Mowing vehicle control method, device and equipment and storage medium

Abstract

The invention discloses a mowing vehicle control method, device and equipment and a storage medium, and relates to the technical field of automatic control, and the method comprises the steps: obtaining the initial data of a mowing vehicle collected by a preset sensor, and calculating the initial inclination angle of the mowing vehicle based on the initial data; the preset sensor is a six-axis sensor; adjusting the initial inclination angle based on a preset filtering algorithm to obtain a corresponding target inclination angle; and judging whether the mowing vehicle is turned over or not according to the target inclination angle so as to adjust the running state of the mowing vehicle based on a judgment result. Therefore, the inclination angle of the mowing vehicle can be determined in real time based on the six-axis sensor, so that whether the mowing vehicle is turned over or not is determined, control over the mowing vehicle is achieved, protection measures can be taken after the mowing vehicle is turned over, and the safety of the mowing vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and in particular to a lawn mower control method, device, equipment and storage medium. Background Art

[0002] A lawn mower is a mechanical device used for harvesting grass and mowing lawns. It can cut grass and weeds in gardens. Lawn mowers can be divided into handheld lawn mowers, push lawn mowers and riding lawn mowers according to their walking mode. Among them, riding lawn mowers are suitable for mowing lawns of larger areas. When users drive a riding lawn mower to operate, there is a risk of rollover due to factors such as driving experience, driving skills, and the slope of the lawn. When the moving parts do not stop during rollover, secondary injuries may occur. The angle sensor currently used in lawn mowers is a fixed angle and cannot obtain a specific angle value. Only when it is greater than the threshold value will an alarm signal be output and fed back to the processor for power-off processing. However, the angle sensor of the mechanical structure type has a large error and cannot accurately determine whether the lawn mower has rolled over.

[0003] In summary, how to improve the safety of lawn mowers is a technical problem that needs to be solved urgently. Summary of the invention

[0004] In view of this, the object of the present invention is to provide a lawn mower control method, device, equipment and storage medium, which can improve the safety of the lawn mower. The specific scheme is as follows:

[0005] In a first aspect, the present application provides a lawn mower control method, comprising:

[0006] Acquire initial data of the lawn mower collected by a preset sensor, and calculate an initial tilt angle of the lawn mower based on the initial data; the preset sensor is a six-axis sensor;

[0007] Adjusting the initial tilt angle based on a preset filtering algorithm to obtain a corresponding target tilt angle;

[0008] Whether the lawn mower has overturned is determined according to the target tilt angle, so as to adjust the running state of the lawn mower based on the determination result.

[0009] Optionally, before obtaining the initial data of the lawn mower collected by the preset sensor, the method further includes:

[0010] When the lawn mower is in a startup state, the vehicle controller of the lawn mower and the angle and angular velocity of the six-axis sensor are initialized.

[0011] Optionally, the calculating the initial tilt angle of the lawn mower based on the initial data includes:

[0012] The starting time corresponding to the initial data is determined, and the initial data is integrated based on the starting time and the current time to obtain an initial tilt angle of the lawn mower.

[0013] Optionally, after acquiring the initial data of the lawn mower collected by the preset sensor and calculating the initial tilt angle of the lawn mower based on the initial data, the method further includes:

[0014] If the accuracy of the initial tilt angle meets the preset accuracy condition, the initial tilt angle is directly used as the target tilt angle to determine whether the lawn mower has overturned according to the target tilt angle.

[0015] Optionally, adjusting the initial tilt angle based on a preset filtering algorithm to obtain a corresponding target tilt angle includes:

[0016] Processing the initial tilt angle based on the preset filtering algorithm to determine a corresponding angle error correction amount;

[0017] The initial tilt angle is adjusted based on the angle error correction amount to obtain the target tilt angle.

