the overlap between the mowing width of each lawnmower and the mowing width of the lawnmower diagonally opposite it is relatively small. The limit is that the overlap between the mowing width of each lawnmower and the mowing width of the lawnmower diagonally opposite it is 10%, in order to prevent missed mowing due to uneven ground.

[0088] For example, for a single lawnmower with a cutting width of 500mm, when three lawnmowers are combined into a linkage lawnmower unit, the maximum cutting width can be 400+400+500=1300mm, which greatly improves the cutting efficiency.

[0089] Based on the desired preset mowing width, the overlap ratio of the mowing width of two adjacent mowers is adjusted so that each mower is offset from the mower diagonally opposite it by a certain distance along the width direction of the mower. This allows the mowing width to be adjusted according to needs, thereby resolving the contradiction between passability and mowing efficiency. This enables the linked mower unit to achieve a very large mowing area while maintaining the same good passability as a single mower.

[0090] In this system, all lawnmowers can receive remote control signals including direction, speed, following distance, preset width, position data of other lawnmowers, and heading angle data of other lawnmowers (provided by the lawnmower's gyroscope). Each lawnmower has a DIP switch that can be used to assign its number. With these settings, if a lawnmower malfunctions, it can be removed from the mower group based on its own number and its relative position within the group. The remaining lawnmowers will automatically be reordered and continue operating, preventing the entire mower group from becoming inoperable due to the malfunction of one lawnmower and significantly improving the applicability of the mower group.

[0091] In this solution, the lawnmower can calculate its own trajectory within the lawnmower unit based on signals such as its relative position, direction, and speed, according to the lawnmower's operational equations. This trajectory guides the lawnmower to maintain its relative position within the unit during its movement, ensuring that the unit maintains a preset width throughout its travel.

[0092] Optionally, the lawnmower can achieve trajectory tracking through algorithms such as PID control. Taking the PID control algorithm as an example, consider the error between the vehicle body and the trajectory line on the time axis. This error is decomposed into a lateral error δx and a longitudinal error δy. The PID control algorithm can then obtain the right turn angle of the vehicle body control = kp*(δx+(Σδx) / Ti+dδx*Td). Here, dδx represents the derivative of δx, and kp, Ti, and Td are PID calculation parameters that need to be preset. Generally, these can be considered factory default values. Their function is to follow the relationship between speed, stability, and sensitivity. Excessive sensitivity will cause frequent jerking and hesitation during operation, while insufficient sensitivity will result in lag in keeping up and difficulty in adjusting the width. When the calculated right turn angle is negative, it indicates that the resulting vehicle body control quantity is a left turn.

[0093] The elimination of longitudinal error δy can also be achieved using a PID control algorithm. Through the PID algorithm, the forward speed = kp*(δy+(Σδy) / Ti+dδy*Td) can be used to calculate the speed control quantity to eliminate the longitudinal error δy. Trajectory tracking is the implementation scheme for this lawnmower unit. This basic effect can be achieved not only through the PID control algorithm mentioned above, but also through other algorithms such as LQR control and pure tracking algorithms, ultimately ensuring that the lawnmower unit maintains the preset mowing width in real time.

[0094] Optionally, the positioning base station is an ultra-wideband positioning base station, and the positioning tag is an ultra-wideband positioning tag.

[0095] Ultra-wideband (UWB) technology is a wireless carrier communication technology that can be used to achieve real-time positioning. More information about UWB can be found in existing related literature, and will not be elaborated upon here.

[0096] Optionally, each of the lawnmowers is equipped with a physical anti-collision protection device to prevent damage from collisions between the lawnmowers.

[0097] Furthermore, anti-collision protection devices can be buffer pads, airbag devices, etc.

[0098] When the anti-collision protection device is a buffer pad, it can be installed on the surface of the lawnmower. When it is a buffer airbag, it can be set up with reference to the airbag of a car. This application will not go into detail about this.

[0099] Optionally, each lawnmower is equipped with a gyroscope module, which is used to upload its own heading angle to the remote controller and obtain the heading angles of other lawnmowers from the remote controller.

