Working assembly height adjusting device and method and self-moving mowing equipment
By combining the control module and Hall sensor, the rotation of the height adjustment motor is corrected in real time, which solves the problem of large cumulative error during the height adjustment of the self-moving equipment's working components and achieves higher height adjustment accuracy.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- POSITEC POWER TOOLS (SUZHOU) CO LTD
- Filing Date
- 2024-10-18
- Publication Date
- 2026-04-21
AI Technical Summary
When the self-moving device adjusts the height of the working component, there is an error between the actual height and the target height. This leads to a large cumulative error after multiple adjustments, affecting the accuracy of the height adjustment of the working component.
The control module receives height adjustment commands, determines the difference between the actual height and the target height of the working component, calculates the theoretical adjustment amount and rotation direction of the height adjustment motor, and monitors the rotation amount of the height adjustment motor in real time. It generates a motor stop signal to correct the offset, uses a Hall sensor to detect the rotation amount of the output shaft, and adjusts the theoretical adjustment amount of the next control command to reduce the deviation after each adjustment.
It improves the accuracy of adjusting the height of the working components, reduces the accumulated error after multiple adjustments, and enhances the adjustment precision of the working components of the self-moving device.
Smart Images
Figure CN121900499A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of lawn mowing robot technology, specifically to a working component height adjustment device, method, and self-moving lawn mowing equipment. Background Technology
[0002] With the development of science and technology, self-moving devices that require no human operation or intervention are widely used. Industrial applications include robots performing various functions, while home products include lawnmowers and vacuum cleaners. These self-moving devices greatly save people's time.
[0003] Currently, when a self-moving device performs movement / work, the working height of its working components can be adjusted to adapt to different working areas. Typically, the user sends a specified height to the self-moving device, which calculates the number of motor rotations and direction required to reach the specified height adjustment distance, performs the height adjustment, and stops the motor rotation once the desired height is reached. Summary of the Invention
[0004] To address the aforementioned technical problems, the first aspect of this application provides a working component height adjustment device applied to a self-moving device. The self-moving device includes a working component, and the working component height adjustment device includes a control module and a height adjustment motor. The height of the working component relative to the ground is adjustable.
[0005] The control module is configured to: receive height adjustment instructions, determine the actual height of the working component and the target height in the height adjustment instructions, determine the theoretical adjustment amount and rotation direction of the height adjustment motor based on the height difference between the target height and the actual height, and generate and send control instructions to the height adjustment motor according to the rotation direction;
[0006] The height adjustment motor is configured to receive and execute control commands to move the working components.
[0007] The control module is also configured to: acquire the actual adjustment amount of the height adjustment motor; if the actual adjustment amount is equal to the theoretical adjustment amount, generate a motor stop signal and send it to the height adjustment motor.
[0008] The actual height of the working component is determined based on the parameters from the previous historical height adjustment process. These parameters include the target height of the working component in the previous height adjustment command, the rotation direction of the height adjustment motor, and the offset of the height adjustment motor after executing the previous control command.
[0009] The aforementioned working component height adjustment device can adjust the theoretical adjustment amount in the next control command based on the offset after the height adjustment motor executes a control command once, so as to minimize the deviation between the actual height of the working component and the target height after each execution of a control command by the height adjustment motor, thereby improving the accuracy of the working component height adjustment.
[0010] In some embodiments, the height adjustment motor includes an output shaft, the output shaft of which is connected to the working component via a height adjustment screw; the height adjustment motor is configured to:
[0011] Upon receiving the control command, the control output shaft rotates in the direction of rotation; and,
[0012] In response to a motor stop signal, the control output shaft stops rotating.
[0013] In some embodiments, after generating a motor stop signal and sending it to the height-adjusting motor, the control module is further configured to:
[0014] Record the amount of rotation of the output shaft from the generation of the motor stop signal to the receipt of the next height adjustment command.
[0015] In some embodiments, the working component height adjustment device further includes:
[0016] The height adjustment detection module is configured to detect the amount of rotation of the output shaft in response to the rotation of the output shaft, use the amount of rotation of the output shaft as the actual adjustment amount of the height adjustment motor, and send the actual adjustment amount to the control module.
