Grass mowing module wire outlet control method, grass mowing module, self-moving equipment and medium

Abstract

The invention discloses a line outgoing control method for a grass mowing module, the grass mowing module, self-moving equipment and a medium, and the method comprises the steps: controlling the grass mowing module in the self-moving equipment to start to execute automatic line outgoing operation after the self-moving equipment moves to a fixed edge area; the current current of the grass mowing module under the current rope outlet length is determined; obtaining a preset normal working current of the grass mowing module, and determining a relationship between the current and the preset normal working current; when the current current does not conform to the preset normal working current, the rope outlet acceleration in the grass mowing module is controlled to reach a preset instant acceleration threshold value, and normal grass mowing processing is conducted after the current current recovers to the preset normal working current, so that grass mowing work of the edge area is finally completed through the normal rope outlet length. According to the scheme, whether the rope outlet length of the current grass mowing module is abnormal or not is detected by comparing the relation between the current current and the preset normal working current, so that the grass mowing effect and the grass mowing effect of a subsequent boundary area are guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of grass trimming control of self-moving equipment, and in particular to a grass trimming module output control method, a grass trimming module, a self-moving equipment and a medium. Background Art

[0002] As a device with autonomous mobility, garden robots are widely used in lawn mowing operations. Their design features include a rotating blade at the bottom for cutting grass blades, and a mowing module composed of a mowing rope integrated into the edge area of the body to achieve fine-grained mowing close to the boundary. However, the current technical bottleneck is that when the mowing rope is worn after being driven by the working motor, or when the mowing rope comes into contact with boundary obstacles (such as fences, stones, flower bed edges, etc.), the two can easily cause abnormal displacement or deformation of the mowing rope, causing the rope length to deviate from the preset standard, or the mowing module cannot be normally output. The above situation directly reduces the mowing effect and quality of the mowing module along the boundary area.

[0003] Therefore, those skilled in the art are in urgent need of finding a new technical solution to solve the above technical problems. Summary of the Invention

[0004] Based on this, it is necessary to provide a grass trimming module line output control method, grass trimming module, self-moving equipment and medium to address the above technical problems, so as to solve the technical problems in the existing technology that the rope output length deviates from the preset standard and reduces the mowing efficiency and quality of the grass trimming module along the boundary area.

[0005] To achieve the above object, a method for controlling the output line of a grass trimming module is provided, the method comprising:

[0006] After the self-mobile device moves to the fixed edge area, controlling the grass trimming module in the self-mobile device to start the automatic rope feeding operation;

[0007] Determining a current current of the mowing module at a current rope output length;

[0008] Obtaining a preset normal operating current of the mowing module, and determining a relationship between the current current and the preset normal operating current;

[0009] When it is determined that the current current does not meet the preset normal operating current, the rope output acceleration in the grass trimming module is controlled to reach a preset instantaneous acceleration threshold, and the new rope output length is adjusted under the current rope output length, so that after the current current after the adjustment of the new rope output length returns to the preset normal operating current, the grass trimming module is controlled to perform normal grass trimming in the edge area.

[0010] Optionally, after the mobile device moves to the fixed edge area, controlling the grass trimming module in the mobile device to start the automatic rope-feeding operation includes:

[0011] Get the current location from the mobile device;

[0012] When it is determined that the current position of the self-moving device is the edge area, the grass trimming module in the self-moving device is controlled to perform an automatic rope-feeding operation according to a preset number of turns or a first preset rope-feeding length.

[0013] Optionally, before adjusting the new rope length based on the current rope length, the method further includes:

[0014] Obtaining a pre-established first mapping relationship between rope length and current; the longer the rope length, the greater the air resistance, and the greater the required current;

[0015] collecting the current of the working motor;

[0016] When the working motors corresponding to the grass trimming modules are regulated at the same speed, the current rope length of the grass trimming module is determined according to the current current under the first mapping relationship.