[0100] By determining the heading angle of each lawnmower, the lawnmowers can maintain a consistent direction during their movement.

[0101] During actual operation, uneven road surfaces or wheel slippage can affect the direction and position of the lawnmower. The heading angle data can be used to continuously correct the direction, and the position data can be used to continuously correct the relative position of the individual lawnmower within the entire lawnmower unit, so that it always works in the correct direction and position.

[0102] In addition, the lawnmower also includes a second processor. After the gyroscope module determines the heading angle, it sends the heading angle to the second processor, which then sends it to the first processor through the communication port. At this point, the remote control can know the heading angle of the lawnmower.

[0103] Optionally, the remote control includes a first two-way joystick, a second two-way joystick, a touch screen display, and a first processor. The first two-way joystick, the second two-way joystick, the touch screen display, and the first processor are communicatively connected. The first two-way joystick is used to control the forward or backward speed of the lawnmower, and the second two-way joystick is used to control the angular velocity of the lawnmower turning left or right.

[0104] The two-way joystick generates remote control signals for direction and speed, which are then sent to each lawnmower. The two-way joystick is used to control the lawnmower's direction of travel (forward, backward, left, right) and speed.

[0105] By operating the touch screen display, the preset mowing width can be sent to each mower. The horizontal overlap distance between the mowers is determined based on the preset mowing width and the mower's own mowing width. Then, the relative position of each mower within the mowing unit is calculated using the position data and overlap distance, thereby allowing adjustment of the mowing width of the linked mowing unit.

[0106] The touchscreen display also includes software buttons that perform special functions, such as emergency stop, left turn, right turn, group reverse, one-button turn, queue regrouping, lawn mowing mode switching, etc., which greatly improves operability.

[0107] Based on the control method of sending remote control signals, the lawnmowers in this solution are all remote-controlled lawnmowers equipped with UWB positioning tags. A variable number of these remote-controlled lawnmowers form a linked lawnmower unit. Each lawnmower is self-powered, consisting of a blade disc, blades, an engine, wheels, and a walking mechanism. The blade disc is mounted on the wheels, and the engine is mounted on the blade disc. The blades are mounted on the engine's output shaft. The blades use the engine's high-speed rotation to cut the grass. Each lawnmower also has signal receiving and control components. The remote-controlled lawnmower uses electricity to independently drive its walking mechanism. Each lawnmower has four independently driven wheels as its walking mechanism. Each wheel can move forward or backward. Remote start, stop, and steering functions are used to achieve labor savings, eliminating the need for a person to follow the lawnmower. The coordinated rotation of the four wheels allows for forward, backward, and left / right turns. Because the lawnmower's blade disc is circular, it can cut grass while moving forward and backward.

[0108] The linked lawnmower unit provided in this application includes a remote controller, multiple positioning base stations, multiple lawnmowers, and multiple positioning tags. The remote controller sends control signals to each lawnmower, and the lawnmowers receive the control signals and control their own operation accordingly. This allows each lawnmower to operate according to a predetermined formation, speed, and direction. Alternatively, it can switch between narrow and wide mowing modes based on instructions from the remote controller, enabling the lawnmower unit to operate smoothly at any location on the lawn. In contrast, existing technologies use only a single lawnmower, resulting in low mowing efficiency. Therefore, this application improves mowing efficiency compared to existing technologies.

[0109] In addition, other relevant information about coordinated mowing can be found in the following coordinated mowing method, which will not be detailed here.

[0110] Figure 8 This is a flowchart illustrating a linked lawn mowing method according to an embodiment of this application. Figure 8The method shown above involves multiple mowers working together within the linked mower unit. For any single mower in the unit, the linked mowing method includes the following steps 201-203:

[0111] Step 201: Receive in real time the operating parameters that the lawn mower unit should have at the current time, sent by the remote controller. The operating parameters include the unit coordinates, the unit running direction, and the unit running speed.