[0017] In some embodiments, the height adjustment detection module is a Hall sensor, including:
[0018] A magnet is mounted on the output shaft and is driven to rotate by the output shaft.
[0019] At least one Hall element is mounted on the height adjustment motor on the same side as the magnet, but is not connected to the magnet.
[0020] In some embodiments, the Hall sensor is configured as follows:
[0021] In response to the rotation of the magnet, a pulse signal is generated; there is a corresponding relationship between the pulse signal and the number of rotations of the output shaft.
[0022] The pulse signal is sent to the control module, which uses the number of pulse signals as the actual adjustment value.
[0023] In some embodiments, the step of determining the theoretical adjustment amount and rotation direction of the height adjustment motor based on the height difference between the target height and the actual height includes:
[0024] Calculate the difference between the target height in the previous elevation command and the target height in the current elevation command;
[0025] The theoretical rotation of the output shaft is calculated based on the difference.
[0026] The rotation direction is determined based on the target height in the previous height adjustment command and the target height in the current height adjustment command.
[0027] Based on the directional relationship between the rotation direction in the previous control command and the rotation direction in the current control command, the offset of the motor after executing the previous control command, and the theoretical rotation amount, the theoretical adjustment amount of the output shaft is determined.
[0028] In some embodiments, the theoretical adjustment amount of the output shaft is determined based on the directional relationship between the rotation direction in the previous control command and the rotation direction in the current control command, the offset of the motor after executing the previous control command, and the theoretical rotation amount, including:
[0029] If the rotation direction in the previous control command is the same as the rotation direction in the current control command, the theoretical adjustment amount is configured as: equal to the sum of the offset of the motor after executing the previous control command and the theoretical rotation amount;
[0030] If the rotation direction in the previous control command is different from the rotation direction in the current control command, the theoretical adjustment amount is configured as: the absolute value of the difference between the theoretical rotation amount and the offset of the heightening motor after executing the previous control command.
[0031] A second aspect of this application provides a method for adjusting the height of a working component, applied to a working component height adjustment device for a self-moving device. The self-moving device includes a working component, and the working component height adjustment device includes a control module and a height adjustment motor. The height of the working component relative to the ground is adjustable. The method includes:
[0032] The control module receives the height adjustment command, determines the actual height of the working component and the target height in the height adjustment command, and determines the theoretical adjustment amount and rotation direction of the height adjustment motor based on the height difference between the target height and the actual height.
[0033] The control module generates and sends control commands to the height adjustment motor based on the rotation direction.
[0034] The height adjustment motor receives the control command and executes the control command to drive the working component to move;
[0035] The control module obtains the actual adjustment amount of the height adjustment motor. If the actual adjustment amount is equal to the theoretical adjustment amount, it generates a motor stop signal and sends it to the height adjustment motor.
[0036] The actual height of the working component is determined based on the parameters from the previous historical height adjustment process. These parameters include the target height of the working component in the previous height adjustment command, the rotation direction of the height adjustment motor, and the offset of the height adjustment motor after executing the previous control command.
[0037] The above-mentioned working component height adjustment method adjusts the theoretical adjustment amount in the next control command based on the offset after the height adjustment motor executes a control command once. This ensures that the deviation between the actual height of the working component and the target height is small after each control command is executed by the height adjustment motor, thereby improving the accuracy of the working component height adjustment.
[0038] A third aspect of this application provides a self-propelled lawn mowing device, including a working component and a working component height adjustment device as described above. Attached Figure Description
[0039] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, those skilled in the art can obtain other drawings based on these drawings without any creative effort.
[0040] Figure 1 The diagram shown is a scenario applicable to an embodiment of this application.
[0041] Figure 2 The diagram shown is a structural schematic of a working component height adjustment device provided in an embodiment of this application;
[0042] Figure 3 The diagram shown is a flowchart illustrating a method for adjusting the height of a working component according to an embodiment of this application.
[0043] Figure 4 The diagram shown is a structural schematic of a self-moving device provided in an embodiment of this application.
[0044] The realization of the objectives, functional features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. The accompanying drawings have illustrated specific embodiments of this application, which will be described in more detail below. These drawings and textual descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concepts of this application to those skilled in the art through reference to specific embodiments. Detailed Implementation
[0045] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.
