Zero-rotation mowing vehicle control method, device, equipment and medium
By calculating the linear speed and critical rollover speed of the zero-turn lawnmower, and adjusting the speed using sensors and model parameters, the problem of rollover and skidding of the zero-turn lawnmower on complex lawn terrain was solved, achieving higher stability and safety.
Patent Information
- Application Number
- CN202411699955.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-26
- Publication Date
- 2025-02-21
AI Technical Summary
Existing zero-turn lawnmowers are prone to tipping over and skidding when not operated properly on complex lawn terrain, and lack stability control methods, leading to frequent safety accidents.
By acquiring sensor data and model control parameters, the driving linear speed and rollover critical speed are calculated. The driving linear speed is adjusted using a stepwise approach method to avoid the risk of rollover and skidding. Stability control is achieved using control devices and electronic equipment.
It effectively reduces the risk of tipping over and skidding of the zero-turn lawnmower, and improves the stability and safety of the lawnmower.
Smart Images
Figure CN119493425A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the field of zero-turn mower control, and in particular to a zero-turn mower control method, device, equipment and medium. Background Art
[0002] Zero-turn mowers are well-known for their zero turning radius, ability to mow accurately in a small space, easy bypass of obstacles, and high mowing speed, and are widely used on large lawns. However, since lawns are generally more complex in terrain, improper operation may cause mowers to tip over and slide sideways. Every year, there are a considerable number of safety accidents caused by tipping and sliding of mowers around the world. Zero-turn mowers with higher speeds and flexible steering have a higher risk of tipping and sliding than non-zero-turn mowers. Currently, there is no special stability control method for zero-turn mowers.
[0003] Therefore, how to reduce the risk of tipping and sliding of the lawn mower to control the stability of the zero-turn lawn mower is an urgent problem to be solved. Summary of the invention
[0004] In view of this, the object of the present invention is to provide a zero-turn mower method, device, equipment and medium, which can adjust the speed of the zero-turn mower to control the stability of the zero-turn mower. The specific scheme is as follows:
[0005] In a first aspect, the present application provides a zero-turn mower control method, comprising:
[0006] Acquire sensor data of a target zero-turn mower and model control parameters corresponding to the target zero-turn mower, and determine a travel linear speed corresponding to the target zero-turn mower based on the sensor data and the model control parameters;
[0007] Determine a rollover critical speed corresponding to the target zero-turn lawn mower based on the driving line speed, the sensor data and the model control parameter, and judge whether the driving line speed is less than the rollover critical speed;
[0008] If the driving linear speed is not less than the rollover critical speed, the driving linear speed is adjusted based on a preset stepwise approach method to obtain a new driving linear speed, and the process jumps to the step of determining the rollover critical speed corresponding to the target zero-turn lawn mower based on the driving linear speed, the sensor data and the model control parameters;
[0009] If the travel line speed is less than the rollover critical speed, the target zero-turn mower is controlled to travel based on the travel line speed.
[0010] Optionally, the step of acquiring sensor data of a target zero-turn mower and model control parameters corresponding to the target zero-turn mower includes:
[0011] Acquire an operating lever signal of a target zero-turn mower to obtain an opening signal value corresponding to the operating lever of the target zero-turn mower, and determine a posture angle value of the target zero-turn mower based on a roll angle of the target zero-turn mower;
[0012] Obtain the own equipment parameters, driving parameters and maximum driving speed value of the target zero-turn mower; the own equipment parameters include the own weight, center of gravity height and driving wheel track of the target zero-turn mower; the driving parameters are the friction coefficient of the target driving surface corresponding to the target zero-turn mower.
[0013] Optionally, determining the driving linear speed corresponding to the target zero-turn mower based on the sensor data and the model control parameter includes:
[0014] Determine the left driving wheel travel speed and the right driving wheel travel speed of the target zero-turn mower based on the maximum driving speed value of the target zero-turn mower and the left opening signal value and the right opening signal value in the opening signal value respectively;
[0015] The driving linear speed corresponding to the target zero-turn lawn mower is determined based on the average of the left driving wheel driving speed and the right driving wheel driving speed.
[0016] Optionally, determining the rollover critical speed corresponding to the target zero-turn lawn mower based on the driving line speed, the sensor data and the model control parameter includes:
[0017] Substituting the left driving wheel speed, the right driving wheel speed and the driving wheel track into a preset turning radius determination formula to obtain a target turning radius;
[0018] The tipping critical speed and the sideslip critical speed corresponding to the target zero-turn mower are determined based on the target turning radius, the sensor data and the model control parameters.
