Starting method and system of riding type lawn vehicle, terminal and storage medium

Abstract

The invention relates to a starting method and system of a riding type lawn vehicle, a terminal and a storage medium, and relates to the technical field of lawn vehicles, and the method comprises the steps that a PWM signal is generated in response to a detected starting switch signal, and the duty ratio of the PWM signal is linearly increased along with time in an initial time period; converting the PWM signal into a driving current of the riding type lawn vehicle, and calculating a theoretical cutter rotating speed corresponding to the driving current; controlling a cutter of the riding type lawn vehicle to rotate according to the driving current; the actual cutter rotating speed of the riding type lawn vehicle is collected; and under the condition that the rotating speed difference value of the actual cutter rotating speed and the theoretical cutter rotating speed is larger than the preset rotating speed difference value, the duty ratio of the PWM signal is adjusted according to the rotating speed difference value. The riding type lawn vehicle has the effect of improving the overall performance of the riding type lawn vehicle.

Description

Technical Field

[0001] The present application relates to the technical field of lawn mowers, and in particular to a starting method, system, terminal and storage medium for a riding lawn mower. Background Art

[0002] Riding lawn mowers are widely used in garden maintenance and other fields. With their speed and efficiency, riding lawn mowers can greatly reduce the time and labor intensity of lawn care. Proper maintenance and correct operation can extend the service life of riding lawn mowers and improve mowing results.

[0003] In the related art, when the riding lawn mower starts the mowing operation, its electromagnetic clutch mostly adopts a direct engagement mode. That is, after the riding lawn mower is turned on, the cutter will immediately enter a fast rotation state and start the mowing operation.

[0004] Regarding the above-mentioned related technologies, the inventor believes that this will cause a large instantaneous impact force to be transmitted to the mowing tool and the entire transmission system. This impact will not only produce a lot of noise, but also accelerate the wear of mechanical parts, shorten the service life of the riding lawn mower, and affect the overall performance of the riding lawn mower. Summary of the invention

[0005] In order to improve the overall performance of a riding lawn mower, the present application provides a starting method, system, terminal and storage medium for a riding lawn mower.

[0006] In a first aspect, the present application provides a method for starting a riding lawn mower, which adopts the following technical solution: A method for starting a riding lawn mower, comprising: In response to detecting the start switch signal, generating a pulse width modulation (PWM) signal, wherein the duty cycle of the PWM signal increases linearly with time during an initial period; Convert the PWM signal into a driving current of the riding lawn mower, and calculate a theoretical tool speed corresponding to the driving current; Controlling the cutter of the riding lawn mower to rotate according to the driving current; collecting an actual blade rotation speed of the riding lawn mower; When the speed difference between the actual tool speed and the theoretical tool speed is greater than a preset speed difference, the duty cycle of the PWM signal is adjusted according to the speed difference.

[0007] By adopting the above technical solution, when starting the riding lawn mower, the rotation speed of the cutter is adjusted by setting the duty cycle of the PWM signal, so that the rotation speed of the cutter gradually increases, which can effectively avoid the strong impact caused by the sudden engagement of the electromagnetic clutch, reduce the wear of mechanical parts, reduce noise, and improve the overall performance and reliability of the lawn mower.

[0008] Optionally, when it is detected that the tool stops rotating, a force value on the tool is obtained; Determine a first tool among the tools according to the force value, the force value corresponding to the first tool being greater than a preset force value; Increasing the duty cycle of the PWM signal to a first duty cycle; Controlling the tool to work according to the first duty cycle, and calculating an ideal force value of the tool under the first duty cycle; If the difference between the force value on the first tool and the ideal force value is greater than a difference threshold, stopping the rotation of the tool; If the difference between the force value on the first tool and the ideal force value is less than the difference threshold, the duty cycle of the PWM signal is restored.

[0009] By adopting the above technical solution, when the cutter stops rotating, the rotation speed of the cutter is increased by increasing the duty cycle of the PWM signal, and the type of obstacle blocking the rotation of the cutter is determined according to the force value on the first cutter. The solution can adjust the PWM signal according to the type of obstacle, thereby improving the overall performance of the riding lawn mower.

[0010] Optionally, the first moving direction of the riding lawn mower is set according to the rotation direction of the cutter; Adjusting the duty cycle of the PWM signal to a second duty cycle; Controlling the cutter to work according to the second duty cycle, and controlling the riding lawn mower to move according to the first moving direction; When it is detected that the tool completes at least one rotation, the duty cycle of the PWM signal is restored.

[0011] By adopting the above technical solution, the moving direction of the riding lawn mower and the duty cycle of the PWM signal are adjusted so that the cutter is no longer affected by obstacles, ensuring that the riding lawn mower can start normally, thereby improving the overall performance of the riding lawn mower.

