Hand release detection method, device and equipment and storage medium

Abstract

The invention discloses a hand release detection method, device and equipment and a storage medium, and relates to the field of zero-rotation mower control, and the method comprises the steps: obtaining the opening degree and contact information of a joystick of a zero-rotation mower through a preset sensor; and judging the hand release condition according to a preset operating lever hand release judgment rule, a preset voltage threshold value and the contact information, and recording the moment if the hand is released. Comparing the opening values of the left and right operating levers to determine a target opening value, and determining a target time threshold upper limit and a target time threshold lower limit according to the target opening value and a preset time threshold acquisition rule; and then determining a target hand release time based on the hand release moment, and comparing the target hand release time with the two time thresholds to determine a target early warning level so as to trigger corresponding measures. Therefore, the method and the device can effectively and accurately realize hand release detection and timely early warning of the zero-rotation mower, thereby effectively avoiding accidents caused by hand release, and further improving user experience and safety.

Description

Technical Field

[0001] The invention relates to the field of zero-turn lawn mower control, and in particular to a hands-off detection method, device, equipment and storage medium. Background Art

[0002] At present, due to the characteristic that the joystick of the zero-turn mower can be kept in a fixed position, some operators perform abnormal operations during actual operation, such as taking their hands off the joystick, etc., and these dangerous operations are very likely to cause personal safety accidents. However, there is no effective and accurate content record for detecting the operator's hands-off situation of the zero-turn mower in the existing technical solutions, making it impossible to effectively avoid such dangerous operations of the operator.

[0003] Therefore, how to realize the hands-off detection of the zero-turn mower to avoid the occurrence of accidents is a technical problem that needs to be solved urgently. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide a hands-off detection method, device, equipment and storage medium, which can realize hands-off detection of a zero-turn mower to avoid accidents. The specific scheme is as follows:

[0005] In a first aspect, the present application provides a hands-off detection method, comprising:

[0006] Based on the preset sensor, the joystick opening information and the joystick contact information corresponding to the current zero-turn mower are obtained;

[0007] Performing a release judgment based on a preset joystick release judgment rule, a preset voltage threshold, and current joystick contact information, and determining and recording a corresponding release moment when the obtained release judgment result indicates that the joystick has been released;

[0008] Determine a target opening value by comparing a left joystick opening value and a right joystick opening value in the joystick opening information, and determine a corresponding target time threshold lower limit and a target time threshold upper limit based on the target opening value and a preset time threshold acquisition rule;

[0009] The target hands-off time is determined based on the hands-off moment, and the corresponding target warning level is determined by comparing the target hands-off time, the target time threshold lower limit and the target time threshold upper limit, and corresponding warning measures are triggered based on the target warning level.

[0010] Optionally, the obtaining of the joystick opening information and joystick contact information corresponding to the current zero-turn lawn mower based on a preset sensor includes:

[0011] Based on the opening sensor of the zero-turn mower, the current left joystick opening value and the right joystick opening value are obtained to complete the opening information collection operation;

[0012] The capacitance sensor of the zero-turn mower obtains the current left joystick voltage value and the right joystick voltage value to complete the contact information collection operation.

[0013] Optionally, comparing the left joystick opening value and the right joystick opening value in the joystick opening information to determine the target opening value includes:

[0014] Comparing the left joystick opening value and the right joystick opening value in the joystick opening information using a preset opening value comparison rule to obtain a corresponding opening value comparison result;

[0015] A target opening value is determined from among the left joystick opening value and the right joystick opening value based on the opening value comparison result.

[0016] Optionally, the determining the corresponding target time threshold lower limit and target time threshold upper limit based on the target opening value and a preset time threshold acquisition rule includes:

[0017] Determine a preset target time threshold lower limit acquisition rule based on the target opening value, and use the target opening value and the preset target time threshold lower limit acquisition rule to perform calculation to obtain the target time threshold lower limit;

[0018] The target time threshold lower limit, the preset threshold parameter and the preset target time threshold upper limit acquisition rule are used for calculation to obtain the target time threshold upper limit.

[0019] Optionally, comparing the target hands-off time, the target time threshold lower limit, and the target time threshold upper limit to determine a corresponding target warning level includes:

[0020] Comparing the target time threshold lower limit with the target hands-off time to obtain a first time comparison result;

[0021] If the first time comparison result shows that the target hands-off time is less than the target time threshold lower limit, the third warning level is used as the target warning level corresponding to the target hands-off time;

[0022] If the first time comparison result shows that the target hands-off time is not less than the target time threshold lower limit, comparing the target hands-off time with the target time threshold upper limit to obtain a second time comparison result;

[0023] If the second time comparison result shows that the target hands-off time is less than the target time threshold upper limit, the second warning level is used as the target warning level;

[0024] If the second time comparison result shows that the target hands-off time is not less than the target time threshold upper limit, the first warning level is used as the target warning level.