[0046] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Optionally, components, features, and elements with the same names in different embodiments of this application may have the same meaning or different meanings, the specific meaning of which needs to be determined by its interpretation in that specific embodiment or further in conjunction with the context of that specific embodiment.
[0047] It should be understood that although the terms first, second, third, etc., may be used herein to describe various information, such information should not be limited to these terms. These terms are used only to distinguish information of the same type from one another. For example, without departing from the scope of this document, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if," as used herein, can be interpreted as "when," "when," or "in response to determination." Furthermore, as used herein, the singular forms "a," "an," and "the" are intended to also include the plural forms unless the context indicates otherwise. It should be further understood that the terms "comprising," "including," indicate the presence of the stated feature, step, operation, element, component, item, kind, and / or group, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, kinds, and / or groups. The terms "or" and "and / or" as used herein are to be interpreted as inclusive, or mean any one or any combination thereof. Therefore, "A, B, or C" or "A, B, and / or C" means "any one of the following: A; B; C; A and B; A and C; B and C; A, B, and C". Exceptions to this definition will only occur if the combination of elements, functions, steps, or operations is inherently mutually exclusive in some way.
[0048] It should be understood that although the steps in the flowcharts of this application's embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least a portion of the sub-steps or stages of other steps.
[0049] It should be noted that step designations such as S311 and S12 are used in this document for the purpose of more clearly and concisely describing the corresponding content, and do not constitute a substantial limitation on the order. In specific implementation, those skilled in the art may execute S11 first and then S12, etc., but these should all be within the protection scope of this application.
[0050] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.
[0051] In the following description, the use of suffixes such as "module," "part," or "unit" to denote elements is solely for the purpose of illustrative purposes and has no specific meaning in itself. Therefore, "module," "part," or "unit" may be used interchangeably.
[0052] Figure 1 The illustration shows a working component height adjustment device according to an embodiment of this disclosure, applied to a self-moving device configured to travel and / or work in a work area. The self-moving device includes a working component, and the working component height adjustment device includes a control module and a height adjustment motor. The height of the working component relative to the ground is adjustable when the self-moving device is traveling, working, or stationary.
[0053] In this embodiment, the self-moving device 10 may be a lawnmower, sweeper, snowplow, sprinkler, etc. The self-moving device 10 may travel and / or work in the work area 33, including traveling and / or working within the work area 33, and traveling and / or working along the boundary of the work area 33.
[0054] In an exemplary application environment, the self-moving device 10 can be an automatic lawnmower that can automatically move within a work area 33 within the boundary line 31 to cut grass or vegetation located in the work area 33.
[0055] The self-moving device 10 includes a device body 13, a moving module disposed at the bottom of the device body 13 for moving the self-moving device 10 on the working surface, the moving module including at least one wheel disposed at the bottom of the device body 13, and a motor driving the wheel, wherein the wheel may be provided with multiple walking wheels and guide wheels to facilitate flexible turning and movement of the self-moving device 10 in the working area 33. A power supply unit (e.g., a battery pack) disposed on the device body 13 is used to provide energy for the movement and / or operation of the self-moving device 10. A control module disposed on the device body 13 and electrically connected to the power supply unit, the control module can control the power supply unit to release energy, and the control module can control the movement and / or operation of the self-moving device 10. The self-moving device 10 also includes a working module, the working module including a cutting disc disposed at the bottom of the device body 13, and a motor driving the cutting disc to rotate.
[0056] In practical applications, the height of the working components needs to be adjusted multiple times in response to different working conditions or user needs.
[0057] The control module only sends a motor stop signal to the height adjustment motor when the height of the working component is adjusted to match the working conditions or the height desired by the user. When the height adjustment motor receives the motor stop signal, its output shaft is rotating at a certain speed, and the rotational speed of the output shaft cannot instantly decrease to 0. In other words, after receiving the motor stop signal, the height adjustment motor cannot immediately control the output shaft to complete the state transition from rotation to stillness. During the transition from rotation to stillness, the output shaft will still rotate a certain angle / number of revolutions, causing the actual height of the working component to differ from the target height in the height adjustment command. For example, if the height adjustment motor rotates in one direction, causing the working component to rise / fall to a preset height, and when the working component reaches that preset height, the control module sends a motor stop signal to the height adjustment motor. Upon receiving the motor stop signal, the height adjustment motor controls the output shaft to gradually decrease its speed from the current speed to 0. During the process of the output shaft decreasing from the current speed to 0, the working component continues to move up / down a certain distance under the action of the output shaft, resulting in an error between the actual height of the working component and the user's expected target height.
