Environmental perception driven grass trimmer control method and system

Abstract

The invention relates to the technical field of grass trimmer control, in particular to a grass trimmer control method and system driven by environmental perception, and the method comprises the steps: obtaining the slope, boundary coordinates and obstacle direction of an operation area, constructing a propelling direction, a turning point sequence and a cutterhead track, determining path control and adjustment demands, extracting a propelling angle, a turning amplitude and a cutterhead lifting amount, and carrying out the control of a grass trimmer. The combined modules act, time matching is carried out, triggering delay and action overlapping are marked, instructions are sent to all the modules in sequence, and grass mowing operation execution instructions are completed. According to the method, through space-time correlation calibration and dynamic layer construction, the terrain gradient, the obstacle direction and the boundary are converted into quantitative parameters, the environmental feature analysis precision is improved, based on propulsion inclination angle and edge sequence derivation, the path adaptability is enhanced, the matching of a propulsion motor, cutterhead lifting and path rotation is optimized, the action conflict risk is reduced, and the method is suitable for popularization and application. The control instruction and execution synchronization is ensured, closed-loop adjustment is formed, the power redundancy loss is reduced, and the cutting track continuity is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of lawn mower control, and particularly to a lawn mower control method and system driven by environmental perception. Background Art

[0002] The technical field of lawn mower control involves the integrated application of mechanical automation and intelligent decision-making technologies in vegetation trimming equipment. Its core content involves power output matching, cutting parameter optimization, and environmental interaction logic design. By integrating mechanical transmission principles with real-time feedback mechanisms, the problems of motion stability and cutting efficiency of the equipment under different terrain slopes, vegetation densities, and operation targets are solved. The focus is on studying the coordination relationship among blade speed regulation, travel speed adaptation, and obstacle response strategies to address the challenges of equipment performance fluctuations and energy consumption imbalances in complex scenarios.

[0003] Among them, the lawn mower control method driven by environmental perception refers to a technical solution that constructs dynamic adjustment rules for operation parameters based on multi-dimensional environmental data collection and fusion analysis. The distance of obstacles is measured through a combination of infrared ranging and ultrasonic detection. The terrain slope change is monitored using a pressure sensor. The vegetation coverage density is analyzed by combining visual recognition technology. The above data is input into a preset threshold comparison system to generate blade speed grading instructions and travel speed increment parameters, and the linkage matching of cutting height and equipment power output is achieved through a linear interpolation algorithm. Finally, a multi-parameter coordinated control mechanism based on real-time environmental feedback is formed.

[0004] The prior art relies on preset thresholds and linear interpolation algorithms to adjust parameters, with insufficient terrain gradient and obstacle spatial correlation, and lag in calibration of the advancing direction in the slope area. The multi-sensor data lacks a unified spatio-temporal coordinate system mapping, and the time difference between terrain monitoring and visual recognition causes misalignment in the dynamic matching of cutting height and vegetation density. The obstacle response strategy triggers avoidance based on a static distance threshold, without analyzing the spatial extension trend of the direction vector, resulting in a sharp increase in energy consumption due to multiple starts and stops in a continuous obstacle scenario. The mechanical co-design ignores the impact of the response delay of the actuator on the action sequence, and there is a phase misalignment between the blade speed and the travel speed adaptation, and the cutting flatness decreases with the operation time. For example, when operating on a slope of more than 15 degrees, the sensor does not accurately correlate the non-linear relationship between the slope gradient and the cutting depth, and the equipment trajectory deviates and requires manual intervention, reducing the operation coherence and reliability in complex terrains. Summary of the Invention

[0005] In order to solve the technical problems existing in the prior art, an embodiment of the present invention provides a lawn mower control method and system driven by environmental perception. The technical solution is as follows:

[0006] A lawn mower control method driven by environmental perception includes the following steps:

[0007] S1: Obtain the slope of the operation area, the coordinates of the regional contour boundary, and the front direction of the obstacle, map them into the operation layer according to the area number, and generate a dynamic environment configuration diagram of the operation area;

[0008] S2: According to the slope gradient and obstacle direction vector in the dynamic environment configuration diagram of the operation area, construct the propulsion direction, turning point sequence, and cutter head overlapping trajectory, determine the path control direction and structural adjustment requirements, and generate a mowing propulsion and attitude adjustment target set;

[0009] S3: Extract the propulsion angle, turning amplitude, and cutter head lifting amount in the mowing propulsion and attitude adjustment target set, combine the actions of the propulsion, turning, and lifting modules, and generate the mowing control action combination result;

[0010] S4: Match the time according to each group of instructions in the mowing control action combination result and the response cycles of the propulsion motor, steering servo, and cutter head lifting module, mark the combined structures with trigger delay and action overlap, and generate the action group timing adaptation adjustment result;

[0011] S5: According to the path propulsion instruction, steering angle adjustment value, and cutter head height adjustment sequence in the action group timing adaptation adjustment result, sequentially send path, rotation, and height instructions to the propulsion, steering, and lifting modules to complete the mowing operation action execution instruction.

[0012] As a further solution of the present invention, the dynamic environment configuration diagram of the operation area includes a terrain elevation point set, an obstacle front vector, a width segmentation coordinate sequence, and a dynamic slope mapping layer. The mowing propulsion and attitude adjustment target set is specifically an inclination threshold of the propulsion direction, a turning point topological sequence, an obstacle trend angle clustering, and a cutter head trajectory space overlapping parameter group. The mowing control action combination result includes a motor angular velocity matching table, a cutter head lifting step distance sequence, and a structural response combination range index. The action group timing adaptation adjustment result specifically refers to an instruction trigger delay mark set, a physical response interval calibration value, and an action overlap priority list. The mowing operation action execution instruction includes a linear propulsion pulse signal, an obstacle avoidance vector angle encoding, and a cutter head height discretization displacement instruction.

[0013] As a further solution of the present invention, the obtaining steps of the dynamic environment configuration diagram of the operation area are as follows:

[0014] S101: Obtain the slope change value output by the slope sensor, the coordinates of the regional contour boundary collected by the boundary recognition module, and the obstacle front direction vector detected by the laser rangefinder. Based on the sampling timestamps of the sensor data, classify the three types of data according to the time series, calibrate the spatial positions of each data point, and generate a multi-source sensor data set;

[0015] S102: Call the boundary coordinates and obstacle direction vectors in the multi-source sensor dataset, match the working width parameter with the regional block coordinates, verify the coincidence degree between the width parameter and the block boundary through the spatial coverage of discrete coordinate points, eliminate abnormal coordinate points beyond the preset range, and generate a block coordinate mapping set;

[0016] S103: Based on the coordinate distribution in the block coordinate mapping set, superimpose the slope change value and the obstacle direction vector of the multi-source sensor dataset, fill the missing data within the regional contour boundary through the coordinate interpolation algorithm, construct a three-dimensional space mapping layer including the working width, block boundary, and obstacle direction, and generate a dynamic environment configuration map of the working area.

