Obstacle avoidance method for omnidirectional vision lawn mower and lawn mower

Abstract

The present invention discloses an intelligent lawn mower, which aims to provide an obstacle avoidance method for an all-round visual lawn mower with a high degree of automation and high efficiency in obstacle avoidance, and can prevent the lawn mower from slipping and being trapped. The key points of the technical solution are that the lawn mower moves in the field to be mowed by a driving component, and performs a mowing operation through a cutting component at the bottom of an outer shell. At the same time, during the process of the lawn mower mowing the field, the visual sensor on the lawn mower can automatically detect obstacles on the path and control the lawn mower to perform obstacle avoidance operations. Moreover, by arranging a collision sensor on the outer shell of the lawn mower, the lawn mower can detect obstacles that have not been detected by the visual sensor during operation, and notify the lawn mower to make a detour to avoid them. The overall obstacle avoidance effect is good, and the damage to the lawn mower by obstacles can be effectively prevented, thereby extending the service life of the lawn mower. The present invention is applicable to the field of lawn mower control technology.

Description

Technical Field

[0001] The present invention relates to an intelligent lawn mower, and more particularly to an obstacle avoidance method for an omnidirectional vision lawn mower and the lawn mower. Background Art

[0002] When maintaining and caring for large lawns, such as football fields, golf courses, and gardens, manual mowing is time-consuming and labor-intensive due to the large overall area of ​​the lawns and the frequent mowing. Therefore, such lawns are usually maintained and trimmed using automatic lawn mowers. Current automatic lawn mowers are usually driven by the rear wheels and guided by the front wheels during operation to complete the mowing of the site.

[0003] Although existing lawn mowers can mow the lawn in the field, due to obstacles such as stones and balls in the lawn, if the lawn mower does not avoid them in time during operation, the cutting blades may be damaged and broken, and then fall into the lawn, which may easily cause injuries to people on the lawn. The current lawn mowers usually avoid obstacles by visual obstacle avoidance, but visual obstacle avoidance cannot avoid obstacles that are small or located in the blind spot of the lawn mower's vision, thereby making the overall obstacle avoidance efficiency low. At the same time, when the lawn mower is operating on an uneven lawn or a lawn with deep grass, the protrusions of the lawn or the overly dense deep grass may easily lift up the cutter disc, causing the rear wheels of the lawn mower to slip, making the lawn mower trapped and unable to move. Summary of the Invention

[0004] In view of the shortcomings of the prior art, the purpose of the present invention is to provide an obstacle avoidance method and a lawn mower with omnidirectional vision that are highly automated and can avoid obstacles efficiently while preventing the lawn mower from slipping and getting stuck.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an obstacle avoidance method for an omnidirectional vision-based lawn mower, comprising the following steps: S01: While the lawn mower is moving forward, a visual sensor detects whether there is a static obstacle in front of the lawn mower. If no obstacle is present, it is determined that the lawn mower does not need to avoid the obstacle, and the lawn mower continues to move forward and repeats step S01. Otherwise, the lawn mower is notified to perform obstacle avoidance operations, and the process jumps to S02 to continue detection;

[0006] S02, the lawn mower moves to the left and bypasses the obstacle in front;

[0007] S03, the lawn mower runs in a mowing mode along the edge of the field. During the mowing process, the collision sensor detects whether the lawn mower has collided. If no collision is detected, it is determined that there is no obstacle in the running path of the lawn mower and the lawn mower continues to move. Otherwise, it is determined that the obstacle is too small or the obstacle is in the blind spot of the visual sensor, and the lawn mower has collided with the obstacle, and the process jumps to S04 to continue detection;

[0008] S04, the lawn mower moves to the left and bypasses the obstacle in front;

[0009] S05, the lawn mower continues to move and detects whether the edge cutting operation is completed. If not, it jumps back to S03 to continue the detection. Otherwise, it is determined that the device has completed the edge cutting, and the lawn mower enters the mowing planning operation mode and performs a mobile mowing operation in the field at the same time;

[0010] S06: The lawn mower moves forward in the planned mode, and the collision sensor detects whether the lawn mower has collided. If no collision is detected, it is determined that the lawn mower has not touched the obstacle and the lawn mower continues to move. Otherwise, it is determined that the obstacle is too small or is in the blind spot of the visual sensor, and the lawn mower has collided with the obstacle, and the process jumps to S07 to continue detection;

[0011] S07, the lawn mower reverses, turns, and continues to run;

[0012] S08: The lawn mower moves forward in the planned mode and turns left. At the same time, the collision sensor detects whether the lawn mower has collided. If no collision is detected, it is determined that there is no obstacle on the left-turn path of the lawn mower, and the lawn mower continues to move and completes the left turn. Otherwise, it is determined that there is an obstacle on the left-turn path and has collided with the lawn mower, and the lawn mower cannot turn left in the current environment, so the process jumps to S09 to continue detection.

