A ride-on mower and a control method, system, storage medium thereof

Abstract

The application relates to a riding mower and a control method, system and storage medium thereof, and relates to the technical field of mowers. The method comprises the following steps: acquiring a target lawn image of a target lawn area in front of the mower; dividing the target lawn image along a running direction at intervals to obtain a plurality of sub-area images; acquiring the lawn density of each sub-area image; acquiring a predicted cutting load of a cutter head according to the lawn density; generating a target rotating speed and a target motor output torque of the cutter head according to the predicted cutting load; performing a cutter head rotating speed adjustment operation at a preset adjustment time point before the cutter head reaches a lawn area corresponding to the target sub-area image; performing a cutter head torque adjustment operation when the cutter head enters the lawn area corresponding to the target sub-area image; and acquiring a next target lawn image of a next target lawn in advance when the cutter head reaches a target image update area in the plurality of sub-area images. The application has the effect of guaranteeing the cutting efficiency while reducing energy consumption.

Description

Technical Field

[0001] This application relates to the field of lawnmower technology, and in particular to a ride-on lawnmower and its control method, system, and storage medium. Background Technology

[0002] A lawnmower is a mechanical device used to trim the surface vegetation of lawns, pastures, or green areas. Its core function is to evenly cut the lawn by rotating a disc or blades. Depending on the operating method and application scenario, lawnmowers can be divided into push lawnmowers, self-propelled lawnmowers, and ride-on lawnmowers.

[0003] Existing riding lawnmowers typically control mowing by using a fixed blade speed or relying on manual adjustment. While this method is simple in structure, it presents challenges when dealing with lawns of varying density and length. When the blade enters a denser area, if the blade speed and motor torque do not increase promptly, the blade may stall, resulting in incomplete cutting. Conversely, when the blade enters a sparse area, maintaining high speed and torque not only wastes energy but can also lead to excessively deep or uneven cuts, affecting the lawn's smoothness and appearance.

[0004] Regarding the aforementioned technologies, existing lawnmowers have the problem of simultaneously ensuring mowing efficiency and low energy consumption. Summary of the Invention

[0005] In order to reduce energy consumption while ensuring mowing efficiency, this application provides a ride-on lawnmower and its control method, system and storage medium.

[0006] In a first aspect, this application provides a control method for a riding lawnmower, employing the following technical solution:

[0007] A method for controlling a ride-on lawnmower includes:

[0008] Acquire a target lawn image of the target lawn area in front of the lawnmower;

[0009] The target lawn image is divided into several sub-region images along the direction of travel;

[0010] Obtain the lawn density of each sub-region image;

[0011] The predicted cutting load of the cutter head is obtained based on the lawn density;

[0012] The target rotational speed of the cutter head and the target motor output torque are generated based on the predicted cutting load.

[0013] At a preset adjustment time point before the cutter head reaches the lawn area corresponding to the target sub-region image, the cutter head speed adjustment operation is performed to make the cutter head speed approach the target speed.

[0014] When the cutter head enters the grass area corresponding to the target sub-region image, the cutter head torque adjustment operation is performed so that the cutter head torque reaches the target motor output torque;

[0015] When the cutter head reaches the target image update area in several sub-region images, the image of the next target lawn is obtained in advance, thus obtaining the next target lawn image.

[0016] By adopting the above technical solution, the lawn density in the area ahead can be identified based on the target lawn image during the lawnmower's movement, thereby predicting the cutting load of the blades in advance. Based on this, the speed adjustment can be completed before the blades enter the target lawn area, ensuring the blades are at near-target speeds at the moment of entry; and torque adjustment is further performed as the blades enter the area, enabling the motor output to quickly match the target speed. This avoids blade stalling or incomplete cutting caused by suddenly encountering dense lawns, and also avoids maintaining high energy consumption in sparse lawn areas, helping to reduce energy consumption while ensuring mowing efficiency.

[0017] Optionally, the step of obtaining the predicted cutting load of the cutter head based on the lawn density includes:

[0018] The growth status of lawns is classified into different levels based on lawn density.

[0019] Determine the cutting resistance per unit area of ​​lawn based on the growth level;

[0020] Obtain the effective contact area of ​​the cutter head with the lawn corresponding to the current sub-region image;

[0021] Determine the base cutting resistance based on the cutting resistance per unit lawn area and the effective contact area;

[0022] By coupling the basic cutting resistance and the lawnmower travel speed, the predicted cutting load is obtained.

[0023] By adopting the above technical solution, the lawn growth can be further graded based on the lawn density, and the cutting resistance per unit area can be determined by combining the growth grade. This, along with the effective contact area between the cutter head and the lawn, yields the basic cutting resistance. Coupled with the mower's travel speed, a more accurate prediction of the cutting load can be obtained. This not only improves the accuracy of load prediction but also avoids errors caused by relying solely on lawn density. It allows for more precise adjustments to the cutter head speed and motor torque to match actual working conditions, thereby improving the stability of mowing operations.

[0024] Optionally, obtain the lifting height of the front wheel of the cutter head;

[0025] If the lifting height is greater than the preset lifting height, determine whether the lifting height of the front wheel of the cutterhead has fallen back within the preset travel distance;

[0026] If not, control the cutter head according to the preset cutter head control method;

[0027] If so, obtain the offset side of the front wheel of the cutter head being raised;

[0028] Control the tool head corresponding to the lifting offset side to perform a locking operation, disconnect the travel signal and issue an obstacle alarm;

[0029] In response to the travel signal, the control and lifting offset side of the cutter head are rotated at a preset abnormality detection speed to reach a preset number of revolutions;

[0030] The rotational resistance of the cutter head is acquired in real time and it is determined whether the rotational resistance is greater than the preset resistance threshold.

[0031] If not, control the cutter head to rotate according to the predicted cutting load and restore the travel signal;

[0032] If so, control the lifting of the cutter head according to the lifting height of the front wheel of the cutter head and issue an obstacle alarm;

[0033] After the travel signal is restored and the lawnmower has traveled a preset distance, the cutter head is controlled to fall back.

[0034] By employing the above technical solution, when the lifting height exceeds the preset lifting height and the blade retracts after traveling a preset distance, it indicates that the front wheel of the cutter head has encountered a temporary obstacle, such as a rock. In this case, the obstacle is likely located at the bottom of the cutter head housing. Therefore, locking the cutter head corresponding to the lifting side prevents damage from collision with the obstacle. Furthermore, under a preset abnormality detection speed rotation detection, the system can accurately identify the presence of a real obstacle and determine whether to resume operation or raise the cutter head based on the resistance result. This effectively reduces the probability of cutter head damage while maintaining mowing efficiency.

[0035] Optionally, the step of controlling the cutter head according to the preset cutter head control method includes:

[0036] Obtain the difference in lifting height of the front wheel of the cutter head;

[0037] The terrain undulation and tilt angle are obtained based on the elevation difference.

[0038] The tilt compensation angle of the cutterhead corresponding to the offset side is obtained based on the terrain undulation and tilt angle.

[0039] The control head corresponding to the offset side deflects according to the tilt compensation angle.