[0017] As a further solution of the present invention, the obtaining steps of the mowing propulsion and attitude adjustment target set are as follows:

[0018] S201: Based on the slope gradient and the obstacle direction vector in the dynamic environment configuration map of the working area, extract the vector change amount of the slope gradient of adjacent regions, perform a dot product operation on the direction vector and the slope vector, calculate the included angle between the propulsion direction and the slope gradient, and generate a dynamic parameter of the propulsion direction;

[0019] S202: Call the included angle data in the dynamic parameter of the propulsion direction, identify the mutation points of the slope gradient along the edge of the working area, perform vector superposition on the obstacle direction vectors between adjacent mutation points, screen the mutation points whose direction superposition modulus exceeds the neighborhood average value, generate an edge turning point connection sequence, and use the formula:

[0020] ;

[0021] Perform operations to obtain the obstacle trend angle, integrate the coordinate distribution of the edge turning point connection sequence, and generate an obstacle trend feature group;

[0022] Wherein, represents the obstacle trend angle, represents the slope gradient vector, represents the obstacle direction vector, represents the turning point distribution density coefficient, represents the th direction offset weight of the turning point;

[0023] S203: Based on the trend angle and the turning point coordinates in the obstacle trend feature group, perform spatial overlay on the preset width of the cutter head coverage trajectory and the included angle range of the dynamic parameter of the propulsion direction, match the overlapping area between the trajectory coverage boundary and the turning point connection sequence, and generate a mowing propulsion and attitude adjustment target set.

[0024] As a further solution of the present invention, the obtaining steps of the mowing control action combination result are as follows:

[0025] S301: Extract the propulsion inclination angle, path rotation angle, and cutter head cutting depth sequence from the mowing propulsion and attitude adjustment target set, match the propulsion motor angular velocity range parameter with the cutter head lifting step spacing parameter, calculate the ratio of the product of the angular velocity and the step spacing to the cutting depth, and generate a drive parameter constraint set;

[0026] S302: Call the propulsion inclination angle and path rotation angle data in the drive parameter constraint set, perform a Cartesian product combination on the boundary values of different structural response ranges, and use the formula:

[0027] ;

[0028] Perform operations to obtain the structural linkage coefficient, screen the combination items whose coefficients exceed the sum of the average value of the propulsion inclination angle and the standard deviation of the path rotation angle, and generate a structural linkage sequence group;

[0029] Among them, represents the structural linkage coefficient, represents the th propulsion inclination angle, represents the path rotation angle, represents the upper limit of the motor angular velocity, represents the cutter head lifting step spacing, represents the cutter head cutting depth sequence, represents the coverage weight of the structural response range, represents the total number of combinations of the propulsion inclination angle and the rotation angle;

[0030] S303: Based on the sorting result of the structural linkage sequence group, rank the priority of the combination items in descending order according to the linkage coefficient, perform a timing match on the cutter head cutting depth sequence and the step spacing parameter, and generate a mowing control action combination result.

[0031] As a further solution of the present invention, the steps for obtaining the timing adaptation adjustment result of the action group are:

[0032] S401: Call the combined action sequence in the Sohu mowing control action combination result, obtain the response cycle record of the propulsion motor and the physical response interval parameter of the obstacle avoidance component, compare the instruction trigger time interval with the physical response interval item by item, mark the combination items whose trigger time interval is less than the physical response interval, and generate a timing conflict mark set;

[0033] S402: Based on the conflict items in the timing conflict mark set, extract the response cycle data of the cutter head lifting execution module, and use the formula:

[0034] ;

[0035] Obtain the conflict priority coefficient through calculation, arrange the conflict items in descending order of the coefficient, screen out the combined items whose coefficient exceeds the average value of the response cycle of the propulsion motor, and generate a timing conflict priority sequence;

[0036] Among them, represents the th conflict priority coefficient, represents the physical response interval of the obstacle avoidance component, represents the time interval between instruction triggers, represents the action overlap rate, represents the delay deviation weight of the cutter head lifting module, represents the total number of conflict items;

[0037] S403: Invoke the sorting result of the timing conflict priority sequence, perform spatial matching between the action overlap area of the marked item and the cutter head lifting step distance parameter, adjust the trigger time interval in the order of priority, and generate an action group timing adaptation adjustment result.

[0038] As a further solution of the present invention, the step of obtaining the mowing operation action execution instruction is:

[0039] S501: Invoke the path propulsion instruction parameter in the action group timing adaptation adjustment result, match the angular velocity range of the propulsion motor with the displacement increment of the path instruction, calculate the product of the angular velocity and the displacement increment, and generate a path propulsion control signal;

[0040] S502: Based on the steering angle adjustment value in the action group timing adaptation adjustment result, extract the servo response cycle parameter of the obstacle avoidance component, compare the steering angle adjustment value with the angular acceleration threshold of the servo, and generate an obstacle avoidance angle control parameter that meets the threshold range;

[0041] S503: Integrate the path propulsion control signal and the obstacle avoidance angle control parameter, match the cutter head height adjustment sequence with the step distance response range of the lifting component, and generate a mowing operation action execution instruction including propulsion, steering, and lifting synchronization instructions.

[0042] An environment perception-driven lawn mower control system, the system includes:

[0043] An environment data fusion module, which obtains the slope change sampling value of the slope sensor, the contour coordinate set of the boundary recognition module, and the obstacle direction vector value of the laser rangefinder, aligns the three groups of data in spatial position according to the time stamp, and performs raster matching on the operation width parameter and the block propulsion coordinate to generate a dynamic environment configuration map of the operation area;

[0044] The propulsion strategy generation module calculates the extreme values of the propulsion direction inclination angle and the coordinate sequence of the edge turning points based on the slope gradient data and the obstacle direction vector in the dynamic environment configuration map of the work area, extracts the spatial overlap parameters between the cutter head trajectory and the obstacle deformation points, and generates a mowing propulsion and attitude adjustment target set;

[0045] The action combination optimization module calls the propulsion inclination angle, path rotation angle, and cutter head cutting depth parameters in the mowing propulsion and attitude adjustment target set, matches the motor angular velocity range and the lifting step distance threshold, and performs combined cross-validation on the motor steering angle and the lifting height parameters to generate the mowing control action combination result;

[0046] The timing coordination module calculates the difference between the servo response period and the instruction interval based on the timestamps of the motor steering instruction and the cutter head lifting instruction in the mowing control action combination result, identifies the steering angle adjustment delay and the overlapping section of the lifting actions, and generates the timing adaptation adjustment result of the action group;

[0047] The execution drive module outputs a PWM duty cycle signal to the propulsion motor, sends an angle encoding instruction to the steering servo, and transmits the stepping pulse parameters to the lifting component based on the propulsion path coordinates, the steering angle adjustment value, and the cutter head height sequence corrected by the timing adaptation adjustment result of the action group, and generates the mowing operation action execution instruction.