[0018] Optionally, judging whether the lawn mower has overturned according to the target tilt angle so as to adjust the running state of the lawn mower based on the judgment result includes:

[0019] Determining whether the target tilt angle is within a preset alarm threshold range;

[0020] If the target tilt angle is within the preset alarm threshold range, a corresponding rollover risk warning is triggered;

[0021] If the target tilt angle exceeds a preset alarm threshold range and is less than a preset rollover angle, it is determined that the lawn mower rolls over, and the lawn mower is controlled to stop running.

[0022] Optionally, controlling the lawn mower to stop running includes:

[0023] A stop command is sent to a travel controller and a mowing controller of the mowing vehicle through the vehicle controller of the mowing vehicle, so that the travel controller and the mowing controller respectively control the travel motor and the mowing motor of the mowing vehicle to stop rotating based on the stop command.

[0024] In a second aspect, the present application provides a lawn mower control device, comprising:

[0025] A data acquisition module, used to acquire initial data of the lawn mower collected by a preset sensor, and calculate an initial tilt angle of the lawn mower based on the initial data; the preset sensor is a six-axis sensor;

[0026] An angle adjustment module, used to adjust the initial tilt angle based on a preset filtering algorithm to obtain a corresponding target tilt angle;

[0027] The state determination module is used to determine whether the lawn mower has overturned according to the target tilt angle, so as to adjust the running state of the lawn mower based on the determination result.

[0028] In a third aspect, the present application provides an electronic device, including:

[0029] Memory, used to store computer programs;

[0030] The processor is used to execute the computer program to implement the above-mentioned lawn mower control method.

[0031] In a fourth aspect, the present application provides a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the aforementioned lawn mower control method is implemented.

[0032] In the present application, the lawn mower first obtains the initial data of the lawn mower collected by the preset sensor, and calculates the initial tilt angle of the lawn mower based on the initial data; the preset sensor is a six-axis sensor; then the initial tilt angle is adjusted based on the preset filtering algorithm to obtain the corresponding target tilt angle; finally, it is determined whether the lawn mower has overturned according to the target tilt angle, so as to adjust the running state of the lawn mower based on the judgment result. As can be seen from the above, the present application can determine the initial tilt angle of the lawn mower in real time based on the six-axis sensor, and adjust the initial tilt angle to accurately obtain the target tilt angle of the lawn mower, so as to determine whether the lawn mower is currently overturned, so as to control the subsequent operation of the lawn mower. In this way, the present application can accurately determine whether the lawn mower has overturned through the six-axis sensor, so as to select appropriate protection measures to control the operation of the lawn mower after the lawn mower overturns. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0034] Figure 1 A schematic diagram of a system framework applicable to a lawn mower control solution provided in this application;

[0035] Figure 2 A flow chart of a lawn mower control method provided in this application;

[0036] Figure 3 A flow chart of a specific lawn mower control method provided in this application;

[0037] Figure 4 A flow chart of a specific lawn mower control method provided in this application;

[0038] Figure 5 A schematic diagram of the structure of a lawn mower control device provided in this application;

[0039] Figure 6 A structural diagram of an electronic device provided for this application. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] Lawn mowers can be divided into handheld lawn mowers, push lawn mowers and riding lawn mowers according to their walking mode. Among them, riding lawn mowers are suitable for mowing lawns of larger areas. At present, when users drive riding lawn mowers to work, there is a risk of rollover due to factors such as driving experience, driving skills, and the slope of the lawn. When rolling over, the moving parts do not stop and may cause secondary injuries. The angle sensor currently used in lawn mowers is a fixed angle and cannot obtain a specific angle value. Only when it is greater than the threshold value will an alarm signal be output and fed back to the processor, thereby performing a power-off process. However, the angle sensor of the mechanical structure type has a large error and cannot accurately determine whether the lawn mower has rolled over. To this end, the present application provides a lawn mower control scheme that can effectively improve the safety of the lawn mower.

[0042] In the lawn mower control solution of the present invention, the system framework used can be specifically referred to in Figure 1 As shown, it can specifically include: a 6-axis sensor, a vehicle controller, a walking controller, a mowing controller, a walking motor, and a mowing motor.