[0017] Optionally, determining the current output rope length of the mowing module according to the current current under the first mapping relationship includes:

[0018] Get the influence parameters of the rope;

[0019] a second mapping relationship between the rope length, the influencing parameter, and the current determined under the first mapping relationship; the influencing parameter affecting the magnitude of the required current;

[0020] collecting the current of the working motor;

[0021] When the working motors corresponding to the grass trimming modules are regulated at the same speed, the current rope length of the grass trimming module is determined according to the current current under the second mapping relationship.

[0022] Optionally, when the current current does not meet the preset normal operating current, controlling the rope output acceleration in the mowing module to reach a preset instantaneous acceleration threshold includes:

[0023] If the current current does not meet the preset normal operating current within the preset duration, the working motor in the mowing module is controlled to first decelerate and then accelerate, so as to change the rope output acceleration to the preset instantaneous acceleration threshold, and then the mowing rope is swung by the rope output acceleration.

[0024] Optionally, before obtaining the preset normal working current of the mowing module, the method further includes:

[0025] Get the calibrated speed value;

[0026] Controlling the rope output length of the grass trimming module to reach a second preset rope output length;

[0027] Under the second preset rope length, controlling the working motor corresponding to the grass cutting module to rotate;

[0028] When it is determined that the actual speed value of the working motor reaches the calibrated speed value, the current corresponding to the working motor is marked as the preset normal working current.

[0029] Optionally, the method further comprises:

[0030] When it is determined that the current current does not meet the preset normal operating current, obtaining a magnitude relationship between the current current and the preset normal operating current;

[0031] The length of the rope output from the grass trimming module is determined according to the size relationship; the length of the rope output from the grass trimming module is cut by a blade installed on the grass trimming module.

[0032] To achieve the above-mentioned purpose, a grass-cutting module for a self-moving device is also provided, which includes a grass-cutting rope, a motor controller, a motor modulator and a working motor. The motor controller and the motor modulator control the working motor and the grass-cutting rope to implement the steps of the above-mentioned grass-cutting module output control method.

[0033] In order to achieve the above-mentioned purpose, a self-moving device is also provided, including a grass-cutting module and a controller of the self-moving device, the motor controller in the grass-cutting module of the self-moving device and the controller are communicatively connected, and the controller controls the motor and grass-cutting rope in the grass-cutting module of the self-moving device to implement the steps of the above-mentioned grass-cutting module output control method.

[0034] In order to achieve the above-mentioned purpose, a computer-readable storage medium is further provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned grass trimming module output line control method are implemented.

[0035] The present invention provides a method for controlling the output of a grass trimming module, comprising: after a self-moving device moves to a fixed edge area, controlling the grass trimming module in the self-moving device to begin an automatic rope output operation; determining the current current of the grass trimming module at a current rope output length; obtaining a preset normal operating current of the grass trimming module and determining the relationship between the current current and the preset normal operating current; and if it is determined that the current current does not meet the preset normal operating current, controlling the rope output acceleration of the grass trimming module to reach a preset instantaneous acceleration threshold, and adjusting a new rope output length at the current rope output length, so that after the current current adjusted to the new rope output length returns to the preset normal operating current, controlling the grass trimming module to perform normal grass trimming in the edge area. This scheme detects whether the current rope output length of the grass trimming module is abnormal by comparing the relationship between the current current and the preset normal operating current. If abnormal, the rope output acceleration of the grass trimming module is controlled to reach the preset instantaneous acceleration threshold before re-detecting whether there is an abnormality. This allows the rope output length to be continuously detected while grass trimming, and ultimately adjusts the rope output length to a normal value based on the current rope output length, thereby ensuring grass trimming efficiency and grass trimming effect in subsequent edge areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained according to these drawings without paying any creative labor.

[0037] Figure 1 It is a flow chart of an embodiment of a method for controlling the output of a grass cutting module according to the present invention.

[0038] Figure 2 It is a schematic block diagram of an embodiment of a motor control system for a mobile device according to the present invention.

[0039] Figure 3 It is a schematic block diagram of an embodiment of a mobile device of the present invention.

[0040] Figure 4 This is a structural diagram of an embodiment of a self-moving device of the present invention; 1. Grass cutting module; 2. Self-moving device body; 3. Working motor.