[0012] Optionally, during the movement of the riding lawn vehicle in the first moving direction, if it is detected that the force value on the first tool is greater than the preset force value, then according to the moving distance of the riding lawn vehicle and the first moving direction, the posture information of the first tool is obtained, and the posture information includes the angle difference of the first tool relative to the preset position; generating a target turning direction of the riding lawn vehicle according to the posture information; determining a second moving direction opposite to the first moving direction; Controlling the riding lawn vehicle to move a preset distance in the second moving direction; The riding lawn mower is controlled to adjust the steering according to the target steering and move along the first moving direction.

[0013] By adopting the above technical solution, the steering and moving distance of the riding lawn mower are adjusted so that the first cutter is not affected by obstacles, the normal start-up of the riding lawn mower is guaranteed, the cutter can work normally, and the overall performance and reliability of the riding lawn mower are improved.

[0014] Optionally, controlling the tool to rotate in the reverse direction; In the case where it is detected that the tool stops rotating, determining a second tool among the tools, the force value corresponding to the second tool being greater than the preset force value; When the first tool and the second tool are the same, obtaining a first rotation angle of the first tool; predicting first obstacle position information of an obstacle according to the first rotation angle and the position information of the riding lawn mower; In the case where the first tool and the second tool are different, the relative position of the first tool and the second tool is determined; and second obstacle position information of the obstacle is predicted based on the relative position and the position information of the riding lawn mower.

[0015] By adopting the above technical solution, the position of the obstacle is predicted by the first cutter and the second cutter, which helps the relevant personnel using the riding lawn mower to understand the position of the obstacle, helps the relevant personnel to adjust the position of the riding lawn mower, and reduces the probability of the riding lawn mower being damaged by the obstacle.

[0016] Optionally, when the first tool is located in the first position in the reverse rotation direction of the second tool, obtaining an actual rotation angle of the first tool; Obtaining obstacle angle information according to the position data of the riding lawn mower and the actual rotation angle; Obtaining a first sector area corresponding to the obstacle according to the obstacle angle information and the tool length; When the movement route of the riding lawn buggy passes through the first fan-shaped area, the movement route is adjusted so that the movement route does not pass through the first fan-shaped area.

[0017] By adopting the above technical solution, the moving route of the riding lawn mower is adjusted so that the moving route does not pass through the first sector-shaped area, thereby avoiding the riding lawn mower from passing through the first sector-shaped area during operation, ensuring that the cutter will not be impacted by obstacles, reducing the wear of mechanical parts, and improving the overall performance and reliability of the riding lawn mower.

[0018] Optionally, moving the riding lawn mower a target distance in a third moving direction; Controlling the tool to rotate forward to obtain first tool position information of the first tool when the tool stops rotating; Controlling the tool to rotate in the reverse direction to obtain second tool position information of the second tool when the tool stops rotating; Obtaining a second sector-shaped area according to the first tool position information and the second tool position information; The union of the first fan-shaped area and the second fan-shaped area is calculated to obtain an obstacle area.

[0019] By adopting the above technical solution, the area occupied by the obstacle is further limited, so that the obstacle area can better reflect the shape and area occupied by the obstacle, which can prevent the riding lawn mower from passing through the obstacle area during operation, ensure that the tool will not be impacted by the obstacle, reduce the wear of mechanical parts, and improve the overall performance and reliability of the riding lawn mower.

[0020] In a second aspect, the present application provides a starting system for a riding lawn mower, which adopts the following technical solution: A starting system for a riding lawn mower, comprising: An acquisition module is used to acquire a start switch signal, a theoretical tool speed, an actual tool speed, a preset speed difference, a force value, a preset force value, a first duty cycle, a difference threshold, a rotation direction, position information and a tool length; A memory for storing a program of a method for starting a riding lawn vehicle as described in any one of the above; The program in the processor and the memory can be loaded and executed by the processor to implement any one of the above-mentioned methods for starting a riding lawn mower.

[0021] By adopting the above technical solution, when starting the riding lawn mower, the rotation speed of the cutter is adjusted by setting the duty cycle of the PWM signal, so that the rotation speed of the cutter gradually increases, which can effectively avoid the strong impact caused by the sudden engagement of the electromagnetic clutch, reduce the wear of mechanical parts, reduce noise, and improve the overall performance and reliability of the lawn mower.

[0022] In a third aspect, the present application provides a smart terminal, which adopts the following technical solution: An intelligent terminal comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and execute any one of the above-mentioned methods.

[0023] In a fourth aspect, the present application provides a computer storage medium capable of storing a corresponding program, which has the characteristic of facilitating the improvement of the overall performance of a riding lawn vehicle, and adopts the following technical solution: A computer-readable storage medium stores a computer program that can be loaded by a processor and execute any of the above-mentioned methods for starting a riding lawn vehicle.