[0112] In addition, the multiple lawnmowers included in the linked lawnmower unit are all of the same model.

[0113] The remote controller determines the unit's operating parameters in real time and sends them to the first lawnmower using the following two methods:

[0114] The first method: The remote control receives the unit's running direction and speed input by the user through the operation keys of the remote control, and records them as the first unit's running direction and first unit's running speed;

[0115] The remote controller obtains the actual location of the lawnmower unit at the current time.

[0116] The remote controller acquires the discretized unit coordinates that are closest to and in front of the actual position of the unit, and records them as the first discretized unit coordinates. The first discretized unit coordinates are then determined as the unit coordinates in the unit operation parameters.

[0117] The remote controller sends the first unit's running direction, first unit's running speed, and first discretized unit's coordinates as unit operation parameters to the first lawnmower.

[0118] The operation keys include the aforementioned first bidirectional joystick, second bidirectional joystick, and touch screen display.

[0119] Therefore, in the first method, the remote controller sends the unit's operating parameters to the first lawnmower in real time.

[0120] The discretized unit coordinates are determined by the following method: along the preset unit operation path from the beginning to the end, a coordinate position is obtained at a predetermined interval, thereby discretizing the preset unit operation path and obtaining multiple discretized unit coordinates.

[0121] The second method: at predetermined intervals, the remote control obtains the actual location of the lawnmower unit at the current time;

[0122] Obtain the coordinates of the discretized unit that is closest to and in front of the actual position of the unit, which is the first discretized unit coordinates;

[0123] Obtain the unit running direction and unit running speed corresponding to the coordinates of the first discretized unit, and record them as the second unit running direction and the second unit running speed, respectively;

[0124] The coordinates of the first discretized unit, the running direction of the second unit, and the running speed of the second unit are sent to the first lawnmower as the unit's operating parameters.

[0125] The operating direction of the second unit can be determined by the following method: the direction in which the actual position of the unit points to the coordinates of the first discretized unit is the operating direction of the second unit;

[0126] Furthermore, the operating speed of the second unit can be determined based on experience.

[0127] In this application, "forward" refers to the direction along which the lawnmower unit is moving.

[0128] In the second method, the remote controller continuously sends the unit's operating parameters to the first lawnmower, causing the first lawnmower to correct its own operating status based on the unit's operating parameters, thereby correcting the operating status of the entire lawnmower unit and causing the entire lawnmower unit to run along the pre-set operating path.

[0129] The number of mowers included in the linked mower unit can be determined based on experience. For example, the number of mowers can be determined based on the maximum width of the lawn to be mowed, so that all mowers can cover the widest part of the lawn after being arranged in a predetermined formation, without missing any lawn.

[0130] Of course, the number of lawnmowers can also be determined based on the width of most of the lawn, with the goal that all lawnmowers, when arranged in a predetermined formation, can cover most of the width of the lawn. For individual areas that are too wide, the lawn can be mowed repeatedly.

[0131] The planned formation typically consists of two rows, with each row having two adjacent lawnmowers spaced apart. The second row of lawnmowers is positioned at the interval of the previous row, and there is an overlap between adjacent lawnmowers.

[0132] The product of the number of lawnmowers and the mowing width of a single lawnmower is the total mowing width of the lawnmower. The difference between the total mowing width and the width at the beginning of the lawn is the overlap length.

[0133] Since a combined lawnmower unit typically selects lawnmowers with the same cutting width, this application uses this as an example, using the product of the number of lawnmowers and the cutting width of each individual lawnmower as the total cutting length of all lawnmowers. If there are lawnmowers with different cutting widths within the combined lawnmower unit, the total cutting width of the combined lawnmower unit can be obtained by adding the cutting lengths of all lawnmowers.

[0134] Step 202: Obtain the first coordinates of the location of the first lawnmower and the second coordinates of the location of the second lawnmower at the current time. The first lawnmower is any lawnmower in the unit, and the second lawnmower is any other lawnmower in the unit other than the first lawnmower.