[0048] The beneficial effects brought by the technical solution provided by the embodiment of the present invention at least include:

[0049] In the present invention, through the spatio-temporal correlation calibration and dynamic layer construction of multi-dimensional perception data, the terrain slope gradient, obstacle direction vector, and boundary contour are transformed into quantitative spatial configuration parameters, improving the accuracy of environmental feature analysis. Based on the derivation of the propulsion inclination angle and the edge turning point sequence, the dynamic superposition of the cutter head trajectory and the terrain mutation is realized, enhancing the path adaptability under complex landforms. The combined comparison of the structural response ranges and the sequence grouping mechanism optimize the linkage matching of the propulsion motor angular velocity, cutter head lifting step, and path rotation angle, reducing the risk of action conflicts among multiple actuators. The timing adaptation adjustment combines the physical response interval to predict the instruction trigger delay and action overlap, ensuring the synchronization of control instructions and mechanical execution. The dynamic parameter coordination driven by the environmental configuration enables the cutting height, traveling speed, and power output to form a closed-loop adjustment, reducing the power redundancy loss caused by terrain undulation. The closed-loop control of the path propulsion, steering angle, and cutter head height improves the continuity of the cutting trajectory in the area with sudden changes in vegetation density, reduces the operation interruption caused by path deviation, and significantly enhances the comprehensive performance and operation efficiency of the equipment in complex scenarios. Description of the Drawings

[0050] Figure 1 is the method flow chart of the present invention;

[0051] Figure 2This is the flowchart for obtaining the dynamic environment configuration diagram of the operation area of the present invention;

[0052] Figure 3 This is the flowchart for obtaining the target set of mowing propulsion and attitude adjustment of the present invention;

[0053] Figure 4 This is the flowchart for obtaining the combined result of mowing control actions of the present invention;

[0054] Figure 5 This is the flowchart for obtaining the timing adaptation adjustment result of the action group of the present invention;

[0055] Figure 6 This is the flowchart for obtaining the execution instruction of the mowing operation action of the present invention. Detailed implementation manners

[0056] The following describes the technical solutions in the present invention with reference to the accompanying drawings.

[0057] In the embodiments of the present invention, words such as "exemplarily" and "for example" are used to represent examples, illustrations or explanations. Any embodiment or design solution described as an "example" in the present invention should not be construed as being more preferred or more advantageous than other embodiments or design solutions. Exactly speaking, the use of the word "example" is intended to present concepts in a specific way. In addition, in the embodiments of the present invention, the meaning expressed by "and / or" can be both, or either one of the two can be selected.

[0058] In the embodiments of the present invention, "image" and "picture" can sometimes be used interchangeably. It should be noted that when the difference is not emphasized, the meanings they express are the same. "(of)", "corresponding", and "corresponding" can sometimes be used interchangeably. It should be noted that when the difference is not emphasized, the meanings they express are the same.

[0059] In the embodiments of the present invention, sometimes subscripts such as W1 may be written in a non-subscript form such as W1. When the difference is not emphasized, the meanings they express are the same.

[0060] To make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will be described in detail with reference to the accompanying drawings and specific embodiments.

[0061] Please refer to Figure 1 , the present invention provides a technical solution: a lawn mower control method driven by environmental perception, including the following steps:

[0062] S1: Obtain the slope change value of the operation area, the boundary coordinates of the area contour, and the forward direction vector of the obstacle through the slope sensor, boundary recognition module, and laser rangefinder. Classify the coordinates according to the sensor sampling timestamp and calibrate the sampling position. Match the operation width and the divided coordinates of the propulsion area to construct a unified mapping layer and generate a dynamic environment configuration map of the operation area;

[0063] S2: According to the slope gradient and obstacle direction vector of each area in the dynamic environment configuration map of the operation area, deduce the inclination angle of the propulsion direction and the connection sequence of the edge turning points. Extract the obstacle trend angle and the edge deformation point group along the propulsion direction in the operation area, and perform spatial overlay processing on the cutter head coverage trajectory to generate a mowing propulsion and attitude adjustment target set;

[0064] S3: Extract the propulsion inclination angle, path rotation angle, and cutter head cutting depth sequence in the mowing propulsion and attitude adjustment target set. Match the angular velocity range of the propulsion motor and the stepping distance of the cutter head lifting. Perform mutual combination comparison and sequence grouping on the response ranges of different structures, and generate the mowing control action combination result according to the structural linkage sequence;

[0065] S4: According to the combined action sequence in the mowing control action combination result, consult the response cycle records of the propulsion motor, obstacle bypass component, and cutter head lifting execution module. Match the trigger time interval between instructions and the physical response interval, mark and sort the combined structures with trigger delay and action overlap, and generate the timing adaptation adjustment result of the action group;

[0066] S5: According to the path propulsion instruction, steering angle adjustment value, and cutter head height adjustment sequence in the timing adaptation adjustment result of the action group, send a propulsion path control signal to the propulsion motor, send an obstacle bypass angle control instruction to the steering servo, and send a cutter head height displacement instruction to the lifting component to drive the mowing machine to complete the mowing operation action execution instruction.

[0067] The dynamic environment configuration map of the operation area includes a terrain elevation point set, an obstacle front vector, a width divided coordinate sequence, and a dynamic slope mapping layer. The mowing propulsion and attitude adjustment target set specifically includes a propulsion direction inclination angle threshold, a turning point topology sequence, an obstacle trend angle clustering, and a cutter head trajectory spatial overlay parameter group. The mowing control action combination result includes a motor angular velocity matching table, a cutter head lifting stepping distance sequence, and a structural response combination range index. The timing adaptation adjustment result of the action group specifically refers to an instruction trigger delay mark set, a physical response interval calibration value, and an action overlap priority list. The mowing operation action execution instruction includes a linear propulsion pulse signal, an obstacle bypass vector angle encoding, and a cutter head height discretized displacement instruction.

[0068] Please refer to Figure 2 , the steps for obtaining the dynamic environment configuration map of the operation area are as follows:

[0069] S101: Obtain the slope change value output by the slope sensor, the boundary coordinates of the area contour collected by the boundary recognition module, and the obstacle front direction vector detected by the laser rangefinder, classify the three types of data by time series based on the sampling timestamp of the sensor data, calibrate the spatial position of each data point, and generate a multi-source sensor data set;

[0070] The output data of the slope sensor, boundary recognition module, and laser rangefinder are called. The slope sensor outputs the slope change value with a period of 0.5 seconds. For example, the slope is detected to be 0.15 radians at the timestamp t=12:00:00. The boundary recognition module collects boundary coordinate points at a frequency of 10Hz. For example, the coordinate sequence {(1.2, 3.4), (2.5, 4.7)} is obtained between t=12:00:00.000 and t=12:00:00.100. The laser rangefinder measures the obstacle direction vector as (0.78, 0.62) at the same timestamp, with a modulus of 1.0. The three types of data are aligned according to the millisecond timestamp. For example, the slope data 0.15 radians, boundary coordinates (1.2, 3.4), and direction vector (0.78, 0.62) at t=12:00:00.050 are combined. And it is a record. In the case of sensor transmission delay, such as a slope sensor delay of 50ms, the slope data at t=12:00:00.000 is marked as t=12:00:00.050, and is associated with the coordinates (2.5,4.7) of the same time boundary. The polar coordinate direction vector is converted into a rectangular coordinate through the coordinate conversion formula. For example, a direction angle of 30 degrees corresponds to (cos30°, sin30°)=(0.866,0.5), and each data point is assigned a three-dimensional space coordinate (x, y, θ), where θ is the slope value. For example, the point (1.2, 3.4) corresponds to (1.2, 3.4, 0.15). Finally, a multi-source sensor data set containing 2000 records is generated. The format of each record is [timestamp, x coordinate, y coordinate, slope radian, vector x, vector y].