[0040] By adopting the above technical solution, the tilt angle of the terrain undulation can be calculated by the difference in the lifting height of the front wheel of the cutter head during the movement of the lawnmower, and the corresponding tilt compensation angle of the cutter head can be generated accordingly. This allows the cutter head to deflect accordingly when cutting grass, which can effectively avoid uneven cutting depth caused by terrain protrusions or local unevenness, thereby improving the overall flatness of the grass cutting operation.

[0041] Optionally, the growth tilt direction of the lawn corresponding to the sub-region image can be obtained;

[0042] Predict the turf's tilting posture under the pushing action of the cutter head shell based on turf density and growth tilt direction. The tilting posture includes the tilt angle and tilt direction of the grass blades.

[0043] Establish a lawn cutting reference plane based on the tilting posture;

[0044] The angle difference is obtained by comparing the lawn cutting reference plane with the initial cutting plane of the cutter head;

[0045] The target compensation angle of the cutter head is determined based on the angle difference.

[0046] The cutter head is deflected according to the target compensation angle.

[0047] By employing the above technical solution, the bending posture of the grass blades under the pushing action of the cutter head can be predicted before the cutter head enters the target area, taking into account the grass's growth tilt direction, and a cutting reference plane can be established accordingly. This reference plane is compared with the initial cutting plane of the cutter head, and the target compensation angle is determined after obtaining the angle difference. The cutter head is then controlled to deflect, thereby matching the cutting direction of the cutter head with the actual bending direction of the grass blades. This method effectively avoids uneven cutting or excessively long cuts caused by grass lodging, improving the consistency of cutting depth and the smoothness of the grass surface.

[0048] Optionally, images of the cut lawn area behind the lawnmower can be acquired in real time to obtain images of the remaining lawn.

[0049] Determine whether there is a highly protruding lawn based on the image of the remaining lawn;

[0050] If so, obtain the height data of the prominent lawn to get the residual height data;

[0051] The corrected deflection angle of the cutter head is obtained based on the residual height data;

[0052] The target compensation angle of the cutterhead is updated based on the corrected deflection angle.

[0053] By adopting the above technical solution, images of the cut area can be acquired in real time after the lawnmower finishes mowing, detecting any prominent remaining lawn and obtaining its height data. Based on the remaining height data, a corrected deflection angle is generated, and the original cutter head target compensation angle is updated, allowing the cutter head to further correct the cutting depth in subsequent operations. This method effectively avoids residue caused by insufficient local cutting, reducing energy consumption and time waste from repeated operations.

[0054] Optionally, determine whether there are over-tilted images in the lawn corresponding to several sub-region images where the tilt angle of grass blades is greater than a preset tilt threshold angle and the proportion is greater than a preset proportion threshold.

[0055] If so, when the cutter head is within a preset reach distance in front of the tilted image, a negative pressure cutting mode request is generated;

[0056] In response to the acceptance of the request for negative pressure cutting mode, when the cutter head is located in the grass area corresponding to the tilted over-image, the negative pressure cutting mode is activated. The negative pressure cutting mode refers to the mode of controlling the cutter head to rise to the maximum height and rotate at the maximum speed, so that a negative pressure area is formed at the bottom of the cutter head shell.

[0057] Once the negative pressure cutting mode has been activated for the preset duration, the blade disc will retract to cut the lawn.

[0058] By employing the above technical solution, the system can identify areas of excessive tilt when the grass blades' tilt angle exceeds a preset threshold, and prompt the driver to activate the negative pressure cutting mode before the cutter head enters that area. Once activated, the cutter head rises to its maximum height and rotates at maximum speed, creating a negative pressure zone at the bottom of the cutter head's outer shell that pulls down the fallen grass blades, causing them to stand upright at cutting height. The cutter head then falls back down, effectively cutting the lawn in that area.

[0059] Secondly, this application provides a control system for a riding lawnmower, which adopts the following technical solution:

[0060] A control system for a riding lawnmower includes:

[0061] The acquisition module is used to acquire the target lawn image, lawn density, and the next target lawn image;

[0062] A memory for storing the program of the riding lawnmower control method;

[0063] The processor and the program in the memory can be loaded and executed by the processor to implement the riding lawnmower control method.

[0064] By adopting the above technical solution, the lawn density in the area ahead can be identified based on the target lawn image during the lawnmower's movement, thereby predicting the cutting load of the blades in advance. Based on this, the speed adjustment can be completed before the blades enter the target lawn area, ensuring the blades are at near-target speeds at the moment of entry; and torque adjustment is further performed as the blades enter the area, enabling the motor output to quickly match the target speed. This avoids blade stalling or incomplete cutting caused by suddenly encountering dense lawns, and also avoids maintaining high energy consumption in sparse lawn areas, helping to reduce energy consumption while ensuring mowing efficiency.

[0065] Thirdly, this application provides a ride-on lawnmower, which adopts the following technical solution:

[0066] A ride-on lawnmower includes a memory and a processor, the memory storing a computer program that can be loaded by the processor and executed as described in any of the above statements.

[0067] Fourthly, this application provides a computer storage medium capable of storing corresponding programs, which facilitates efficient lawn mowing while reducing energy consumption, and adopts the following technical solution:

[0068] A computer-readable storage medium storing a computer program that can be loaded by a processor and executed by any of the above-described ride-on lawnmower control methods.

[0069] In summary, this application includes at least one of the following beneficial technical effects:

[0070] This system can identify the density of the lawn in front of the mower based on an image of the target lawn during its movement, thereby predicting the cutting load of the blades in advance. Based on this, the speed can be adjusted before the blades enter the target lawn area, ensuring the blades are at near-target speeds upon entry. Furthermore, torque adjustment is performed as the blades enter the area, allowing the motor output to quickly match the target speed. This avoids blade stalling or incomplete cutting caused by suddenly encountering dense lawns, and also avoids high-energy-consumption operation in sparse lawn areas, helping to reduce energy consumption while maintaining mowing efficiency.

[0071] If the lifting height exceeds the preset lifting height and the blade retracts after traveling a preset distance, it indicates that the front wheel of the cutter head has encountered a temporary obstacle, such as a rock. In this case, the obstacle is likely located at the bottom of the cutter head housing. Therefore, locking the cutter head corresponding to the lifting side prevents damage from collision with the obstacle. Furthermore, under preset abnormality detection speed rotation detection, the system can accurately identify the presence of a real obstacle and decide whether to resume operation or lift the cutter head based on the resistance result. This effectively reduces the probability of cutter head damage while maintaining mowing efficiency.

[0072] Before the cutter head enters the target area, it can predict the tilting posture of the grass blades under the pushing action of the cutter head shell, based on the grass's growth tilt direction, and establish a cutting reference plane accordingly. By comparing this reference plane with the initial cutting plane of the cutter head and obtaining the angle difference, the target compensation angle is determined, and the cutter head is deflected to match the cutting direction of the cutter head with the actual tilting direction of the grass blades. This method effectively avoids uneven cutting or excessively long cuts caused by grass lodging, improving the consistency of cutting depth and the smoothness of the grass surface. Attached Figure Description

[0073] Figure 1 This is a schematic diagram of the structure of a ride-on lawnmower in an embodiment of this application.