[0013] S09, the machine turns right and continues to run;

[0014] S10: The lawn mower moves forward in the planned mode and turns right. At the same time, the collision sensor detects whether the lawn mower has collided. If no collision is detected, it is determined that there is no obstacle on the right-turning path of the lawn mower, and the lawn mower continues to move and completes the right turn. Otherwise, it is determined that there is an obstacle on the right-turning path and has collided with the lawn mower. The lawn mower cannot turn right at this time, and the process jumps to S11 to continue detection.

[0015] S11, the machine turns left and continues to run;

[0016] S12: The lawn mower continues to run and when it moves backward in the field, the collision sensor detects whether the lawn mower has collided. If no collision is detected, it is determined that there is no obstacle on the retreat path of the lawn mower, and the lawn mower continues to move and completes the retreat. Otherwise, it is determined that there is an obstacle on the retreat path and has collided with the lawn mower. The lawn mower cannot move backward at this time, and the process jumps to S13 to continue detection.

[0017] S13, the machine moves forward, turns, and continues to run;

[0018] S14. The lawn mower continues to run, and the collision sensor detects whether the lawn mower is in a trapped state. If the collision sensor detects no abnormality, it is determined that the lawn mower is not in a trapped state and the lawn mower continues to run. Otherwise, it is determined that the lawn mower is slipping and trapped, and the lawn mower backs up and turns. At the same time, the collision sensor detects the trapped state of the lawn mower. If the collision sensor detects no abnormality, it is determined that the lawn mower has successfully escaped from the trap and the lawn mower continues to run. Otherwise, it is determined that the lawn mower cannot escape from the trap, and the lawn mower stops and an alarm is triggered to notify the staff.

[0019] The present invention is further configured such that the edge cutting mode in step S03 includes the following steps: S031, the lawn mower moves forward in a fixed direction, and at the same time, the collision sensor detects whether the lawn mower has reached the edge of the field. If not, it is determined that the lawn mower has not reached the edge, and the lawn mower continues to move and detect. Otherwise, it is determined that the lawn mower has reached the edge of the field, and the lawn mower turns left and operates in the edge cutting mode;

[0020] S032. During the operation of the lawn mower in edge cutting mode, the collision sensor detects whether the lawn mower has reached the corner of the site. If not, it is determined that the lawn mower has not reached the corner and the lawn mower continues to run and detect. Otherwise, it is determined that the lawn mower has reached the corner and the lawn mower turns left and reaches the other edge of the site to perform edge cutting operations.

[0021] Preferably, the edge cutting mode in step S03 further includes the following steps: S033, the lawn mower records the starting point of edge cutting and detects the current position of the lawn mower in real time during the edge cutting process. If the current position of the lawn mower has not reached the starting point, the lawn mower continues to mow the grass. Otherwise, it is determined that the lawn mower has completed one circle of edge cutting operation, and the lawn mower turns right and enters the planning mode.

[0022] The present invention is further configured such that the trapped detection in step S14 comprises the following steps: S141, a collision sensor detects a collision of the lawn mower and simultaneously performs a collision positioning detection of the lawn mower;

[0023] S142: The lawn mower moves forward and turns right. At the same time, the collision sensor detects whether the lawn mower has collided. If not, it is determined that an obstacle has appeared in front of the left side of the lawn mower. The lawn mower turns right to avoid it and continues to operate. Otherwise, it is determined that the lawn mower cannot turn right and jumps to S143 to continue detection.

[0024] S143: The lawn mower moves forward and turns left. At the same time, the collision sensor detects whether the lawn mower has collided. If not, it is determined that an obstacle has appeared in front of the right side of the lawn mower. The lawn mower turns left to avoid it and continues to run. Otherwise, it is determined that the lawn mower is currently slipping and stuck, and jumps to S144 for escape control;

[0025] S144. The lawn mower moves backward and turns. The collision sensor continuously detects whether the lawn mower has collided. If not, it is determined that the lawn mower is free from the obstacle and away from the obstacle. The lawn mower continues to move forward in the direction after the backward turn. Otherwise, it is determined that the lawn mower cannot free itself. The lawn mower stops running and notifies the staff to manually free it.

[0026] The present invention is further configured as follows: the lawn mower includes an outer shell and a drive assembly, a control assembly and a cutting assembly arranged in the outer shell; the drive assembly includes a driving wheel arranged at the rear end of the outer shell and a steering wheel arranged at the front end of the outer shell; the steering wheel is provided with an adjusting shaft, and the adjusting shaft is electrically connected to the control assembly; a driving motor is also provided on one side of the driving wheel, and a connecting shaft is provided between the driving wheel and the drive motor.