[0071] S102: calling the boundary coordinates and obstacle direction vectors in the multi-source sensor data set, matching the operation width parameter with the regional block coordinates, verifying the consistency between the width parameter and the block boundary through the spatial coverage of discrete coordinate points, removing abnormal coordinate points beyond the preset range, and generating a block coordinate mapping set;

[0072] Call the set of boundary coordinates \(\{(1.2, 3.4), (2.5, 4.7), (3.1, 5.9)\}\) and the set of obstacle vectors \(\{(0.78, 0.62), (0.92, 0.39)\}\) in the multi-source dataset. Set the working width \(W = 3.0\) meters and the block size as \(1m×1m\). Divide the working area into grid cells. For example, the coordinate range of block \((1, 3)\) is \(x\in[1, 2]\), \(y\in[3, 4]\). Count the number of boundary points contained in this block. For example, block \((1, 3)\) contains 2 points \((1.2, 3.4)\) and \((2.5, 4.7)\). Calculate the coverage \(C = 2 / 5 = 40\%\). Compare with the preset coverage threshold \(C_{th}=85\%\). Since \(40\%<85\%\), determine that block \((1, 3)\) is an invalid area. At the same time, calculate the angle between the obstacle vector and the block boundary. For example, the angle \(\theta=\arctan(0.62 / 0.78)=38.5\) degrees between the vector \((0.78, 0.62)\) and the boundary of block \((2, 4)\) exceeds the allowed threshold of 30 degrees, so eliminate this vector. Retain the qualified block \((2, 4)\) and vector \((0.92, 0.39)\), and its angle \(\theta=\arctan(0.39 / 0.92)=23\) degrees. Generate a block coordinate mapping set containing 3 valid blocks and 5 vectors, and the storage format is \([block ID, center coordinate, coverage, associated vector list]\).

[0073] S103: Based on the coordinate distribution in the block coordinate mapping set, superimpose the slope change values and the obstacle direction vectors of the multi-source sensor dataset, fill the missing data within the area contour boundary through the coordinate interpolation algorithm, construct a three-dimensional space mapping layer including the working width, block boundaries, and obstacle directions, and generate a dynamic environment configuration map of the working area;

[0074] Based on the valid blocks \(\{(2, 4), (3, 5), (4, 6)\}\) in the block mapping set, superimpose the slope data \(0.15\), \(0.18\), \(0.22\) radians and the obstacle vectors \((0.92, 0.39)\), \((0.85, 0.52)\). Perform bilinear interpolation on the missing coordinate \((2.5, 4.5)\), take the slope values \(0.15\), \(0.18\), \(0.17\), \(0.20\) radians of the surrounding four points \((2, 4)\), \((3, 4)\), \((2, 5)\), \((3, 5)\), and calculate the interpolation slope: \(\theta=(0.15*(3 - 2.5)(5 - 4.5)+0.18(2.5 - 2)(5 - 4.5)+0.17(3 - 2.5)\).

[0075] (4.5 - 4) + 0.20(2.5 - 2)(4.5 - 4)) / ((3 - 2)(5 - 4)) = 0.175 radians. When interpolating the obstacle vector, take the weight of the adjacent vectors (0.92, 0.39) as 0.6 and (0.85, 0.52) as 0.4. Calculate the vector components Vx = 0.92×0.6 + 0.85×0.4 = 0.89 and Vy = 0.39×0.6 + 0.52×0.4 = 0.43. Generate the data node [slope = 0.175, vector = (0.89, 0.43)] at the coordinate (2.5, 4.5) in the 3D layer. Finally, construct a spatial mapping layer containing 5000 interpolation points with a layer accuracy of 0.1 m level, a slope resolution of 0.01 radians, and an obstacle vector modulus error of ±0.05, forming a dynamically updated dynamic environment configuration map of the work area.

[0076] Please refer to Figure 3 , and the steps for obtaining the mowing propulsion and attitude adjustment target set are as follows:

[0077] S201: Based on the slope gradient and obstacle direction vector in the dynamic environment configuration map of the work area, extract the vector change amount of the slope gradient in adjacent areas, perform a dot product operation on the direction vector and the slope vector, calculate the angle between the propulsion direction and the slope gradient, and generate dynamic parameters for the propulsion direction;

[0078] Call the slope gradient vectors of the coordinate points P1(2.1, 3.5), P2(2.5, 4.1), and P3(3.2, 5.0) in the dynamic environment configuration map of the work area. For example, the slope gradient vector of point P1 radians / meter. Calculate the horizontal change rate from the slope of 0.12 radians at the adjacent coordinate point P0(2.0, 3.4) and the slope of 0.15 radians at point P1 , and the vertical change rate (converted according to the terrain elevation difference of 0.2 meters), and the obstacle direction vector is generated by projecting the normal direction of the obstacle surface measured by the laser rangefinder at point P1. Calculate the dot product of the two vectors , the vector modulus , , the angle . Traverse all points in the area, eliminate the invalid points with an angle exceeding 90 degrees (such as the angle of 112 degrees at point P4(3.8, 4.2)), and retain the valid points to generate a dynamic parameter set for the propulsion direction. The parameter format is [coordinate point, slope gradient, obstacle vector, angle]. For example, the record of point P1 is [(2.1, 3.5), (0.15, -0.08), (0.92, 0.39), 53.2°].

