Starting method, system, terminal and storage medium for a riding lawn mower

Abstract

The present application relates to a starting method, system, terminal and storage medium for a ride-on lawn mower, belonging to the technical field of lawn mowers. The method includes: in response to detecting a start switch signal, generating a PWM signal, the duty cycle of the PWM signal linearly increases with time in the initial period; converting the PWM signal into a drive current of the ride-on lawn mower and calculating a theoretical cutter speed corresponding to the drive current; controlling the cutter of the ride-on lawn mower to rotate according to the drive current; collecting the actual cutter speed of the ride-on lawn mower; in the case where the speed difference between the actual cutter speed and the theoretical cutter speed is greater than a preset speed difference, adjusting the duty cycle of the PWM signal according to the speed difference. The present application has the effect of improving the overall performance of the ride-on lawn mower.

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, adjusting the duty cycle of the PWM signal according to the speed difference; 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, restoring the duty cycle of the PWM signal; 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, determining the relative position of the first tool and the second tool; predicting the second obstacle position information of the obstacle according to the relative position and the position information of the riding lawn mower; 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.

2. The method for starting a riding lawn mower according to claim 1, 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.

3. The method for starting a riding lawn mower according to claim 2, 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 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.

4. The method for starting a riding lawn mower according to claim 1, 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.

5. 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 4; 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 4.

6. 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 4.

7. 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 4.

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