[0027] Preferably, the cutting assembly includes a cutting motor disposed in an outer shell and a cutting disc rotatably connected to the cutting motor, and the cutting disc is fixedly provided with a plurality of blades along its outer circumference.

[0028] Preferably, the shell is provided with a plurality of visual sensors and collision sensors, the visual sensors are respectively arranged at the front end and both sides of the shell, and the collision sensors include pressure sensors arranged at the bottom of the shell.

[0029] By adopting the above technical solution, the lawn mower moves in the field to be mowed through the driving component, and performs mowing operations through the cutting component at the bottom of the outer shell. At the same time, while the lawn mower is mowing the field, the visual sensor on the lawn mower can automatically detect obstacles on the path and control the lawn mower to avoid obstacles. By arranging a collision sensor on the outer shell of the lawn mower, the lawn mower can detect obstacles that the visual sensor has not detected during operation, and notify the lawn mower to detour and avoid them. The overall obstacle avoidance effect is good, which can effectively prevent obstacles from damaging the lawn mower and extend the service life of the lawn mower.

[0030] Furthermore, after the lawn mower detects an obstacle, the control component can control the lawn mower to perform obstacle avoidance operations according to the current working mode and motion state of the lawn mower. Specifically, if the lawn mower is operating in the edge cutting mode, the edge cutting mode is that the lawn mower performs counterclockwise edge cutting operations along the ground to be mowed, that is, during the operation of the lawn mower, the lawn is always located on the left side of the lawn mower. When the lawn mower is operating in the edge cutting mode, if an obstacle is detected, the control component needs to drive the lawn mower to turn left and bypass the obstacle to prevent the lawn mower from exceeding the range of the mowing ground. At the same time, if the lawn mower is operating in the planning mode, if an obstacle is detected, the control component determines whether there is an obstacle on the current running path of the lawn mower according to the current motion state of the lawn mower, and performs intelligent obstacle avoidance operations according to the feedback data of the collision sensor, with a high degree of automation.

[0031] At the same time, in order to increase the mowing efficiency of the lawn mower, the working states of the lawn mower are divided into edge cutting mode and planning mode. The lawn mower calculates the area of ​​the site that currently needs to be mowed in advance through the edge cutting mode, and the edge cutting mode can turn left at the corner of the site. At the same time, after the lawn mower returns to the starting point, the site area can be calculated and switched to planning mode operation, and the mowing path in the site can be intelligently planned, so that the time for the lawn mower to go back and forth to the charging pile during the mowing process is greatly reduced, thereby reducing the total time required to complete mowing, improving energy utilization, and improving mowing efficiency.

[0032] Moreover, during the operation of the lawn mower, the cutting disc is lifted up by obstacles on the ground, causing the driving wheel in the lawn mower to slip in the air, making it difficult for the lawn mower to move forward. In order to enable the lawn mower to automatically confirm the current state, the control component drives the lawn mower to turn to the left and right sides respectively to prevent the lawn mower from being unable to move due to obstacles in the left front or right front. When the lawn mower cannot move to the left or right sides, the control component determines that the lawn mower is in a slipping and trapped state and cannot move forward. The lawn mower needs to back up and turn away from the obstacle and continue mowing. Otherwise, it means that the current obstacle is too large and the driving wheel cannot drive the lawn mower to retreat. At the same time, in order to prevent the blades on the cutting disc from being broken by the collision of the bottom obstacle, the control center stops the rotation of the cutting motor and notifies the staff to come for rescue. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A schematic diagram of an obstacle avoidance method for an omnidirectional vision lawn mower and a lawn mower structure of an embodiment of the present invention;

[0034] Figure 2 This is a schematic diagram of the structure of the lawn mower from another direction according to an obstacle avoidance method of an omnidirectional visual lawn mower and an embodiment of the lawn mower of the present invention.

[0035] Figure 3 This is the first part of the control flow chart of the obstacle avoidance method of the omnidirectional vision lawn mower and the lawn mower embodiment of the present invention;

[0036] Figure 4 This is the second part of the control flow chart of the obstacle avoidance method of the omnidirectional vision lawn mower of the present invention and the lawn mower obstacle avoidance method of the lawn mower embodiment;

[0037] Figure 5 The third part of the control flow chart of the obstacle avoidance method of the omnidirectional vision lawn mower and the lawn mower embodiment of the present invention;

[0038] Figure 6 The fourth part is a control flow chart of an obstacle avoidance method for an omnidirectional vision lawn mower and an embodiment of the lawn mower according to the present invention;