[0019] Optionally, the determining the tipping critical speed and the sideslip critical speed corresponding to the target zero-turn mower based on the target turning radius, the sensor data and the model control parameter respectively includes:
[0020] The target turning radius, the attitude angle value, the driving wheel track and the center of gravity height are substituted into the preset rollover critical speed determination formula to obtain the rollover critical speed, and the target turning radius, the attitude angle value and the friction coefficient are substituted into the preset sideslip critical speed determination formula to obtain the sideslip critical speed.
[0021] Optionally, the determining whether the driving linear speed is less than the rollover critical speed includes:
[0022] Determining whether the driving linear speed is less than the tipping critical speed and the sideslip critical speed;
[0023] Correspondingly, if the driving line speed is not less than the rollover critical speed, the driving line speed is adjusted based on a preset stepwise approach method to obtain a new driving line speed, including:
[0024] If the driving line speed is greater than / equal to the tipping critical speed, and / or the driving line speed is greater than / equal to the sideslip critical speed, then based on the minimum value determination function and the maximum value determination function, a minimum control speed and a maximum control speed are determined from the control speeds of each wheel of the driving line speed respectively;
[0025] The difference between the maximum control speed and the preset speed adjustment value is determined as the adjusted control speed, and a new travel line speed is determined based on the adjusted control speed and the minimum control speed.
[0026] Optionally, the adjusting the driving linear speed based on a preset stepwise approach method to obtain a new driving linear speed includes:
[0027] Determining whether the left wheel control speed in the driving line speed is greater than the right wheel control speed;
[0028] If the left wheel control speed is greater than the right wheel control speed, the difference between the left wheel control speed and the preset speed adjustment value is determined as the adjusted left wheel control speed, and a new driving line speed is determined based on the adjusted left wheel control speed and the right wheel control speed;
[0029] If the left wheel control speed is less than the right wheel control speed, the difference between the right wheel control speed and the preset speed adjustment value is determined as the adjusted right wheel control speed, and a new driving line speed is determined based on the adjusted right wheel control speed and the left wheel control speed.
[0030] In a second aspect, the present application provides a zero-turn mower control device, comprising:
[0031] A linear speed determination module, used to obtain sensor data of a target zero-turn mower and a model control parameter corresponding to the target zero-turn mower, and determine a driving linear speed corresponding to the target zero-turn mower based on the sensor data and the model control parameter;
[0032] A linear speed judgment module, used to determine a rollover critical speed corresponding to the target zero-turn mower based on the driving linear speed, the sensor data and the model control parameter, and to judge whether the driving linear speed is less than the rollover critical speed;
[0033] A linear speed adjustment module, configured to adjust the linear speed based on a preset stepwise approach method to obtain a new linear speed if the linear speed is not less than the rollover critical speed, and jump to the step of determining the rollover critical speed corresponding to the target zero-turn mower based on the linear speed, the sensor data and the model control parameters;
[0034] The lawn mower control module is used to control the target zero-turn lawn mower to travel based on the driving line speed if the driving line speed is less than the rollover critical speed.
[0035] In a third aspect, the present application provides an electronic device, including:
[0036] Memory, used to store computer programs;
[0037] The processor is used to execute the computer program to implement the aforementioned zero-turn mower control method.
[0038] 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 zero-turn mower control method is implemented.
[0039] In the present application, firstly, the sensor data of the target zero-turn mower and the model control parameters corresponding to the target zero-turn mower are obtained, and the driving line speed corresponding to the target zero-turn mower is determined based on the sensor data and the model control parameters; the rollover critical speed corresponding to the target zero-turn mower is determined based on the driving line speed, the sensor data and the model control parameters, and it is judged whether the driving line speed is less than the rollover critical speed; if the driving line speed is not less than the rollover critical speed, the driving line speed is adjusted based on the preset stepwise approach method to obtain a new driving line speed, and the step of determining the rollover critical speed corresponding to the target zero-turn mower based on the driving line speed, the sensor data and the model control parameters is jumped to; if the driving line speed is less than the rollover critical speed, the target zero-turn mower is controlled to travel based on the driving line speed. As can be seen from the above, the present application first determines the driving linear speed of the target zero-turn mower according to the sensor data and model control parameters of the target zero-turn mower, and then uses the driving linear speed, the sensor data and the model control parameters to calculate the rollover critical speed corresponding to the target zero-turn mower, and judges whether the driving linear speed is less than the rollover critical speed based on the calculation result. If the driving linear speed is not less than the rollover critical speed, the driving linear speed is reduced and adjusted until the driving linear speed is less than the rollover critical speed, and then the target zero-turn mower is controlled to continue driving. In this way, by comparing the target zero-turn mower linear speed and the target zero-turn mower rollover critical speed, it is determined whether the target zero-turn mower has a risk of rollover. When there is a rollover risk, the driving linear speed of the target zero-turn mower is adjusted and reduced according to the preset calculation rules until the driving linear speed is less than the rollover critical speed to eliminate the rollover risk of the target zero-turn mower, thereby greatly improving the stability of the zero-turn mower. BRIEF DESCRIPTION OF THE DRAWINGS
[0040] 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.