[0041] Figure 5 This is a structural diagram of an embodiment of a rope winding member in a grass trimming module of an autonomous moving device of the present invention; 4, a wire winding member; 5, a movable block; 6, a slide. DETAILED DESCRIPTION

[0042] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0043] like Figure 1 As shown, an embodiment of the present invention provides a regional working method of a self-moving device, which is applied to a self-moving device with a grass cutting module (such as Figure 4 As shown, the working motor 3, the mowing rope and the motor modulator corresponding to the mowing module 1 are controlled by a motor controller, and the motor controller communicates with a controller of the self-mobile equipment body 2, and the controller can control the motor controller. The method includes the following steps S10 to S40:

[0044] S10, after the mobile device moves to a fixed edge area, controlling the grass trimming module in the mobile device to start an automatic rope feeding operation.

[0045] Understandably, the self-moving device may be the garden robot mentioned above for use in a lawn mowing environment, with a blade for mowing being provided at the bottom thereof, and a mowing module for cutting the lawn in the edge area being provided at the edge thereof, wherein the mowing module is mainly composed of a motor controller, a motor modulator, a working motor and a mowing rope, and the motor controller may control the working motor to drive the mowing rope to rotate at high speed; the edge area may refer to the edge in the working area of the self-moving device, such as the side length of a rectangular working area, etc. Specifically, the area in which the self-moving device is located may be determined by a positioning device in the self-moving device, wherein the positioning device may include a GPS, a gyroscope, an IMU sensor, etc.; the rope-out operation of the mowing module may refer to extending and retracting the rope to a corresponding length as specified, and the high-speed rotation of the mowing rope may generate a force for mowing the grass;

[0046] It should be noted that the rope-out action of the present application may also execute the process of controlling the rope-out acceleration in the grass-cutting module to reach a preset instantaneous acceleration threshold;

[0047] In this embodiment, after the self-moving device walks in a specific area, the grass-cutting module of the self-moving device can be controlled to start automatically outputting the rope according to the specified rope length to perform grass-cutting work, thereby improving the automation efficiency and intelligence of the self-moving device in grass-cutting.

[0048] S20, determining a current current of the grass trimming module at a current rope output length.

[0049] Understandably, while the working motor corresponding to the mowing module maintains the same speed, the current required for the rotation process of the mowing module with different extension lengths is different. For example, the longer the rope, the greater the air resistance when cutting the air during rotation, and the greater the current required. The current current can be collected in real time by the ADC sampling circuit set in the mowing module, and the current rope length can be obtained from the current current.

[0050] In this embodiment, the current can be determined in real time at different rope lengths by current monitoring, and then it can be determined whether the mowing rope is worn or hit by an obstacle or cannot be pulled out (including:

[0051] 1. The mowing rope is broken from the outlet; 2. The mowing rope on the winding device is used up; 2. The winding device for winding is not installed; among them, the winding device can realize the rope-out function after being driven) resulting in abnormal rope output.

[0052] S30: Obtain a preset normal operating current of the grass cutting module, and determine a relationship between the current current and the preset normal operating current.

[0053] It can be understood that the preset normal working current can be a current calibrated under normal conditions, and the length corresponding to this current is a normal and reasonable length; the magnitude relationship between the current current and the preset working current can mean that the two are equal or different in magnitude. In addition, this relationship can also be a relationship in which the values fall within a range, such as the current current falls within the range of the preset normal working current;

[0054] In this embodiment, the corresponding result can be accurately determined by the magnitude relationship between the two currents, wherein the current can accurately reflect the length of the rope.

[0055] S40, when it is determined that the current current does not meet the preset normal operating current, the rope output acceleration in the grass cutting module is controlled to reach a preset instantaneous acceleration threshold, and a new rope output length is adjusted under the current rope output length, so that after the current current after the adjustment of the new rope output length returns to the preset normal operating current, the grass cutting module is controlled to perform normal grass cutting in the edge area.