[0074] Figure 2 This is a flowchart illustrating a control method for a ride-on lawnmower in an embodiment of this application.

[0075] Figure 3 This is a flowchart illustrating the steps of obtaining the predicted cutting load of the cutter head based on the lawn density in an embodiment of this application.

[0076] Figure 4 This is a flowchart illustrating an obstacle avoidance method according to an embodiment of this application.

[0077] Figure 5 This is a flowchart illustrating the steps of controlling the cutter head according to a preset cutter head control method in an embodiment of this application.

[0078] Figure 6 This is a schematic flowchart of a cutter head deflection cutting method according to an embodiment of this application.

[0079] Figure 7 This is a flowchart illustrating a method for correcting the blade deflection angle based on residual turf in an embodiment of this application.

[0080] Figure 8 This is a schematic flowchart of a negative pressure cutting method in an embodiment of this application.

[0081] Explanation of reference numerals in the attached drawings: 1. Ride-on vehicle body; 2. Mowing mechanism; 21. Blade housing; 22. Blade front wheel. Detailed Implementation

[0082] To make the purpose, technical solution, and advantages of this application clearer, the following description is provided in conjunction with the appendix. Figure 1 -Appendix Figure 8 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the application.

[0083] This application discloses a ride-on lawnmower. (See also...) Figure 1 The riding lawnmower includes a riding body 1 and a mowing mechanism 2 located at the front of the riding body 1. The mowing mechanism 2 includes a blade housing 21, a blade front wheel 22 located at the front of the blade housing 21, and a blade (not shown) located at the bottom of the blade housing 21 for cutting grass.

[0084] This application discloses a control method for a ride-on lawnmower. (Refer to...) Figure 2 The control methods for ride-on lawnmowers include:

[0085] Step S101: Obtain the target lawn image of the target lawn area in front of the lawnmower.

[0086] The target lawn area refers to the working area in front of the lawnmower in the current direction of travel, which is the range of lawn that the lawnmower's blades can cover within a preset travel distance.

[0087] Images of the target lawn area can be obtained by using image acquisition devices (such as cameras) mounted on the vehicle body. The target lawn image can be a single image captured by the image acquisition device at a certain moment, or multiple images captured simultaneously by multiple image acquisition devices at a certain moment. When the lawnmower turns, deviates, or reaches the target image update area, a new target lawn image will be acquired again.

[0088] Step S102: Divide the target lawn image into several sub-region images along the direction of travel.

[0089] Interval division refers to dividing the acquired target lawn image into several continuous regions at preset distances along the mower's travel direction. In this embodiment, the mower has three blades arranged in a triangular configuration, defined as the first blade, second blade, and third blade. The first blade is located at the foremost side of the bottom of the blade housing, while the second and third blades are located symmetrically to the left and right of the first blade. The preset distance is the range covered by the first blade to the second / third blade along the length of the mower.

[0090] A sub-region image refers to a local lawn area image formed by dividing the target lawn image. Each sub-region image corresponds to the lawn section that the lawnmower head will enter at a certain time in the future. In this embodiment, five sub-region images are obtained when dividing the target lawn image at intervals.

[0091] For example, if the longitudinal distance between the first cutter head and the second / third cutter head is measured to be 0.5 meters, this distance is used as the preset distance for dividing the image into intervals. If the target lawn image covers an area of ​​2.5 meters in front, it can be equally divided into 5 longitudinally continuous regions, resulting in multiple sub-region images.

[0092] Step S103: Obtain the lawn density of each sub-region image.

[0093] Lawn density refers to the number and density of grass plants or blades in a unit area of ​​lawn.

[0094] In one feasible approach, the sub-region image is first denoised and brightness equalized to reduce the impact of illumination differences on subsequent analysis. Then, a threshold range is set based on the green channel value to classify lawn pixels and non-lawn pixels, resulting in lawn pixel regions. The number of lawn pixels in each lawn pixel region is counted, and their proportion in the total pixels of the sub-region image is calculated, yielding the lawn pixel proportion. Texture analysis (e.g., gray-level co-occurrence matrix or local binary mode) is performed within the lawn pixel regions to obtain the texture complexity value per unit area, reflecting the density of the grass blades. The lawn pixel proportion and texture complexity are weighted and calculated to obtain a comprehensive lawn density value. Finally, the lawn density value is normalized, mapping it to the 0–1 interval to obtain the lawn density.

[0095] Furthermore, when obtaining the lawn density of a sub-region image, the sub-region image can be divided into three small regions along the width of the lawnmower, and the lawn density of each small region can be obtained to obtain the small region lawn density. Each small region corresponds to one blade. Here, lawn density is used to represent the density of grass blades in the sub-region image, while small region lawn density is used to represent the density of grass blades in the small region.

[0096] Step S104: Obtain the predicted cutting load of the cutter head based on the lawn density.

[0097] Predictive cutting load refers to the power requirement that the cutter head is expected to bear, calculated in advance based on the grass density, before the cutter head enters the grass corresponding to a certain sub-region of the grass image. This is used to adjust the cutter head speed and motor output in advance.

[0098] The predicted cutting load of the cutter head based on the lawn density can be referenced. Figure 3 The steps described in the embodiments are not repeated here.

[0099] Step S105: Generate the target rotational speed of the cutter head and the target motor output torque based on the predicted cutting load.

[0100] The target rotational speed refers to the desired rotational speed that the cutter head needs to reach when entering the grass area corresponding to the sub-region image.

[0101] The target motor output torque refers to the output torque value required by the motor driving the cutter head under a certain cutting load, in order to ensure that the cutter head maintains the target speed.

[0102] Specifically, the target linear velocity v corresponding to the predicted cutting load is obtained based on the cutter head diameter and a preset power-linear velocity table. Using the cutter head diameter d and the target linear velocity v, the target rotational speed n is obtained using the formula n = (v / πd) * 60. Substituting the angular velocity ω = 2πn / 60 corresponding to the predicted cutting power P and the target rotational speed into the formula T = P / ω, the target motor output torque T is obtained.

[0103] For example, the predicted cutting power P is 150 W, and the lawnmower blade diameter d is 0.3 m. In the preset power-linear velocity table, the target cutting linear velocity v corresponding to the predicted cutting power of 150 W is 10.5 m / s. Substituting the target cutting linear velocity v and the blade diameter d into the formula: n = (v / πd) × 60 ≈ 670 rpm. Therefore, the output target blade speed n is approximately 670 rpm. This speed value will be sent as a control parameter to the blade motor control unit, so that the blade is adjusted to the target speed before entering the target sub-region. Further, the system calculates the angular velocity based on the target speed: ω = 2πn / 60 = 2π × 670 / 60 ≈ 70.2 rad / s. Substituting the predicted cutting power P = 150 W and the angular velocity ω = 70.2 rad / s into the formula T = Pω = 15070.2 ≈ 2.14 Nm, the target output torque of the motor is generated to be approximately 2.1 Nm.

[0104] Step S106: At the preset adjustment time point before the cutter head reaches the lawn area corresponding to the target sub-region image, perform the cutter head speed adjustment operation to make the cutter head speed approach the target speed.