[0041] Figure 1 This is a flow chart of a zero-turn mower control method disclosed in this application;
[0042] Figure 2 A schematic diagram of the forces acting on a zero-turn lawn mower moving on an inclined surface disclosed in the present application;
[0043] Figure 3 A schematic diagram of a kinematic model of a zero-turn mower disclosed in the present application;
[0044] Figure 4 This is a flow chart of a zero-turn mower control method disclosed in this application;
[0045] Figure 5 This is a zero-turn lawn mower control system architecture diagram disclosed in this application;
[0046] Figure 6 This is a schematic structural diagram of a zero-turn lawn mower control device disclosed in the present application;
[0047] Figure 7 This is a structural diagram of an electronic 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] Zero-turn mowers are well-known for their zero turning radius, ability to mow accurately in a small space, easy bypass of obstacles, and high mowing speed, and are widely used on large lawns. However, since lawns are generally more complex in terrain, improper operation may cause the mower to tip over and slide sideways. Every year, there are a considerable number of safety accidents caused by tipping and sliding of mowers around the world. Zero-turn mowers with higher speeds and flexible steering have a higher risk of tipping and sliding than non-zero-turn mowers. Currently, there is no dedicated stability control method for zero-turn mowers. Therefore, this application will specifically introduce a zero-turn mower control method that can solve the above problems.
[0050] See also Figure 1 As shown, the embodiment of the present invention discloses a zero-turn mower control method, which may include:
[0051] Step S11, acquiring sensor data of a target zero-turn mower and model control parameters corresponding to the target zero-turn mower, and determining a driving linear speed corresponding to the target zero-turn mower based on the sensor data and the model control parameters.
[0052] In this embodiment, the sensor data of the target zero-turn mower and the model control parameters corresponding to the target zero-turn mower are obtained by the acquisition module, and then the sensor data and the model control parameters are transmitted to the data processing module, and the data processing module is used to process the sensor data and the model control parameters to determine the driving linear speed corresponding to the target zero-turn mower. It should be pointed out that the force diagram of the zero-turn mower moving on the inclined surface is as follows Figure 2 As shown in the figure, the force conditions in the figure represent different model control parameters corresponding to the target zero-turn mower, where m is the weight of the target zero-turn mower, H is the height of the center of gravity of the target zero-turn mower, W is the wheelbase of the drive wheel of the target zero-turn mower, and F l F is the support force of the left wheel of the zero-turn mower when tilted to the target. r is the support force of the right wheel of the target zero-turn mower when tilted toward the target, F is the total support force of the target zero-turn mower when tilted toward the target, R is the turning radius of the target zero-turn mower, θ is the attitude angle value, and g is the acceleration of gravity.
[0053] In this embodiment, the operating lever signal of the target zero-turn mower is obtained to obtain the opening signal value corresponding to the operating lever of the target zero-turn mower, and the attitude angle value of the target zero-turn mower is determined based on the roll angle of the target zero-turn mower; the self-equipment parameters, driving parameters and maximum driving speed value of the target zero-turn mower are obtained; the self-equipment parameters include the self-weight, center of gravity height and driving wheel track of the target zero-turn mower; the driving parameters are the friction coefficient of the target driving surface corresponding to the target zero-turn mower. Specifically, the opening signal per of the left operating lever of the target zero-turn mower is obtained. l and the right joystick opening signal per r , where the opening signal values of the left and right operating levers are [0, 100%], and the attitude angle value θ of the target zero-turn mower is determined at the same time. It should be noted that the attitude angle value can be determined by the roll angle, heading angle, pitch angle, etc., and this embodiment mainly focuses on the roll angle. At the same time, the weight m, center of gravity height H, driving wheel track W, and driving maximum speed value V of the target zero-turn mower are obtained. wheel_max and the friction coefficient μ of the target driving surface corresponding to the target zero-turn lawn mower.