[0043] The 6-axis sensor is used to perform the data acquisition step, including collecting initial data of the mower, and calculating the initial tilt angle of the mower based on the initial data; adjusting the initial tilt angle based on a preset filtering algorithm to obtain a corresponding target tilt angle. The present invention uses a 6-axis sensor to accurately obtain the tilt angle of the mower.

[0044] The vehicle controller is the core of the entire system and is used to execute the steps of controlling the mower. The vehicle controller can collect and process the data of the 6-axis sensor, and determine whether the mower has overturned according to the target tilt angle of the mower, so as to adjust the running state of the mower by controlling the walking controller and mowing controller of the mower based on the judgment result. When it is determined that the mower is in the overturned state, the vehicle controller can immediately send a stop command to the walking motor controller and the mowing motor controller, and the motor controller stops the motor rotation.

[0045] See also Figure 2 As shown, the embodiment of the present invention discloses a lawn mower control method, which may include:

[0046] Step S11, acquiring initial data of the lawn mower collected by a preset sensor, and calculating an initial tilt angle of the lawn mower based on the initial data; the preset sensor is a six-axis sensor.

[0047] In this embodiment, before obtaining the initial data of the mower collected by the preset sensor, the method may also include: when the mower is in the startup state, initializing the vehicle controller of the mower and the angle and angular velocity of the six-axis sensor. Specifically, the vehicle controller of the mower is the core control unit of the mower, which is responsible for coordinating and managing the operation of each subsystem, such as the operation of the walking controller and the mowing controller. When starting the mower, the vehicle controller needs to perform a series of initialization operations to ensure that the mower can operate normally. First, the vehicle controller checks the power system to ensure that the battery is fully charged and the voltage is stable. At the same time, the vehicle controller manages the distribution and switching of power to meet the power supply requirements of different subsystems. After that, the vehicle controller will establish communication connections with each subsystem through the CAN bus (CAN, i.e., Controller Area Network, Controller Local Area Network), LIN bus (LIN, i.e., Local Interconnect Network, Local Area Network Subsystem), and dedicated communication protocols. During the communication connection initialization process, the vehicle controller needs to verify the integrity and reliability of the communication link. In addition, the vehicle controller can check the status of each subsystem, identify and report all potential faults or abnormalities. At the same time, the vehicle controller can set a series of control parameters according to the specific configuration and operation requirements of the mower, including but not limited to control parameters such as motor speed, torque limit, and braking strategy. It is understandable that the six-axis sensor can measure angular velocity through the data of the gyroscope, so it is necessary to initialize the angle and angular velocity of the six-axis sensor when the mower is started. Specifically, it is necessary to first configure the communication interface between the six-axis sensor and the vehicle controller and set relevant communication rate, address and other parameters. Then, by sending a reset command to the six-axis sensor, its internal register is restored to the default value to ensure that the six-axis sensor can respond accurately in subsequent operations. And according to the specific needs of the mower, set the range of the acceleration sensor of the six-axis sensor. And configure the sampling rate and digital low-pass filter of the six-axis sensor. The sampling rate can control the update frequency of the six-axis sensor data, and the filter can be used to smooth the data to reduce noise interference. After the initialization of the six-axis sensor is completed, it can be verified whether the six-axis sensor can correctly respond to the input signal and adjust the output to match the actual physical quantity to perform the six-axis sensor status check and calibration.

[0048] It is understandable that in order to obtain the initial data of the lawn mower collected by the six-axis sensor, the angular velocity data can be read from the register of the six-axis sensor through the communication interface of the six-axis sensor. The angular velocity data is usually a 16-bit digital quantity used to represent the angular velocity value of the gyroscope in each axis. Then, the angular velocity data needs to be converted into the actual angular velocity value, that is, the initial data.

