Planning control method for automatic mower

Abstract

The invention relates to a planning control method for an automatic mower, belongs to the technical field of automatic mowing, and solves the problem of low applicability of automatic mowing planning in the prior art. The planning control method comprises the steps that a user control instruction from an upper computer is received, and a total area to be mowed is determined; the total area to be mowed comprises at least one area to be mowed; the stored information of the automatic mowers is obtained, and a plurality of available automatic mowers are obtained through analysis; and allocating an available automatic mower for each to-be-mowed area, and mowing by using the automatic mower corresponding to each to-be-mowed area. And the practicability of the automatic mower is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic mowing, and particularly to a planning control method for an automatic lawn mower. Background Art

[0002] Lawn mowing robots are widely used in the maintenance of household courtyard lawns and the trimming of large grasslands. Lawn mowing robots integrate technologies such as motion control, multi-sensor fusion, and path planning. In order to control a lawn mowing robot to perform a mowing operation, it is necessary to plan the mowing path of the lawn mowing robot so that it can completely cover all working areas.

[0003] However, in the prior art, when facing multiple mowing areas and multiple automatic lawn mowers, one-to-one control is usually adopted, and the advantages of combination cannot be fully utilized. Summary of the Invention

[0004] In view of the above analysis, embodiments of the present invention aim to provide a planning control method for an automatic lawn mower to solve the problem of poor applicability of automatic mowing planning in the prior art.

[0005] Embodiments of the present invention provide a planning control method for an automatic lawn mower, and the planning control method includes:

[0006] Receiving a user control instruction from a host computer and determining a total area to be mowed; the total area to be mowed includes at least one area to be mowed;

[0007] Obtaining stored automatic lawn mower information and parsing to obtain multiple available automatic lawn mowers;

[0008] Allocating an available automatic lawn mower to each area to be mowed, and using the automatic lawn mower corresponding to each area to be mowed for mowing.

[0009] Based on a further improvement of the above method, determining whether the total area to be mowed includes an area that has been mowed;

[0010] If the total area to be mowed includes an area that has been mowed, deleting the area that has been mowed from the total area to be mowed and updating the total area to be mowed.

[0011] Based on a further improvement of the above method, the stored automatic lawn mower information includes at least one of the following:

[0012] The number of the automatic lawn mower, the model of the automatic lawn mower, the position coordinates of the automatic lawn mower, and the working status information of the automatic lawn mower.

[0013] Based on a further improvement of the above method, the parsing to obtain multiple available automatic lawn mowers includes:

[0014] Select the automatic lawn mowers with excellent working status information and store them separately, and obtain the detailed parameter information of the selected automatic lawn mowers.

[0015] Based on a further improvement of the above method, the detailed parameter information includes:

[0016] The mowing diameter of the automatic lawn mower;

[0017] The mowing power of the automatic lawn mower;

[0018] The turning speed of the automatic lawn mower.

[0019] Based on a further improvement of the above method, allocating an available automatic lawn mower to each area to be mowed includes:

[0020] Sort each area to be mowed in the total area to be mowed from largest to smallest area, and obtain the sorted total area to be mowed;

[0021] Successively determine the distance between each area to be mowed in the sorted total area to be mowed and the available automatic lawn mowers, and use the automatic lawn mower with the shortest distance as the matching automatic lawn mower for each area to be mowed.

[0022] Based on a further improvement of the above method, determine the distance between each area to be mowed and the available automatic lawn mowers in the following manner:

[0023] Take the entrance position of each area to be mowed as the position of each area to be mowed;

[0024] Obtain the current position of each available automatic lawn mower, and successively calculate the distance between each area to be mowed and each available automatic lawn mower.

[0025] Based on a further improvement of the above method, calculate the distance between each area to be mowed and each available automatic lawn mower using the following formula:

[0026] Si,j = |Xi - X′j| + |Yi - Y′j|;

[0027] Where, Si,j represents the distance between the i-th area to be mowed and the j-th automatic lawn mower, Xi and Yi represent the entrance position coordinates of the i-th area to be mowed, and X′j and Y′j represent the current position coordinates of the j-th automatic lawn mower.

[0028] Based on a further improvement of the above method, using the automatic lawn mower corresponding to each area to be mowed for mowing includes:

[0029] Move the available automatic lawn mower to the entrance position of the corresponding lawn area to be mowed;

[0030] Obtain the preset mowing path of the lawn area to be mowed. Under the control of the preset mowing path, the automatic lawn mower mows the lawn area to be mowed.

[0031] Based on a further improvement of the above method, the preset mowing path of each lawn area to be mowed is determined by the following method:

[0032] The ox-plowing full-coverage planning algorithm based on binary search;

[0033] The inner spiral coverage algorithm;

[0034] Random path planning.