[0025] Optionally, triggering corresponding warning measures based on the target warning level includes:

[0026] If the target warning level is the first warning level, determining corresponding first target prompt information, and triggering corresponding first warning measures based on the first target prompt information;

[0027] If the target warning level is the second warning level, determining corresponding second target prompt information, and triggering corresponding second warning measures based on the second target prompt information;

[0028] If the target warning level is the third warning level, triggering corresponding warning measures is prohibited.

[0029] Optionally, performing a release judgment based on a preset joystick release judgment rule, a preset voltage threshold, and the current joystick contact information, and determining and recording a corresponding release moment when the obtained release judgment result indicates that the joystick has been released, includes:

[0030] Respectively determine whether the left joystick voltage value and the right joystick voltage value in the current joystick contact information are not less than a preset voltage threshold value to obtain a corresponding voltage determination result;

[0031] If the voltage judgment result indicates that the left joystick voltage value and / or the right joystick voltage value is not less than the preset voltage threshold, a release judgment result indicating that the joystick has been released is obtained, and the time is recorded to determine the corresponding release moment.

[0032] In a second aspect, the present application provides a hands-off detection device, comprising:

[0033] An information acquisition module, used for acquiring joystick opening information and joystick contact information corresponding to the current zero-turn mower based on a preset sensor;

[0034] a release determination module, configured to perform a release determination based on a preset joystick release determination rule, a preset voltage threshold, and current joystick contact information, and to determine and record a corresponding release moment when the obtained release determination result indicates that the joystick has been released;

[0035] a threshold determination module, configured to determine a target opening value by comparing a left joystick opening value and a right joystick opening value in the joystick opening information, and determine a corresponding target time threshold lower limit and a target time threshold upper limit based on the target opening value and a preset time threshold acquisition rule;

[0036] The early warning trigger module is used to determine the target hands-off time based on the hands-off moment, and to determine the corresponding target early warning level by comparing the target hands-off time, the target time lower threshold and the target time upper threshold, and to trigger corresponding early warning measures based on the target early warning level.

[0037] In a third aspect, the present application provides an electronic device, including:

[0038] Memory, used to store computer programs;

[0039] The processor is used to execute the computer program to implement the aforementioned hands-off detection method.

[0040] In a fourth aspect, the present application provides a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the aforementioned hands-off detection method is implemented.

[0041] In this application, the joystick opening information and joystick contact information corresponding to the current zero-turn mower are obtained based on the preset sensor; the joystick release judgment is performed based on the preset joystick release judgment rule, the preset voltage threshold and the current joystick contact information, and when the obtained release judgment result indicates that the joystick has been released, the corresponding release time is determined and recorded; by comparing the left joystick opening value and the right joystick opening value in the joystick opening information, the target opening value is determined, and the corresponding target time threshold lower limit and target time threshold upper limit are determined based on the target opening value and the preset time threshold acquisition rule; the target release time is determined based on the release time, and the corresponding target warning level is determined by comparing the target release time, the target time threshold lower limit and the target time threshold upper limit, and the corresponding warning measures are triggered based on the target warning level. As can be seen from the above, this application obtains the joystick opening and contact information of the zero-turn mower through the preset sensor. And the release situation is judged according to the preset joystick release judgment rule, the preset voltage threshold and the contact information, and the time is recorded if the release occurs. The target opening value is determined by comparing the opening values ​​of the left and right joysticks, and then the target time threshold lower limit and the target time threshold upper limit are determined based on this and the preset time threshold acquisition rules. Then, the target hands-off time is determined based on the hands-off moment, and the target warning level is determined by comparing the target hands-off time and the two time thresholds to trigger corresponding measures. In this way, the present application can effectively and accurately detect the hands-off of the zero-turn mower and issue a timely warning, thereby effectively avoiding accidents caused by hands-off, thereby improving user experience and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0043] Figure 1 This is a flow chart of a hands-off detection method disclosed in this application;

[0044] Figure 2 A flowchart of a specific hands-off detection method disclosed in this application;

[0045] Figure 3 This is an architecture diagram of a hands-off detection system disclosed in this application;

[0046] Figure 4 This is a schematic structural diagram of a hands-off detection device disclosed in this application;

[0047] Figure 5This is a structural diagram of a hands-off detection device disclosed in this application. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] At present, there is no effective and accurate content record for detecting the operator's hands-off situation of a zero-turn mower in the existing technical solutions, making it impossible to effectively avoid such dangerous operations of the operator. To this end, the present application provides a hands-off detection solution to achieve hands-off detection of a zero-turn mower to avoid accidents.