[0056] Understandably, through the above-mentioned current relationship comparison, there will be two results: the current current meets the preset normal operating current, and the current current does not meet the preset normal operating current (including the current current being less than the preset normal operating current). It should be noted that when the current current meets the preset normal operating current, the mowing module can be directly controlled to mow the grass with the current rope length; the main purpose of the rope output acceleration in the mowing module reaching the preset instantaneous acceleration threshold is to use the acceleration to first perform the rope throwing process, while the mowing rope is in a state of continuous current monitoring;

[0057] In this embodiment, by continuously monitoring the state of the working current, it can be determined whether the current length of the rope output by the grass trimming module meets the normal length.

[0058] In one embodiment, when the current current is first determined to be greater than a preset normal operating current, the self-mobile device is controlled to detect the relationship between the current current and the preset normal operating current in an unobstructed location to determine the specific reason why the current current in the mowing module is greater than the preset normal operating current. If the specific reason is determined to be due to the current rope length in the mowing module being too long, the current rope length in the mowing module is adjusted. It is understood that the length of the current rope length that is too long can be set as needed, and a length that is longer than the rope length corresponding to the normal operating current can be set, which may be lower than the cutting length when the blade is fixed. The current current being greater than the preset normal operating current may be due to the rope being too long or due to hitting an obstacle. In this case, adjustments can be made after analyzing the specific cause. If the specific cause is hitting an obstacle, the current rope length does not need to be adjusted. If the specific cause is due to the current rope length being too long, the current rope length can be adjusted using the blade installed on the mowing module.

[0059] In the embodiment of steps S10 to S40, whether the current rope output length of the grass trimming module is abnormal is detected by comparing the relationship between the current current and the preset normal working current. When it is abnormal, the rope output acceleration in the grass trimming module is controlled to reach a preset instantaneous acceleration threshold before detecting whether there is an abnormality. In this way, during the grass trimming process, whether the rope output length is abnormal is continuously detected. Finally, a normal rope output length is adjusted based on the current rope output length to ensure the grass trimming effect and grass trimming effect in subsequent boundary areas.

[0060] In one embodiment, after the mobile device moves to the fixed edge area, controlling the grass trimming module in the mobile device to start the automatic rope feeding operation includes:

[0061] Get the current location from the mobile device;

[0062] When it is determined that the current position of the self-moving device is the edge area, the grass trimming module in the self-moving device is controlled to perform an automatic rope-feeding operation according to a preset number of turns or a first preset rope-feeding length.

[0063] Understandably, the current position of the self-moving device can be obtained through the positioning device, and the self-moving device will form a working map in the working area where it is located, and the current position can be determined by the position on the working map; the edge area can refer to the edge located in the working map; the preset number of circles is determined by the diameter of the special rope winding member in the mowing module, such as how many meters a half circle extends out, etc. The mowing rope is arranged around the central axis of the rope winding member in at least one layer, and the protruding lengths of the mowing ropes under different layers from the rope buckles of the mowing module are inconsistent, wherein the circumference of the outer layer is greater than the circumference of the inner layer; the first preset rope length can be a predetermined length, and the corresponding length can be inferred by collecting the current value corresponding to the length (the current value only needs to be greater than a preset current value, and the preset current value can be defined as the current value corresponding to the current absence of the mowing rope);

[0064] It should be noted that this embodiment is the first time the mowing module draws the rope. The first time the rope is discharged may not be ideal due to wear between the motor and the mowing rope, contact between the mowing rope and obstacles, or failure to draw the rope.

[0065] In this embodiment, the mowing rope can be extended to narrow edge areas that the device body cannot reach (such as corners and gaps between obstacles) through automatic rope delivery, achieving full coverage and avoiding manual trimming; the self-equipping device does not need to repeatedly adjust its position or pass through the same area multiple times, and the rope can be delivered to complete the edge trimming, thereby improving work efficiency; the intelligent rope delivery mechanism prevents the device from wandering around the edge for a long time, reduces motor idling and path redundancy, and extends battery life.

[0066] In one embodiment, before adjusting the new length of the rope output based on the current length of the rope output, the method further includes:

[0067] Obtaining a pre-established first mapping relationship between rope length and current; the longer the rope length, the greater the air resistance, and the greater the required current;

[0068] collecting the current of the working motor;

[0069] When the working motors corresponding to the grass trimming modules are regulated at the same speed, the current rope length of the grass trimming module is determined according to the current current under the first mapping relationship.