[0049] It should be noted that the calculation of the initial tilt angle of the lawn mower based on the initial data may include: determining the starting time corresponding to the initial data, and performing integral calculation on the initial data based on the starting time and the current time to obtain the initial tilt angle of the lawn mower. Specifically, when obtaining the initial data of the lawn mower collected by the six-axis sensor, the initial timestamp is recorded as the starting time, and then the initial data is integrally calculated based on the starting time and the current time to calculate the angle change from the starting time to the current time, thereby obtaining the initial tilt angle of the lawn mower.

[0050] Step S12: adjusting the initial tilt angle based on a preset filtering algorithm to obtain a corresponding target tilt angle.

[0051] In this embodiment, the adjusting the initial tilt angle based on the preset filtering algorithm to obtain the corresponding target tilt angle may include: processing the initial tilt angle based on the preset filtering algorithm to determine the corresponding angle error correction amount; adjusting the initial tilt angle based on the angle error correction amount to obtain the target tilt angle. It is understandable that the filtering algorithm includes but is not limited to complementary filtering, Kalman filtering, smoothing filtering, mean filtering, bandpass filtering, low-pass filtering, and high-pass filtering. Before processing the initial tilt angle through the filtering algorithm, it is first necessary to select a suitable filtering algorithm according to specific needs, the noise characteristics of the six-axis sensor, and the computing resources, and then process the initial tilt angle through the filtering algorithm. The output of the filtering algorithm is usually an angle error correction amount. The target tilt angle can be calculated by the angle error correction amount and the initial tilt angle. The target tilt angle is closer to the true value than the initial tilt angle.

[0052] It should be noted that the performance of the filtering algorithm depends largely on the parameter settings of the filtering algorithm, such as the cutoff frequency of the filter, the covariance matrix in the Kalman filter, etc. The parameters of the filtering algorithm can be adjusted according to the noise characteristics and dynamic characteristics in the actual application. When selecting a filtering algorithm, the corresponding computational complexity and resource consumption need to be considered.

[0053] Step S13: determining whether the lawn mower has overturned according to the target tilt angle, so as to adjust the running state of the lawn mower based on the determination result.

[0054] In this embodiment, a reasonable tilt angle threshold can be set according to the physical characteristics and application scenarios of the lawn mower. Specifically, the tilt angle threshold can be determined based on the maximum tilt angle of the lawn mower in normal operation. Considering safety, the tilt angle threshold should be slightly greater than the maximum tilt angle in normal operation. In a specific implementation, the target tilt angle data collected in real time is compared with the set tilt angle threshold. If the target tilt angle of the lawn mower exceeds the set tilt angle threshold, it is preliminarily judged that the lawn mower may be in a rollover state. In order to increase the accuracy of the judgment, other sensor data, such as other components of the accelerometer, angular velocity data of the gyroscope, etc., can be considered to assist in the judgment. If other sensor data also indicates that the lawn mower is in an abnormal state, the rollover judgment is further confirmed. If it is confirmed that the lawn mower is in a rollover state, the corresponding safety mechanism is immediately triggered, including but not limited to stopping the mowing operation, sending an alarm signal, and activating the emergency braking system. At the same time, the relevant data of the rollover event is recorded for subsequent analysis and improvement. If the target tilt angle data is always within the set tilt angle threshold range, it is judged that the lawn mower is in a normal operating state, and the lawn mower can continue to perform its scheduled tasks without taking any special measures.

[0055] As can be seen from the above, the lawn mower of this embodiment first obtains the initial data of the lawn mower collected by the preset sensor, and calculates the initial tilt angle of the lawn mower based on the initial data; the preset sensor is a six-axis sensor; then the initial tilt angle is adjusted based on the preset filtering algorithm to obtain the corresponding target tilt angle; finally, it is determined whether the lawn mower has overturned according to the target tilt angle, so as to adjust the running state of the lawn mower based on the judgment result. As can be seen from the above, the lawn mower of this embodiment can determine the initial tilt angle of the lawn mower in real time based on the six-axis sensor, and adjust the initial tilt angle to accurately obtain the target tilt angle of the lawn mower, thereby determining the current running state of the lawn mower, and controlling the running of the lawn mower based on the current running state of the lawn mower. In this way, the lawn mower of this embodiment can accurately determine whether the lawn mower has overturned through the six-axis sensor, so as to select appropriate protection measures to control the running of the lawn mower after the lawn mower overturns.