[0050] See also Figure 1 As shown, an embodiment of the present invention discloses a hands-off detection method, comprising:

[0051] Step S11: acquiring the joystick opening information and joystick contact information corresponding to the current zero-turn lawn mower based on a preset sensor.

[0052] In this embodiment, for obtaining the joystick opening information, the current left joystick opening value and the right joystick opening value are obtained based on the opening sensor of the zero-turn mower to complete the opening information collection operation. It should be noted that different opening values ​​may correspond to different driving speeds or steering amplitudes of the zero-turn mower, and these corresponding relationships are related to whether the operator may drop the handle, so the joystick opening information is needed in the zero-turn mower drop detection process.

[0053] At the same time, for the collection of the joystick contact information, this embodiment obtains the current left joystick voltage value and the right joystick voltage value based on the capacitive sensor of the zero-turn mower to complete the contact information collection operation. That is, the capacitive sensor can sense the current left joystick voltage value and the right joystick voltage value to determine the contact state between the operator and the joystick.

[0054] In addition, in order to better adapt to the use requirements under different working conditions and environmental conditions, the installation positions of the opening sensor and the capacitive sensor can be accurately determined. For example, the opening sensor is installed at a key position that can accurately measure the actual opening change of the joystick to avoid measurement errors caused by improper installation positions, while the capacitive sensor selects a reasonable sensing area based on the operator's normal holding posture and possible hand movement range to maximize the sensitivity and accuracy of contact information detection.

[0055] Step S12: performing a release judgment based on a preset joystick release judgment rule, a preset voltage threshold, and the current joystick contact information, and when the obtained release judgment result indicates that the joystick has been released, determining and recording a corresponding release moment.

[0056] In a specific implementation, after the joystick contact information is acquired, it is determined whether the left joystick voltage value and the right joystick voltage value in the current joystick contact information are not less than a preset voltage threshold value to obtain a corresponding voltage determination result.

[0057] If the voltage judgment result shows that the voltage value of the left joystick and / or the voltage value of the right joystick is not less than the preset voltage threshold, a hand-off judgment result indicating that the joystick has been released is obtained, and the time is recorded to determine the corresponding release moment. Correspondingly, if the voltage judgment result shows that the voltage value of the left joystick and / or the voltage value of the right joystick is less than the preset voltage threshold, it means that the current operator's hand is still in contact with the joystick or the contact state is normal, and a hand-off judgment result indicating that the joystick has not been released is obtained.

[0058] Step S13, determining a target opening value by comparing the left joystick opening value and the right joystick opening value in the joystick opening information, and determining a corresponding target time threshold lower limit and target time threshold upper limit based on the target opening value and a preset time threshold acquisition rule.

[0059] In this embodiment, the left joystick opening value and the right joystick opening value in the joystick opening information are compared using a preset opening value comparison rule to obtain a corresponding opening value comparison result. After obtaining the opening value comparison result, a target opening value is determined from the left joystick opening value and the right joystick opening value based on the opening value comparison result. It should be noted that, since the maximum joystick opening value is more representative, the preset opening value comparison rule can be to select the maximum value from the left joystick opening value and the right joystick opening value as the target opening value.

[0060] It is understandable that after determining the target opening value, a preset target time threshold lower limit acquisition rule is determined based on the target opening value, and the target opening value and the preset target time threshold lower limit acquisition rule are used to calculate to obtain the target time threshold lower limit, and the target time threshold lower limit, the preset threshold parameter and the preset target time threshold upper limit acquisition rule are used to calculate to obtain the target time threshold upper limit. The target time threshold lower limit and the target time threshold upper limit obtained in this way can assist in determining the interval of the warning level corresponding to the current operating state in the subsequent process, thereby providing a clear quantitative standard for deciding what level of prompt measures to take.

[0061] Step S14, determining a target hands-off time based on the hands-off moment, and determining a corresponding target warning level by comparing the target hands-off time, the target time lower threshold limit, and the target time upper threshold limit, and triggering corresponding warning measures based on the target warning level.

[0062] In this embodiment, the target release time needs to be determined based on the release time. The release time is the time point recorded when the joystick is detected to be released. The target release time can be obtained by calculating the difference between the release time and the current time.