[0070] Understandably, the first mapping relationship can be pre-established and then saved, such as, at the same speed, how much current is generated by a 0.5m mowing rope under air resistance? The current current can be collected by components such as an ADC acquisition circuit, a current transformer, and a Hall effect sensor. After obtaining the current current, the current rope length corresponding to the current current can be determined in the saved first mapping relationship. The speed of the working motor can be detected by a Hall effect sensor installed on the working motor.

[0071] In this embodiment, the current rope length is calculated in real time, so that the normal rope length can be adjusted based on the current rope length to ensure a uniform grass cutting effect.

[0072] In one embodiment, determining the current current of the mowing module according to the current output rope length under the first mapping relationship includes:

[0073] Get the influence parameters of the rope;

[0074] a second mapping relationship between the rope length, the influencing parameter, and the current determined under the first mapping relationship; the influencing parameter affecting the magnitude of the required current;

[0075] collecting the current of the working motor;

[0076] When the working motors corresponding to the grass trimming modules are regulated at the same speed, the current rope length of the grass trimming module is determined according to the current current under the second mapping relationship.

[0077] Understandably, the influencing parameters may include rope wear or rope sticking to corresponding objects (such as soil, herbs, etc.). These influencing parameters will cause the required current to be inconsistent due to the change in the rotational air resistance. The second mapping relationship can also be pre-established and saved. It is the corresponding relationship established under the first mapping relationship. In this relationship, taking into account the change in the influencing parameters, the range of the current current under the presence of the influencing parameters can be pre-established. If the rope length, current and current current with the influencing parameters are very close, then the number of digits of the current current can be used to distinguish the current current when the influencing parameters exist and the current current when the influencing parameters do not exist. Finally, the corresponding current rope length can be determined by the obtained current current. The method of collecting the current current can be derived from the method mentioned above.

[0078] In this embodiment, the current rope length under the influencing parameters is calculated in real time, which can ensure the detection of the current rope length of the mowing rope under different influencing parameters and different currents, and then the current rope length can be determined more accurately to maintain the normal rope length in the future and ensure uniform mowing effect.

[0079] like Figure 5 As shown, in one embodiment, when the current current does not meet the preset normal operating current, controlling the rope output acceleration in the mowing module to reach a preset instantaneous acceleration threshold includes:

[0080] If the current current does not meet the preset normal operating current within the preset duration, the working motor in the mowing module is controlled to first decelerate and then accelerate, so as to change the rope output acceleration to the preset instantaneous acceleration threshold, and then the mowing rope is swung by the rope output acceleration.

[0081] The rope discharging speed of the rope can be adjusted according to the needs of the experiment, such as 2 seconds; the rope discharging acceleration can be adjusted by first decelerating and then accelerating, and a variable acceleration can be presented, which is conducive to the rope-throwing processing of the grass-cutting module to cut the grass; the operation of accelerating after decelerating can be adapted to the structure of the winding member 4 in the grass-cutting module, and the movable block 5 in the winding member 4 can slide in the chute 6 under the drive of the grass-cutting motor, driving the rope-cutting member 4 to rotate and then discharging the rope, and the deceleration operation from the chute position A to the chute position B is the deceleration operation, and the acceleration operation from the chute position B to the chute position A1 is the acceleration operation (the deceleration operation from the chute position A1 to the chute position B1 is the deceleration operation, so that the same operation is performed in the same chute 6), and the rotation of the movable block can make the grass-cutting rope automatically come out from the rope outlet of the grass-cutting module. In this way, through the above-mentioned structure and speed processing, the rope can be quickly discharged after the position of the movable block 5 is switched;

[0082] In this embodiment, the motor speed is dynamically adjusted through deceleration and acceleration so that the acceleration of the mowing rope accurately matches the preset threshold, avoiding insufficient cutting force or rope shaking caused by traditional uniform swinging, thereby improving the weed cutting efficiency; when current abnormalities are detected, they can respond and adjust quickly to ensure stable rope output in complex terrain and reduce manual intervention.