[0054] In this embodiment, the left driving wheel speed and the right driving wheel speed of the target zero-turn mower are determined based on the maximum driving speed value of the target zero-turn mower, and the left opening signal value and the right opening signal value in the opening signal value; the corresponding driving linear speed of the target zero-turn mower is determined based on the average of the left driving wheel speed and the right driving wheel speed. It can be understood that the formula for determining the left driving wheel speed, the right driving wheel speed and the driving linear speed of the target zero-turn mower in this embodiment is as follows:
[0055] V l =V wheel_max ×per l ;
[0056] V r =V wheel_max ×per r ;
[0057] V c =(V l +V r ) / 2;
[0058] Among them, the V wheel_max is the maximum driving speed, V l is the left driving wheel speed, V r is the right driving wheel speed, per l is the opening signal of the left operating lever, per r is the opening signal of the right operating lever, V c is the linear speed of travel. The kinematic model diagram of the target zero-turn mower is as follows: Figure 3 As shown, R is the turning radius of the target zero-turn mower; α is the turning angle.
[0059] Step S12: determining a rollover critical speed corresponding to the target zero-turn lawn mower based on the driving line speed, the sensor data and the model control parameter, and judging whether the driving line speed is less than the rollover critical speed.
[0060] In this embodiment, the left driving wheel speed, the right driving wheel speed and the driving wheel track are substituted into the preset turning radius determination formula to obtain the target turning radius; based on the target turning radius, the sensor data and the model control parameters, the tipping critical speed and the sideslip critical speed corresponding to the target zero-turn mower are respectively determined. The preset turning radius determination formula is as follows:
[0061] R = W (V l +V r ) / 2(V r -V l );
[0062] Wherein, R is the turning radius of the target zero-turn mower, W is the wheelbase of the drive wheels, V l is the traveling speed of the left drive wheel, and V r is the traveling speed of the right drive wheel.
[0063] In this embodiment, the target turning radius, the attitude angle value, the wheelbase of the drive wheels, and the center of gravity height are substituted into a preset tipping critical speed determination formula to obtain the tipping critical speed, and the target turning radius, the attitude angle value, and the friction coefficient are substituted into a preset sideslip critical speed determination formula to obtain the sideslip critical speed. The tipping critical speed determination formula is as follows:
[0064] ;
[0065] Wherein, V_tip is the tipping critical speed, W is the wheelbase of the drive wheels, H is the center of gravity height, R is the turning radius of the target zero-turn mower, θ is the attitude angle value, and g is the acceleration due to gravity. The sideslip critical speed determination formula is as follows:
[0066] ;
[0067] Wherein, V_slip is the sideslip critical speed, and μ is the friction coefficient of the target traveling surface corresponding to the target zero-turn mower. Next, based on the obtained results, it is judged whether the traveling linear speed is less than both the tipping critical speed and the sideslip critical speed.
[0068] Step S13: If the traveling linear speed is not less than the sideslip critical speed, then adjust the traveling linear speed based on a preset step-by-step approximation method to obtain a new traveling linear speed, and jump to the step of determining the sideslip critical speed corresponding to the target zero-turn mower based on the traveling linear speed, the sensor data, and the model control parameters.
[0069] In this embodiment, if the traveling linear speed is not less than the sideslip critical speed, it means that the target zero-turn mower has a risk of tipping. At this time, the traveling linear speed is adjusted using a preset step-by-step approximation method to obtain a new traveling linear speed, and then the sideslip critical speed corresponding to the target zero-turn mower is recalculated based on the new traveling linear speed, and it is judged whether the new traveling linear speed is less than the sideslip critical speed. This process is repeated until the new traveling linear speed is less than the corresponding sideslip critical speed.
[0070] In a specific implementation, if the driving line speed is greater than / equal to the tipping critical speed, and / or the driving line speed is greater than / equal to the sideslip critical speed, the minimum control speed and the maximum control speed are determined from the control speeds of each wheel of the driving line speed based on the minimum value determination function and the maximum value determination function; the difference between the maximum control speed and the preset speed adjustment value is determined as the adjusted control speed, and a new driving line speed is determined based on the adjusted control speed and the minimum control speed. Specifically, taking a two-wheel mower as an example, the minimum value determination function and the maximum value determination function are as follows:
[0071] V min =(V l 、V r );
[0072] V max =(V l 、V r );
[0073] Among them, V min Indicates the minimum control wheel speed, V, of the left and right control wheel speeds max Indicates the maximum control wheel speed among the control wheel speeds, V l is the left driving wheel speed, V r is the right driving wheel speed. min =V r 、V max =V l When using V l - V to obtain a new left wheel control speed, the right wheel control speed remains unchanged, and then the right wheel control speed and the new left wheel control speed are used to determine the new driving line speed; on the contrary, when V min =V l 、V max =V r When using V r - V is used to obtain a new right wheel control speed, while the left wheel control speed remains unchanged. Then, the left wheel control speed and the new right wheel control speed are used to determine a new driving line speed.