[0035] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0036] According to the user's control instruction, multiple lawn areas are mowed based on multiple automatic lawn mowers, which improves the practicability of the automatic lawn mower and makes the control of the automatic lawn mower more convenient and fast.

[0037] In the present invention, the above technical solutions can also be combined with each other to achieve more preferred combination schemes. Other features and advantages of the present invention will be described in the subsequent specification, and some advantages can be made obvious from the specification or understood by implementing the present invention. The objectives and other advantages of the present invention can be realized and obtained from the content specifically pointed out in the specification and the drawings. Description of the Drawings

[0038] The drawings are only for the purpose of showing specific embodiments and are not considered as a limitation to the present invention. Throughout the drawings, the same reference signs represent the same components.

[0039] Figure 1 It is a schematic flowchart of the planning control method for an automatic lawn mower provided by an embodiment of the present invention. Detailed Embodiments

[0040] The following will specifically describe the preferred embodiments of the present invention in conjunction with the drawings, where the drawings form a part of this application and are used together with the embodiments of the present invention to explain the principles of the present invention, and are not used to limit the scope of the present invention.

[0041] A specific embodiment of the present invention discloses a planning control method for an automatic lawn mower, as Figure 1 shown, the planning control method includes:

[0042] Step S1: Receive the user control instruction from the host computer and determine the total area to be mowed; the total area to be mowed includes at least one area to be mowed.

[0043] Step S2: Obtain the stored information of the automatic lawn mowers and parse to obtain multiple available automatic lawn mowers.

[0044] Step S3: Assign an available automatic lawn mower to each area to be mowed and use the automatic lawn mower corresponding to each area to be mowed for mowing.

[0045] Specifically, as Figure 1 shown, in Step S1, the user selects the area to be mowed through the host computer. It can be understood that during initialization, each grassland area can be numbered so that each grassland area has a unique identification label. Specifically, the host computer displays multiple grassland areas, and the user selects the area to be mowed from them. The host computer displays each grassland area to the user in the order of the numbers, or can also display each grassland area to the user in the form of map positions, and the user selects the area to be mowed to determine the total area to be mowed.

[0046] After receiving the total area to be mowed, determine whether the total area to be mowed includes the area that has been mowed; if the total area to be mowed includes the area that has been mowed, then delete the area that has been mowed from the total area to be mowed and update the total area to be mowed.

[0047] It can be understood that when the user selects the area to be mowed, it is difficult to know which areas have been mowed. Therefore, judge the total area to be mowed selected by the user, delete the area that has been mowed from the total area to be mowed, and obtain the total area to be mowed that has not been mowed. The numbers of the areas that have been mowed are stored in the list of areas that have been mowed, and the areas that have been mowed are screened and deleted by comparing the numbers of the areas to be mowed included in the total area to be mowed.

[0048] At the same time, the total area to be mowed includes at least one area to be mowed. It can be understood that if the total area to be mowed is empty, there is no need to continue mowing. At this time, a prompt message can be fed back to the host computer to remind the user to re-select the mowing area.

[0049] Specifically, as Figure 1 shown, in Step S2, obtain the stored information of the automatic lawn mowers and parse to obtain multiple available automatic lawn mowers, where the stored information of the automatic lawn mowers includes at least one of the following:

[0050] The number of the automatic lawn mower, the model of the automatic lawn mower, the position coordinates of the automatic lawn mower, and the working status information of the automatic lawn mower.

[0051] Specifically, a positioning module and a working status acquisition module are provided on the automatic lawn mower; the positioning module is used to obtain the real-time position information of the automatic lawn mower; the working status acquisition module is used to obtain the working status information of the automatic lawn mower. The information of the automatic lawn mower can be updated regularly as each automatic lawn mower works, such as the working status information and the position coordinates. It can be understood that the current positions of each automatic lawn mower may be different, and automatic lawn mowers can be assigned to each mowing area according to the current position of the automatic lawn mower.

[0052] Specifically, the number of the automatic lawn mower is the unique identifier of each automatic lawn mower and the identity identifier of each automatic lawn mower. There may be multiple models of automatic lawn mowers, some suitable for large mowing areas and some suitable for small mowing areas.

[0053] Specifically, the working status information of the automatic lawn mower can include various types, such as normal operation, overloaded operation, abnormal operation, and excellent operation.

[0054] It can be understood that the automatic lawn mower with excellent operation is the first-class automatic lawn mower, and the automatic lawn mower with normal operation is the second-class automatic lawn mower. Among them, the automatic lawn mowers with overloaded operation and abnormal operation cannot be selected for use.