[0105] The target sub-region image refers to the sub-region image that the cutter head is about to enter.

[0106] The preset adjustment time point is a preset time point, which refers to the time point corresponding to a preset advance time before the cutter head enters the target sub-area lawn.

[0107] The preset adjustment time point is set because the rotational speed of the cutter head needs a certain acceleration or deceleration time to reach the target rotational speed during the process of increasing or decreasing.

[0108] After obtaining the target rotational speed and during the lawnmower's movement, the arrival time is obtained based on the current lawnmower's speed and the distance between the cutter head and the lawn corresponding to the target sub-region image. When the arrival time equals the preset advance time, i.e. the preset adjustment time point before the cutter head reaches the lawn area corresponding to the target sub-region image, the cutter head is controlled to adjust according to the target rotational speed, so that when the cutter head enters the lawn area corresponding to the target sub-region image, it can approach or reach the target rotational speed, thereby improving the efficiency of mowing lawns of different densities.

[0109] Step S107: When the cutter head enters the grass area corresponding to the target sub-region image, perform the cutter head torque adjustment operation to make the cutter head torque reach the target motor output torque.

[0110] Torque regulation is achieved by adjusting the current output so that the motor can provide and maintain the target torque that matches the target speed at the moment the cutter head cuts into the grass.

[0111] When the cutter head cuts into the grass area corresponding to the target sub-region image, the system immediately triggers motor torque adjustment. At this time, the motor controller compares the deviation between the current actual torque and the target motor output torque, dynamically adjusting the drive current to quickly increase or decrease the actual output torque to the target value. In this way, the cutter head can stabilize at the required torque level when it contacts the grass area corresponding to the target sub-region image, thus avoiding a sudden drop in motor speed or cutter head jamming due to a sudden increase in instantaneous resistance.

[0112] Step S108: When the cutter head reaches the target image update area in several sub-region images, the image of the next target lawn is obtained in advance, and the image of the next target lawn is obtained.

[0113] The target image update region refers to a pre-defined position in several sub-region images. When the cutter head reaches this position, a new image acquisition operation will be triggered to ensure that the subsequent predicted cutting load and speed / torque control are based on the latest image data. In this embodiment, the target lawn image is divided into five sub-region images. The target image update region is the lawn area in the five sub-region images that is located along the forward direction of the lawnmower and is located in the fourth sub-region image.

[0114] The next target lawn image refers to the lawn image acquired in advance by the image acquisition device when the cutter head enters the target image update area. It is used for subsequent sub-region image division, lawn density calculation, and predicted cutting load calculation. The acquisition of the next target lawn image can be referred to the content of step S101.

[0115] Reference Figure 3 The steps for obtaining the predicted cutting load of the cutter head based on the lawn density include:

[0116] Step S201: Classify the growth level of the lawn according to the lawn density.

[0117] The lawn density, calculated from the sub-region image, is read and categorized into different growth levels based on a preset threshold range. This threshold range was determined through multiple experiments during the lawnmower calibration phase to ensure that the classification results accurately reflect the lawn's resistance characteristics. For example, low-density lawns have low cutting resistance, while high-density lawns have high cutting resistance.

[0118] Lawn density is divided into five growth levels:

[0119] Level 1: When the lawn density is in the range of 0.0–0.2;

[0120] Level 2: When the lawn density is in the range of 0.2–0.4;

[0121] Level 3: When the lawn density is in the range of 0.4–0.6;

[0122] Level 4: When the lawn density is in the range of 0.6–0.8;

[0123] Level 5: When the lawn density is in the range of 0.8–1.0.

[0124] For example, if the grass density of a certain sub-region image is detected to be 0.25, then the region is classified as a growth level of level two.

[0125] Step S202: Determine the cutting resistance per unit area of ​​lawn based on the growth level.

[0126] The growth grade refers to the grade obtained after classifying the growth of the lawn.

[0127] The cutting resistance per unit lawn area refers to the average resistance that the lawnmower blade needs to overcome when cutting a unit area of ​​lawn, reflecting the difficulty of cutting the lawn under different growth levels.

[0128] Using the turf growth level as input, the cutting resistance per unit area of ​​lawn corresponding to that level is determined according to a preset level-resistance mapping table. The higher the growth level, the denser the lawn, and the greater the resistance that the cutter head needs to overcome during cutting.

[0129] Step S203: Obtain the effective contact area of ​​the blade disc on the lawn corresponding to the current sub-region image.

[0130] The effective contact area refers to the area where the cutting edge of the blade actually contacts the lawn area when the blade is rotating. It is used to measure the range of the blade's effect in the lawn corresponding to the sub-region image. The effective contact area is the product of the span and cutting depth of all blades. In this embodiment, since there are three blades arranged in a triangle, the span of all blades is the width range spanned by the second and third blades in the width direction of the mower, and the cutting depth is the width range spanned by the first and second / third blades in the length direction of the mower.

[0131] For example, the second and third cutter discs span a width of 0.6m in the width direction of the lawnmower, and the longitudinal distance between the first and rear cutter discs is 0.5m, resulting in an effective contact area A = 0.6 × 0.5 = 0.30 m². 2 .

[0132] Step S204: Determine the base cutting resistance based on the cutting resistance per unit lawn area and the effective contact area.

[0133] Basic cutting resistance refers to the most fundamental resistance that the cutter head must overcome when cutting the lawn corresponding to the sub-region image. Basic cutting resistance is the product of the cutting resistance per unit lawn area and the effective contact area.

[0134] For example, the unit cutting resistance of the lawn corresponding to a certain sub-region image is 80 N / m², and the effective contact area is 0.30 m². 2 The basic cutting resistance is 80 × 0.30 = 24 N.

[0135] Step S205: Couple the basic cutting resistance and the lawnmower travel speed to obtain the corrected load.

[0136] The corrected load is calculated by combining the basic cutting resistance and the lawnmower's travel speed, and its dimension is power (W). It is used to reflect the actual load requirements of the cutter head when mowing.

[0137] First, the current travel speed of the lawnmower is obtained and coupled with the basic cutting resistance. The coupling operation involves using the physical relationship between the two, and combining the static mechanical parameter (basic cutting resistance F) with the dynamic motion parameter (lawnmower travel speed v) using the power formula P=F×v, to obtain the actual power demand per unit time, i.e., the predicted cutting load.

[0138] This application provides an obstacle avoidance method, referring to... Figure 4 The method includes:

[0139] Step S301: Obtain the lifting height of the front wheel of the cutter head.

[0140] The front wheel of the cutter head is a small support wheel installed at the front of the cutter head housing of the lawnmower. It is used to sense terrain undulations during the lawnmower's movement and ensure the relative height stability between the cutter head and the lawn.

[0141] The lift height refers to the vertical displacement of the front wheel of the cutter head relative to its normal horizontal travel reference plane, which is detected and obtained by a height sensor installed at the front wheel of the cutter head.

[0142] Step S302: If the lifting height is greater than the preset lifting height, determine whether the lifting height of the front wheel of the cutter head has fallen back within the preset travel distance.