[0074] It should be noted that in a specific application scenario, the driving linear speed of the target vehicle can be determined by multiple wheels. For example, for an intelligent sweeping robot with five wheels, the minimum control speed and the maximum control speed of the five wheel control speeds are respectively determined using the above-mentioned minimum value determination function and the maximum value determination function, and then the difference between the maximum control speed and the preset speed adjustment value is determined as the adjusted control speed, and the new driving linear speed is determined based on the adjusted control speed and the minimum control speed.
[0075] In another specific implementation, it is determined whether the left wheel control speed in the driving linear speed is greater than the right wheel control speed; if the left wheel control speed is greater than the right wheel control speed, the difference between the left wheel control speed and the preset speed adjustment value is determined as the adjusted left wheel control speed, and a new driving linear speed is determined based on the adjusted left wheel control speed and the right wheel control speed; if the left wheel control speed is less than the right wheel control speed, the difference between the right wheel control speed and the preset speed adjustment value is determined as the adjusted right wheel control speed, and a new driving linear speed is determined based on the adjusted right wheel control speed and the left wheel control speed. Specifically, the larger wheel speed in the driving linear speed is obtained by directly comparing the left wheel control speed and the right wheel control speed in the driving linear speed of the two-wheeled lawn mower; if the left wheel control speed is the larger wheel speed in the driving linear speed, the difference between the left wheel control speed and the preset speed adjustment value is determined as the adjusted left wheel control speed, and a new driving linear speed is determined based on the adjusted left wheel control speed and the right wheel control speed; and vice versa.
[0076] Step S14: If the driving linear speed is less than the rollover critical speed, the target zero-turn mower is controlled to travel based on the driving linear speed.
[0077] In this embodiment, if the driving line speed is not less than the rollover critical speed, it means that the target zero-turn mower has no rollover risk, and the target zero-turn mower is controlled to continue driving at the original driving line speed.
[0078] In summary, the flow chart of the zero-turn mower control method described in this embodiment is as follows: Figure 4 As shown, first, the sensor data and the model data are acquired, and then the left and right wheel control speeds of the target zero-turn mower and the critical speeds of the target zero-turn mower for tipping over and skidding are calculated based on the sensor data and the model data, and the tipping over and skidding risk is judged based on the calculation result. If the result indicates that the target zero-turn mower has the risk of tipping over and skidding, the wheel speed of the target zero-turn mower is continuously adjusted to eliminate the risk; if the result indicates that the target zero-turn mower does not have the risk of tipping over and skidding, the target zero-turn mower is controlled to continue driving.
[0079] In the zero-turn mower solution of this application, the system framework used can be specifically referred to Figure 5As shown, it may specifically include: an acquisition module, a data processing module, model data, and a control module. The acquisition module includes an operation lever signal and a posture sensor signal; the data processing module is used to acquire module information and model data, and calculate the left wheel control speed value and the right wheel control speed value without the risk of tipping over and sliding based on the acquisition module information and the model data, and send them to the control module; the model data is data related to the lawn mower model; the control module is used to control the movement of the lawn mower according to the speed.