[0079] S202: Invoke the included angle data in the dynamic parameters of the propulsion direction, identify the mutation points of the slope gradient along the edge of the operation area, perform vector superposition on the obstacle direction vectors between adjacent mutation points, filter out the mutation points whose superposition modulus length of directions exceeds the neighborhood average value, generate the edge turning point connection sequence, and use the formula:

[0080] ;

[0081] Calculate the obstacle trend angle through operations, integrate the coordinate distribution of the edge turning point connection sequence, and generate the obstacle trend feature group;

[0082] Among them, represents the obstacle trend angle, represents the slope gradient vector, represents the obstacle direction vector, represents the turning point distribution density coefficient, represents the th direction offset weight of the turning point;

[0083] Based on the dynamic parameter set of the propulsion direction, detect the mutation points of the slope gradient along the edge of the operation area. For example, the slope gradient of point P2(2.5, 4.1) suddenly increases from 0.18 radian / meter to 0.25 radian / meter (change rate 38.9%), which is determined as a mutation point. Extract the obstacle direction vector set {(0.85, 0.52), (0.70, 0.71)} between adjacent mutation points A(2.5, 4.1) and B(3.2, 5.0), and calculate the vector superposition modulus length , Compare with the neighborhood average modulus length threshold of 1.8 (set according to historical operation data). Since 2.72 > 1.8, retain this pair of mutation points and generate the edge turning point connection sequence {A→B}. When calculating the obstacle trend angle, set the turning point distribution density coefficient (N_c = 3 is the number of turning points, A = 12 ㎡ is the area of the region), and the direction offset weight . For example, the included angle of turning point A is 29.7 degrees corresponding to , and the included angle of point B is 85.4 degrees corresponding to . Substitute into the formula:

[0084] ;

[0085] The result shows that the obstacle trend angle is 5.0 degrees, indicating that the distribution of obstacles has a weak overall deviation effect on the path. The frequency of obstacle avoidance adjustment can be reduced, and the straight-line propulsion can be preferentially maintained. Only local attitude fine-tuning is required near the turning point A(2.5, 4.1), thereby reducing the consumption of computing resources and improving the operation efficiency.

[0086] S203: Based on the trend angles and turning point coordinates in the obstacle trend feature group, spatially overlay the included angle range between the preset width of the cutter head coverage trajectory and the dynamic parameters of the advancing direction, match the overlapping area between the trajectory coverage boundary and the turning point connection sequence, and generate a mowing advancement and attitude adjustment target set;

[0087] Integrate the obstacle trend feature group, set the preset width W of the cutter head coverage trajectory to 1.2 m, calculate the spatial overlapping area between the trajectory coverage boundary (0.6 m on each side of the center line) and the turning point connection sequence {A→B}. For example, the distance from point A(2.5, 4.1) to the trajectory center line is 0.3 m (less than 0.6 m), which is determined as the overlapping area. The distance from point B(3.2, 5.0) is 0.9 m (exceeding the threshold), and only point A is retained as the effective adjustment point. Adjust the cutter head pitch angle to , and the advancing speed correction formula is ( m / s), and the calculated result is m / s. The cutter head height is adjusted according to the vertical component of the obstacle direction vector , with a reference height of 0.15 m and a correction value of m, generating a mowing advancement and attitude adjustment target set. The parameters include [area number, advancing speed, cutter head height, pitch angle]. For example, area Z1 is recorded as [Z1, 0.972 m / s, 0.202 m, 5.0°].

[0088] Please refer to Figure 4 , and the steps to obtain the mowing control action combination result are as follows:

[0089] S301: Extract the advancing inclination angle, path rotation angle, and cutter head cutting depth sequence in the mowing advancement and attitude adjustment target set, match the advancing motor angular velocity range parameter and the cutter head lifting step spacing parameter, calculate the ratio of the product of the angular velocity and the step spacing to the cutting depth, and generate a driving parameter constraint set;

[0090] Call the advancing inclination angle , path rotation angle , and cutter head cutting depth sequence in the mowing advancement and attitude adjustment target set, match the advancing motor angular velocity range and the cutter head lifting step spacing , calculate the product of the angular velocity and the step spacing , for example , and further calculate the ratio of this product to the cutting depth , for example , traverse all combinations (3 tilting angles × 3 slewing angles × 2 angular velocities) to generate a set of drive parameter constraints. The parameter format is [combination number, propulsion tilting angle, slewing angle, angular velocity, step spacing, cutting depth, ratio]. For example, combination 1 is recorded as [1, 5°, 12°, 2.5 rad / s, 0.05 m, 0.15 m, 0.833].

[0091] S302: Call the propulsion tilting angle and path slewing angle data in the drive parameter constraint set, perform a Cartesian product combination of the boundary values of different structural response ranges, and use the formula:

[0092] ;

[0093] Calculate the structural coupling coefficient through operations, filter out the combination items whose coefficients exceed the sum of the mean of the propulsion tilting angle and the standard deviation of the path slewing angle, and generate a structural coupling sequence group;

[0094] Among them, represents the structural coupling coefficient, represents the th propulsion tilting angle, represents the path slewing angle, represents the upper limit of the motor angular velocity, represents the step spacing of the cutter head lifting, represents the cutter head cutting depth sequence, represents the coverage weight of the structural response range, represents the total number of combinations of the propulsion tilting angle and the slewing angle;

[0095] Call the propulsion tilting angle and the path slewing angle in the drive parameter constraint set, set the upper limit of the motor angular velocity , the step spacing of the cutter head lifting , extract the cutter head cutting depth sequence , the coverage weight of the structural response range (set according to the response range coverage rate of 80%), calculate the structural coupling coefficient , the propulsion tilting angle is obtained from the attitude adjustment target set (for example, 5 degrees corresponds to flat terrain, and 12 degrees corresponds to steep slopes), the path slewing angle is based on the steering angle output by the trajectory planning module, and the upper limit of the motor angular velocity is set by the rated parameters of the motor. The step spacing of the cutter head lifting is set to 0.05 meters according to the mechanical structure accuracy. The cutter head cutting depth sequence is measured in real time by the pressure sensor and filtered. The coverage weight The calculation formula is the area of the effective response range / the area of the total operation area (for example, when the coverage rate is 60% ).

[0096] The first set of parameters ( ):

[0097] , ;

[0098] Calculation item 1: , ;

[0099] Calculation item 2: ;

[0100] The second set of parameters ( ):

[0101] , ;

[0102] Calculation item 1: ,

[0103] Calculation item 2: ;

[0104] The third set of parameters ( ):

[0105] , ;

[0106] Calculation item 1: ,

[0107] Calculation item 2: ;

[0108] Total calculation:

[0109] ;

[0110] The screening reference value is set to the mean of the propulsion inclination angle and the standard deviation of the path rotation angle sum , converted to radians , because , all combinations are retained, and a structural linkage sequence group is generated by arranging them in descending order of coefficients;

[0111] The results show that the linkage coefficient of combination 3 is the highest (7.077), indicating that under the working conditions of a steep slope (12 degrees) and a large rotation angle (18 degrees), it is necessary to first adjust the cutter head cutting depth to 0.20 meters and reduce the stepping frequency to relieve the mechanical structure stress.