[0063] Further, the target time threshold lower limit is compared with the target hands-off time to obtain a first time comparison result. If the first time comparison result shows that the target hands-off time is less than the target time threshold lower limit, the third warning level is used as the target warning level corresponding to the target hands-off time. It is understandable that if the first time comparison result shows that the target hands-off time is less than the target time threshold lower limit, this means that in the current operating state, although the hands-off situation has occurred, the target hands-off time is short and has not yet reached the level that requires attention. At this time, the third warning level is used as the target warning level corresponding to the target hands-off time. This setting is based on a comprehensive consideration of operational safety and the operator's normal operating habits. In the actual operation of the zero-turn mower, the operator may have a very short hands-off time due to some short actions or other non-dangerous factors. In this case, not triggering the warning measures can avoid unnecessary interference and will not affect the normal operation of the zero-turn mower.

[0064] In addition, in this embodiment, if the first time comparison result shows that the target hands-off time is not less than the target time threshold lower limit, the target hands-off time is compared with the target time threshold upper limit to obtain a second time comparison result. If the second time comparison result shows that the target hands-off time is less than the target time threshold upper limit, the second warning level is used as the target warning level. Specifically, if the second time comparison result shows that the target hands-off time is less than the target time threshold upper limit, the second warning level is used as the target warning level. This situation indicates that the target hands-off time has exceeded the relatively safe lower limit range, but has not reached a very dangerous level. At this point, the operating state of the zero-turn mower may have begun to be affected to a certain extent, and the operator needs to hold the joystick as soon as possible to resume normal operation.

[0065] It should be emphasized that if the second time comparison result shows that the target hands-off time is not less than the target time threshold upper limit, the first warning level will be used as the target warning level. When this situation is reached, it means that the target hands-off time is too long, the operator faces a high safety risk, and the zero-turn mower may lose control or other dangerous conditions. The first warning level is the most urgent warning level, and a series of warning measures will be used to urgently remind the operator to take over the joystick immediately to avoid possible serious consequences.

[0066] When the target warning level is determined, the corresponding warning measures will be triggered. If the target warning level is the first warning level, the corresponding first target prompt information is determined, and the corresponding first warning measures are triggered based on the first target prompt information. Among them, the first target prompt information can be a warning text generated based on the target release time, which is used to display a striking text prompt on the operation panel of the zero-turn mower, and the color and size of the text must be highlighted to ensure that the operator can see it clearly under any circumstances. In addition, the first warning measure at this time can also include using a strongly flashing red warning light for reminders. This light color has a very high visual warning and can quickly attract the operator's attention. At the same time, the flashing frequency can be set to a higher value to enhance the sense of urgency. In addition, the first warning measure can also include issuing a specific (system default setting or user-defined setting) alarm sound in the external or built-in audio system of the zero-turn mower. The timbre and volume of this alarm sound need to be significantly different from other normal prompt sounds of the mower, and it also needs to be clearly discernible in the noisy environment where the zero-turn mower is running, so that the operator can feel the urgency of the current situation.

[0067] If the target warning level is the second warning level, the corresponding second target prompt information is determined, and the corresponding second warning measures are triggered based on the second target prompt information. Specifically, the warning intensity of the second target prompt information is slightly weaker than the first warning level, but it must still be able to effectively attract the operator's attention. A yellow flashing light can be used as a prompt, and the flashing frequency can be set to a lower value. Moreover, a relatively mild prompt text can be displayed on the operation panel. This prompt method can not only convey information about the hands-off situation, but also will not bring excessive psychological pressure to the operator, allowing them to re-grip the joystick in a more relaxed state and resume normal operation.

[0068] It is understandable that, in this embodiment, if the target warning level is the third warning level, the corresponding warning measures are prohibited from being triggered. In this case, the hands-off time is short and has not substantially affected the operation of the zero-turn mower, so no additional prompts are required to avoid interfering with the normal operation of the operator.

[0069] In this way, this graded warning mechanism fully considers the safety needs of the zero-turn mower under different hands-off times. Through reasonable prompts and warning measures, it guides the operator to respond correctly, ensures the safe operation of the zero-turn mower and the personal safety of the operator, while also avoiding the negative impact of excessive or erroneous prompts on the operation.