[0080] As can be seen from the above, in this embodiment, the sensor data of the target zero-turn mower and the model control parameters corresponding to the target zero-turn mower are first obtained, and the driving line speed corresponding to the target zero-turn mower is determined based on the sensor data and the model control parameters; the rollover critical speed corresponding to the target zero-turn mower is determined based on the driving line speed, the sensor data and the model control parameters, and it is judged whether the driving line speed is less than the rollover critical speed; if the driving line speed is not less than the rollover critical speed, the driving line speed is adjusted based on the preset stepwise approach method to obtain a new driving line speed, and the step of determining the rollover critical speed corresponding to the target zero-turn mower based on the driving line speed, the sensor data and the model control parameters is jumped to; if the driving line speed is less than the rollover critical speed, the target zero-turn mower is controlled to travel based on the driving line speed. As can be seen from the above, the present application first determines the driving linear speed of the target zero-turn mower according to the sensor data and model control parameters of the target zero-turn mower, and then uses the driving linear speed, the sensor data and the model control parameters to calculate the rollover critical speed corresponding to the target zero-turn mower, and judges whether the driving linear speed is less than the rollover critical speed based on the calculation result. If the driving linear speed is not less than the rollover critical speed, the driving linear speed is reduced and adjusted until the driving linear speed is less than the rollover critical speed, and then the target zero-turn mower is controlled to continue driving. In this way, by comparing the target zero-turn mower linear speed and the target zero-turn mower rollover critical speed, it is determined whether the target zero-turn mower has a risk of rollover. When there is a rollover risk, the driving linear speed of the target zero-turn mower is adjusted and reduced according to the preset calculation rules until the driving linear speed is less than the rollover critical speed to eliminate the rollover risk of the target zero-turn mower, thereby greatly improving the stability of the zero-turn mower.
[0081] Accordingly, see Figure 6 As shown, the embodiment of the present application also provides a zero-turn mower control device, which may include:
[0082] A linear speed determination module 11 is used to obtain sensor data of a target zero-turn mower and a model control parameter corresponding to the target zero-turn mower, and determine a driving linear speed corresponding to the target zero-turn mower based on the sensor data and the model control parameter;
[0083] A linear speed determination module 12 is used to determine a rollover critical speed corresponding to the target zero-turn mower based on the driving linear speed, the sensor data and the model control parameter, and to determine whether the driving linear speed is less than the rollover critical speed;
[0084] A linear speed adjustment module 13 is used for adjusting the driving linear speed based on a preset stepwise approach method to obtain a new driving linear speed if the driving linear speed is not less than the rollover critical speed, and jumping to the step of determining the rollover critical speed corresponding to the target zero-turn mower based on the driving linear speed, the sensor data and the model control parameters;
[0085] The lawn mower control module 14 is configured to control the target zero-turn lawn mower to travel based on the driving line speed if the driving line speed is less than the rollover critical speed.
[0086] As can be seen from the above, the present application first determines the driving linear speed of the target zero-turn mower according to the sensor data and model control parameters of the target zero-turn mower, and then uses the driving linear speed, the sensor data and the model control parameters to calculate the rollover critical speed corresponding to the target zero-turn mower, and judges whether the driving linear speed is less than the rollover critical speed based on the calculation result. If the driving linear speed is not less than the rollover critical speed, the driving linear speed is reduced and adjusted until the driving linear speed is less than the rollover critical speed, and then the target zero-turn mower is controlled to continue driving. In this way, by comparing the target zero-turn mower linear speed and the target zero-turn mower rollover critical speed, it is determined whether the target zero-turn mower has a risk of rollover. When there is a rollover risk, the driving linear speed of the target zero-turn mower is adjusted and reduced according to the preset calculation rules until the driving linear speed is less than the rollover critical speed to eliminate the rollover risk of the target zero-turn mower, thereby greatly improving the stability of the zero-turn mower.
[0087] In some specific implementations, the linear speed determination module 11 includes:
[0088] a signal determination unit, configured to obtain an operating lever signal of a target zero-turn mower to obtain an opening signal value corresponding to the operating lever of the target zero-turn mower, and determine a posture angle value of the target zero-turn mower based on a roll angle of the target zero-turn mower;
[0089] A parameter determination unit is used to obtain the own equipment parameters, driving parameters and maximum driving speed value of the target zero-turn mower; the own equipment parameters include the own weight, center of gravity height and driving wheel track of the target zero-turn mower; the driving parameters are the friction coefficient of the target driving surface corresponding to the target zero-turn mower.
[0090] In some specific implementations, the linear speed determination module 11 includes:
[0091] a driving wheel speed determining unit, configured to respectively determine a left driving wheel travel speed and a right driving wheel travel speed of the target zero-turn mower based on the maximum driving speed value of the target zero-turn mower and a left opening signal value and a right opening signal value of the opening signal value;
[0092] The driving line speed determining unit is used to determine the driving line speed corresponding to the target zero-turn mower based on the average of the left driving wheel driving speed and the right driving wheel driving speed.
[0093] In some specific implementations, the linear speed determination module 12 includes:
[0094] a turning radius determination unit, configured to substitute the left driving wheel speed, the right driving wheel speed and the driving wheel track into a preset turning radius determination formula to obtain a target turning radius;
[0095] The critical speed determination unit is used to respectively determine the tipping critical speed and the sideslip critical speed corresponding to the target zero-turn mower based on the target turning radius, the sensor data and the model control parameter.