[0058] In one specific embodiment, when the height adjustment motor receives a motor stop signal, its output shaft is rotating at a certain speed, and the rotational speed cannot instantly decrease to 0. That is, after receiving the motor stop signal, the height adjustment motor cannot immediately control the output shaft to switch from a rotating state to a stationary state. During the transition from a rotating state to a stationary state, the output shaft will still rotate a certain angle / number of revolutions (i.e., an offset will occur after the height adjustment motor executes a control command). Therefore, the offset after the height adjustment motor executes a control command will cause the actual height of the working component to be different from the target height in the height adjustment command. For example, if the actual height of the working component is 30mm and the target height in the height adjustment command is 40mm, and the control module determines that the working component needs to be raised by 10mm, it calculates that rotating the height adjustment motor clockwise 100 revolutions will raise the working component by 10mm (assuming that rotating the output shaft of the height adjustment motor once will adjust the height of the working component by 0.1mm). Therefore, the control module generates a control command to control the height adjustment motor to rotate clockwise 15 revolutions. When the control module detects that the height adjustment motor has rotated 100 revolutions, it generates a motor stop signal and sends it to the height adjustment motor. The height adjustment motor controls the output shaft to stop rotating based on the motor stop signal. During the process of the output shaft switching from the rotating state to the stationary state, the output shaft rotates 5 revolutions (that is, the working component moves upward by 0.5mm). Therefore, when the output shaft of the height adjustment motor stops rotating, the actual height of the working component is 40.5mm.
[0059] In response to multiple height adjustment commands, the control module sends multiple sets of control commands and motor stop commands to the height adjustment motor. Each time the height adjustment motor executes a control command and a motor stop command, it will cause an error in the height adjustment of the working component. After multiple height adjustments, the actual height of the working component will have a large height error compared with the target height expected by the user.
[0060] To solve the above problems, such as Figure 2As shown, this application discloses a working component height adjustment device. In this embodiment, the working component height adjustment device includes a control module 210 and a height adjustment motor 220. The control module 210 is configured to: receive a height adjustment command, determine the actual height of the working component and the target height in the height adjustment command, determine the theoretical adjustment amount and rotation direction of the height adjustment motor based on the height difference between the target height and the actual height, and generate and send a control command to the height adjustment motor 220 based on the rotation direction. The height adjustment motor 220 is configured to: receive the control command and execute the control command to move the working component 230. The control module 210 is also configured to: acquire the actual adjustment amount of the height adjustment motor; if the actual adjustment amount equals the theoretical adjustment amount, generate a motor stop signal and send it to the height adjustment motor 220. The actual height of the working component is determined based on parameters from the previous historical height adjustment process. These parameters include the target height of the working component in the previous height adjustment command, the rotation direction of the height adjustment motor, and the offset of the height adjustment motor after executing the previous control command.
[0061] In this embodiment, the actual height of the working component is the current height of the working component relative to the ground.
[0062] In this embodiment, the height adjustment command includes a target height, which is the height of the working component relative to the ground that the user expects.
[0063] In this embodiment, based on the actual height of the working component and the target height of the height adjustment command, the control module can calculate the distance that the working component needs to adjust in response to the current height adjustment command. Furthermore, based on the relationship between the moving height of the working component and the number of rotations of the output shaft of the height adjustment motor, and the distance that the working component needs to adjust, the working module can calculate the number of rotations required for the output shaft of the height adjustment motor in response to the current height adjustment command, and use this number of rotations as the theoretical adjustment amount.
[0064] In this embodiment, the height adjustment motor has two opposite rotation directions. These two rotation directions correspond to raising and lowering the working component, respectively.