[0039] Figure 7 The fifth part is a control flow chart of an obstacle avoidance method for an omnidirectional vision lawn mower and a lawn mower embodiment of the present invention;

[0040] Figure 8 A control flow chart of an obstacle avoidance method for an omnidirectional vision lawn mower and a lawn mower embodiment of the present invention in a lawn mower trimming mode turning mode;

[0041] Figure 9 A control flow chart of an obstacle avoidance method for an omnidirectional vision lawn mower and a lawn mower edge cutting mode detection embodiment of the present invention;

[0042] Figure 10 This is the first part of a control flow chart of an obstacle avoidance method for an omnidirectional vision lawn mower and an automatic escape control method for a lawn mower according to an embodiment of the present invention;

[0043] Figure 11 This is the second part of the control flow chart of an obstacle avoidance method for an omnidirectional vision lawn mower and an automatic escape control method for a lawn mower according to an embodiment of the present invention;

[0044] Reference numerals in the figure: 1. outer shell; 2. driving assembly; 21. driving wheel; 22. steering wheel; 23. adjusting shaft; 24. driving motor; 3. control assembly; 4. cutting assembly; 41. cutting motor; 42. cutting disc; 43. blade; 5. visual sensor; 6. pressure sensor. DETAILED DESCRIPTION

[0045] Reference Figures 1 to 11 The obstacle avoidance method of the omnidirectional vision lawn mower and the lawn mower embodiment of the present invention are further described.

[0046] For ease of explanation, spatial relative terms such as "upper", "lower", "left", and "right" are used in the embodiments to illustrate the relationship between one element or feature shown in the figures and another element or feature. It should be understood that, in addition to the orientation shown in the figures, spatial terms are intended to include different orientations of the device in use or operation. For example, if the device in the figure is inverted, the element described as being "under" other elements or features will be positioned "above" other elements or features. Therefore, the exemplary term "under" can include both upper and lower orientations. The device can be positioned in other ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used here can be interpreted accordingly.

[0047] Moreover, relational terms such as “first” and “second” are merely used to distinguish one component from another having the same name, but do not necessarily require or imply any actual relationship or order between these components.

[0048] A method for avoiding obstacles for an omnidirectional vision-based lawn mower comprises the following steps: S01: while the lawn mower is moving forward, a visual sensor detects whether there is a static obstacle in front of the lawn mower; if no obstacle is present, it is determined that the lawn mower does not need to avoid the obstacle, and the lawn mower continues to move forward and repeats step S01; otherwise, the lawn mower is notified to perform obstacle avoidance operations and the process jumps to S02 to continue detection;

[0049] S02, the lawn mower moves to the left and bypasses the obstacle in front;

[0050] S03, the lawn mower runs in a mowing mode along the edge of the field. During the mowing process, the collision sensor detects whether the lawn mower has collided. If no collision is detected, it is determined that there is no obstacle in the running path of the lawn mower and the lawn mower continues to move. Otherwise, it is determined that the obstacle is too small or the obstacle is in the blind spot of the visual sensor, and the lawn mower has collided with the obstacle, and the process jumps to S04 to continue detection;

[0051] S04, the lawn mower moves to the left and bypasses the obstacle in front;

[0052] S05, the lawn mower continues to move and detects whether the edge cutting operation is completed. If not, it jumps back to S03 to continue the detection. Otherwise, it is determined that the device has completed the edge cutting, and the lawn mower enters the mowing planning operation mode and performs a mobile mowing operation in the field at the same time;

[0053] S06: The lawn mower moves forward in the planned mode, and the collision sensor detects whether the lawn mower has collided. If no collision is detected, it is determined that the lawn mower has not touched the obstacle and the lawn mower continues to move. Otherwise, it is determined that the obstacle is too small or is in the blind spot of the visual sensor, and the lawn mower has collided with the obstacle, and the process jumps to S07 to continue detection;

[0054] S07, the lawn mower reverses, turns, and continues to run;

[0055] S08: The lawn mower moves forward in the planned mode and turns left. At the same time, the collision sensor detects whether the lawn mower has collided. If no collision is detected, it is determined that there is no obstacle on the left-turn path of the lawn mower, and the lawn mower continues to move and completes the left turn. Otherwise, it is determined that there is an obstacle on the left-turn path and has collided with the lawn mower, and the lawn mower cannot turn left in the current environment, so the process jumps to S09 to continue detection.

[0056] S09, the machine turns right and continues to run;

[0057] S10: The lawn mower moves forward in the planned mode and turns right. At the same time, the collision sensor detects whether the lawn mower has collided. If no collision is detected, it is determined that there is no obstacle on the right-turning path of the lawn mower, and the lawn mower continues to move and completes the right turn. Otherwise, it is determined that there is an obstacle on the right-turning path and has collided with the lawn mower. The lawn mower cannot turn right at this time, and the process jumps to S11 to continue detection.