[0096] In some specific implementations, the linear speed determination module 12 includes:
[0097] The critical speed determination unit is used to substitute the target turning radius, the attitude angle value, the driving wheel track and the center of gravity height into a preset rollover critical speed determination formula to obtain a rollover critical speed, and substitute the target turning radius, the attitude angle value and the friction coefficient into a preset sideslip critical speed determination formula to obtain a sideslip critical speed.
[0098] In some specific implementations, the linear speed determination module 12 includes:
[0099] A speed determination unit, used to determine whether the travel line speed is less than the tipping critical speed and the sideslip critical speed;
[0100] Correspondingly, the line speed adjustment module 13 includes:
[0101] a speed maximum value determining unit, configured to determine a minimum control speed and a maximum control speed from the control speeds of each wheel of the driving line speed based on a minimum value determining function and a maximum value determining function respectively if the driving line speed is greater than / equal to the tipping critical speed and / or the driving line speed is greater than / equal to the sideslip critical speed;
[0102] The linear speed determining unit is used to determine the difference between the maximum control speed and the preset speed adjustment value as the adjusted control speed, and determine a new driving linear speed based on the adjusted control speed and the minimum control speed.
[0103] In some specific implementations, the linear speed adjustment module 13 includes:
[0104] A speed determination unit, used for determining whether the left wheel control speed in the driving line speed is greater than the right wheel control speed;
[0105] a left wheel speed adjustment unit, configured to determine the difference between the left wheel control speed and a preset speed adjustment value as the adjusted left wheel control speed if the left wheel control speed is greater than the right wheel control speed, and determine a new driving line speed based on the adjusted left wheel control speed and the right wheel control speed;
[0106] The right wheel speed adjustment unit is used to determine the difference between the right wheel control speed and the preset speed adjustment value as the adjusted right wheel control speed if the left wheel control speed is less than the right wheel control speed, and determine a new driving line speed based on the adjusted right wheel control speed and the left wheel control speed.
[0107] Furthermore, the present application also discloses an electronic device. Figure 7 : 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, and the computer program is loaded and executed by the processor 21 to implement the relevant steps in the zero-turn mower control method disclosed in any of the aforementioned embodiments. In addition, the electronic device 20 in this embodiment may specifically be an electronic computer.
[0108] 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.
[0109] In addition, the memory 22, as a carrier for storing resources, can be a read-only memory, a random access memory, a disk or an optical disk, etc. The resources stored thereon can include an operating system 221, a computer program 222, etc., and the storage method can be temporary storage or permanent storage.
[0110] The operating system 221 is used to manage and control the hardware devices and computer programs 222 on the electronic device 20, and may be Windows Server, Netware, Unix, Linux, etc. In addition to computer programs that can be used to complete the zero-turn mower control method performed by the electronic device 20 disclosed in any of the aforementioned embodiments, the computer program 222 may further include computer programs that can be used to complete other specific tasks.
[0111] Furthermore, the present application also discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the aforementioned zero-turn mower control method is implemented. The specific steps of the method can refer to the corresponding contents disclosed in the aforementioned embodiments, and will not be repeated here.
[0112] 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.
[0113] 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.
[0114] 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.
[0115] 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.
[0116] 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 zero-turn mower control method, characterized in that: include: Acquire sensor data of a target zero-turn mower and model control parameters corresponding to the target zero-turn mower, and determine a travel linear speed corresponding to the target zero-turn mower based on the sensor data and the model control parameters; Determine a rollover critical speed corresponding to the target zero-turn lawn mower based on the driving line speed, the sensor data and the model control parameter, and judge whether the driving line speed is less than the rollover critical speed; If the driving linear speed is not less than the rollover critical speed, the driving linear speed is adjusted based on a preset stepwise approach method to obtain a new driving linear speed, and the process jumps to the step of determining the rollover critical speed corresponding to the target zero-turn lawn mower based on the driving linear speed, the sensor data and the model control parameters; If the travel line speed is less than the rollover critical speed, the target zero-turn mower is controlled to travel based on the travel line speed.