[0143] The preset lifting height is a preset height threshold, which is the height of the cutting surface formed by the blade when the lawnmower is on a horizontal plane and rotating, from the ground.

[0144] The preset travel distance is a constant and can be adjusted according to actual needs.

[0145] "Retreat" refers to the process of the front wheel of the cutterhead descending from a height greater than the preset lifting height to its initial height before lifting.

[0146] First, determine if the real-time lifting height of the front wheel of the cutter head is greater than the preset lifting height. If it is not exceeded, the terrain ahead is considered normal, and the regular mowing process continues. If it exceeds the preset height, further monitoring begins. The current position of the mower is recorded, and the height change of the front wheel of the cutter head is continuously monitored within the preset travel distance. If the height of the front wheel drops back to or below the initial height within the preset travel distance, it is considered a temporary obstacle (such as rocks or protruding roots). If it does not drop back, it is considered a persistent terrain undulation (such as small mounds or gentle slopes).

[0147] In the case of a temporary obstacle, such as a rock, if the rock is pressed down on the front wheel of the cutter head and the height of the rock is greater than the preset lifting height, the front wheel of the cutter head will fall back after the lawnmower has traveled a preset distance. At this time, there is a high probability that the rock will be located at the bottom of the cutter head housing. Since the cutter head is rotating, there is a high probability that the cutter head will collide with the rock, resulting in damage to the cutter head.

[0148] Step S303: If not, control the cutter head according to the preset cutter head control method.

[0149] The specific steps for controlling the cutter head according to the preset cutter head control method can be found in the following reference. Figure 5 The steps in the embodiments.

[0150] Step S304: If yes, obtain the offset side of the front wheel of the cutter head being raised.

[0151] The offset side refers to the position of the cutter head front wheel when it is raised. For example, if the left cutter head front wheel is raised while the right side remains stable, the offset side is the left side; conversely, it is the right side.

[0152] Step S305: Control the cutterhead corresponding to the lifting offset side to perform a locking operation, disconnect the travel signal and issue an obstacle alarm.

[0153] Each cutter head is equipped with a locking device on its rotating shaft.

[0154] Locking operation refers to the operation of immediately stopping the rotation of the cutter head by cutting off the power input to the cutter head motor and locking the cutter head with a locking device.

[0155] The travel signal is generated when the accelerator pedal of the lawnmower is pressed, and it is used to control the speed of the lawnmower. Disconnecting the travel signal means disconnecting the signal transmission between the accelerator pedal and the drive system at the current moment. Even if the current accelerator pedal position is maintained or the accelerator pedal is pressed down, no travel signal will be generated. The travel signal will only be regenerated when the driver releases the accelerator pedal, allowing it to return to its original position, and then presses the accelerator pedal again.

[0156] Obstacle alarms are triggered via sound and light devices or the control terminal interface to alert operators that the lawnmower has encountered an obstacle or other abnormal situation.

[0157] The lifting offset side is the side where the obstacle is located. Locking the cutter head on that side prevents the obstacle from entering the bottom of the cutter head housing and colliding with the rotating cutter head, thus preventing damage. Furthermore, when the travel signal is disconnected and an obstacle alarm is triggered, the lawnmower will brake to stop moving forward.

[0158] Step S306: In response to the travel signal, control the cutter head corresponding to the lifting offset side to rotate at a preset abnormality detection speed until a preset number of revolutions are reached.

[0159] A response to a movement signal refers to the signal generated when the driver releases and then presses the accelerator pedal again, in order to control the lawnmower to continue moving forward.

[0160] The preset anomaly detection speed is a constant and can be adjusted according to actual needs.

[0161] The preset number of revolutions is set to 3 revolutions in this embodiment.

[0162] Upon receiving a movement signal, anomaly detection is required. The corresponding cutter head is rotated at a preset anomaly detection speed, which is lower than the normal mowing speed to avoid violent impacts between the cutter head and obstacles caused by high-speed rotation. Simultaneously, the number of cutter head rotations is limited to a preset number. Within this range, the rotational resistance of the cutter head is monitored in real time to determine the presence of actual obstacles.

[0163] Step S307: Real-time acquisition of the rotational resistance of the cutter head and determination of whether the rotational resistance is greater than the preset resistance threshold.

[0164] The rotational resistance of the cutter head refers to the magnitude of the resistance torque experienced by the cutter head during rotation, which can be indirectly calculated through motor current, motor torque sensor, or power consumption value.

[0165] The preset resistance threshold is a preset constant, representing the upper limit of resistance set under normal no-load or loaded operation of the cutterhead, in order to determine whether the cutterhead is affected by obstacles.

[0166] If the rotational resistance is not greater than the preset resistance threshold, it means that the cutter head is not significantly obstructed and normal mowing operations can be resumed; if the rotational resistance is greater than the preset resistance threshold, it means that the cutter head has encountered an obstacle and subsequent cutter head lifting and alarm processing are required.

[0167] Step S308: If not, control the cutter head to rotate according to the predicted cutting load and restore the travel signal.

[0168] If not, it means that the blade is not significantly obstructed and normal mowing can be resumed. Therefore, the blade is controlled to rotate according to the predicted cutting load, and the transmission of the travel signal between the accelerator pedal and the drive system is reconnected, so that the lawnmower can resume normal operation.

[0169] Step S309: If so, control the lifting of the cutter head according to the lifting height of the front wheel of the cutter head and issue an obstacle alarm.

[0170] If so, it indicates that the cutter head has encountered an obstacle. Therefore, the cutter head is raised to the designated height to avoid contact with the obstacle. Furthermore, after the cutter head is raised to the designated height, it is controlled to rotate again.

[0171] Step S310: After restoring the travel signal and the lawnmower has traveled a preset distance, control the cutter head to fall back.

[0172] The preset travel distance is a preset constant, which is the length range occupied by the blade housing in the length direction of the lawnmower.

[0173] After the cutter head is raised to the raised height, the travel signal is restored so that the lawnmower can resume normal travel. After the travel distance reaches the preset travel distance, that is, the cutter head shell (the cutter head corresponding to the raised side) has passed the obstacle, the cutter head is controlled to fall back to resume normal mowing operation.

[0174] Reference Figure 5 The steps for controlling the cutter head according to the preset cutter head control method include:

[0175] Step S401: Obtain the lifting height difference of the front wheel of the cutter head.

[0176] The lift height difference refers to the height difference between the two front wheels of the blades during the mower's movement due to uneven terrain. This height difference reflects the undulation of the current terrain and is used to determine the degree of skewness of the blades' rotating cutting plane.

[0177] The lawnmower is equipped with height sensors on the two front wheels of the two blade discs. The height data is obtained in real time by the two height sensors, and the difference between the two is calculated to obtain the lifting height difference.

[0178] Step S402: Obtain the terrain undulation tilt angle based on the elevation difference.

[0179] The slope angle of terrain undulation refers to the angle of inclination caused by uneven terrain in the horizontal direction perpendicular to the direction of the lawnmower's movement.