[0024] In summary, the present application includes at least one of the following beneficial technical effects: When starting a riding lawn mower, the rotation speed of the cutter is adjusted by setting the duty cycle of the PWM signal so that the rotation speed of the cutter gradually increases, which can effectively avoid the strong impact caused by the sudden engagement of the electromagnetic clutch, reduce the wear of mechanical parts, reduce noise, and improve the overall performance and reliability of the lawn mower; When the cutter stops rotating, the rotation speed of the cutter is increased by increasing the duty cycle of the PWM signal, and the type of obstacle blocking the rotation of the cutter is determined according to the force value on the first cutter. This solution can adjust the PWM signal according to the type of obstacle, thereby improving the overall performance of the riding lawn mower; The moving direction of the riding lawn mower and the duty cycle of the PWM signal are adjusted so that the cutter is no longer affected by obstacles, ensuring that the riding lawn mower can be started normally, thereby improving the overall performance of the riding lawn mower. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a flow chart of a method for starting a riding lawn mower provided in an embodiment of the present application.

[0026] Figure 2 It is a flow chart of a method for restoring the start of a riding lawn mower provided in an embodiment of the present application.

[0027] Figure 3 It is a flow chart of a control method of a riding lawn mower provided in an embodiment of the present application.

[0028] Figure 4It is a flow chart of a method for moving a riding lawn mower provided in an embodiment of the present application.

[0029] Figure 5 It is a flow chart of an obstacle prediction method for a riding lawn mower provided in an embodiment of the present application.

[0030] Figure 6 It is a flow chart of a route adjustment method for a riding lawn mower provided in an embodiment of the present application.

[0031] Figure 7 It is a flowchart of a method for updating the position of an obstacle provided in an embodiment of the present application.

[0032] Figure 8 It is a structural schematic diagram of a starting system for a riding lawn mower provided in an embodiment of the present application. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solutions and advantages of this application more clear, the following Figures 1 to 8 It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0034] The present application embodiment discloses a method for starting a riding lawn mower. Figure 1 , the method comprising: Step S101 : in response to detecting a start switch signal, generating a PWM signal, wherein the duty cycle of the PWM signal increases linearly with time during an initial period.

[0035] The start switch signal is used to control the riding lawn vehicle to turn on or off. In some embodiments, the start switch signal is generated before the riding lawn vehicle is turned on. For example, if the riding lawn vehicle is controlled by a key, the start switch signal is generated when the riding lawn vehicle detects that the key is inserted.

[0036] The duty cycle of the PWM (Pulse Width Modulation) signal is generated according to a preset soft start curve, which sets the duty cycle change of the PWM signal during the start-up process of the riding lawn mower. For example, the duty cycle of the PWM signal is low in the initial stage, which can provide a small current to the electromagnetic clutch corresponding to the tool, so that the tool can rotate at a small rate.

[0037] Furthermore, with the detection of the start switch signal as the time origin, in the time interval between the time origin and the preset time (i.e., the initial period), the duty cycle of the PWM signal increases linearly with time. After the preset time, the duty cycle of the PWM signal is a fixed value. After the preset time, it is considered that the riding lawn mower has completed the startup and can work normally.

[0038] Step S102: converting the PWM signal into a driving current of the riding lawn mower, and calculating a theoretical tool rotation speed corresponding to the driving current.

[0039] The drive current is used to power the electromagnetic clutch that drives the tool.

[0040] The theoretical tool speed refers to the rotation speed of the tool under the action of the driving current. In some embodiments, the corresponding relationship between the driving current and the tool speed is pre-stored in the local memory, and the tool speed corresponding to the driving current can be retrieved in the local memory to obtain the theoretical tool speed. In some embodiments, the working power of the electromagnetic clutch is determined according to the driving current. The theoretical tool speed is obtained based on the working power.

[0041] Step S103: controlling the cutter of the riding lawn mower to rotate according to the driving current.

[0042] Exemplarily, the driving current is used to drive the electromagnetic clutch corresponding to the tool, so that the electromagnetic clutch drives the tool of the riding lawn mower to rotate.

[0043] Step S104: collecting the actual blade rotation speed of the riding lawn mower.

[0044] Optionally, a sensor is installed on the cutter of the riding lawn mower, and the sensor can detect the actual rotation speed of the cutter. The sensor is any one of a photoelectric sensor, a Hall sensor, a contact tachometer, and an electromagnetic induction sensor.

[0045] Step S105: When the speed difference between the actual tool speed and the theoretical tool speed is greater than the preset speed difference, the duty cycle of the PWM signal is adjusted according to the speed difference.

[0046] The preset speed difference is a preset experience value, and relevant personnel can adjust the preset speed difference according to actual needs.

[0047] In some other embodiments, when the speed difference between the actual tool speed and the theoretical tool speed is smaller than a preset speed difference, the tool is kept rotating.