[0070] As can be seen from the above, the present application obtains the opening and contact information of the joystick of the zero-turn mower through a preset sensor. And judge the release situation according to the preset joystick release judgment rules, preset voltage thresholds and contact information, and record the moment if the release is made. Compare the opening values ​​of the left and right joysticks to determine the target opening value, and then determine the target time threshold lower limit and target time threshold upper limit based on this and the preset time threshold acquisition rules. Then determine the target release time based on the release moment, and compare the target release time and the two time thresholds to determine the target warning level to trigger corresponding measures. In this way, the present application can effectively and accurately realize the release detection and timely warning of the zero-turn mower, thereby effectively avoiding accidents caused by release, thereby improving user experience and safety.

[0071] Combine the following Figure 2 The flowchart shown provides a specific description of the technical solution provided in this application.

[0072] Specifically, in this embodiment, the measured value lever_per of the joystick opening sensor of the zero-turn mower is first obtained. l and lever_per r Among them, lever_per l is the left joystick opening value, lever_per ris the right joystick opening value, and the range of the left joystick opening value and the right joystick opening value is 0%≤lever_per l 、lever_per r ≤100%.

[0073] Secondly, obtain the capacitance sensor measurement value U of the zero-turn mower l and U r Among them, U l is the voltage value of the left joystick, U r is the voltage value of the right joystick.

[0074] After obtaining each measurement value, determine whether the operator's hand leaves the joystick. If the judgment result shows that the operator's hand leaves the joystick, record the time when the hand leaves the joystick. max ≤U l ||U max ≤U r , it means that the operator's hand leaves the joystick, and the release time t is recorded. 0 , where U max is the voltage threshold for determining whether to release the hands (i.e., the preset voltage threshold), || represents or, i.e., U l and U r At least one of them satisfies greater than or equal to U max When the operator's hand leaves the joystick, it is determined that the operator's hand has left the joystick. Then the target release time is calculated by the difference between the current moment and the release moment. The calculation formula of the target release time is as follows:

[0075] ;

[0076] In the formula, is the target release time, and t is the current moment.

[0077] Next, determine the maximum lever_per (i.e., the target opening value) of the left joystick opening value and the right joystick opening value, i.e., lever_per=max(lever_per l 、lever_per r ), to calculate the target time threshold lower limit T according to the maximum value 1 It should be noted that the lower limit of the target time threshold is related to lever_per. The larger the lever_per, the higher the T 1 The bigger the 1 The specific relationship with lever_per is as follows:

[0078] ;

[0079] In the formula, b, c, and d are preset parameters in the calculation formula of the lower limit of the target time threshold, and b < c < d. In addition, 30% and 70% are only for illustrative purposes and can be adjusted accordingly according to the actual situation.

[0080] By determining the interval where lever_per is located, lever_per can be substituted into the corresponding formula in the above formula for calculation to obtain T 1 .

[0081] After obtaining T 1 , according to T 1 and the calculation formula of the upper limit of the target time threshold T 2 , calculate T 2 . Among them, the calculation formula of the upper limit of the target time threshold T 2 is , and T 1 < T 2 , is a preset parameter in the upper limit formula of the target time threshold.

[0082] Finally, judge and T 1 , T 2 The relationship between them. Specifically, if < T 1 , then determine the third warning level and prohibit the triggering of warning measures; if T 1 ≤ ≤ T 2 , then determine the second warning level, determine the corresponding second prompt message (that is, the second target prompt message), and trigger the corresponding second warning measure based on the second prompt message; if T 2 ≤ , then determine the first warning level, determine the corresponding first prompt message (that is, the first target prompt message), and trigger the corresponding first warning measure based on the first target prompt message. In addition, the first prompt message and the second prompt message are prompt messages of different levels, and the level of the first prompt message is higher than that of the second prompt message.

[0083] Next, in combination with Figure 3 The system architecture diagram shown is used to specifically describe the technical solution provided by this application.

[0084] Specifically, in this embodiment, for the hand-off detection system used to implement hand-off detection, it mainly consists of Figure 3 The 4 modules shown in are respectively a capacitance sensor (that is, Figure 3 201 in), a hand-off judgment module (that is, Figure 3 202 in), a joystick opening sensor (that is, Figure 3 203 in) and a hand-off prompt module (that is, Figure 3204 in ), the following is a detailed description of each module.

[0085] Capacitive sensors work based on the principle of capacitance. When the operator holds the joystick, it causes changes in the capacitance value around the sensor. By accurately measuring and analyzing these changes in capacitance values, the capacitive sensor can accurately obtain the contact information of the joystick. This contact information is reflected in the form of voltage values, and different contact states correspond to different voltage ranges. Among them, different contact states include but are not limited to tight grip, light grip or partial contact.