[0135] Step 203: Based on the unit's operating parameters, the first coordinate, and the second coordinate, generate the first running direction and the first running speed of the first lawnmower.

[0136] It is worth noting that the first running direction and the first running speed are for the first lawnmower, while the first unit running direction and the first unit running speed are for the unit.

[0137] Step 204: Run in the first running direction and at the first running speed to complete the mowing task.

[0138] For the second method described above, the mowing unit simply follows a pre-determined working path. For the first method, however, the operator needs to monitor the lawn's condition in real time, such as its width and remaining path length, and then use the remote control to switch to the appropriate mowing mode based on the lawn's condition. For example, for wider sections of the lawn, the operator can switch to wide-mowing mode, and for narrower sections, to narrow-mowing mode. Therefore, see [link to relevant documentation]. Figure 9 When the unit's operating parameters for the current time are determined using the first method, during the unit's operation, the method further includes the following steps 205-208:

[0139] Step 205: When a first mowing mode instruction is received, the predetermined mowing width carried by the first mowing mode instruction is obtained. The first mowing mode is one of a variety of mowing modes that have been predetermined.

[0140] Among them, the pre-determined mowing patterns include wide mowing and narrow mowing patterns.

[0141] Step 206: Obtain the mowing width of the first lawnmower.

[0142] Step 207: Determine the horizontal mowing overlap length of the unit based on the predetermined mowing width and its own mowing width.

[0143] Step 208: Based on the mowing overlap length, the first coordinate, and the second coordinate, generate a third coordinate, which is the coordinate that the first mower should be located within the unit when the unit is in the first mowing mode.

[0144] Optionally, see Figure 10During the operation of the first lawnmower, the method further includes steps 209 and 210:

[0145] Step 209: At predetermined time intervals, obtain the actual running direction of the first lawnmower.

[0146] Step 210: When the actual running direction is inconsistent with the first running direction, a running direction adjustment command is generated so that the first lawnmower adjusts its running direction according to the first running direction.

[0147] Additionally, it should be noted that the above method can also be generated by the remote control and then sent to each lawnmower. Once received, the lawnmower simply executes the received method.

[0148] Additionally, it should be noted that for other related content regarding the linked mowing method, please refer to the relevant content on linked mowing units, which will not be elaborated upon here.

[0149] Figure 11 This is a schematic diagram illustrating the structure of an electronic device or computer system 400 according to an embodiment of this application. The computer system includes a central processing unit (CPU) 401, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 402 or a program loaded from a storage portion into a random access memory (RAM) 403. The RAM 403 also stores various programs and data required for system operation. The CPU 401, ROM 402, and RAM 403 are interconnected via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0150] The following components are connected to I / O interface 405: an input section 406 including a keyboard, mouse, etc.; an output section 407 including a cathode ray tube (CRT), liquid crystal display (LCD), and speakers, etc.; a storage section 408 including a hard disk, etc.; and a communication section 409 including a network interface card such as a LAN card and a modem, etc. The communication section 409 performs communication processing via a network such as the Internet. A drive is also connected to I / O interface 405 as needed. A removable medium 411, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 410 as needed so that computer programs read from it can be installed into storage section 408 as needed.

[0151] In particular, the processes described in the flowcharts of the embodiments of this application can be implemented as computer software programs. For example, the method embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts.

[0152] In another aspect, this application also provides a computer-readable medium, which may be included in the electronic device described in the above embodiments; or it may exist independently and not assembled into the electronic device. The computer-readable medium carries one or more programs, which, when executed by the electronic device, cause the electronic device to implement the methods described in the embodiments of this application.

[0153] It should be noted that the computer-readable medium shown in this application may be a computer-readable signal medium or a computer-readable storage medium or any combination thereof.

[0154] The units described in the embodiments of this application can be implemented in software or hardware, and the described units can also be located in a processor. The names of these units do not necessarily limit the specific unit itself. The described units or modules can also be located in a processor. The names of these units or modules do not necessarily limit the specific unit or module itself.