[0048] By adopting the above technical solution, when starting the riding lawn mower, the rotation speed of the cutter is adjusted by setting the duty cycle of the PWM signal, so that the rotation speed of the cutter gradually increases, which can effectively avoid the strong impact caused by the sudden engagement of the electromagnetic clutch, reduce the wear of mechanical parts, reduce noise, and improve the overall performance and reliability of the lawn mower.

[0049] In the following embodiment, when the riding lawn mower is started, if the cutter encounters an obstacle in the lawn, the cutter will stop rotating, affecting the normal start of the riding lawn mower. Therefore, the embodiment of the present application discloses a method for restoring the start of the riding lawn mower. Figure 2 , the method comprising: Step S201: when it is detected that the tool stops rotating, the force value on the tool is obtained.

[0050] Exemplarily, when it is detected that the rotation speed of the tool is zero, it is considered that the tool stops rotating.

[0051] Optionally, a force sensor is installed at the root of the tool, and the force value on the tool can be measured by the force sensor. Further, the force value on the tool is measured in real time by the force sensor. When a sudden change in the force value is detected, it is considered that the tool stops rotating.

[0052] Step S202: determining a first tool among the tools according to the force value, wherein the force value corresponding to the first tool is greater than a preset force value.

[0053] Exemplarily, a comparison is made among the tools according to a preset force value, and a first tool having a force value greater than the preset force value is selected.

[0054] The preset force value is a preset empirical value, and relevant personnel can adjust the specific value of the preset force value according to actual needs.

[0055] Step S203: increasing the duty cycle of the PWM signal to a first duty cycle.

[0056] Optionally, the first duty cycle is a preset value, for example, the first duty cycle is 70% or 75%.

[0057] In some other embodiments, the first duty cycle is greater than the duty cycle of the PWM signal at the current moment. For example, when the duty cycle at the current moment is 20%, the duty cycle of the PWM signal is increased by 15%.

[0058] Furthermore, if the duty cycle of the PWM signal at the current moment reaches the upper limit of the duty cycle, the duty cycle at the current moment is directly used without increasing the duty cycle. For example, when the duty cycle of the PWM signal at the current moment reaches 90%, there is no need to increase the duty cycle.

[0059] Step S204: Control the tool to work according to the first duty cycle, and calculate the ideal force value of the tool under the first duty cycle.

[0060] The ideal force value refers to the force value of the tool when it is started normally under the premise that the duty cycle of the PWM signal is fixed.

[0061] Exemplarily, according to the first duty cycle, the PWM signal is converted into a driving current of the riding lawn mower, and the tool is controlled to work according to the driving current. Furthermore, the corresponding relationship between the duty cycle and the force value is pre-stored in the memory of the riding lawn mower. Therefore, the ideal force value of the tool under the first duty cycle can be obtained through the above-mentioned corresponding relationship.

[0062] Step S205: If the difference between the force value on the first tool and the ideal force value is greater than the difference threshold, the tool is stopped from rotating.

[0063] The difference threshold is a preset empirical value, and relevant personnel can adjust the specific value of the difference threshold according to actual needs.

[0064] If the difference between the force value on the first tool and the ideal force value is greater than the difference threshold, it means that during the rotation of the first tool, the first tool is blocked by an obstacle, so that the first tool cannot rotate or is difficult to rotate. Therefore, the obstacle may be a stone fixed in the lawn, a plant with strong toughness, etc. In this case, if the tool continues to rotate, it may cause significant damage to the tool, so in this step, it is necessary to stop rotating the tool.

[0065] Step S206: If the difference between the force value on the first tool and the ideal force value is less than the difference threshold, the duty cycle of the PWM signal is restored.

[0066] If the difference between the force value on the first cutter and the ideal force value is less than the difference threshold, it means that the first cutter has overcome the obstacle during the rotation of the first cutter. In other words, the first cutter has removed the obstacle by increasing the rotation speed of the first cutter. The cutter stopped rotating before because the rotation speed of the cutter itself was insufficient, which resulted in the cutter being unable to mow the grass smoothly.

[0067] By adopting the above technical solution, when the cutter stops rotating, the rotation speed of the cutter is increased by increasing the duty cycle of the PWM signal, and the type of obstacle blocking the rotation of the cutter is determined according to the force value on the first cutter. The solution can adjust the PWM signal according to the type of obstacle, thereby improving the overall performance of the riding lawn mower.

[0068] In the following examples, according to Figure 2In step S205 of the illustrated embodiment, when the first cutter encounters an obstacle that is difficult to remove, the riding lawn mower needs to adjust its position to ensure that the obstacle does not affect normal startup. Therefore, the present application embodiment discloses a control method for a riding lawn mower. Figure 3 , the method comprising: Step S301: setting a first moving direction of the riding lawn mower according to the rotation direction of the cutter.