[0058] S11, the machine turns left and continues to run;

[0059] S12: The lawn mower continues to run and when it moves backward in the field, the collision sensor detects whether the lawn mower has collided. If no collision is detected, it is determined that there is no obstacle on the retreat path of the lawn mower, and the lawn mower continues to move and completes the retreat. Otherwise, it is determined that there is an obstacle on the retreat path and has collided with the lawn mower. The lawn mower cannot move backward at this time, and the process jumps to S13 to continue detection.

[0060] S13, the machine moves forward, turns, and continues to run;

[0061] S14. The lawn mower continues to run, and the collision sensor detects whether the lawn mower is in a trapped state. If the collision sensor detects no abnormality, it is determined that the lawn mower is not in a trapped state and the lawn mower continues to run. Otherwise, it is determined that the lawn mower is slipping and trapped, and the lawn mower backs up and turns. At the same time, the collision sensor detects the trapped state of the lawn mower. If the collision sensor detects no abnormality, it is determined that the lawn mower has successfully escaped from the trap and the lawn mower continues to run. Otherwise, it is determined that the lawn mower cannot escape from the trap, and the lawn mower stops and an alarm is triggered to notify the staff.

[0062] The edge cutting mode in step S03 includes the following steps: S031, the lawn mower moves forward in a fixed direction, and the collision sensor detects whether the lawn mower has reached the edge of the field. If not, it is determined that the lawn mower has not reached the edge and the lawn mower continues to move and detect. Otherwise, it is determined that the lawn mower has reached the edge of the field, and the lawn mower turns left and operates in the edge cutting mode;

[0063] S032. During the operation of the lawn mower in edge cutting mode, the collision sensor detects whether the lawn mower has reached the corner of the site. If not, it is determined that the lawn mower has not reached the corner and the lawn mower continues to run and detect. Otherwise, it is determined that the lawn mower has reached the corner and the lawn mower turns left and reaches the other edge of the site to perform edge cutting operations.

[0064] Preferably, the edge cutting mode in step S03 further includes the following steps: S033, the lawn mower records the starting point of edge cutting and detects the current position of the lawn mower in real time during the edge cutting process. If the current position of the lawn mower has not reached the starting point, the lawn mower continues to mow the grass. Otherwise, it is determined that the lawn mower has completed one circle of edge cutting operation, and the lawn mower turns right and enters the planning mode.

[0065] The trapped detection in step S14 includes the following steps: S141, a collision sensor detects that the lawn mower has collided, and simultaneously performs a collision positioning detection of the lawn mower;

[0066] S142: The lawn mower moves forward and turns right. At the same time, the collision sensor detects whether the lawn mower has collided. If not, it is determined that an obstacle has appeared in front of the left side of the lawn mower. The lawn mower turns right to avoid it and continues to operate. Otherwise, it is determined that the lawn mower cannot turn right and jumps to S143 to continue detection.

[0067] S143: The lawn mower moves forward and turns left. At the same time, the collision sensor detects whether the lawn mower has collided. If not, it is determined that an obstacle has appeared in front of the right side of the lawn mower. The lawn mower turns left to avoid it and continues to run. Otherwise, it is determined that the lawn mower is currently slipping and stuck, and jumps to S144 for escape control;

[0068] S144. The lawn mower moves backward and turns. The collision sensor continuously detects whether the lawn mower has collided. If not, it is determined that the lawn mower is free from the obstacle and away from the obstacle. The lawn mower continues to move forward in the direction after the backward turn. Otherwise, it is determined that the lawn mower cannot free itself. The lawn mower stops running and notifies the staff to manually free it.

[0069] The lawn mower includes an outer shell 1 and a drive assembly 2, a control assembly 3 and a cutting assembly 4 arranged in the outer shell 1. The drive assembly 2 includes a driving wheel 21 arranged at the rear end of the outer shell 1 and a steering wheel 22 arranged at the front end of the outer shell 1. The steering wheel 22 is provided with an adjusting shaft 23, and the adjusting shaft 23 is electrically connected to the control assembly 3. A driving motor 24 is also provided on one side of the driving wheel 21, and a connecting shaft is provided between the driving wheel 21 and the drive motor 24.

[0070] Preferably, the cutting assembly 4 includes a cutting motor 41 disposed in the outer shell 1 and a cutting disc 42 rotatably connected to the cutting motor 41 , and the cutting disc 42 is fixedly provided with a plurality of blades 43 along its outer circumference.