[0180] In one feasible embodiment, a fixed wheelbase L is provided between the left and right front wheels of the lawnmower. When the difference in lifting height between the left and right front wheels of the lawnmower is detected to be Δh, the control system can calculate the terrain undulation tilt angle θ using the formula θ=arctan(Δh / L).

[0181] Step S403: Obtain the tilt compensation angle of the cutterhead corresponding to the offset side based on the terrain undulation tilt angle.

[0182] The tilt compensation angle refers to the adjustment angle made by the cutter head during mowing to overcome the skewness of the cutting plane caused by terrain undulations. This angle is applied to the side of the cutter head with the higher lifting height, so that the rotating cutting plane of the cutter head is as parallel as possible to the lawn surface, ensuring the consistency of the cut lawn height.

[0183] In a feasible embodiment, based on the terrain undulation tilt angle θ obtained from the aforementioned steps, and determining that the left side is the lifting offset side, the corresponding cutterhead axis on the left side is controlled to perform a rightward compensating deflection, with a deflection angle of θ. c=k×θ, where k is a preset correction coefficient (between 0.6 and 1.4). For example, when the calculated terrain undulation tilt angle is 20°, and the left front wheel is determined to be the lifting offset side, the controller sets the correction coefficient to 0.8, then the tilt compensation angle of the left cutterhead is: θ c =0.8×20°=16°.

[0184] Step S404: Control the tool turret corresponding to the offset side to deflect according to the tilt compensation angle.

[0185] The cutter head is equipped with a deflection device at its top, allowing it to deflect within a preset angle range during rotation. This deflection device controls the cutter head to deflect at a tilt compensation angle, ensuring consistent turf height after cutting.

[0186] This application provides a method for cutting with a deflector blade, referring to... Figure 6 The method includes:

[0187] Step S501: Obtain the growth tilt direction of the lawn corresponding to the sub-region image.

[0188] The direction of growth tilt refers to the angle and direction of the grass blades in a lawn relative to the vertical direction.

[0189] In one feasible embodiment, the sub-region image is preprocessed (e.g., denoising, histogram equalization) to improve image clarity. Next, edge detection algorithms (such as Canny) are used to extract grass blade edges, and histogram of oriented gradients (HOG) is employed to obtain local orientation features. Then, a Hough transform is used to calculate the dominant orientation distribution of the grass blades in the image. Finally, the local orientation features are weighted and averaged to obtain the dominant tilt angle of the entire sub-region lawn (the angle of deviation relative to the lawnmower's direction of travel).

[0190] For example, in a certain sub-region image, the HOG algorithm shows that the direction of most grass blades is concentrated at 15° to the left of the horizontal line. The weighted calculation shows that the growth tilt direction is -15° (the negative sign indicates left tilt).

[0191] Step S502: Predict the turf's tilting posture under the pushing action of the blade shell based on the turf density and growth tilt direction. The tilting posture includes the tilt angle and tilt direction of the grass blades.

[0192] The tilting posture refers to the overall posture of the grass blades after being pushed by the front end of the cutter head shell.

[0193] Using turf density and growth tilt direction as input parameters, a force model of the grass blades under the pushing action of the cutter head shell is established. Turf density is used to characterize the "support stiffness" between grass blades; the higher the density, the greater the equivalent support stiffness, and the smaller the grass blade tilt angle. The growth tilt direction is used to determine the initial offset angle of the grass blades; the pushing action of the cutter head will cause the grass blades to further deflect along this direction. The force model is based on a simplified rod bending theory: θ final =θ init +f(ρ)×θ press , where θ final For the tilting posture, θ init θ is the angle of the growth direction, ρ is the lawn density, and θ is the angle of the growth direction. press This represents the additional skew caused by the blade's pushing action. The function f(ρ) represents the correction factor that varies with the lawn density.

[0194] For example, the input lawn density is 0.7, the growth tilt direction is 12° to the right; the model correction factor f(0.7)=0.5, that is, the support is strong; the additional tilt caused by the blade pressing is 12°×0.5=6°; the final predicted tilt angle is 12°+6°=18°; the tilt posture is "+18°".

[0195] Step S503: Establish a lawn cutting reference plane based on the tilting posture.

[0196] The reference plane for lawn cutting refers to the ideal plane that is tangent to the grass blades at the cutting height of the cutting disc, when the grass blades are tilted after being pushed by the blade shell.

[0197] First, based on the tilting posture obtained in the preceding steps, a grass blade bending model is established. In this model, the height of the rotating cutting surface of the blade disc is introduced as the horizontal cutting plane. The intersection points and tangential directions of the grass blades at the horizontal cutting plane are extracted. Using the tangential directions of these intersection points as a reference, a lawn cutting reference plane is extended. The intersection point of the horizontal cutting plane and the grass blades is defined as the pre-cutting point.

[0198] For example, in a certain sub-region image, predict the tilting posture θ of the grass blades. final =+18°, the cutting surface height of the rotating blade is 5cm. In the established grass blade bending model, the cross-section of the grass blade at a height of 5cm is cut, and its tangential direction is calculated. The resulting cutting reference plane is a tangential plane with an inclination of +18°.

[0199] Step S504: Compare the lawn cutting reference plane with the initial cutting plane of the blade head to obtain the angle difference.

[0200] The initial cutting plane of the cutter head refers to the rotating cutting surface of the cutter head at its initial height. This rotating cutting surface is horizontal.

[0201] The included angle difference refers to the angle between the lawn cutting reference plane and the original cutting plane of the blade.

[0202] In the established grass blade bending model, the normal vectors of the initial cutting plane of the cutter head and the lawn cutting reference plane are obtained, and the included angle β between the normal vectors is calculated. Therefore, the difference in included angle is the supplementary angle of included angle β.

[0203] Step S505: Determine the target compensation angle of the cutter head based on the angle difference.

[0204] The target compensation angle refers to the angle by which the cutter head needs to deflect relative to its initial cutting plane.

[0205] Define the compensation angle formula: θ comp =k×Δθ, where: θ comp Δθ is the target compensation angle; Δθ is the angle difference; k is the compensation coefficient (0~1), used to ensure that the height of grass blades cut with different tilting postures remains similar or consistent.

[0206] For example, in a sub-region image, blade a is tilted at +10°, and blade b is tilted at +20°. If only a horizontal cutting plane is used, the remaining height of blade b after cutting will be higher than that of blade a. By fitting a reference plane, the overall angle difference of the blades is obtained as Δθ = +15°; setting the compensation coefficient k = 0.6, the target compensation angle is: θ comp =0.6×15°=+9°

[0207] Step S506: Control the tool head to deflect according to the target compensation angle.

[0208] The cutter head is equipped with a deflection device on its top, which allows the cutter head to deflect within a preset deflection angle range during rotation.

[0209] Cutter head deflection control refers to adjusting the tilt angle of the cutter head through a deflection device so that the actual cutting plane of the cutter head is consistent with the plane corresponding to the target compensation angle.

[0210] For example, the blade is controlled to deflect at +9° so that the remaining height of the grass blades after cutting is similar.

[0211] This application provides a method for correcting the blade deflection angle based on residual turf, referring to... Figure 7 The method includes:

[0212] Step S601: Acquire images of the cut lawn area behind the lawnmower in real time to obtain images of the remaining lawn.