[0056] Based on the previous embodiment, it can be known that the present application can determine the tilt angle of the lawn mower by means of a six-axis sensor. Next, this embodiment will describe in detail how to determine whether the lawn mower has overturned according to the tilt angle and how to adjust the running state of the lawn mower. Figure 3 As shown, the embodiment of the present invention further discloses a lawn mower control method, which may include:

[0057] Step S21: If the accuracy of the initial tilt angle meets the preset accuracy condition, the initial tilt angle is directly used as the target tilt angle.

[0058] In this embodiment, first, a reasonable accuracy condition is set according to the specific needs of the lawn mower and the data characteristics of the tilt angle. In order to accurately determine the accuracy condition, the historical data collected by the six-axis sensor can be obtained to determine the historical tilt angle, and then the collected historical tilt angle is preprocessed, including filtering, denoising, calibration, etc., to improve the accuracy and reliability of the data, and determine the corresponding preset accuracy condition. After that, the accuracy of the initial tilt angle can be compared with the preset accuracy condition. If the accuracy of the initial tilt angle meets or exceeds the preset accuracy condition, the initial tilt angle is considered to be accurate data, so the initial tilt angle can be directly used as the target tilt angle. It can be understood that if the accuracy of the initial tilt angle does not meet the preset accuracy condition, it is necessary to adjust the initial tilt angle based on the preset filtering algorithm to obtain the corresponding target tilt angle, so as to determine whether the lawn mower has overturned according to the target tilt angle.

[0059] Step S22: determine whether the target tilt angle is within a preset alarm threshold range.

[0060] It is understandable that before determining the posture and angle of the mower, an alarm threshold needs to be set for the mower, so that when the target tilt angle of the mower is within the alarm threshold range, the running state of the mower is adjusted. Specifically, the maximum safe tilt angle of the mower needs to be determined first. The alarm system is usually triggered when the mower tilts to a certain angle. The alarm threshold may vary depending on the model, brand or user-defined setting of the mower. In order to ensure the safety of the mower, the alarm threshold of the alarm system is usually set within a safe range before the maximum safe tilt angle of the mower. The maximum safe tilt angle of most mowers ranges from 15 degrees to 30 degrees. Within this tilt angle range, the mower can work safely and stably. At the same time, the safe tilt angle of the mower is also affected by multiple factors such as the specific design, operating conditions and environmental factors of the mower. Therefore, when setting the alarm threshold of the mower, it is necessary to comprehensively consider multiple factors such as the design characteristics, safety standards, operating conditions and environmental factors of the mower. Usually, when the inclination angle of the lawn mower reaches or exceeds a certain proportion of its maximum safe inclination angle, such as 80% or lower, the running state of the lawn mower is adjusted through the vehicle controller of the lawn mower.

[0061] Step S23: If the target tilt angle is within a preset alarm threshold range, a corresponding rollover risk warning is triggered.

[0062] In this embodiment, if the target tilt angle of the mower is greater than or equal to the minimum threshold value within the preset alarm threshold range and less than the maximum threshold value within the preset alarm threshold range, the corresponding rollover risk prompt is triggered. The rollover risk prompt can be presented to the operator of the mower in various ways such as sound, light, display screen, etc. After receiving the rollover risk prompt, the operator should immediately stop the mower operation, check the stability of the mower and the surrounding environment, and ensure that there is no further rollover risk. At the same time, the target tilt angle of the mower can be reduced by adjusting the driving direction of the mower or reducing the speed. In addition, relevant information of the rollover risk prompt event, including time, location, tilt angle, etc., can be recorded, so as to analyze the rollover risk prompt event later, so as to determine whether it is necessary to adjust the preset alarm threshold range or improve the stability design of the mower. Finally, this embodiment can improve the accuracy and reliability of the alarm system by continuously adjusting the preset alarm threshold range, thereby reducing the possibility of false alarms and missed alarms.