[0071] Preferably, the housing is provided with a plurality of visual sensors 5 and collision sensors. The visual sensors 5 are respectively arranged at the front end and both sides of the housing 1 . The collision sensors include a pressure sensor 6 arranged at the bottom of the housing 1 .

[0072] The lawn mower moves in the field to be mowed through the driving component 2, and performs mowing operations through the cutting component 4 at the bottom of the outer shell 1. At the same time, while the lawn mower is mowing the field, the visual sensor 5 on the lawn mower can automatically detect obstacles on the path and control the lawn mower to avoid obstacles. By arranging a collision sensor on the outer shell 1 of the lawn mower, the lawn mower can detect obstacles that have not been detected by the visual sensor 5 during operation, and notify the lawn mower to detour and avoid them. The overall obstacle avoidance effect is good, which can effectively prevent obstacles from damaging the lawn mower and extend the service life of the lawn mower.

[0073] Furthermore, after the lawn mower detects an obstacle, the control component 3 can control the lawn mower to perform obstacle avoidance operations according to the current working mode and motion state of the lawn mower. Specifically, if the lawn mower is operating in the edge cutting mode, the edge cutting mode is that the lawn mower performs counterclockwise edge cutting operations along the lawn to be mowed, that is, during the operation of the lawn mower, the lawn is always located on the left side of the lawn mower. When the lawn mower is operating in the edge cutting mode, if an obstacle is detected, the control component 3 needs to drive the lawn mower to turn left and bypass the obstacle to prevent the lawn mower from exceeding the range of the mowing ground. At the same time, if the lawn mower is operating in the planning mode, if an obstacle is detected, the control component 3 determines whether there is an obstacle on the current running path of the lawn mower according to the current motion state of the lawn mower, and performs intelligent obstacle avoidance operations according to the feedback data of the collision sensor, with a high degree of automation.

[0074] For example, when the lawn mower is running in the edge cutting mode, the visual sensor 5 or the collision sensor detects an obstacle in front, and the control component 3 controls the lawn mower to move to the left and bypass the obstacle to continue the edge cutting operation, ensuring that the lawn mower's movement path is at the edge of the site. Further, after the edge cutting mode is completed, the lawn mower enters the planning mode. During the planning mode, the lawn mower needs to turn left, turn right, move forward and backward within the site. During the process of the lawn mower turning left, if the sensor detects an obstacle on the path ahead, it is determined that the lawn mower cannot turn left, and the control component 3 drives the lawn mower to turn right to bypass the obstacle and continue running. Further, during the mowing mode, During the process of the lawn mower turning right, if the sensor detects an obstacle on the path ahead, it is determined that the lawn mower cannot turn right, and the control component 3 drives the lawn mower to turn left to bypass the obstacle and continue running. At the same time, during the process of the lawn mower moving forward, if the sensor detects an obstacle on the path ahead, it is determined that the lawn mower cannot go straight, and the control component 3 drives the lawn mower to retreat and turn. The turning direction is automatically determined according to the mowing path. Moreover, during the process of the lawn mower moving backward, if the sensor detects an obstacle on the backward path of the lawn mower, it is determined that the lawn mower cannot retreat, and the control component 3 drives the lawn mower forward and turn. The turning direction is automatically determined according to the previous path of the lawn mower.

[0075] In order to increase the mowing efficiency of the lawn mower, the working states of the lawn mower are divided into edge cutting mode and planning mode. The lawn mower calculates the area of ​​the site that currently needs to be mowed in advance through the edge cutting mode, and the edge cutting mode can turn left at the corner of the site. At the same time, after the lawn mower returns to the starting point, the site area can be calculated and switched to planning mode. The mowing path in the site is intelligently planned, so that the time for the lawn mower to travel back and forth to the charging pile during the mowing process is greatly reduced, thereby reducing the total time required to complete mowing, improving energy utilization, and improving mowing efficiency.

[0076] During the operation of the lawn mower, the cutting disc 42 is lifted up by an obstacle on the ground, causing the driving wheel 21 in the lawn mower to slip in the air, making it difficult for the lawn mower to move forward. In order to enable the lawn mower to automatically confirm the current state, the control component 3 drives the lawn mower to turn to the left and right sides respectively to prevent the lawn mower from being blocked by an obstacle in the left front or right front and unable to move. When the lawn mower cannot move to the left or right sides, the control component 3 determines that the lawn mower is in a slipping and trapped state and cannot move forward. The lawn mower needs to back up and turn away from the obstacle and continue mowing. Otherwise, it means that the current obstacle is large in size, causing the driving wheel 21 to be unable to drive the lawn mower to retreat. At the same time, in order to prevent the blade 43 on the cutting disc 42 from being broken by the collision with the bottom obstacle, the control center stops the rotation of the cutting motor 41 and notifies the staff to come for rescue.