[0055] Preferably, the parsing to obtain multiple available automatic lawn mowers includes:

[0056] Select the automatic lawn mowers with excellent working status information and store them separately, and obtain the detailed parameter information of the selected automatic lawn mowers.

[0057] Specifically, first select the automatic lawn mowers with excellent working status information for mowing work, and parse the detailed parameter information of the selected automatic lawn mowers for query use. It can be understood that when the number of automatic lawn mowers with excellent working status information is small, the next-level automatic lawn mowers can also be used.

[0058] Preferably, the detailed parameter information includes:

[0059] The mowing diameter of the automatic lawn mower;

[0060] The mowing power of the automatic lawn mower;

[0061] The turning speed of the automatic lawn mower.

[0062] Specifically, the mowing diameter of the automatic lawn mower represents the distance between the two ends of the mowing knife of the automatic lawn mower. The diameter size of the lawn mower blade varies with different models. Generally, the blade diameter of the lawn mower is between 12 and 22 inches. More specifically, the blade diameter of the electric lawn mower is usually 12 - 14 inches, while that of the gasoline lawn mower is between 18 and 22 inches.

[0063] The mowing power of the automatic lawn mower represents the output power when the automatic lawn mower is working normally. The lawn mower is an agricultural machine mainly used for trimming and tidying lawns or grasslands. The power is generally between 1000 watts and 4000 watts. The power of the lawn mower is related to parameters such as the tool size, horsepower, and rotational speed of the lawn mower. The greater the power of the lawn mower, the higher its cutting efficiency.

[0064] The turning speed of the automatic lawn mower represents the angular velocity when the automatic lawn mower is turning. Usually, the rotational speed of the lawn mower is not less than 2500 to 3000 revolutions per minute.

[0065] Specifically, as Figure 1 shown, in step S3, an available automatic lawn mower is assigned to each area to be mowed, and the lawn mowing is carried out using the automatic lawn mower corresponding to each area to be mowed.

[0066] Preferably, the step of assigning an available automatic lawn mower to each area to be mowed includes:

[0067] Sorting each area to be mowed in the total area to be mowed from largest to smallest according to the area, and obtaining the sorted total area to be mowed;

[0068] Successively determining the distance between each area to be mowed in the sorted total area to be mowed and the available automatic lawn mowers, and taking the automatic lawn mower with the shortest distance as the matching automatic lawn mower for each area to be mowed.

[0069] Specifically, the area sizes of each area to be mowed are different. By sorting each area to be mowed in the total area to be mowed from largest to smallest according to the area, the priority of each area to be mowed is determined, and the automatic lawn mower with a relatively close distance is preferentially arranged for the area to be mowed with a large area.

[0070] It should be noted that after determining the automatic lawn mower corresponding to each area to be mowed, the automatic lawn mower can be moved to the entrance position of the area to be mowed, and the lawn mowing of this area to be mowed can be started. It can be understood that during the lawn mowing, the speed of the automatic lawn mower can also be adjusted.

[0071] Preferably, the distance between each area to be mowed and the available automatic lawn mowers is determined by the following method:

[0072] Take the entrance position of each to-be-mowed area as the position of each to-be-mowed area;

[0073] Obtain the current position of each available automatic lawn mower, and calculate the distance between each to-be-mowed area and each available automatic lawn mower in sequence.

[0074] Specifically, each to-be-mowed area is provided with a boundary and an entrance. When mowing the to-be-mowed area, it is necessary to enter through the entrance position. Take the entrance position of the to-be-mowed area as the position of the to-be-mowed area, and calculate the distance between the to-be-mowed area and each available automatic lawn mower.

[0075] Calculate the distance between each to-be-mowed area and each available automatic lawn mower through the following formula:

[0076] Si,j = |Xi - X′j| + |Yi - Y′j|;

[0077] Wherein, Si,j represents the distance between the i-th to-be-mowed area and the j-th automatic lawn mower, Xi and Yi represent the entrance position coordinates of the i-th to-be-mowed area, and X′j and Y′j represent the current position coordinates of the j-th automatic lawn mower.

[0078] It can be understood that when calculating the distance, the automatic lawn mower cannot cross the to-be-mowed area and can only enter the entrance position of each to-be-mowed area through the reserved path, that is, the total distance uses the absolute value of the two coordinates.

[0079] Preferably, as Figure 1 shown, in step S3, using the automatic lawn mower corresponding to each to-be-mowed area for mowing includes:

[0080] Move the available automatic lawn mower to the entrance position of the corresponding to-be-mowed area;

[0081] Obtain the preset mowing path of the to-be-mowed area, and under the control of the preset mowing path, the automatic lawn mower mows the to-be-mowed area.