[0083] In one embodiment, before obtaining the preset normal operating current of the mowing module, the method further includes:

[0084] Get the calibrated speed value;

[0085] Controlling the rope output length of the grass trimming module to reach a second preset rope output length;

[0086] Under the second preset rope length, controlling the working motor corresponding to the grass cutting module to rotate;

[0087] When it is determined that the actual speed value of the working motor reaches the calibrated speed value, the current corresponding to the working motor is marked as the preset normal working current.

[0088] Understandably, the second preset rope length can be set according to demand (including the shortest rope length or the most ideal rope length, etc.). At this length, the tested current is the preset normal operating current, and the subsequent adjustment of the rope length should be based on the second preset rope length, such as adjusting the rope length to the second preset rope length; the calibrated speed value may refer to the motor speed value corresponding to the normal operating current, and the rope length and current value under this value are both ideal; the rotation of the working motor is controlled by the controller, and the working motor can reach a certain working speed under the control instruction of the controller; during the rotation of the working motor, the actual speed value of the working motor will be actually obtained, and the actual speed value will be compared with the calibrated speed value (such as whether the actual speed value reaches the calibrated speed value, the speed of the working motor will increase from a low value to a high value), and the current that reaches the calibrated speed value can be marked as the preset normal operating current of the working motor;

[0089] In this embodiment, through the calibration process, an accurate correspondence between the calibrated speed value and the actual current value can be established, that is, a reasonable preset normal operating current is determined. When the working motor subsequently runs, if the real-time current value deviates from the preset normal operating current, it can be quickly judged as abnormal; the calibrated current value can reflect the rope output length of the mowing module under ideal working conditions, thereby improving the working efficiency of the mowing module.

[0090] In one embodiment, the method further includes:

[0091] When it is determined that the current current does not meet the preset normal operating current, obtaining a magnitude relationship between the current current and the preset normal operating current;

[0092] The length of the rope output from the grass trimming module is determined according to the size relationship; the length of the rope output from the grass trimming module is cut by a blade installed on the grass trimming module.

[0093] Understandably, one situation in which the current current does not meet the preset normal operating current is that the value of the current current is greater than a certain value of the preset normal operating current, and the value may fall into a preset value range. The preset value range may mean that the length of the rope output from the current mowing module is too long. At this time, the blade installed at the rope outlet of the mowing module may be used to cut the rope to a corresponding reasonable length to ensure the subsequent mowing effect. In addition, the blade may be in a fixed state or a movable state on the mowing module. In the movable state, the blade may adjust the length of the mowing rope in a dynamic and flexible state.

[0094] In this embodiment, shortening the rope output length of the mowing module can reduce the motor torque demand, avoid overheating or damage caused by long-term high-load operation, and also save power; after the rope output length is adaptively adjusted, the contact force between the blade and the weeds remains stable, avoiding uneven cutting or splashing caused by sudden load changes, thereby avoiding affecting the mowing effect.

[0095] In one embodiment, the method further includes: when it is determined that the number of times that the current current does not meet the preset normal working current reaches a preset number threshold, controlling the self-moving device to stop moving and the grass-cutting module to stop working; this embodiment mainly avoids controlling the grass-cutting module of the self-moving device to continue working when there are multiple abnormalities.