[0213] Residual lawn images refer to lawn images acquired in real time by an image acquisition device (such as a rear-mounted camera) installed at the rear of the lawnmower after the lawnmower has finished mowing.

[0214] Step S602: Determine whether there is a highly protruding lawn based on the image of the remaining lawn.

[0215] High-prominent lawns refer to lawns where, within a cut area, some blades still exceed the target cut height and its allowable deviation range, thus appearing visually or functionally as "not fully cut." The target cut height is a preset constant, representing the height of the lawn area excluding the high-prominent lawns.

[0216] Step S603: If so, obtain the height data of the prominent lawn to obtain the residual height data.

[0217] On the other hand, if there is no prominent lawn, no treatment is done.

[0218] Residual height data refers to the relative height difference between the taller lawn areas detected in a cut lawn area and the surrounding cut and leveled lawn areas.

[0219] In one feasible embodiment, the image acquisition device employs a depth camera. The depth camera utilizes structured light and Time-of-Flight (TOF) technology to generate a depth value for each pixel in the image, representing the distance from the camera to the target point. Combined with the installation height of the depth camera, the absolute height of the lawn surface is calculated, thereby obtaining the relative height difference between the protruding lawn area and the flat lawn area, thus yielding residual height data.

[0220] Step S604: Obtain the corrected deflection angle of the cutter head based on the residual height data.

[0221] The corrected deflection angle refers to the blade deflection angle calculated based on the residual height data of the cut lawn area, on the basis of the existing target compensation angle. This angle is used to correct the height difference caused by uneven cutting of some parts of the lawn.

[0222] In one feasible embodiment, after acquiring the residual height data, a preset rebound correction factor is introduced. The preset rebound correction factor is used to represent the rebound amplitude of the grass blades due to elastic recovery after being cut. Since the target compensation angle established in the aforementioned steps is based on the tilted state of the grass blades after being pushed by the cutter head shell, while the residual height data reflects the state of the grass blades after being cut and rebounding, a rebound correction factor needs to be introduced in the process of mapping the residual height data and the angle to offset the deviation caused by the rebound of the grass blades.

[0223] Among them, the correspondence f(Δh) between the residual height data Δh and the deflection angle correction is established, and there exists a linear relationship θ. base =k×Δh,θbase This is the theoretically corrected deflection angle calculated from the residual height data without considering grass blade rebound, where k is a preset coefficient for the height-to-angle ratio. Since the residual height data is obtained after the grass blades have rebounded, after introducing a rebound correction factor α∈(0,1), θ is obtained. corr =θ base ×α, θ corr To correct for the deflection angle, the rebound correction factor α can be obtained through experimental calibration by conducting comparative experiments at different turf densities.

[0224] Step S605: Update the target compensation angle of the tool turret according to the corrected deflection angle.

[0225] The update operation refers to superimposing the corrected deflection angle calculated from the residual height data onto the original target compensation angle calculated based on the lawn tilting posture, thereby forming a new target compensation angle for the cutterhead.

[0226] In one feasible embodiment, the update formula is defined as θ. final =θ comp +θ corr θ final The updated target compensation angle.

[0227] This application provides a negative pressure cutting method, referring to... Figure 8 The method includes:

[0228] Step S701: Determine whether there are over-tilted images in the lawn corresponding to several sub-region images where the tilt angle of grass blades is greater than a preset tilt threshold angle and the proportion is greater than a preset proportion threshold.

[0229] The preset tilt threshold angle is a fixed constant that can be adjusted according to actual conditions. If the tilt angle of the grass blades exceeds the preset threshold angle, it indicates that the grass is nearly horizontal, and controlling the blade deflection based on the target compensation angle is no longer effective for cutting that portion of the lawn. In this embodiment, the preset tilt threshold angle can be set to 80°.

[0230] The proportion refers to the proportion of the lawn in the sub-region image corresponding to grass blades with a tilt angle greater than a preset tilt threshold angle.

[0231] The preset ratio threshold is a preset constant that can be adjusted according to actual needs. In this embodiment, the preset ratio threshold can be set to 30%.

[0232] An over-tilted image is a sub-region image of a lawn where the tilt angle of grass blades is greater than a preset tilt threshold angle and the proportion of grass blades is greater than a preset proportion threshold.

[0233] In one feasible embodiment, the sub-region image is preprocessed (e.g., denoising, histogram equalization) to improve image clarity. Next, edge detection algorithms (such as Canny) are used to extract grass blade edges, and histogram of oriented gradients (HOG) is used to obtain local directional features. Then, Hough transform is applied to calculate the tilt angle distribution of the grass blades in the image, and the area of ​​grass blades with tilt angles greater than a preset tilt threshold is counted and its proportion is calculated. If the proportion is greater than a preset proportion threshold, the sub-region image is marked as an "over-tilted image".

[0234] For example, in a certain sub-region image, a total of 2000 grass blade pixels were counted, of which 720 grass blades had a tilt angle greater than 80°, accounting for 36%. Since this exceeds the proportion threshold of 30%, the sub-region image is marked as an over-tilted image; if only 400 grass blades have an angle greater than 80° (accounting for 20%), the sub-region image will not be judged as an over-tilted image.

[0235] Step S702: If yes, when the cutter head is at a preset reach distance in front of the tilt over-image, generate a negative pressure cutting mode request.

[0236] On the other hand, if there are no sub-region images of grass with a tilt angle greater than a preset tilt threshold angle in the lawn corresponding to several sub-region images, no processing is performed.

[0237] The preset reach distance refers to the distance that is reserved in advance before the lawnmower's blades travel to the lawn area corresponding to the tilted image, so that the driver can issue a mode switching command in advance.

[0238] The negative pressure cutting mode request refers to a control command generated by the controller, which includes parameters such as blade height increase and speed increase. It is used to alert the driver that there is a grassy area ahead that is difficult to cut by deflection using the target compensation angle, and to request whether to enter the negative pressure cutting mode.

[0239] In one feasible embodiment, when a sub-region ahead is detected as an over-tilted image, the controller sends a negative pressure cutting mode request to the driver's control terminal when the cutter head reaches a preset reach distance from that region. This request can be prompted through the driver's operating interface via a pop-up, sound, or light, awaiting driver confirmation. If the driver confirms within the preset reach distance, the cutter head will enter negative pressure cutting mode when it is located in the grass area corresponding to the over-tilted image; if the driver does not confirm or chooses to refuse, the current cutting mode will continue.

[0240] Step S703: In response to the acceptance operation of the request for negative pressure cutting mode, when the cutter head is located in the lawn area corresponding to the tilted over-image, the negative pressure cutting mode is started. The negative pressure cutting mode refers to the mode of controlling the cutter head to rise to the maximum height and rotate at the maximum speed, so that a negative pressure area is formed at the bottom of the cutter head shell.

[0241] Negative pressure cutting mode is a special mode that lawnmowers enter when the grass blades are tilted at too large an angle and the blade head cannot be effectively cut by controlling the deflection according to the target compensation angle. In this mode, the blade head is controlled to rise to its maximum height and increase to its maximum rotation speed, thereby creating a negative pressure area at the bottom of the blade head shell, which uses the suction effect to pull the fallen grass blades upright.