2. The zero-turn mower control method according to claim 1, characterized in that: The step of acquiring sensor data of a target zero-turn mower and model control parameters corresponding to the target zero-turn mower includes: Acquire an operating lever signal of a target zero-turn mower to obtain an opening signal value corresponding to the operating lever of the target zero-turn mower, and determine a posture angle value of the target zero-turn mower based on a roll angle of the target zero-turn mower; Obtain the own equipment parameters, driving parameters and maximum driving speed value of the target zero-turn mower; the own equipment parameters include the own weight, center of gravity height and driving wheel track of the target zero-turn mower; the driving parameters are the friction coefficient of the target driving surface corresponding to the target zero-turn mower.
3. The zero-turn mower control method according to claim 2, characterized in that: The determining of the driving linear speed corresponding to the target zero-turn lawn mower based on the sensor data and the model control parameters includes: Determine the left driving wheel travel speed and the right driving wheel travel speed of the target zero-turn mower based on the maximum driving speed value of the target zero-turn mower and the left opening signal value and the right opening signal value in the opening signal value respectively; The driving linear speed corresponding to the target zero-turn lawn mower is determined based on the average of the left driving wheel driving speed and the right driving wheel driving speed.
4. The zero-turn mower control method according to claim 3, characterized in that: The determining of the rollover critical speed corresponding to the target zero-turn lawn mower based on the driving line speed, the sensor data and the model control parameter includes: Substituting the left driving wheel speed, the right driving wheel speed and the driving wheel track into a preset turning radius determination formula to obtain a target turning radius; The tipping critical speed and the sideslip critical speed corresponding to the target zero-turn mower are determined based on the target turning radius, the sensor data and the model control parameters.
5. The zero-turn mower control method according to claim 4, characterized in that: The method of respectively determining the tipping critical speed and the sideslip critical speed corresponding to the target zero-turn lawn mower based on the target turning radius, the sensor data and the model control parameter includes: The target turning radius, the attitude angle value, the driving wheel track and the center of gravity height are substituted into the preset rollover critical speed determination formula to obtain the rollover critical speed, and the target turning radius, the attitude angle value and the friction coefficient are substituted into the preset sideslip critical speed determination formula to obtain the sideslip critical speed.
6. The zero-turn mower control method according to claim 4, characterized in that: The determining whether the driving line speed is less than the rollover critical speed includes: Determining whether the driving linear speed is less than the tipping critical speed and the sideslip critical speed; Correspondingly, if the driving line speed is not less than the rollover critical speed, the driving line speed is adjusted based on a preset stepwise approach method to obtain a new driving line speed, including: If the driving line speed is greater than / equal to the tipping critical speed, and / or the driving line speed is greater than / equal to the sideslip critical speed, then based on the minimum value determination function and the maximum value determination function, a minimum control speed and a maximum control speed are determined from the control speeds of each wheel of the driving line speed respectively; The difference between the maximum control speed and the preset speed adjustment value is determined as the adjusted control speed, and a new travel line speed is determined based on the adjusted control speed and the minimum control speed.
7. The zero-turn mower control method according to any one of claims 1 to 6, characterized in that: The adjusting the travel line speed based on the preset step-by-step approach method to obtain a new travel line speed includes: Determining whether the left wheel control speed in the driving line speed is greater than the right wheel control speed; If the left wheel control speed is greater than the right wheel control speed, the difference between the left wheel control speed and the preset speed adjustment value is determined as the adjusted left wheel control speed, and a new driving line speed is determined based on the adjusted left wheel control speed and the right wheel control speed; If the left wheel control speed is less than the right wheel control speed, the difference between the right wheel control speed and the preset speed adjustment value is determined as the adjusted right wheel control speed, and a new driving line speed is determined based on the adjusted right wheel control speed and the left wheel control speed.
8. A zero-turn mower control device, characterized in that: include: A linear speed determination module, used to obtain sensor data of a target zero-turn mower and a model control parameter corresponding to the target zero-turn mower, and determine a driving linear speed corresponding to the target zero-turn mower based on the sensor data and the model control parameter; A linear speed judgment module, used to determine a rollover critical speed corresponding to the target zero-turn mower based on the driving linear speed, the sensor data and the model control parameter, and to judge whether the driving linear speed is less than the rollover critical speed; A linear speed adjustment module, configured to adjust the linear speed based on a preset stepwise approach method to obtain a new linear speed if the linear speed is not less than the rollover critical speed, and jump to the step of determining the rollover critical speed corresponding to the target zero-turn mower based on the linear speed, the sensor data and the model control parameters; The lawn mower control module is used to control the target zero-turn lawn mower to travel based on the driving line speed if the driving line speed is less than the rollover critical speed.
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 zero-turn mower control method according to 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 zero-turn mower control method as described in any one of claims 1 to 7 is implemented.