[0112] S303: Based on the sorting result of the structural linkage sequence group, arrange the priorities of the combination items in descending order according to the linkage coefficient, perform timing matching on the cutter head cutting depth sequence and the step distance parameter, and generate the mowing control action combination result;

[0113] Based on the sorting result of the structural linkage sequence group (the coefficient of combination 3 is the highest at 7.077, the coefficient of combination 2 is the second at 6.073, and the coefficient of combination 1 is the lowest at 7.077), arrange the priorities in descending order of the linkage coefficient as combination 3 > combination 2 > combination 1. Extract the cutter head cutting depth of 0.20 m and the step distance of 0.05 m for combination 3, match the timing parameters, and calculate the action interval of the cutter head lifting Set to execute a step action every 0.1 s, and at the same time adjust the steering interval of the propulsion motor according to the rotation angle of 18 degrees to be Generate the mowing control action combination result, and the parameters include [timing number, linkage coefficient, cutting depth, step interval, steering interval]. For example, the timing 1 is recorded as [1, 7.077, 0.20 m, 0.1 s, 64.8 ms].

[0114] Numerical result correlation description: This result shows that the step interval of 0.1 s and the steering interval of 64.8 ms for combination 3 can ensure that the cutter head stably cuts into the ground under the conditions of steep slopes and large rotation angles, and at the same time avoid the resonance risk caused by high-frequency actions of the mechanical structure. The final output action sequence will give priority to executing this combination parameter.

[0115] Please refer to Figure 5 for the steps to obtain the timing adaptation adjustment result of the action group:

[0116] S401: Call the combined action sequence in the mowing control action combination result, obtain the response cycle record of the propulsion motor and the physical response interval parameter of the obstacle avoidance component, compare the instruction trigger time interval item by item with the physical response interval, mark the combination items with the trigger time interval less than the physical response interval, and generate a timing conflict mark set;

[0117] Call the combined action sequence in the mowing control action combination result and extract the response cycle record of the propulsion motor and the physical response interval of the obstacle avoidance component , compare item by item the instruction trigger time interval with the physical response interval , for example, for combination 1's and , judge is established and mark it as a conflict item. For combination 2's and , there is also a marking conflict. Traverse all 3 groups of parameters to generate a timing conflict marking set in the format of [conflict item number, triggering time interval, physical response interval, marking status]. For example, conflict item 1 is recorded as [1, 60ms, 65ms, conflict], conflict item 2 is recorded as [2, 70ms, 80ms, conflict], and conflict item 3 is recorded as [3, 90ms, 100ms, non - conflict]. After screening, the total number of conflict items is 2.

[0118] S402: Based on the conflict items in the timing conflict marking set, extract the response cycle data of the cutter head lifting execution module, and use the formula:

[0119] ;

[0120] Calculate the conflict priority coefficient through operation, arrange the conflict items in descending order of the coefficient, and screen out the combined items whose coefficients exceed the average value of the propulsion motor response cycle to generate a timing conflict priority sequence;

[0121] Among them, represents the th conflict priority coefficient, represents the physical response interval of the obstacle avoidance component, represents the triggering time interval of the instruction, represents the action overlap rate, represents the delay deviation weight of the cutter head lifting module, represents the total number of conflict items;

[0122] Call the conflict items in the timing conflict marking set, extract the physical response interval of the obstacle avoidance component and the triggering time interval of the instruction, set the action overlap rate (quantified according to the action overlap ratio of 30%, 50%, 70% in historical data), and the delay deviation weight of the cutter head lifting module (set according to the proportion of the delay deviation in the total error of 40%), substitute into the formula to obtain the conflict priority coefficient , the physical response interval of the obstacle avoidance component is measured by synchronously timing the laser rangefinder and the motor encoder, the triggering time interval of the instruction is calculated by the time - stamp difference of the control instruction sequence, the action overlap rate The calculation formula is the number of overlapping actions / the total number of actions (for example, if 2 out of 3 actions overlap, then ), and the delay deviation weight is set according to the proportion of the number of cutter head lifting delays in the total number of actions;

[0123] The first group of conflict items ( ): , , ;

[0124] Calculation item 1: ;

[0125] Calculation item 2: ;

[0126] The second group of conflict items ( ): , , ;

[0127] Calculation item 1: ;

[0128] Calculation item 2: ;

[0129] The third group of conflict items ( ): , , ;

[0130] Calculation item 1: ;

[0131] Calculation item 2: ;

[0132] Total calculation:

[0133] ;

[0134] The screening reference value is set to the average value of the propulsion motor response cycle , because , only conflict item 2 is retained, and the generated timing conflict priority sequence is [conflict item 2 > conflict item 1 > conflict item 3];

[0135] This result shows that the priority coefficient of conflict item 2 is the highest (74.5), and it is necessary to first adjust its instruction trigger interval from 70 ms to 80 ms to match the physical response ability of the obstacle avoidance component and ensure conflict-free execution of the action sequence.

[0136] S403: Call the sorting result of the timing conflict priority sequence, perform spatial matching between the action overlapping area of the marked item and the tool head lifting step spacing parameter, and adjust the trigger time interval in the order of priority to generate the timing adaptation adjustment result of the action group;

[0137] Call the sorting result of the timing conflict priority sequence (conflict item 2 > conflict item 1 > conflict item 3), and extract the physical response interval of conflict item 2 , the instruction trigger time interval , the tool head lifting step spacing , and calculate the length of the action overlapping area , match the cutting depth of the cutter head and the step pitch , calculate the adjusted trigger time interval (rounded to 80 ms), synchronously correct the angular velocity of the propulsion motor as , associate the timing parameters of the cutter head lifting , generate the adjusted action group parameter [conflict item number, corrected angular velocity, step interval, trigger interval], for example, conflict item 2 is recorded as [2, 2.857 rad / s, 87.5 ms, 80 ms]. After traversing all conflict items, integrate the original parameters of non-conflicting items (such as conflict item 3 remains ), finally form the timing adaptation adjustment result of the action group, and the output parameter set contains 3 groups of complete timing parameters

[0138] Please refer to Figure 6 , the steps to obtain the instruction for performing the grass cutting operation are as follows

[0139] S501: Call the path propulsion instruction parameter in the timing adaptation adjustment result of the action group, match the angular velocity range of the propulsion motor with the displacement increment of the path instruction, calculate the product of the angular velocity and the displacement increment, and generate a path propulsion control signal

[0140] Call the path propulsion instruction parameter in the timing adaptation adjustment result of the action group, extract the angular velocity of the propulsion motor and the displacement increment , traverse 3 groups of parameter combinations, calculate the product of the angular velocity and the displacement increment , for example, for combination 2 , generate a path propulsion control signal, and the parameter format is [signal number, angular velocity, displacement increment, control signal value]. For example, signal 2 is recorded as [2, 2.857 rad / s, 0.20 m, 0.571 m / s]. Check whether the control signal value exceeds the rated output range of the motor (0.1 - 1.0 m / s). The 0.571 m / s of combination 2 is within the effective range and is retained as a valid signal to generate a path propulsion control signal

[0141] S502: Based on the steering angle adjustment value in the timing adaptation adjustment result of the action group, extract the servo response cycle parameter of the obstacle avoidance component, compare the steering angle adjustment value with the angular acceleration threshold of the servo, and generate an obstacle avoidance angle control parameter that meets the threshold range

[0142] Based on the steering angle adjustment value in the timing adaptation adjustment result of the action group , call the servo response cycle parameter of the obstacle avoidance component , calculate the angular acceleration threshold of the servo , for example, for combination 2 , compare the hardware limitations of the server , since 98.1 < 100, it is determined to meet the threshold, and generate obstacle avoidance angle control parameters [combination number, steering angle, response period, angular acceleration]. For example, combination 2 is recorded as [2, 18°, 80ms, 98.1rad / s²]. If the calculation result exceeds , then calculate according to the steering angle again and generate obstacle avoidance angle control parameters.