[0069] For example, in the top view, if the cutter rotates clockwise and the front of the riding lawn mower is at the 12 o'clock position, the first moving direction is forward along the direction of the front of the vehicle; in the top view, if the cutter rotates counterclockwise and the front of the riding lawn mower is at the 12 o'clock position, the first moving direction is backward in the opposite direction of the front of the vehicle.

[0070] Step S302: adjusting the duty cycle of the PWM signal to a second duty cycle.

[0071] Optionally, the second duty cycle is a preset value, for example, the second duty cycle is 10% or 15%.

[0072] In some other embodiments, the second duty cycle is smaller than the first duty cycle. For example, if the first duty cycle is 50%, the first duty cycle is adjusted down to obtain the second duty cycle.

[0073] It should be noted that, in this embodiment, it has been determined that the obstacle is an object that is difficult to remove by a riding lawn mower. Therefore, in this step, the rotation speed of the tool needs to be reduced to ensure that the tool is less affected by the obstacle. The rotation speed of the tool is positively correlated with the duty cycle of the PWM signal, so the duty cycle of the PWM signal needs to be reduced.

[0074] Step S303: Control the cutter to work according to the second duty cycle, and control the riding lawn mower to move according to the first moving direction.

[0075] When the cutter is controlled to work according to the second duty cycle and the riding lawn mower is controlled to move according to the first moving direction, the cutter can be kept away from obstacles, so that the riding lawn mower can start normally.

[0076] Step S304: when it is detected that the tool has completed at least one rotation, the duty cycle of the PWM signal is restored.

[0077] When it is detected that the cutter completes at least one rotation, it indicates that the rotation of the cutter is not blocked by any obstacle. Therefore, the duty cycle of the PWM signal can be restored so that the PWM signal changes according to the initial setting to achieve normal starting of the riding lawn mower.

[0078] By adopting the above technical solution, the moving direction of the riding lawn mower and the duty cycle of the PWM signal are adjusted so that the cutter is no longer affected by obstacles, ensuring that the riding lawn mower can start normally, thereby improving the overall performance of the riding lawn mower.

[0079] In the following embodiments, when the riding lawn mower is moving in the first moving direction, the riding lawn mower may encounter other obstacles, further affecting the normal start-up. Therefore, in this scenario, the moving route of the riding lawn mower needs to be adjusted. Therefore, the embodiment of the present application discloses a moving method of the riding lawn mower. Figure 4 , the method comprising: Step S401: When the riding lawn mower moves in a first moving direction, if it is detected that the force value on the first tool is greater than a preset force value, the posture information of the first tool is obtained according to the moving distance of the riding lawn mower and the first moving direction. The posture information includes the angle difference of the first tool relative to the preset position.

[0080] During the movement of the riding lawn mower in the first moving direction, if it is detected that the force value on the first cutter is greater than the preset force value, it means that the first cutter encounters other obstacles.

[0081] For example, if the riding lawn mower rotates on a horizontal plane, in a top-down perspective, if the cutter rotates to point to the 12 o'clock direction, it is considered that the cutter is located at the preset position.

[0082] In some other embodiments, the posture information further includes the length and width of the first tool.

[0083] Step S402: Generate a target turning direction of the riding lawn mower according to the posture information.

[0084] Exemplarily, the straight line where the preset position is located is used as the dividing line, and the angle difference between the target turning and the preset position and the angle difference between the first tool and the preset position are located on both sides of the dividing line, wherein the angle difference between the target turning and the preset position is a preset empirical value.

[0085] Step S403: Determine a second moving direction opposite to the first moving direction.

[0086] The second moving direction is opposite to the first moving direction. For example, when the first moving direction is a forward direction, the second moving direction is a backward direction.

[0087] Step S404: Control the riding lawn mower to move a preset distance in the second moving direction.

[0088] The preset distance is a preset empirical value, and relevant personnel can adjust the specific value of the preset distance according to actual needs. For example, the preset distance is 20cm.

[0089] Since the riding lawn mower encounters an obstacle during the process of moving in the first moving direction, it is necessary to control the riding lawn mower to move in the second moving direction to release the contact between the first cutter and the obstacle.

[0090] Step S405: Control the riding lawn mower to adjust the steering according to the target steering and move along the first moving direction.

[0091] Controlling the riding lawn mower to adjust the steering according to the target steering and move along the first moving direction can ensure that the first cutter avoids obstacles, which is conducive to the normal start of the riding lawn mower.

[0092] By adopting the above technical solution, the steering and moving distance of the riding lawn mower are adjusted so that the first cutter is not affected by obstacles, the normal start-up of the riding lawn mower is guaranteed, the cutter can work normally, and the overall performance and reliability of the riding lawn mower are improved.

[0093] In the following embodiments, for the safety of starting and running of a riding lawn mower, it is necessary to mark the location of obstacles. Therefore, the present application embodiment discloses a method for predicting obstacles of a riding lawn mower. Figure 5 , the method comprising: Step S501: Control the tool to rotate in the reverse direction.