[0065] In some embodiments of this example, the two rotation directions of the height adjustment motor can be clockwise and counterclockwise, respectively. In a specific embodiment, when the height adjustment motor rotates clockwise, it drives the working component to rise. If the actual height of the working component is 30mm and the target height in the height adjustment command is 40mm, the control module determines that the working component needs to be heightened based on the actual height and the target height. The control module can then generate a control command to control the height adjustment motor to rotate clockwise.
[0066] In some implementations, after the control module generates control commands, it can also detect the number of rotations of the height adjustment motor in real time to determine whether to send a motor stop signal to the height adjustment motor. For example, based on the actual height and target height of the working component, if the control module determines that the height adjustment motor needs to rotate counterclockwise 10 times, then the control module can generate control commands to control the height adjustment motor to rotate counterclockwise and detect the number of rotations of the height adjustment motor in real time. When the number of rotations of the height adjustment motor is equal to 10, the control module generates a motor stop signal and sends the motor stop signal to the height adjustment motor.
[0067] In some embodiments of this example, the height adjustment command may be generated in response to a target height input by the user on the smart terminal. When the user inputs a target height on the smart terminal, the smart terminal generates a height adjustment command including the target height, and sends the height adjustment command to the control module of the self-moving device.
[0068] In some embodiments of this example, the device body 13 is provided with an information acquisition module, including a positioning component and / or a vision component. The positioning component is used to acquire the location information of the self-moving device 10, including the current location information of the self-moving device 10. The vision component is used to acquire image information within the working area 33. The information acquired by the information acquisition module is sent to the control module, and the control module, based on the location information of the self-moving device 10 and the image information within the working area 33, better controls the self-moving device 10 to move and / or work within the working area 33.
[0069] In some implementations, the control module can determine the current working condition of the work area based on the information collected by the information acquisition module, and the adjustment command can be in response to different working conditions identified by the self-moving device in the work area.
[0070] In some implementations, different working conditions can be matched with different working heights. After the self-moving device identifies different working conditions in the working area, it can automatically generate a height adjustment command and send it to the control module. The target height in the height adjustment command matches the working condition identified by the self-moving device.
[0071] In other implementations, the control module can obtain the current location information of the self-moving device sent by the positioning component. Multiple sub-regions can be preset within the working area, and each sub-region has a preset working height. The control module can determine which sub-region the self-moving device is located in based on the current location information of the self-moving device, and match different working heights to different sub-regions.
[0072] In some embodiments, the self-moving device can be a lawnmower, and the working components of the lawnmower can be a height-adjustable cutting disc, trimming rope, etc., with the cutting disc being used as an example here. The lawnmower can identify the working conditions of the work area through methods such as working parameter detection and / or image detection. The working conditions can include, but are not limited to, grass conditions, passageways, and slopes. Different cutting heights can be matched to different working conditions. For example, when the working condition is a passageway or slope, the height of the cutting disc can be adjusted to the highest point of its height range to improve passability; when the working condition is dense grass, the height of the cutting disc can be adjusted to a preset dense grass height.
[0073] In one specific embodiment, the lawnmower is equipped with an image acquisition device and an image analysis device. The control module of the lawnmower includes a first control submodule and a second control submodule. When the lawnmower is working / moving within the work area, the image acquisition device acquires images of the surrounding working environment and sends these images to the image analysis module. The image analysis module performs image analysis on the images, generates an image analysis result, and sends the result to the first control submodule. The image analysis result may include, but is not limited to, dense grass, slopes, and normal grass. In response to the image analysis result indicating dense grass, the first control submodule can generate a height adjustment command including a preset grass height and send the height adjustment command to the second control submodule.
[0074] The aforementioned working component height adjustment device can adjust the theoretical adjustment amount in the next control command based on the offset after the height adjustment motor executes a control command once, so as to minimize the deviation between the actual height of the working component and the target height after each execution of a control command by the height adjustment motor, thereby improving the accuracy of the working component height adjustment.
[0075] Specifically, the previous rotation direction of the height adjustment motor is taken as the first direction. Based on the offset of the height adjustment motor after executing the previous control command and the rotation direction in the current control command, the control module can adjust the theoretical adjustment amount based on the offset.