[0063] Step S24: If the target tilt angle exceeds the preset alarm threshold range and is less than the preset rollover angle, it is determined that the lawn mower rolls over, and the lawn mower is controlled to stop running.

[0064] In this embodiment, if the target tilt angle of the lawn mower is greater than the maximum threshold value within the preset alarm threshold range and is less than 90 degrees, the lawn mower should handle the rollover condition. Wherein, the control of the lawn mower to stop running may include: sending a stop command to the walking controller and the mowing controller of the lawn mower through the vehicle controller of the lawn mower, so that the walking controller and the mowing controller respectively control the walking motor and the mowing motor of the lawn mower to stop rotating based on the stop command. Specifically, if the vehicle controller determines that the target tilt angle of the lawn mower exceeds the preset alarm threshold range and is less than the preset rollover angle, a stop command is generated and sent to the walking controller and the mowing controller of the lawn mower through the internal communication bus of the lawn mower. When the walking controller receives the stop command, it will immediately cut off the power supply to the walking motor or send a stop signal to the driver of the walking motor to stop the walking motor. At the same time, when the mowing controller receives the stop command, it will also cut off the power supply to the mowing motor or send a stop signal to the driver of the mowing motor to stop the mowing motor. In order to ensure the effectiveness and reliability of the safety measures taken when the mower rolls over, the communication between the vehicle controller, travel controller and mowing controller of the mower should have the characteristics of high reliability and low latency. In addition, the vehicle controller, travel controller and mowing controller should also have fault detection and diagnosis functions so that they can issue an alarm in time and take necessary remedial measures when a fault occurs.

[0065] See also Figure 4As shown, in a specific implementation, the lawn mower control process may specifically be:

[0066] (1) System initialization: power on, sensor initialization, vehicle communication initialization, etc.

[0067] (2) Angle calculation: Calculate the initial tilt angle of the mower based on the initial data collected by the six-axis sensor;

[0068] (3) Filtering algorithm: Processing the initial tilt angle based on a preset filtering algorithm to determine the corresponding angle error correction amount;

[0069] (4) Angle error correction: adjusting the initial tilt angle based on the angle error correction amount;

[0070] (5) Obtain the updated angle;

[0071] (6) Determine whether the alarm threshold or rollover threshold has been reached: when the angle is greater than or equal to the minimum threshold and less than the maximum threshold, an alarm is triggered to indicate a rollover risk; when the angle is greater than the maximum threshold and less than 90 degrees, the mower handles the rollover condition and immediately sends a stop command;

[0072] (7) Stop the travel motor and the mowing motor: When the travel controller and the mowing controller receive the stop command sent by the vehicle controller, the travel motor and the mowing motor will be stopped immediately.

[0073] As can be seen from the above, in this embodiment, when the accuracy of the initial tilt angle meets the preset accuracy condition, the initial tilt angle is directly used as the target tilt angle; then it is determined whether the target tilt angle is within the preset alarm threshold range to trigger the corresponding rollover risk prompt; if the target tilt angle exceeds the preset alarm threshold range and is less than the preset rollover angle, it can be determined that the mower has rolled over, and a stop command is sent to the walking controller and the mowing controller through the vehicle controller, so that the walking controller and the mowing controller control the walking motor and the mowing motor to stop rotating based on the stop command. In this way, an alarm prompt will be issued when there is a risk of rollover, and the risk of rollover can be reduced at the same time. When the mower rolls over, the moving parts are stopped immediately, greatly reducing the risk of causing secondary injuries.

[0074] Accordingly, see Figure 5 As shown, the embodiment of the present application also provides a lawn mower control device, which may include:

[0075] The data acquisition module 11 is used to acquire the initial data of the lawn mower collected by a preset sensor, and calculate the initial tilt angle of the lawn mower based on the initial data; the preset sensor is a six-axis sensor;

[0076] An angle adjustment module 12, used to adjust the initial tilt angle based on a preset filtering algorithm to obtain a corresponding target tilt angle;

[0077] The state determination module 13 is used to determine whether the lawn mower has overturned according to the target tilt angle, so as to adjust the running state of the lawn mower based on the determination result.