[0077] For example, when the lawn mower is in motion mowing, if there is an obstacle on the mowing path, and the sensor on the lawn mower does not detect it and avoid it in time, the lawn mower passes through the obstacle, and the cutting disc 42 of the lawn mower is lifted up by the obstacle, causing the driving wheel 21 used for driving the lawn mower to be suspended in the air, making it difficult to move and requiring active escape. Generally speaking, when the obstacle is small, the lawn mower can be actively escaped by turning left or right. However, if the obstacle is large, both steering wheels 22 of the lawn mower are suspended in the air, resulting in the lawn mower being unable to actively escape by turning left / right, and the driving wheel 21 needs to drive the mower to escape. The lawn mower moves backward away from the obstacle, so that the steering wheel 22 touches the ground to restore the steering function, and at the same time controls the lawn mower to bypass the obstacle. Furthermore, if the volume of the obstacle increases further, the driving wheel 21 is suspended in the air, resulting in an inability to generate sufficient force to make the lawn mower move backward and escape. The lawn mower cannot move and is trapped. When trapped, the obstacle usually contacts the cutting disc 42. If the cutting disc 42 continues to rotate, the cutting disc 42 and the blade 43 provided on the cutting disc 42 will be worn or broken. The cutting assembly 4 stops driving the cutting disc 42 and notifies the staff to perform a manual escape operation.

[0078] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Common changes and substitutions made by those skilled in the art within the scope of the technical solution of the present invention should be included in the protection scope of the present invention.

Claims

1. An obstacle avoidance method for an omnidirectional vision lawn mower, characterized in that: The following steps are involved: S01: While the lawn mower is moving forward, the visual sensor detects whether there is a static obstacle in front of the lawn mower. If there is no obstacle in front, it is determined that the lawn mower does not need to avoid the obstacle and the lawn mower continues to move forward and repeats step S01. Otherwise, the lawn mower is notified to perform obstacle avoidance and jumps to S02 to continue detection; S02, the lawn mower moves to the left and bypasses the obstacle in front; S03, the lawn mower runs in a mowing mode along the edge of the field. During the mowing process, the collision sensor detects whether the lawn mower has collided. If no collision is detected, it is determined that there is no obstacle in the running path of the lawn mower and the lawn mower continues to move. Otherwise, it is determined that the obstacle is too small or the obstacle is in the blind spot of the visual sensor, and the lawn mower has collided with the obstacle, and the process jumps to S04 to continue detection; S04, the lawn mower moves to the left and bypasses the obstacle in front; S05, the lawn mower continues to move and detects whether the edge cutting operation is completed. If not, it jumps back to S03 to continue the detection. Otherwise, it is determined that the device has completed the edge cutting, and the lawn mower enters the mowing planning operation mode and performs a mobile mowing operation in the field at the same time; S06: The lawn mower moves forward in the planned mode, and the collision sensor detects whether the lawn mower has collided. If no collision is detected, it is determined that the lawn mower has not touched the obstacle and the lawn mower continues to move. Otherwise, it is determined that the obstacle is too small or is in the blind spot of the visual sensor, and the lawn mower has collided with the obstacle, and the process jumps to S07 to continue detection; S07, the lawn mower reverses, turns, and continues to run; S08: The lawn mower moves forward in the planned mode and turns left. At the same time, the collision sensor detects whether the lawn mower has collided. If no collision is detected, it is determined that there is no obstacle on the left-turn path of the lawn mower, and the lawn mower continues to move and completes the left turn. Otherwise, it is determined that there is an obstacle on the left-turn path and has collided with the lawn mower, and the lawn mower cannot turn left in the current environment, so the process jumps to S09 to continue detection. S09, the machine turns right and continues to run; S10: The lawn mower moves forward in the planned mode and turns right. At the same time, the collision sensor detects whether the lawn mower has collided. If no collision is detected, it is determined that there is no obstacle on the right-turning path of the lawn mower, and the lawn mower continues to move and completes the right turn. Otherwise, it is determined that there is an obstacle on the right-turning path and has collided with the lawn mower. The lawn mower cannot turn right at this time, and the process jumps to S11 to continue detection. S11, the machine turns left and continues to run; S12: The lawn mower continues to run and when it moves backward in the field, the collision sensor detects whether the lawn mower has collided. If no collision is detected, it is determined that there is no obstacle on the retreat path of the lawn mower, and the lawn mower continues to move and completes the retreat. Otherwise, it is determined that there is an obstacle on the retreat path and has collided with the lawn mower. The lawn mower cannot move backward at this time, and the process jumps to S13 to continue detection. S13, the machine moves forward, turns, and continues to run; S14. The lawn mower continues to run, and the collision sensor detects whether the lawn mower is in a trapped state. If the collision sensor detects no abnormality, it is determined that the lawn mower is not in a trapped state and the lawn mower continues to run. Otherwise, it is determined that the lawn mower is slipping and trapped, and the lawn mower backs up and turns. At the same time, the collision sensor detects the trapped state of the lawn mower. If the collision sensor detects no abnormality, it is determined that the lawn mower has successfully escaped from the trap and the lawn mower continues to run. Otherwise, it is determined that the lawn mower cannot escape from the trap, and the lawn mower stops and an alarm is triggered to notify the staff.