[0143] S503: Integrate the path propulsion control signal and the obstacle avoidance angle control parameters, match the cutter head height adjustment sequence with the stepping distance response range of the lifting component, and generate a mowing operation action execution instruction including propulsion, steering, and lifting synchronization instructions;

[0144] Integrate the parameters [0.406m / s, 0.571m / s, 0.450m / s] of the path propulsion control signal set and [12°, 18°, 15°] of the obstacle avoidance angle control parameter set, extract the cutter head height adjustment sequence and the stepping distance response range of the lifting component , calculate the number of height adjustment steps , for example, that of combination 2 , match the propulsion speed of 0.571m / s with the steering angle of 18°, and generate synchronous instruction parameters [instruction number, propulsion speed, steering angle, number of steps]. For example, instruction 2 is recorded as [2, 0.571m / s, 18°, 4steps], and check whether the number of steps exceeds the maximum number of steps of the lifting motor , 4 < 10, it is determined to be valid, and finally output a set of mowing operation action execution instructions, including 3 sets of complete instruction parameters.

[0145] An environment perception-driven mower control system, the system includes:

[0146] An environment data fusion module, which obtains the slope change sampling value of the slope sensor, the contour coordinate set of the boundary recognition module, and the obstacle direction vector value of the laser rangefinder, aligns the three groups of data in space according to the time stamp, and rasterizes and matches the operation width parameter with the segmented propulsion coordinates to generate a dynamic environment configuration map of the operation area;

[0147] A propulsion strategy generation module, based on the slope gradient data and obstacle direction vectors in the dynamic environment configuration map of the operation area, calculates the extreme values of the propulsion direction inclination angle and the sequence of edge turning point coordinates, extracts the spatial overlap parameters of the cutter head trajectory and the obstacle deformation points, and generates a set of mowing propulsion and attitude adjustment targets;

[0148] The action combination optimization module calls the propulsion inclination angle, path rotation angle, and cutter head penetration depth parameters in the mowing propulsion and attitude adjustment target set, matches the motor angular velocity range and the lifting step distance threshold, conducts combined cross-validation on the motor steering angle and lifting height parameters, and generates the mowing control action combination result;

[0149] The timing coordination module calculates the difference between the servo response cycle and the instruction interval based on the timestamps of the motor steering command and the cutter head lifting command in the mowing control action combination result, identifies the steering angle adjustment delay and the overlapping section of the lifting actions, and generates the timing adaptation adjustment result of the action group;

[0150] The execution drive module outputs a PWM duty cycle signal to the propulsion motor, sends an angle encoding instruction to the steering servo, and transmits the stepping pulse parameters to the lifting component based on the propulsion path coordinates, steering angle adjustment value, and cutter head height sequence corrected by the timing adaptation adjustment result of the action group, and generates the mowing operation action execution instruction.

[0151] As mentioned above, it is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the said claims.

Claims

1. An environment perception-driven lawn mower control method, characterized in that, It includes the following steps: S1: Obtain the slope of the operation area, the boundary coordinates of the area contour, and the front direction of the obstacle, map them into the operation layer according to the area number, and generate a dynamic environment configuration map of the operation area; S2: According to the slope gradient and the obstacle direction vector in the dynamic environment configuration map of the operation area, construct the propulsion direction, the sequence of turning points, and the overlapping trajectory of the cutter head, determine the path control direction and the structural adjustment requirements, and generate a target set for grass cutting propulsion and attitude adjustment; S3: Extract the propulsion angle, the turning amplitude, and the cutter head lifting amount in the target set for grass cutting propulsion and attitude adjustment, combine the actions of the propulsion, turning, and lifting modules, and generate the combined result of grass cutting control actions; S4: Match the time according to the response cycles of each group of instructions in the combined result of grass cutting control actions with the propulsion motor, the steering servo, and the cutter head lifting module, mark the combined structures with trigger delay and action overlap, and generate the time sequence adaptation adjustment result of the action group; S5: According to the path propulsion instruction, the steering angle adjustment value, and the cutter head height adjustment sequence in the time sequence adaptation adjustment result of the action group, sequentially send path, rotation, and height instructions to the propulsion, turning, and lifting modules to complete the instruction for executing the grass cutting operation action.

2. The environmental perception-driven lawn mower control method according to claim 1, characterized in that: The dynamic environment configuration map of the operation area includes a terrain elevation point set, an obstacle front vector, a width division block coordinate sequence, and a dynamic slope mapping layer. The target set for grass cutting propulsion and attitude adjustment is specifically the inclination threshold of the propulsion direction, the topological sequence of turning points, the clustering of obstacle trend angles, and the set of cutter head trajectory space overlapping parameters. The combined result of grass cutting control actions includes a motor angular velocity matching table, a cutter head lifting step distance sequence, and a structural response combination range index. The time sequence adaptation adjustment result of the action group specifically refers to the instruction trigger delay mark set, the physical response interval calibration value, and the action overlap priority list. The instruction for executing the grass cutting operation action includes a linear propulsion pulse signal, an obstacle avoidance vector angle encoding, and a cutter head height discretization displacement instruction.

3. The environmental perception-driven lawn mower control method according to claim 1, characterized in that: The obtaining steps of the dynamic environment configuration map of the operation area are as follows: S101: Obtain the slope change value output by the slope sensor, the boundary coordinates of the area contour collected by the boundary recognition module, and the obstacle front direction vector detected by the laser rangefinder. Based on the sampling timestamp of the sensor data, classify the three types of data according to the time sequence, calibrate the spatial positions of each data point, and generate a multi-source sensor data set; S102: Call the boundary coordinates and the obstacle direction vector in the multi-source sensor data set, match the operation width parameter with the area division block coordinates, verify the coincidence degree of the width parameter and the division boundary through the spatial coverage of discrete coordinate points, and eliminate the abnormal coordinate points beyond the preset range to generate a division block coordinate mapping set; S103: Based on the coordinate distribution in the division block coordinate mapping set, superimpose the slope change value and the obstacle direction vector of the multi-source sensor data set, fill the missing data within the area contour boundary through the coordinate interpolation algorithm, construct a three-dimensional space mapping layer including the operation width, the division boundary, and the obstacle direction, and generate a dynamic environment configuration map of the operation area.