[0078] As can be seen from the above, the lawn mower in the present application first obtains the initial data of the lawn mower collected by the preset sensor, and calculates the initial tilt angle of the lawn mower based on the initial data; the preset sensor is a six-axis sensor; then the initial tilt angle is adjusted based on the preset filtering algorithm to obtain the corresponding target tilt angle; finally, it is determined whether the lawn mower has overturned according to the target tilt angle, so as to adjust the running state of the lawn mower based on the judgment result. As can be seen from the above, the present application can determine the initial tilt angle of the lawn mower in real time based on the six-axis sensor, and adjust the initial tilt angle to accurately obtain the target tilt angle of the lawn mower, thereby determining the current running state of the lawn mower, and controlling the running of the lawn mower based on the current running state of the lawn mower. In this way, the present application can accurately determine whether the lawn mower has overturned through the six-axis sensor, so as to select appropriate protection measures to control the running of the lawn mower after the lawn mower overturns.

[0079] In some specific embodiments, the lawn mower control device further includes:

[0080] The data initialization module is used to initialize the vehicle controller of the lawn mower and the angle and angular velocity of the six-axis sensor when the lawn mower is in the startup state.

[0081] In some specific implementations, the data acquisition module 11 includes:

[0082] The angle determination unit is used to determine the starting time corresponding to the initial data, and perform integral calculation on the initial data based on the starting time and the current time to obtain an initial tilt angle of the lawn mower.

[0083] In some specific embodiments, the lawn mower control device further includes:

[0084] The condition judgment module is used for directly using the initial tilt angle as the target tilt angle if the accuracy of the initial tilt angle meets the preset accuracy condition, so as to judge whether the lawn mower has overturned according to the target tilt angle.

[0085] In some specific implementations, the angle adjustment module 12 includes:

[0086] an error determination unit, configured to process the initial tilt angle based on the preset filtering algorithm to determine a corresponding angle error correction amount;

[0087] The angle adjustment unit is used to adjust the initial tilt angle based on the angle error correction amount to obtain the target tilt angle.

[0088] In some specific implementations, the state determination module 13 includes:

[0089] A condition judgment unit, used to judge whether the target tilt angle is within a preset alarm threshold range;

[0090] A prompt trigger unit, used to trigger a corresponding rollover risk prompt when the target tilt angle is within a preset alarm threshold range;

[0091] The operation control unit is used to determine that the lawn mower has overturned and control the lawn mower to stop running when the target tilt angle exceeds a preset alarm threshold range and is less than a preset overturning angle.

[0092] Furthermore, the present application also discloses an electronic device. Figure 6 2 is a structural diagram of an electronic device 20 according to an exemplary embodiment, and the content in the diagram cannot be regarded as any limitation on the scope of use of the present application. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 is used to store a computer program, which is loaded and executed by the processor 21 to implement the relevant steps in the control method of the lawn mower disclosed in any of the aforementioned embodiments. In addition, the electronic device 20 in this embodiment may specifically be an electronic computer.

[0093] In this embodiment, the power supply 23 is used to provide working voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and the external device, and the communication protocol it follows is any communication protocol that can be applied to the technical solution of the present application, and is not specifically limited here; the input and output interface 25 is used to obtain external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs and is not specifically limited here.

[0094] In addition, the memory 22, as a carrier for storing resources, can be a read-only memory, a random access memory, a disk or an optical disk, etc. The resources stored thereon can include an operating system 221, a computer program 222, etc., and the storage method can be temporary storage or permanent storage.

[0095] The operating system 221 is used to manage and control the hardware devices and computer programs 222 on the electronic device 20, and can be Windows Server, Netware, Unix, Linux, etc. In addition to computer programs that can be used to complete the lawn mower control method performed by the electronic device 20 disclosed in any of the aforementioned embodiments, the computer program 222 can further include computer programs that can be used to complete other specific tasks.