[0094] Exemplarily, the tool is controlled to rotate in the opposite direction at a preset rate, which is relatively small to prevent the tool from rotating too fast.

[0095] Step S502: when it is detected that the tool stops rotating, determining a second tool in the tool, the force value corresponding to the second tool is greater than a preset force value.

[0096] Exemplarily, when it is detected that the rotation speed of the tool is zero, it is considered that the tool stops rotating.

[0097] Optionally, a force sensor is installed at the root of the tool, and the force value on the tool can be measured by the force sensor. Further, the force value on the tool is measured in real time by the force sensor. When a sudden change in the force value is detected, it is considered that the tool stops rotating.

[0098] Exemplarily, a comparison is made among the tools according to a preset force value, and a second tool having a force value greater than the preset force value is selected.

[0099] Step S503: When the first tool and the second tool are the same, obtain a first rotation angle of the first tool.

[0100] In the case that the first tool and the second tool are the same, the first rotation angle is acquired through a sensor on the first tool, and the sensor is any one of a photoelectric sensor, a Hall sensor, a contact tachometer, and an electromagnetic induction sensor.

[0101] Step S504: predicting first obstacle position information of the obstacle according to the first rotation angle and the position information of the riding lawn mower.

[0102] Exemplarily, the rotation position information of the first tool after the rotation is obtained according to the first rotation angle. The position information of the riding lawn mower and the aforementioned rotation position information are combined to predict the first obstacle position information of the obstacle.

[0103] Step S505: When the first tool and the second tool are different, determine the relative position of the first tool and the second tool.

[0104] In the case where the first tool and the second tool are different, it means that the obstacles encountered by the first tool and the second tool may be different or may be the same.

[0105] The relative position is used to indicate the number of tools between the first tool and the second tool.

[0106] Step S506: predicting second obstacle position information of the obstacle according to the relative position and the position information of the riding lawn mower.

[0107] In some embodiments, when the relative position indicates that the first tool and the second tool are adjacent and the first tool is located in the reverse rotation direction of the second tool, the second obstacle position information of the obstacle is predicted based on the area between the first tool and the second tool. In other cases, the second obstacle position information of the obstacle is predicted based on the positions of the first tool and the second tool.

[0108] By adopting the above technical solution, the position of the obstacle is predicted by the first cutter and the second cutter, which helps the relevant personnel using the riding lawn mower to understand the position of the obstacle, helps the relevant personnel to adjust the position of the riding lawn mower, and reduces the probability of the riding lawn mower being damaged by the obstacle.

[0109] In the following embodiments, the position of the obstacle can be predicted based on the positions of the first cutter and the second cutter, so as to adjust the route of the riding lawn mower. The present application embodiment discloses a route adjustment method for a riding lawn mower. Figure 6 , the method comprising: Step S601: When the first tool is located in the first position in the reverse rotation direction of the second tool, the actual rotation angle of the first tool is obtained.

[0110] Exemplary, if the reverse rotation of the riding lawn mower is clockwise rotation, the first cutter is the first cutter located in the clockwise direction of the second cutter. In other words, the second cutter is the first cutter located in the counterclockwise direction of the first cutter.

[0111] The actual rotation angle refers to the angle through which the first tool rotates in the reverse rotation direction.

[0112] In this step, if the first tool is located at the first position in the reverse rotation direction of the second tool, it can be predicted that the obstacle is located between the first tool and the second tool.

[0113] Step S602: Obtain obstacle angle information according to the position data and the actual rotation angle of the riding lawn mower.

[0114] Exemplarily, a two-dimensional plane coordinate system is established. The position data of the riding lawn mower is mapped into the two-dimensional plane coordinate system to obtain the two-dimensional coordinates corresponding to the riding lawn mower. The first angle between the first tool and the preset position before the tool rotates in the reverse direction is obtained. Taking the two-dimensional coordinate as the origin, a first straight line is obtained according to the first angle. A second straight line is obtained according to the actual rotation angle and the angle between the first tool and the second tool. The function of the first straight line and the second straight line in the two-dimensional plane coordinate system is recorded to obtain the obstacle angle information. Among them, the intersection of the first straight line and the second straight line is the two-dimensional coordinate corresponding to the riding lawn mower.

[0115] Step S603: Obtaining a first sector area corresponding to the obstacle according to the obstacle angle information and the tool length.

[0116] Exemplarily, the two-dimensional coordinates corresponding to the riding lawn mower are taken as the starting point, and the line segments of the tool length are intercepted on the first straight line and the second straight line to obtain two radii of the first sector area. According to the two radii, the first sector area is intercepted in the area between the first straight line and the second straight line.

[0117] Step S604: When the moving route of the riding lawn mower passes through the first sector-shaped area, the moving route is adjusted so that the moving route does not pass through the first sector-shaped area.