[0076] In one specific embodiment, if the actual height of the working component is 20mm, the target height of the first height adjustment command is 25mm, and the target height of the second height adjustment command is 28mm. In this embodiment, clockwise rotation of the height adjustment motor corresponds to increasing the height of the working component, and counterclockwise rotation of the height adjustment motor corresponds to decreasing the height of the working component. Furthermore, one rotation of the output shaft of the height adjustment motor can adjust the height of the working component by 0.1mm. In response to the first height adjustment command, the control module generates a first control command. The theoretical adjustment amount in the first control command is 50 rotations, and the rotation direction is clockwise; that is, the first control command controls the height adjustment motor to rotate clockwise 50 times. When responding to the second height adjustment command, the control module determines the theoretical adjustment amount in the second control command based on the target height of the first height adjustment command, the target height of the second height adjustment command, and the offset of the height adjustment motor after executing the first control command.
[0077] Furthermore, if the offset of the height adjustment motor after executing the first control command is 0 revolutions, meaning the height of the working component is 25mm after the first control command, then the theoretical adjustment amount in the first control command in response to the second height adjustment command is 30 revolutions, with the rotation direction being clockwise. Normally, the offset of the height adjustment motor after executing one control command is greater than 0 revolutions. Therefore, assuming the offset of the height adjustment motor after executing the first control command is 2 revolutions (the output shaft of the height adjustment motor rotates 2 revolutions), since both the first and second control commands control the height adjustment motor to rotate clockwise, the theoretical adjustment amount in the first control command in response to the second height adjustment command is: 30 revolutions minus 2 revolutions (the offset of the height adjustment motor after executing the first control command), which equals 28 revolutions.
[0078] In another embodiment, the actual height of the working component is 20mm, the target height of the first height adjustment command is 25mm, the target height of the second height adjustment command is 22mm, and the offset of the height adjustment motor after executing the first control command is 1 revolution. Since adjusting from 25mm to 22mm requires the height adjustment motor to rotate counterclockwise 30 revolutions, and the first and second control commands control the height adjustment motor to rotate clockwise and counterclockwise (i.e., reverse rotation) respectively, in response to the second height adjustment command, the rotation direction in the first control command is counterclockwise. The theoretical adjustment amount is: 30 revolutions plus 1 revolution (the offset of the height adjustment motor after executing the first control command), which equals 31 revolutions.
[0079] In this embodiment, in response to multiple control commands, the offset of the motor after each execution of a control command is not fixed.
[0080] By adjusting the theoretical adjustment amount in the next control command based on the offset of the height adjustment motor after executing a control command, the offset of the height adjustment motor after executing the previous control command can be corrected each time the height adjustment motor executes a control command. This ensures that the deviation between the actual height of the working component and the target height is equal to the offset of the height adjustment motor after executing a control command, thus avoiding the problem of excessive height adjustment error of the working component caused by the accumulation of offset after the height adjustment motor executes control commands multiple times.
[0081] In some embodiments, the height adjustment motor includes an output shaft connected to a working component via a height adjustment screw; the height adjustment motor is configured to: control the output shaft to rotate in a rotation direction after receiving a control command; and control the output shaft to stop rotating in response to a motor stop signal.
[0082] In some embodiments of this example, the units of the theoretical adjustment amount of the height-adjusting motor, the actual adjustment amount of the height-adjusting motor, and the offset amount of the height-adjusting motor after executing the previous control command can all be the number of rotations / angles of the output shaft, or the height value of the working component adjustment.
[0083] In some embodiments, after generating a motor stop signal and sending it to the height adjustment motor, the control module is further configured to record the rotation amount of the output shaft from the generation of the motor stop signal to the receipt of the next height adjustment command. This is used to correct the offset of the height adjustment motor after executing the previous control command each time the height adjustment motor executes a control command. This ensures that the deviation between the actual height of the working component and the target height is equal to the offset of the height adjustment motor after executing a control command, thus avoiding the problem of excessive height adjustment error of the working component caused by the accumulation of offset after the height adjustment motor executes control commands multiple times.
[0084] In some embodiments of this example, the control module can record the rotation amount of the output shaft within a preset time period after the motor stop signal is generated. It is understood that, since there is an interval between the time the control module generates the motor stop signal and the time it sends the motor stop signal to the height adjustment motor, the control module can also record the rotation amount of the output shaft within a preset time period starting from the time the motor stop signal is sent to the height adjustment motor.