[0096] The present invention provides a method for controlling the output of a grass trimming module, which belongs to the technical field of grass trimming control of self-moving equipment. After the self-moving equipment moves to a fixed edge area, the grass trimming module in the self-moving equipment is controlled to start an automatic rope output operation; the current current of the grass trimming module under the current rope output length is determined; the preset normal working current of the grass trimming module is obtained, and the relationship between the current current and the preset normal working current is determined; when it is determined that the current current does not meet the preset normal working current, the rope output acceleration in the grass trimming module is controlled to reach a preset instantaneous acceleration threshold, and a new rope output length is adjusted under the current rope output length, so that after the current current adjusted to the new rope output length returns to the preset normal working current, the grass trimming module is controlled to perform normal grass trimming processing in the edge area. This solution detects whether the current rope output length of the mowing module is abnormal by comparing the relationship between the current current and the preset normal working current. When an abnormality occurs, the solution controls the rope output acceleration in the mowing module to reach the preset instantaneous acceleration threshold before detecting whether an abnormality exists. While mowing the grass, the solution also continuously detects whether the rope length is abnormal. Finally, a normal rope output length is adjusted based on the current rope output length to ensure the mowing effect and mowing effect of the subsequent boundary area; automatic rope output can achieve full coverage of the edge area to avoid manual re-cutting; the self-equipped device does not need to repeatedly adjust its position or pass through the same area multiple times, and the rope can complete the edge trimming by outputting the rope, thereby improving the working efficiency; the intelligent rope output mechanism prevents the device from wandering around the edge for a long time, which can reduce motor idling and path redundancy and extend the battery life; real-time calculation of the current rope output length can ensure the detection of the rope output length of the mowing rope under different currents, and then maintain the normal rope output length in the future to ensure uniformity. the mowing effect; the real-time calculation of the current rope length under the influencing parameters can ensure the detection of the current current of the mowing rope at different lengths under different influencing parameters, and then the current rope length can be determined more accurately to maintain the normal rope length in the future and ensure uniform mowing effect; the motor speed is dynamically adjusted by deceleration and acceleration to make the acceleration of the mowing rope accurately match the preset threshold, avoiding insufficient cutting force or rope shaking caused by traditional uniform speed swinging, which can improve the weed cutting efficiency; through the calibration process, an accurate correspondence between the calibrated speed value and the actual current value can be established, that is, a reasonable preset normal working current is determined; the rope length of the short mowing module can reduce the motor torque demand, avoid overheating or damage caused by long-term high-load operation, and also save power; after the rope length is adaptively adjusted, the contact force between the blade and the weeds remains stable, avoiding uneven cutting or splashing due to sudden load changes, and thus avoiding affecting the mowing effect.

[0097] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0098] like Figure 2 A motor control system for a self-propelled device is also provided, comprising a mowing rope, a motor controller, a motor modulator, and a working motor. The motor controller and motor modulator control the motor and mowing rope to implement the steps of the mowing module output control method described in the above embodiment. The motor controller can be communicatively connected to the motor modulator, which in turn is communicatively connected to the motor.

[0099] like Figure 3 A self-propelled device is also provided, including a motor control system and a controller for the self-propelled device. The motor controller in the mowing module of the self-propelled device is communicatively connected to the controller, and the controller controls the motor and mowing rope in the mowing module of the self-propelled device to implement the steps of the mowing module output control method described in the above embodiment. The self-propelled device is equipped with a working motor for operation and a traveling motor for travel.

[0100] The execution function of the motor controller corresponds one-to-one to the line control method of the grass cutting module in the above embodiment. Regarding the specific definition of the motor controller, please refer to the definition of the line control method of the grass cutting module above, which will not be repeated here. The process executed by each submodule in the above-mentioned motor controller can be referred to the definition of the line control method of the grass cutting module above, which will not be repeated here. It can be implemented in whole or in part by software, hardware and a combination thereof. Each submodule can be embedded in or independent of the motor controller in hardware form, or it can be stored in a memory in the motor controller in software form, so that the motor controller can call and execute the operations corresponding to the above submodules.

[0101] In one embodiment, the present invention also provides one or more readable storage media storing computer-readable instructions. The readable storage media provided in this embodiment include non-volatile readable storage media and volatile readable storage media. Computer-readable instructions are stored on the readable storage medium. When the computer-readable instructions are executed by one or more processors, the one or more processors implement the steps of the grass-cutting module line output control method described in the above embodiment.

[0102] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing related hardware through computer-readable instructions. The computer-readable instructions can be stored in a non-volatile readable storage medium or a volatile readable storage medium. When the computer-readable instructions are executed, they can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct RAMbus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0103] Those skilled in the art can clearly understand that in actual applications, the above functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the mobile device can be divided into different functional units or modules to complete all or part of the functions described above.