[0242] Among them, the maximum height refers to the maximum height that the cutter head can rise from the bottom of the cutter head housing, and the maximum speed refers to the maximum speed at which the cutter head can rotate.

[0243] Furthermore, when the negative pressure cutting mode is activated, the lawnmower's travel speed will be limited to a minimum speed threshold, which is a preset constant.

[0244] Step S704: After the negative pressure cutting mode is activated and reaches the preset running time, the cutter head is controlled to fall back to cut the lawn.

[0245] The preset runtime is a constant and can be adjusted according to actual needs.

[0246] "Returning" refers to the cutter head height returning to the height before starting the negative pressure cutting mode.

[0247] Furthermore, after the cutter head returns to its original speed before the negative pressure cutting mode was activated, its rotational speed is restored.

[0248] After the cutter head enters the over-tilt zone and starts the negative pressure cutting mode, when the preset running time is reached, the controller controls the cutter head to quickly descend to the height of the cutter head before starting the negative pressure cutting mode. At this time, the cutter head effectively cuts the grass blades that have been attracted and pulled.

[0249] Based on the same inventive concept, embodiments of this application provide a control system for a ride-on lawnmower, including:

[0250] The acquisition module is used to acquire the target lawn image, lawn density, and the next target lawn image;

[0251] A memory for storing the program of the above-described control method for a riding lawnmower;

[0252] The processor and memory can load and execute the program to implement the above-mentioned control method for a ride-on lawnmower.

[0253] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0254] This application provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed as a ride-on lawnmower control method.

[0255] Computer storage media include, for example, USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media that can store program code.

[0256] Based on the same inventive concept, embodiments of this application provide a smart terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as a ride-on lawnmower control method.

[0257] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0258] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features unless specifically stated otherwise. That is, unless specifically stated otherwise, each feature is only one example of a series of equivalent or similar features.

Claims

1. A control method for a riding lawnmower, characterized in that, include: Acquire a target lawn image of the target lawn area in front of the lawnmower; The target lawn image is divided into several sub-region images along the direction of travel; Obtain the lawn density of each sub-region image; The predicted cutting load of the cutter head is obtained based on the lawn density; The target rotational speed of the cutter head and the target motor output torque are generated based on the predicted cutting load. At a preset adjustment time point before the cutter head reaches the lawn area corresponding to the target sub-region image, the cutter head speed adjustment operation is performed to make the cutter head speed approach the target speed. When the cutter head enters the grass area corresponding to the target sub-region image, the cutter head torque adjustment operation is performed so that the cutter head torque reaches the target motor output torque; When the cutter head reaches the target image update area in several sub-region images, the image of the next target lawn is obtained in advance, and the image of the next target lawn is obtained. Obtain the lifting height of the front wheel of the cutter head; If the lifting height is greater than the preset lifting height, determine whether the lifting height of the front wheel of the cutterhead has fallen back within the preset travel distance; If not, control the cutter head according to the preset cutter head control method; If so, obtain the offset side of the front wheel of the cutter head being raised; Control the tool head corresponding to the lifting offset side to perform a locking operation, disconnect the travel signal and issue an obstacle alarm; In response to the travel signal, the control and lifting offset side of the cutter head are rotated at a preset abnormality detection speed to reach a preset number of revolutions; The rotational resistance of the cutter head is acquired in real time and it is determined whether the rotational resistance is greater than the preset resistance threshold. If not, control the cutter head to rotate according to the predicted cutting load and restore the travel signal; If so, control the lifting of the cutter head according to the lifting height of the front wheel of the cutter head and issue an obstacle alarm; After the travel signal is restored and the lawnmower has traveled a preset distance, the cutter head is controlled to fall back.

2. The control method for a riding lawnmower according to claim 1, characterized in that, The step of obtaining the predicted cutting load of the cutter head based on the lawn density includes: The growth status of lawns is classified into different levels based on lawn density. Determine the cutting resistance per unit area of ​​lawn based on the growth level; Obtain the effective contact area of ​​the cutter head with the lawn corresponding to the current sub-region image; Determine the base cutting resistance based on the cutting resistance per unit lawn area and the effective contact area; By coupling the basic cutting resistance and the lawnmower travel speed, the predicted cutting load is obtained.

3. The control method for a riding lawnmower according to claim 1, characterized in that, The steps of controlling the cutter head according to the preset cutter head control method include: Obtain the difference in lifting height of the front wheel of the cutter head; The terrain undulation and tilt angle are obtained based on the elevation difference. The tilt compensation angle of the cutterhead corresponding to the offset side is obtained based on the terrain undulation and tilt angle. The control head corresponding to the offset side deflects according to the tilt compensation angle.

4. The control method for a riding lawnmower according to claim 1, characterized in that, The method further includes: Obtain the growth tilt direction of the lawn corresponding to the sub-region image; Predict the turf's tilting posture under the pushing action of the cutter head shell based on turf density and growth tilt direction. The tilting posture includes the tilt angle and tilt direction of the grass blades. Establish a lawn cutting reference plane based on the tilting posture; The angle difference is obtained by comparing the lawn cutting reference plane with the initial cutting plane of the cutter head; The target compensation angle of the cutter head is determined based on the angle difference. The cutter head is deflected according to the target compensation angle.

5. The control method for a riding lawnmower according to claim 4, characterized in that, The method further includes: Real-time images of the cut lawn area behind the lawnmower are acquired to obtain images of the remaining lawn. Determine whether there is a highly protruding lawn based on the image of the remaining lawn; If so, obtain the height data of the prominent lawn to get the residual height data; The corrected deflection angle of the cutter head is obtained based on the residual height data; The target compensation angle of the cutterhead is updated based on the corrected deflection angle.

6. A control method for a riding lawnmower according to claim 4, characterized in that, The method further includes: Determine whether there are over-tilted images in the lawn corresponding to several sub-region images, where the tilt angle of grass blades is greater than a preset tilt threshold angle and the proportion is greater than a preset proportion threshold. If so, when the cutter head is within a preset reach distance in front of the tilted image, a negative pressure cutting mode request is generated; In response to the acceptance of the request for negative pressure cutting mode, when the cutter head is located in the grass area corresponding to the tilted over-image, the negative pressure cutting mode is activated. The negative pressure cutting mode refers to the mode of controlling the cutter head to rise to the maximum height and rotate at the maximum speed, so that a negative pressure area is formed at the bottom of the cutter head shell. Once the negative pressure cutting mode has been activated for the preset duration, the blade disc will retract to cut the lawn.

7. A control system for a riding lawnmower, characterized in that, The system is used to execute the control method for a riding lawnmower as described in any one of claims 1 to 6, including: The acquisition module is used to acquire the target lawn image, lawn density, and the next target lawn image; A memory for storing the program of the riding lawnmower control method; The processor and the program in the memory can be loaded and executed by the processor to implement the riding lawnmower control method.

8. A riding lawnmower, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer program is stored that can be loaded by a processor and executed as described in any one of claims 1 to 6.

Images