[0155] In addition, it should be noted that the scope of this application includes feasible technical solutions formed by specific combinations of the above-mentioned technical features, and should also cover other feasible technical solutions formed by arbitrary combinations of the above-mentioned technical features or their equivalent features without departing from the above-mentioned application concept.

[0156] Finally, it should be noted that any content not described in the technical solutions of this application can be implemented using existing technology. Furthermore, the above embodiments are merely illustrative of the technical solutions of this application and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to depart from the scope of the technical solutions of the embodiments of this application.

Claims

1. A coordinated lawn mowing method, characterized in that, Based on the coordinated operation of multiple lawnmowers within a linked lawnmower unit, the linked lawnmower method for any single lawnmower within the unit includes: The system receives real-time data from the remote controller regarding the operating parameters of the lawn mower unit at the current time. These operating parameters include the unit's coordinates, direction of travel, and speed. Obtain the first coordinates of the location of the first lawnmower and the second coordinates of the location of the second lawnmower at the current time. The first lawnmower is any lawnmower in the unit, and the second lawnmower is any other lawnmower in the unit other than the first lawnmower. Based on the unit's operating parameters, the first coordinate, and the second coordinate, a first running direction and a first running speed of the first lawnmower are generated. Run in the first direction and at the first speed to complete the mowing task; The remote controller determines the unit's operating parameters in real time using either of the following two methods and sends them to the first lawnmower: The first method: The remote control receives the unit's running direction and speed input by the user through the operation keys of the remote control, and records them as the first unit's running direction and first unit's running speed; The remote controller obtains the actual location of the lawnmower unit at the current time. The remote controller acquires the discretized unit coordinates that are closest to and in front of the actual position of the unit, and records them as the first discretized unit coordinates. The first discretized unit coordinates are then determined as the unit coordinates in the unit operation parameters. The remote controller sends the first unit's running direction, first unit's running speed, and first discretized unit's coordinates as unit operation parameters to the first lawnmower; The discretized unit coordinates are determined by the following method: along the preset unit operation path from the beginning to the end, a coordinate position is obtained at a predetermined interval, thereby discretizing the preset unit operation path and obtaining multiple discretized unit coordinates; The second method: at predetermined intervals, the remote control obtains the actual location of the lawnmower unit at the current time; Obtain the discretized unit coordinates that are closest to and in front of the actual position of the unit, and use them as the first discretized unit coordinates; Obtain the unit running direction and unit running speed corresponding to the coordinates of the first discretized unit, and record them as the second unit running direction and the second unit running speed, respectively; The coordinates of the first discretized unit, the running direction of the second unit, and the running speed of the second unit are sent to the first lawnmower as the unit's operating parameters. When the unit's operating parameters for the current time are determined using the first method, the method further includes the following during the unit's operation: When a first mowing mode instruction is received, the predetermined mowing width carried by the first mowing mode instruction is obtained. The first mowing mode is one of a number of mowing modes that are predetermined. Obtain the mowing width of the first lawnmower; The horizontal mowing overlap length of the unit is determined based on the predetermined mowing width and its own mowing width; Based on the mowing overlap length, the first coordinate, and the second coordinate, a third coordinate is generated. The third coordinate is the coordinate that the first mower should be located within the unit when the unit is in the first mowing mode.

2. The linked lawn mowing method according to claim 1, characterized in that, During the operation of the first lawnmower, the method further includes: At predetermined intervals, the actual running direction of the first lawnmower is obtained; When the actual running direction is inconsistent with the first running direction, a running direction adjustment command is generated so that the first lawnmower adjusts its running direction according to the first running direction.

3. A remote control device, characterized in that, The device includes: Memory, used to store one or more instructions; One or more processors are used to execute the one or more instructions; When the one or more instructions are executed by the one or more processors, the one or more processors cause the one or more processors to implement the method as described in claim 1 or 2.

4. A computer-readable storage medium, characterized in that, It stores a computer program that is used for: When the computer program is executed by a processor, it implements the method as described in claim 1 or 2.

Images