[0104] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the scope of protection of the present invention.

Claims

1. A method for controlling the rope output of a grass trimming module, characterized in that: The method comprises: After the mobile device moves to a fixed edge area, controlling the grass trimming module in the mobile device to start an automatic rope-feeding operation; Determining a current current of the mowing module at a current rope output length; Obtaining a preset normal operating current of the mowing module, and determining a relationship between the current current and the preset normal operating current; When it is determined that the current current does not meet the preset normal operating current, the rope output acceleration in the grass trimming module is controlled to reach a preset instantaneous acceleration threshold, and the new rope output length is adjusted under the current rope output length, so that after the current current after the adjustment of the new rope output length returns to the preset normal operating current, the grass trimming module is controlled to perform normal grass trimming in the edge area.

2. The method for controlling the output of the grass cutting module according to claim 1, wherein: After the mobile device moves to the fixed edge area, controlling the grass trimming module in the mobile device to start the automatic rope-feeding operation includes: Get the current location from the mobile device; When it is determined that the current position of the self-moving device is the edge area, the grass trimming module in the self-moving device is controlled to perform an automatic rope-feeding operation according to a preset number of turns or a first preset rope-feeding length.

3. The method for controlling the output line of the grass cutting module according to claim 1, wherein: Before adjusting the new rope length based on the current rope length, the method further includes: Obtaining a pre-established first mapping relationship between rope length and current; the longer the rope length, the greater the air resistance, and the greater the required current; collecting the current of the working motor; When the working motors corresponding to the grass trimming modules are regulated at the same speed, the current rope length of the grass trimming module is determined according to the current current under the first mapping relationship.

4. The method for controlling the output of the grass cutting module according to claim 3, wherein: The determining, based on the current current and under the first mapping relationship, the current rope length of the mowing module includes: Get the influence parameters of the rope; a second mapping relationship between the rope length, the influencing parameter, and the current determined under the first mapping relationship; the influencing parameter affecting the magnitude of the required current; collecting the current of the working motor; When the working motors corresponding to the grass trimming modules are regulated at the same speed, the current rope length of the grass trimming module is determined according to the current current under the second mapping relationship.

5. The method for controlling the output line of the grass cutting module according to claim 1, wherein: When the current current does not meet the preset normal working current, controlling the rope output acceleration in the mowing module to reach a preset instantaneous acceleration threshold includes: If the current current does not meet the preset normal operating current within the preset duration, the working motor in the mowing module is controlled to first decelerate and then accelerate, so as to change the rope output acceleration to the preset instantaneous acceleration threshold, and then the mowing rope is swung by the rope output acceleration.

6. The method for controlling the output line of the grass cutting module according to claim 1, wherein: Before obtaining the preset normal working current of the mowing module, the method further includes: Get the calibrated speed value; Controlling the rope output length of the grass trimming module to reach a second preset rope output length; Under the second preset rope length, controlling the working motor corresponding to the grass cutting module to rotate; When it is determined that the actual speed value of the working motor reaches the calibrated speed value, the current corresponding to the working motor is marked as the preset normal working current.

7. The method for controlling the output line of the grass cutting module according to claim 1, wherein: The method further comprises: When it is determined that the current current does not meet the preset normal operating current, obtaining a magnitude relationship between the current current and the preset normal operating current; The length of the rope output from the grass trimming module is determined according to the size relationship; the length of the rope output from the grass trimming module is cut by a blade installed on the grass trimming module.

8. A grass cutting module for a self-propelled device, characterized in that: It includes a mowing rope, a motor controller, a motor modulator and a working motor. The motor controller and the motor modulator control the working motor and the mowing rope to implement the mowing module output control method as described in any one of claims 1 to 7.

9. A self-propelled device, characterized in that: It includes a grass-cutting module and a controller of a self-moving device, the motor controller in the grass-cutting module of the self-moving device is communicatively connected to the controller, and the controller controls the motor and grass-cutting rope in the grass-cutting module of the self-moving device to implement the steps of the grass-cutting module output control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the grass trimming module output control method according to any one of claims 1 to 7 are implemented.

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