[0096] Furthermore, the present application also discloses a computer-readable storage medium for storing a computer program; wherein the computer program, when executed by a processor, implements the aforementioned disclosed lawn mower control method. The specific steps of the method can refer to the corresponding contents disclosed in the aforementioned embodiments, and will not be repeated here.

[0097] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0098] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0099] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0100] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0101] The technical solution provided by the present application is introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for general technicians in this field, according to the idea of ​​the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A lawn mower control method, characterized in that: include: Acquire initial data of the lawn mower collected by a preset sensor, and calculate an initial tilt angle of the lawn mower based on the initial data; The preset sensor is a six-axis sensor; Adjusting the initial tilt angle based on a preset filtering algorithm to obtain a corresponding target tilt angle; Whether the lawn mower has overturned is determined according to the target tilt angle, so as to adjust the running state of the lawn mower based on the determination result.

2. The lawn mower control method according to claim 1, characterized in that: Before obtaining the initial data of the lawn mower collected by the preset sensor, the method further includes: When the lawn mower is in a startup state, the vehicle controller of the lawn mower and the angle and angular velocity of the six-axis sensor are initialized.

3. The lawn mower control method according to claim 1, characterized in that: The calculating the initial tilt angle of the lawn mower based on the initial data comprises: The starting time corresponding to the initial data is determined, and the initial data is integrated based on the starting time and the current time to obtain an initial tilt angle of the lawn mower.

4. The lawn mower control method according to claim 1, characterized in that: After the initial data of the lawn mower collected by the preset sensor is obtained and the initial tilt angle of the lawn mower is calculated based on the initial data, the method further includes: If the accuracy of the initial tilt angle meets the preset accuracy condition, the initial tilt angle is directly used as the target tilt angle to determine whether the lawn mower has overturned according to the target tilt angle.

5. The lawn mower control method according to claim 1, characterized in that: The adjusting the initial tilt angle based on a preset filtering algorithm to obtain a corresponding target tilt angle includes: Processing the initial tilt angle based on the preset filtering algorithm to determine a corresponding angle error correction amount; The initial tilt angle is adjusted based on the angle error correction amount to obtain the target tilt angle.

6. The lawn mower control method according to any one of claims 1 to 5, characterized in that: The step of judging whether the lawn mower has overturned according to the target tilt angle so as to adjust the running state of the lawn mower based on the judging result includes: Determining whether the target tilt angle is within a preset alarm threshold range; If the target tilt angle is within the preset alarm threshold range, a corresponding rollover risk warning is triggered; If the target tilt angle exceeds a preset alarm threshold range and is less than a preset rollover angle, it is determined that the lawn mower rolls over, and the lawn mower is controlled to stop running.

7. The lawn mower control method according to claim 6, characterized in that: The controlling the lawn mower to stop running comprises: A stop command is sent to a travel controller and a mowing controller of the mowing vehicle through the vehicle controller of the mowing vehicle, so that the travel controller and the mowing controller respectively control the travel motor and the mowing motor of the mowing vehicle to stop rotating based on the stop command.

8. A lawn mower control device, characterized in that: include: A data acquisition module, used to acquire initial data of the lawn mower collected by a preset sensor, and calculate an initial tilt angle of the lawn mower based on the initial data; The preset sensor is a six-axis sensor; An angle adjustment module, used to adjust the initial tilt angle based on a preset filtering algorithm to obtain a corresponding target tilt angle; The state determination module is used to determine whether the lawn mower has overturned according to the target tilt angle, so as to adjust the running state of the lawn mower based on the determination result.

9. An electronic device, characterized in that: The electronic device comprises a processor and a memory; wherein the memory is used to store a computer program, and the computer program is loaded and executed by the processor to implement the lawn mower control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: Used to store a computer program, which, when executed by a processor, implements the lawn mower control method according to any one of claims 1 to 7.

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