[0086] The joystick opening sensor is mainly used to detect the speed information that the operator wants to drive the zero-turn mower. It reflects the operator's operating intention by measuring the opening size of the joystick. There is a clear correspondence between the joystick opening and the speed of the zero-turn mower. For example, a larger joystick opening may correspond to a higher driving speed, while a smaller opening indicates a lower speed or the intention to stop. The joystick opening sensor can accurately measure the opening change and transmit it to the hands-off judgment module.

[0087] The main function of the hand-off judgment module is to judge whether the operator's hand has left the joystick. Specifically, after receiving the contact information from the capacitive sensor, the hand-off judgment module will analyze the contact information. If it is detected that either or both of the left joystick voltage value and the left joystick voltage value are greater than the preset voltage threshold, the hand-off judgment module will determine that the hand-off situation has occurred. Therefore, the hand-off judgment module can identify the hand-off situation and provide a basis for subsequent prompt actions.

[0088] The main function of the hands-off prompt module is to send out prompt messages to prompt the operator to take over the joystick in time. When the hands-off judgment module determines that the hands-off situation occurs, the hands-off prompt module will start the corresponding prompt mechanism. The form and intensity of the prompt information are determined according to the severity of the hands-off situation. For example, for a relatively minor hands-off situation, a relatively mild prompt may be issued; for a serious hands-off situation, the prompt will be stronger. This graded prompt mechanism can effectively attract the operator's attention, while not excessively interfering with the operator's normal operation when it is unnecessary, ensuring the effectiveness and rationality of the prompt information, thereby prompting the operator to re-hold the joystick in time to ensure the safe operation of the zero-turn mower.

[0089] Through the cooperation of four modules, a complete operator hands-off detection system is formed, which can accurately and timely detect the hands-off situation and take appropriate prompt measures to ensure the safety of zero-turn mower operation to the greatest extent.

[0090] Accordingly, see Figure 4 As shown, the embodiment of the present application also provides a hands-off detection device, including:

[0091] An information acquisition module 11 is used to acquire the joystick opening information and joystick contact information corresponding to the current zero-turn mower based on a preset sensor;

[0092] A release determination module 12, configured to perform a release determination based on a preset joystick release determination rule, a preset voltage threshold, and current joystick contact information, and determine and record a corresponding release moment when the obtained release determination result indicates that the joystick has been released;

[0093] A threshold determination module 13 is used to determine a target opening value by comparing the left joystick opening value and the right joystick opening value in the joystick opening information, and determine a corresponding target time threshold lower limit and target time threshold upper limit based on the target opening value and a preset time threshold acquisition rule;

[0094] The warning trigger module 14 is used to determine the target hands-off time based on the hands-off moment, and to determine the corresponding target warning level by comparing the target hands-off time, the target time lower threshold and the target time upper threshold, and to trigger corresponding warning measures based on the target warning level.

[0095] As can be seen from the above, the present application obtains the opening and contact information of the joystick of the zero-turn mower through a preset sensor. And judge the release situation according to the preset joystick release judgment rules, preset voltage thresholds and contact information, and record the moment if the release is made. Compare the opening values ​​of the left and right joysticks to determine the target opening value, and then determine the target time threshold lower limit and target time threshold upper limit based on this and the preset time threshold acquisition rules. Then determine the target release time based on the release moment, and compare the target release time and the two time thresholds to determine the target warning level to trigger corresponding measures. In this way, the present application can effectively and accurately realize the release detection and timely warning of the zero-turn mower, thereby effectively avoiding accidents caused by release, thereby improving user experience and safety.

[0096] In a specific implementation, the information acquisition module 11 may specifically include:

[0097] An opening information acquisition unit, used for acquiring the current left joystick opening value and the right joystick opening value based on the opening sensor of the zero-turn mower, so as to complete the opening information acquisition operation;

[0098] The contact information acquisition unit is used to acquire the current left joystick voltage value and the right joystick voltage value based on the capacitive sensor of the zero-turn mower to complete the contact information acquisition operation.

[0099] In a specific implementation, the threshold determination module 13 may specifically include:

[0100] an opening value comparison unit, used to compare the opening value of the left joystick and the opening value of the right joystick in the joystick opening information using a preset opening value comparison rule to obtain a corresponding opening value comparison result;

[0101] The opening value determining unit is used to determine a target opening value among the left joystick opening value and the right joystick opening value based on the opening value comparison result.

[0102] In a specific implementation, the threshold determination module 13 may specifically include:

[0103] A threshold lower limit acquisition unit, used to determine a preset target time threshold lower limit acquisition rule based on the target opening value, and calculate using the target opening value and the preset target time threshold lower limit acquisition rule to obtain a target time threshold lower limit;

[0104] The upper threshold value acquisition unit is used to calculate using the target time threshold lower limit, the preset threshold parameter and the preset target time threshold upper limit acquisition rule to obtain the target time threshold upper limit.