2. The obstacle avoidance method for an omnidirectional vision lawn mower according to claim 1, characterized in that: The edge cutting mode in step S03 includes the following steps: S031, the lawn mower moves forward in a fixed direction, and the collision sensor detects whether the lawn mower reaches the edge of the field. If not, it is determined that the lawn mower has not reached the edge and the lawn mower continues to move and detect. Otherwise, it is determined that the lawn mower has reached the edge of the field and the lawn mower turns left and operates in the edge cutting mode; S032. During the operation of the lawn mower in edge cutting mode, the collision sensor detects whether the lawn mower has reached the corner of the site. If not, it is determined that the lawn mower has not reached the corner and the lawn mower continues to run and detect. Otherwise, it is determined that the lawn mower has reached the corner and the lawn mower turns left and reaches the other edge of the site to perform edge cutting operations.

3. The obstacle avoidance method for an omnidirectional vision lawn mower according to claim 2, characterized in that: The edge cutting mode in step S03 further includes the following steps: S033, the lawn mower records the starting point of edge cutting and detects the current position of the lawn mower in real time during the edge cutting process. If the current position of the lawn mower has not reached the starting point, the lawn mower continues to mow the grass. Otherwise, it is determined that the lawn mower has completed one circle of edge cutting operation, and the lawn mower turns right and enters the planning mode.

4. The obstacle avoidance method for an omnidirectional vision lawn mower according to claim 1, characterized in that: The trapped detection in step S14 includes the following steps: S141, a collision sensor detects that the lawn mower has collided, and simultaneously performs a collision positioning detection of the lawn mower; S142: The lawn mower moves forward and turns right. At the same time, the collision sensor detects whether the lawn mower has collided. If not, it is determined that an obstacle has appeared in front of the left side of the lawn mower. The lawn mower turns right to avoid it and continues to operate. Otherwise, it is determined that the lawn mower cannot turn right and jumps to S143 to continue detection. S143: The lawn mower moves forward and turns left. At the same time, the collision sensor detects whether the lawn mower has collided. If not, it is determined that an obstacle has appeared in front of the right side of the lawn mower. The lawn mower turns left to avoid it and continues to run. Otherwise, it is determined that the lawn mower is currently slipping and stuck, and jumps to S144 for escape control; S144. The lawn mower moves backward and turns. The collision sensor continuously detects whether the lawn mower has collided. If not, it is determined that the lawn mower is free from the obstacle and away from the obstacle. The lawn mower continues to move forward in the direction after the backward turn. Otherwise, it is determined that the lawn mower cannot free itself. The lawn mower stops running and notifies the staff to manually free it.

5. A lawn mower applicable to the obstacle avoidance method of the omnidirectional vision lawn mower according to any one of claims 1 to 4, characterized in that: The lawn mower comprises an outer shell (1) and a driving assembly (2), a control assembly (3) and a cutting assembly (4) arranged in the outer shell (1). The driving assembly (2) comprises a driving wheel (21) arranged at the rear end of the outer shell (1) and a steering wheel (22) arranged at the front end of the outer shell (1). An adjusting shaft (23) is provided on the steering wheel (22). The adjusting shaft (23) is electrically connected to the control assembly (3). A driving motor (24) is also provided on one side of the driving wheel (21). A connecting shaft is provided between the driving wheel (21) and the driving motor (24).

6. A lawn mower using an omnidirectional vision lawn mower obstacle avoidance method according to claim 5, characterized in that: The cutting assembly (4) comprises a cutting motor (41) arranged in the outer shell (1) and a cutting disc (42) rotatably connected to the cutting motor (41). The cutting disc (42) is fixedly provided with a plurality of blades (43) along its outer circumference.

7. A lawn mower with an obstacle avoidance method using omnidirectional vision according to claim 5, characterized in that: The outer shell is provided with a plurality of visual sensors (5) and collision sensors. The visual sensors (5) are respectively arranged at the front end and both sides of the outer shell (1). The collision sensors include a pressure sensor (6) arranged at the bottom of the outer shell (1).

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