[0082] Specifically, the preset mowing path of each to-be-mowed area is set in advance in the host computer. When mowing is required, only need to transmit the preset mowing path to the corresponding automatic lawn mower to perform mowing.

[0083] Preferably, determine the preset mowing path of each to-be-mowed area through the following method:

[0084] The ox-plowing full-coverage planning algorithm based on binary search;

[0085] Inner spiral coverage algorithm;

[0086] Random path planning.

[0087] Specifically, the binary search method, also known as the half-interval search method, is a relatively efficient search method. It uses the grooming traversal algorithm as the basis and takes special backward operations when encountering obstacles.

[0088] Specifically, the inner spiral coverage algorithm includes a clockwise inner spiral mode and a counterclockwise inner spiral mode.

[0089] For random path planning, the path planning algorithm based on randomness usually adopts the Monte Carlo method, that is, by simulating multiple random experiments to find the optimal solution or an approximate optimal solution.

[0090] Compared with the prior art, the planning control method for the automatic lawn mower provided in this embodiment mows multiple mowing areas based on multiple automatic lawn mowers according to the user's control instructions, improving the practicability of the automatic lawn mower and making the control of the automatic lawn mower more convenient and fast.

[0091] Those skilled in the art can understand that all or part of the processes of implementing the above embodiment methods can be completed by instructing relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. Among them, the computer-readable storage medium is a disk, an optical disc, a read-only memory or a random access memory, etc.

[0092] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A planning control method for an automatic lawn mower, characterized in that, The described planning control method includes: Receiving a user control instruction from a host computer and determining the total area to be mowed; the total area to be mowed includes at least one area to be mowed. Obtaining the stored information of the automatic lawn mowers and parsing to obtain multiple available automatic lawn mowers. Allocating an available automatic lawn mower to each area to be mowed and using the automatic lawn mower corresponding to each area to be mowed for mowing.

2. The planning control method according to claim 1, wherein Judging whether the total area to be mowed includes an area that has been mowed. If the total area to be mowed includes an area that has been mowed, deleting the area that has been mowed from the total area to be mowed and updating the total area to be mowed.

3. The planning control method according to claim 1, characterized in that, The stored information of the automatic lawn mowers includes at least one of the following: The number of the automatic lawn mower, the model of the automatic lawn mower, the position coordinates of the automatic lawn mower, and the working status information of the automatic lawn mower.

4. The planning control method according to claim 3, characterized in that The parsing to obtain multiple available automatic lawn mowers includes: Selecting the automatic lawn mowers with excellent working status information, storing them separately, and obtaining the detailed parameter information of the selected automatic lawn mowers.

5. The planning control method according to claim 4, wherein The detailed parameter information includes: The mowing diameter of the automatic lawn mower. The mowing power of the automatic lawn mower. The turning speed of the automatic lawn mower.

6. The planning control method according to claim 5, wherein The allocating an available automatic lawn mower to each area to be mowed includes: Sorting each area to be mowed in the total area to be mowed from large to small according to the area, and obtaining the sorted total area to be mowed. Sequentially determining the distance between each area to be mowed in the sorted total area to be mowed and the available automatic lawn mowers, and taking the automatic lawn mower with the shortest distance as the matching automatic lawn mower for each area to be mowed.

7. The planning control method according to claim 6, characterized in that, Determining the distance between each area to be mowed and the available automatic lawn mowers in the following way: Taking the entrance position of each area to be mowed as the position of each area to be mowed. Obtaining the current position of each available automatic lawn mower and sequentially calculating the distance between each area to be mowed and each available automatic lawn mower.

8. The planning control method according to claim 7, wherein Calculating the distance between each area to be mowed and each available automatic lawn mower through the following formula: Si,j = |Xi - X′j| + |Yi - Y′j|; where Si,j represents the distance between the i-th area to be mowed and the j-th automatic lawn mower, Xi and Yi represent the entrance position coordinates of the i-th area to be mowed, and X′j and Y′j represent the current position coordinates of the j-th automatic lawn mower.

9. The planning control method according to claim 1, characterized in that The using the automatic lawn mower corresponding to each area to be mowed for mowing includes: Moving the available automatic lawn mower to the entrance position of the corresponding area to be mowed. Obtaining the preset mowing path of the area to be mowed, and under the control of the preset mowing path, the automatic lawn mower mows the area to be mowed.

10. The planning control method according to claim 9, characterized in that, Determining the preset mowing path of each area to be mowed through the following method: The ox-plowing full-coverage planning algorithm based on binary search. The inner spiral coverage algorithm. Random path planning.

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