[0105] In a specific implementation, the warning triggering module 14 may specifically include:

[0106] A first result acquisition unit, configured to compare the target hands-off time with the target time threshold lower limit to obtain a first time comparison result;

[0107] a first level determination unit, configured to use a third warning level as a target warning level corresponding to the target hands-off time if the first time comparison result indicates that the target hands-off time is less than the target time threshold lower limit;

[0108] A second result obtaining unit is configured to compare the target hands-off time with the target hands-off time based on the target time upper threshold value to obtain a second time comparison result if the first time comparison result indicates that the target hands-off time is not less than the target time lower threshold value;

[0109] A second level determination unit, configured to use the second warning level as the target warning level if the second time comparison result indicates that the target hands-off time is less than the target time threshold upper limit;

[0110] The third level determination unit is configured to use the first warning level as the target warning level if the second time comparison result indicates that the target hands-off time is not less than the target time threshold upper limit.

[0111] In a specific implementation, the warning triggering module 14 may specifically include:

[0112] a first measure triggering unit, configured to determine corresponding first target prompt information if the target warning level is the first warning level, and trigger a corresponding first warning measure based on the first target prompt information;

[0113] a second measure triggering unit, configured to determine corresponding second target prompt information if the target warning level is the second warning level, and trigger a corresponding second warning measure based on the second target prompt information;

[0114] The measure prohibition triggering unit is used to prohibit triggering the corresponding warning measure if the target warning level is the third warning level.

[0115] In a specific implementation, the hands-off determination module 12 may specifically include:

[0116] A third result acquisition unit is used to respectively determine whether the left joystick voltage value and the right joystick voltage value in the current joystick contact information are not less than a preset voltage threshold value to obtain a corresponding voltage judgment result;

[0117] The moment determination unit is used to obtain a release judgment result indicating that the joystick has been released if the voltage judgment result shows that the left joystick voltage value and / or the right joystick voltage value is not less than the preset voltage threshold, and to record the time to determine the corresponding release moment.

[0118] Furthermore, the present application also discloses an electronic device. Figure 5 This is a structural diagram of an electronic device 20 according to an exemplary embodiment, and the content in the figure cannot be regarded as any limitation on the scope of use of this application. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 is used to store a computer program, which is loaded and executed by the processor 21 to implement the relevant steps in the hands-off detection method disclosed in any of the aforementioned embodiments. In addition, the electronic device 20 in this embodiment may specifically be an electronic computer.

[0119] In this embodiment, the power supply 23 is used to provide working voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and the external device, and the communication protocol it follows is any communication protocol that can be applied to the technical solution of the present application, and is not specifically limited here; the input and output interface 25 is used to obtain external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs and is not specifically limited here.

[0120] In addition, the memory 22 as a carrier for storing resources may be a read-only memory, a random access memory, a disk or an optical disk, etc. The resources stored thereon may include an operating system 221, a computer program 222, etc., and the storage method may be temporary storage or permanent storage.

[0121] The operating system 221 is used to manage and control the hardware devices and computer program 222 on the electronic device 20, and can be Windows Server, Netware, Unix, Linux, etc. In addition to including a computer program that can be used to complete the hands-off detection method performed by the electronic device 20 disclosed in any of the aforementioned embodiments, the computer program 222 can further include a computer program that can be used to complete other specific tasks.

[0122] Furthermore, the present application also discloses a computer-readable storage medium for storing a computer program; wherein the computer program, when executed by a processor, implements the aforementioned hands-off detection method. The specific steps of the method can refer to the corresponding contents disclosed in the aforementioned embodiments, and will not be repeated here.

[0123] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0124] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0125] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0126] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0127] The technical solution provided by the present application is introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for general technicians in this field, according to the idea of ​​the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A hands-off detection method, characterized in that: include: Based on the preset sensor, the joystick opening information and the joystick contact information corresponding to the current zero-turn mower are obtained; Performing a release judgment based on a preset joystick release judgment rule, a preset voltage threshold, and current joystick contact information, and determining and recording a corresponding release moment when the obtained release judgment result indicates that the joystick has been released; Determine a target opening value by comparing a left joystick opening value and a right joystick opening value in the joystick opening information, and determine a corresponding target time threshold lower limit and a target time threshold upper limit based on the target opening value and a preset time threshold acquisition rule; The target hands-off time is determined based on the hands-off moment, and the corresponding target warning level is determined by comparing the target hands-off time, the target time threshold lower limit and the target time threshold upper limit, and corresponding warning measures are triggered based on the target warning level.