[0118] In some other embodiments, if the moving route of the riding lawn does not pass through the first fan-shaped area, there is no need to adjust the moving route.

[0119] By adopting the above technical solution, the moving route of the riding lawn mower is adjusted so that the moving route does not pass through the first sector-shaped area, thereby avoiding the riding lawn mower from passing through the first sector-shaped area during operation, ensuring that the cutter will not be impacted by obstacles, reducing the wear of mechanical parts, and improving the overall performance and reliability of the riding lawn mower.

[0120] In the following embodiments, the obstacle area is further divided so that the obstacle area can better represent the shape and position of the obstacle. Therefore, the embodiment of the present application discloses a method for updating the obstacle position. Figure 7 , the method comprising: Step S701: Move the riding lawn mower in a third moving direction by a target distance.

[0121] The first moving direction may be any direction, and this embodiment does not specifically limit this.

[0122] The target distance is a preset empirical value, and relevant personnel can adjust the specific value of the target distance according to actual needs.

[0123] Step S702: Control the tool to rotate forward, and obtain first tool position information of the first tool when the tool stops rotating.

[0124] Exemplarily, a two-dimensional plane coordinate system is established. The position data of the riding lawn mower is mapped into the two-dimensional plane coordinate system to obtain the two-dimensional coordinates corresponding to the riding lawn mower. When the tool stops rotating, the two-dimensional coordinates are used as the origin, and the third straight line is obtained according to the angle between the first tool and the preset position. The aforementioned two-dimensional coordinates and the function of the third straight line in the two-dimensional plane coordinate system are recorded to obtain the first tool position information.

[0125] Step S703: Control the tool to rotate in the reverse direction to obtain the second tool position information of the second tool when the tool stops rotating.

[0126] For example, a two-dimensional plane coordinate system is established. The position data of the riding lawn mower is mapped into the two-dimensional plane coordinate system to obtain the two-dimensional coordinates corresponding to the riding lawn mower. When the tool stops rotating, the two-dimensional coordinates are used as the origin, and the fourth straight line is obtained according to the angle between the second tool and the preset position. The aforementioned two-dimensional coordinates and the function of the fourth straight line in the two-dimensional plane coordinate system are recorded to obtain the second tool position information.

[0127] Step S704: Obtain a second sector-shaped area according to the first tool position information and the second tool position information.

[0128] Exemplarily, a third straight line is extracted from the first tool position information, and a fourth straight line is extracted from the second tool position information. Taking the two-dimensional coordinates corresponding to the riding lawn mower as the starting point, a line segment of the tool length is intercepted on the third straight line and the fourth straight line to obtain two radii of the second fan-shaped area. Based on the above two radii, the second fan-shaped area is intercepted in the area between the third straight line and the fourth straight line.

[0129] Step S705: Calculate the union of the first sector-shaped area and the second sector-shaped area to obtain an obstacle area.

[0130] In this embodiment, the first sector area may represent the area where the obstacle is located, and the second sector area may also represent the area where the obstacle is located. Therefore, by calculating the union of the first sector area and the second sector area, the obstacle area obtained can more accurately represent the shape and position of the obstacle.

[0131] By adopting the above technical solution, the area occupied by the obstacle is further limited, so that the obstacle area can better reflect the shape and area occupied by the obstacle, which can prevent the riding lawn mower from passing through the obstacle area during operation, ensure that the tool will not be impacted by the obstacle, reduce the wear of mechanical parts, and improve the overall performance and reliability of the riding lawn mower.

[0132] Based on the same inventive concept, the present application embodiment provides a starting system for a riding lawn mower, please refer to Figure 8 The system comprises: An acquisition module 801 is used to acquire a start switch signal, a theoretical tool speed, an actual tool speed, a preset speed difference, a force value, a preset force value, a first duty cycle, a difference threshold, a rotation direction, position information and a tool length; A memory 802, used for storing a program of the method for starting a riding lawn mower as described in any one of the above; Processor 803, the program in the memory can be loaded and executed by the processor to implement any of the above-mentioned methods for starting a riding lawn mower.

[0133] By adopting the above technical solution, when starting the riding lawn mower, the rotation speed of the cutter is adjusted by setting the duty cycle of the PWM signal, so that the rotation speed of the cutter gradually increases, which can effectively avoid the strong impact caused by the sudden engagement of the electromagnetic clutch, reduce the wear of mechanical parts, reduce noise, and improve the overall performance and reliability of the lawn mower.

[0134] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0135] An embodiment of the present application provides a computer-readable storage medium storing a computer program that can be loaded by a processor and execute a method for starting a riding lawn mower.

[0136] Computer storage media include, for example, various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks or optical disks.

[0137] Based on the same inventive concept, an embodiment of the present application provides a smart terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executes a method for starting a riding lawn mower.