4. The environmental perception-driven lawn mower control method according to claim 1, wherein: The obtaining steps of the target set for grass cutting propulsion and attitude adjustment are as follows: S201: Based on the slope gradient and obstacle direction vector in the dynamic environment configuration diagram of the working area, extract the vector change amount of the slope gradient in adjacent areas, perform a dot product operation on the direction vector and the slope vector, calculate the angle between the advancing direction and the slope gradient, and generate the dynamic parameters of the advancing direction; S202: Call the included angle data in the dynamic parameters of the advancing direction, identify the mutation points of the slope gradient along the edge of the working area, perform vector superposition on the obstacle direction vectors between adjacent mutation points, screen the mutation points whose magnitude of direction superposition exceeds the neighborhood average value, generate the connection sequence of edge turning points, and use the formula: ； Perform operations to obtain the obstacle trend angle, integrate the coordinate distribution of the connection sequence of edge turning points, and generate the obstacle trend feature group; Among them, represents the obstacle trend angle, represents the slope gradient vector, represents the obstacle direction vector, represents the turning point distribution density coefficient, represents the direction offset weight of the S203: Based on the trend angle and turning point coordinates in the obstacle trend feature group, perform spatial overlay on the preset width of the cutter head coverage trajectory and the included angle range of the dynamic parameters of the advancing direction, match the overlapping area between the trajectory coverage boundary and the connection sequence of turning points, and generate the mowing advancement and attitude adjustment target set.

5. The environmental perception-driven lawn mower control method according to claim 1, wherein: The steps for obtaining the combined result of the mowing control actions are as follows: S301: Extract the advancing inclination angle, path rotation angle, and cutter head cutting depth sequence in the mowing advancement and attitude adjustment target set, match the angular velocity range parameter of the advancing motor with the step distance parameter of the cutter head lifting, calculate the ratio of the product of the angular velocity and the step distance to the cutting depth, and generate the driving parameter constraint set; S302: Call the advancing inclination angle and path rotation angle data in the driving parameter constraint set, perform a Cartesian product combination on the boundary values of different structural response ranges, and use the formula: ； Perform operations to obtain the structure linkage coefficient, screen the combined items whose coefficient exceeds the sum of the average value of the advancing inclination angle and the standard deviation of the path rotation angle, and generate the structure linkage sequence group; Among them, represents the structural linkage coefficient, represents the th propulsion inclination angle, represents the path rotation angle, represents the upper limit of the motor angular velocity, represents the cutter head lifting step pitch, represents the cutter head cutting depth sequence, represents the coverage weight of the structural response range, represents the total number of combinations of the propulsion inclination angle and the rotation angle; S303: Based on the sorting result of the structure linkage sequence group, arrange the priorities of the combined items in descending order according to the linkage coefficient, perform temporal matching on the cutter head cutting depth sequence and the step distance parameter, and generate the combined result of the mowing control actions.

6. The environmental perception-driven lawn mower control method according to claim 1, wherein: The steps for obtaining the result of the temporal adaptation adjustment of the action group are as follows: S401: Call the combined action sequence in the combined result of the Sohu mowing control actions, obtain the response cycle record of the advancing motor and the physical response interval parameter of the obstacle avoidance component, compare the instruction trigger time interval with the physical response interval item by item, mark the combined items whose trigger time interval is less than the physical response interval, and generate the temporal conflict marking set; S402: Based on the conflict items in the temporal conflict marking set, extract the response cycle data of the cutter head lifting execution module, and use the formula: ； Perform operations to obtain the conflict priority coefficient, arrange the conflict items in descending order according to the coefficient, screen the combined items whose coefficient exceeds the average value of the advancing motor response cycle, and generate the temporal conflict priority sequence; Among them, represents the th conflict priority coefficient, represents the physical response interval of the obstacle avoidance component, represents the instruction trigger time interval, represents the action overlap rate, represents the delay deviation weight of the cutter head lifting module, represents the total number of conflict items; S403: Call the sorting result of the temporal conflict priority sequence, perform spatial matching on the action overlapping area of the marked items and the step distance parameter of the cutter head lifting, and adjust the trigger time interval in the order of priority to generate the result of the temporal adaptation adjustment of the action group.

7. The environmental perception-driven lawn mower control method according to claim 1, characterized in that: The steps for obtaining the execution instruction of the mowing operation action are as follows: S501: Invoke the path propulsion instruction parameters in the action group timing adaptation adjustment result, match the propulsion motor angular velocity range with the displacement increment of the path instruction, calculate the product of the angular velocity and the displacement increment, and generate a path propulsion control signal; S502: Based on the steering angle adjustment value in the action group timing adaptation adjustment result, extract the servo response cycle parameters of the obstacle avoidance component, compare the steering angle adjustment value with the angular acceleration threshold of the servo, and generate an obstacle avoidance angle control parameter that meets the threshold range; S503: Integrate the path propulsion control signal and the obstacle avoidance angle control parameter, match the cutter head height adjustment sequence with the stepping pitch response range of the lifting component, and generate a mowing operation action execution instruction including propulsion, steering, and lifting synchronization instructions.

8. An environment perception-driven lawn mower control system, characterized in that, The system is used for the environment perception-driven lawn mower control method according to any one of claims 1-7, and the system includes: An environmental data fusion module, which acquires the slope change sampling value of the slope sensor, the contour coordinate set of the boundary recognition module, and the obstacle direction vector value of the laser rangefinder, aligns the spatial positions of the three groups of data according to the time stamp, rasterizes and matches the working width parameter with the block propulsion coordinates, and generates a dynamic environmental configuration map of the working area; A propulsion strategy generation module, based on the slope gradient data and the obstacle direction vector in the dynamic environmental configuration map of the working area, calculates the extreme values of the propulsion direction inclination angle and the coordinate sequence of the edge turning points, extracts the spatial overlap parameters between the cutter head trajectory and the obstacle deformation points, and generates a mowing propulsion and attitude adjustment target set; An action combination optimization module, which invokes the propulsion inclination angle, path turning angle, and cutter head cutting depth parameters in the mowing propulsion and attitude adjustment target set, matches the motor angular velocity range with the lifting step distance threshold, and performs a combined cross-verification on the motor steering angle and the lifting height parameters to generate a mowing control action combination result; A timing coordination module, according to the time stamps of the motor steering instruction and the cutter head lifting instruction in the mowing control action combination result, calculates the difference between the servo response cycle and the instruction interval, identifies the steering angle adjustment delay and the overlapping section of the lifting action, and generates an action group timing adaptation adjustment result; An execution drive module, based on the propulsion path coordinates, steering angle adjustment value, and cutter head height sequence corrected by the action group timing adaptation adjustment result, outputs a PWM duty cycle signal to the propulsion motor, sends an angle encoding instruction to the steering servo, and transmits stepping pulse parameters to the lifting component to generate a mowing operation action execution instruction.

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