2. The hands-off detection method according to claim 1, characterized in that: The method of obtaining the joystick opening information and joystick contact information corresponding to the current zero-turn mower based on the preset sensor includes: Based on the opening sensor of the zero-turn mower, the current left joystick opening value and the right joystick opening value are obtained to complete the opening information collection operation; The capacitive sensor of the zero-turn mower obtains the current left joystick voltage value and the right joystick voltage value to complete the contact information collection operation.

3. The hands-off detection method according to claim 1, characterized in that: The determining the target opening value by comparing the left joystick opening value and the right joystick opening value in the joystick opening information includes: Comparing the left joystick opening value and the right joystick opening value in the joystick opening information using a preset opening value comparison rule to obtain a corresponding opening value comparison result; A target opening value is determined from among the left joystick opening value and the right joystick opening value based on the opening value comparison result.

4. The hands-off detection method according to claim 1, characterized in that: The determining of the corresponding target time threshold lower limit and target time threshold upper limit based on the target opening value and the preset time threshold acquisition rule includes: Determine a preset target time threshold lower limit acquisition rule based on the target opening value, and use the target opening value and the preset target time threshold lower limit acquisition rule to perform calculation to obtain the target time threshold lower limit; The target time threshold lower limit, the preset threshold parameter and the preset target time threshold upper limit acquisition rule are used for calculation to obtain the target time threshold upper limit.

5. The hands-off detection method according to claim 1, characterized in that: The determining the corresponding target warning level by comparing the target release time, the target time threshold lower limit and the target time threshold upper limit includes: Comparing the target time threshold lower limit with the target hands-off time to obtain a first time comparison result; If the first time comparison result shows that the target hands-off time is less than the target time threshold lower limit, the third warning level is used as the target warning level corresponding to the target hands-off time; If the first time comparison result shows that the target hands-off time is not less than the target time threshold lower limit, comparing the target hands-off time with the target time threshold upper limit to obtain a second time comparison result; If the second time comparison result shows that the target hands-off time is less than the target time threshold upper limit, the second warning level is used as the target warning level; If the second time comparison result shows that the target hands-off time is not less than the target time threshold upper limit, the first warning level is used as the target warning level.

6. The method for detecting a hands-off state according to claim 5, characterized in that: The triggering of corresponding warning measures based on the target warning level includes: If the target warning level is the first warning level, determining corresponding first target prompt information, and triggering corresponding first warning measures based on the first target prompt information; If the target warning level is the second warning level, determining corresponding second target prompt information, and triggering corresponding second warning measures based on the second target prompt information; If the target warning level is the third warning level, triggering corresponding warning measures is prohibited.

7. The hands-off detection method according to any one of claims 1 to 6, characterized in that: The step of performing a release judgment based on a preset joystick release judgment rule, a preset voltage threshold, and the current joystick contact information, and determining and recording a corresponding release moment when the obtained release judgment result indicates that the joystick has been released, comprises: Respectively determine whether the left joystick voltage value and the right joystick voltage value in the current joystick contact information are not less than a preset voltage threshold value to obtain a corresponding voltage determination result; If the voltage judgment result indicates that the left joystick voltage value and / or the right joystick voltage value is not less than the preset voltage threshold, a release judgment result indicating that the joystick has been released is obtained, and the time is recorded to determine the corresponding release moment.

8. A hands-off detection device, characterized in that: include: An information acquisition module, used for acquiring joystick opening information and joystick contact information corresponding to the current zero-turn mower based on a preset sensor; a release determination module, configured to perform a release determination based on a preset joystick release determination rule, a preset voltage threshold, and current joystick contact information, and to determine and record a corresponding release moment when the obtained release determination result indicates that the joystick has been released; a threshold determination module, configured to determine a target opening value by comparing a left joystick opening value and a right joystick opening value in the joystick opening information, and determine a corresponding target time threshold lower limit and a target time threshold upper limit based on the target opening value and a preset time threshold acquisition rule; The early warning trigger module is used to determine the target hands-off time based on the hands-off moment, and to determine the corresponding target early warning level by comparing the target hands-off time, the target time lower threshold and the target time upper threshold, and to trigger corresponding early warning measures based on the target early warning level.

9. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor is used to execute the computer program to implement the hands-off detection method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: Used to store a computer program; wherein, when the computer program is executed by a processor, the hands-off detection method according to any one of claims 1 to 7 is implemented.

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