[0138] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0139] The above are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Any feature disclosed in this specification (including the abstract and drawings), unless otherwise stated, can be replaced by other equivalent or alternative features with similar purposes. That is, unless otherwise stated, each feature is only an example of a series of equivalent or similar features.

Claims

1. A method for starting a riding lawn mower, characterized in that: The method comprises: In response to detecting the start switch signal, generating a pulse width modulation (PWM) signal, wherein the duty cycle of the PWM signal increases linearly with time during an initial period; Convert the PWM signal into a driving current of the riding lawn mower, and calculate a theoretical tool speed corresponding to the driving current; Controlling the cutter of the riding lawn mower to rotate according to the driving current; collecting an actual blade rotation speed of the riding lawn mower; When the speed difference between the actual tool speed and the theoretical tool speed is greater than a preset speed difference, the duty cycle of the PWM signal is adjusted according to the speed difference.

2. The method for starting a riding lawn mower according to claim 1, characterized in that: The method further comprises: When it is detected that the tool stops rotating, obtaining a force value on the tool; Determine a first tool among the tools according to the force value, the force value corresponding to the first tool being greater than a preset force value; Increasing the duty cycle of the PWM signal to a first duty cycle; Controlling the tool to work according to the first duty cycle, and calculating an ideal force value of the tool under the first duty cycle; If the difference between the force value on the first tool and the ideal force value is greater than a difference threshold, stopping the rotation of the tool; If the difference between the force value on the first tool and the ideal force value is less than the difference threshold, the duty cycle of the PWM signal is restored.

3. The method for starting a riding lawn mower according to claim 2, characterized in that: The method further comprises: According to the rotation direction of the cutter, setting a first moving direction of the riding lawn mower; Adjusting the duty cycle of the PWM signal to a second duty cycle; Controlling the cutter to work according to the second duty cycle, and controlling the riding lawn mower to move according to the first moving direction; When it is detected that the tool completes at least one rotation, the duty cycle of the PWM signal is restored.

4. The method for starting a riding lawn mower according to claim 3, characterized in that: The method further comprises: During the movement of the riding lawn vehicle in the first moving direction, if it is detected that the force value on the first tool is greater than the preset force value, the posture information of the first tool is obtained according to the moving distance of the riding lawn vehicle and the first moving direction, and the posture information includes the angle difference of the first tool relative to the preset position; generating a target steering of the riding lawn vehicle according to the posture information; determining a second moving direction opposite to the first moving direction; Controlling the riding lawn mower to move a preset distance in the second moving direction; The riding lawn mower is controlled to adjust the steering according to the target steering and move along the first moving direction.

5. The method for starting a riding lawn mower according to claim 2, characterized in that: The method further comprises: Controlling the tool to rotate in the opposite direction; In the case where it is detected that the tool stops rotating, determining a second tool among the tools, the force value corresponding to the second tool being greater than the preset force value; When the first tool and the second tool are the same, obtaining a first rotation angle of the first tool; predicting first obstacle position information of an obstacle according to the first rotation angle and the position information of the riding lawn mower; In the case where the first tool and the second tool are different, the relative position of the first tool and the second tool is determined; and second obstacle position information of the obstacle is predicted based on the relative position and the position information of the riding lawn mower.

6. The method for starting a riding lawn mower according to claim 5, characterized in that: The method further comprises: When the first tool is located in the first position in the reverse rotation direction of the second tool, obtaining an actual rotation angle of the first tool; Obtaining obstacle angle information according to the position data of the riding lawn mower and the actual rotation angle; Obtaining a first sector area corresponding to the obstacle according to the obstacle angle information and the tool length; When the movement route of the riding lawn buggy passes through the first fan-shaped area, the movement route is adjusted so that the movement route does not pass through the first fan-shaped area.

7. The method for starting a riding lawn mower according to claim 6, characterized in that: The method further comprises: Moving the riding lawn vehicle in a third moving direction by a target distance; Controlling the tool to rotate forward to obtain first tool position information of the first tool when the tool stops rotating; Controlling the tool to rotate in the reverse direction to obtain second tool position information of the second tool when the tool stops rotating; Obtaining a second sector-shaped area according to the first tool position information and the second tool position information; The union of the first fan-shaped area and the second fan-shaped area is calculated to obtain an obstacle area.

8. A starting system for a riding lawn mower, characterized in that: The system comprises: An acquisition module is used to acquire a start switch signal, a theoretical tool speed, an actual tool speed, a preset speed difference, a force value, a preset force value, a first duty cycle, a difference threshold, a rotation direction, position information and a tool length; A memory for storing a program of a method for starting a riding lawn vehicle according to any one of claims 1 to 7; The program in the memory can be loaded and executed by the processor to implement the starting method of the riding lawn vehicle as described in any one of claims 1 to 7.

9. An intelligent terminal, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: A computer program is stored which can be loaded by a processor and execute the method according to any one of claims 1 to 7.

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