[0085] In other embodiments of this example, the control module may record the amount of rotation of the output shaft from the generation of the motor stop signal to the receipt of the next height adjustment command. It is understood that, since there is an interval between the time the control module generates the motor stop signal and the time it sends the motor stop signal to the height adjustment motor, the control module may also record the amount of rotation of the output shaft from the time it starts sending the motor stop signal to the height adjustment motor to the receipt of the next height adjustment command.
[0086] In some embodiments, the working component height adjustment device further includes: a height adjustment amount detection module, configured to detect the amount of rotation of the output shaft in response to the rotation of the output shaft, use the amount of rotation of the output shaft as the actual adjustment amount of the height adjustment motor, and send the actual adjustment amount to the control module.
[0087] In this embodiment, the amount of rotation of the output shaft can be the number of rotations of the output shaft, the angle of rotation of the output shaft, or a variable that corresponds to the number of rotations / angle of the output shaft.
[0088] In some embodiments of this example, the height adjustment detection module is a Hall sensor, comprising: a magnet disposed on the output shaft for being rotated by the output shaft; and at least one Hall element disposed on the same side of the magnet on the height adjustment motor, without connection to the magnet.
[0089] In this embodiment, "no connection between the Hall element and the magnet" means that there is no electrical connection or mechanical connection between the Hall element and the magnet.
[0090] In this embodiment, the Hall element is connected to the control module circuit.
[0091] In some embodiments of this example, if the Hall sensor includes multiple Hall elements, the multiple Hall elements can be arranged regularly on the height adjustment motor according to predetermined positions.
[0092] In some embodiments, the Hall sensor is configured to: generate a pulse signal in response to the rotation of the magnet; the pulse signal corresponds to the number of rotations of the output shaft; and send the pulse signal to the control module, which uses the number of pulse signals as the actual adjustment amount based on the number of pulse signals.
[0093] In some embodiments, the Hall sensor includes a Hall element. In some implementations of this embodiment, the output shaft drives a magnet to rotate, and in response to the rotation of the magnet, the Hall element senses a change in the magnetic field and sends a pulse signal to the control module.
[0094] In one specific embodiment, when the output shaft rotates one revolution, the Hall element responds to the rotation of the magnet on the output shaft and can output a pulse signal to the control module.
[0095] In some embodiments, the steps of determining the theoretical adjustment amount and rotation direction of the height adjustment motor based on the height difference between the target height and the actual height include: calculating the difference between the target height in the previous height adjustment command and the target height in the current height adjustment command; calculating the theoretical rotation amount of the output shaft based on the difference; determining the rotation direction based on the magnitude of the target height in the previous height adjustment command and the target height in the current height adjustment command; and determining the theoretical adjustment amount of the output shaft based on the directional relationship between the rotation direction in the previous control command and the rotation direction in the current control command, the offset of the height adjustment motor after executing the previous control command, and the theoretical rotation amount.
[0096] In this embodiment, there is a correspondence between the rotation direction of the height adjustment motor and the movement direction of the working component.
[0097] In some embodiments of this example, the rotation direction of the height-adjusting motor includes clockwise and counterclockwise directions, and the movement direction of the working component includes rising and falling, wherein the rising and falling of the working component is a vertical movement relative to the ground. In some embodiments, when the output shaft of the height-adjusting motor rotates clockwise, the rotation of the output shaft causes the working component to rise (move away from the ground). In a specific embodiment, the working component height adjustment device further includes a screw, one end of which is connected to the output shaft of the height-adjusting motor, and the other end of which is connected to the working component. When the output shaft of the height-adjusting motor rotates, the screw can drive the working component to move away from the ground. Similarly, when the output shaft of the height-adjusting motor rotates counterclockwise, the rotation of the output shaft can drive or drive the screw to lower the working component (move closer to the ground).
[0098] In this embodiment, if the target height is higher than the actual height, the control command generated by the control module indicates that the rotation direction is directed towards raising the control component. If the target height is lower than the actual height, the control command generated by the control module indicates that the rotation direction is directed towards lowering the control component.
[0099] In this embodiment, the theoretical rotation amount of the output shaft can be the number of rotations of the output shaft, the angle of rotation of the output shaft, or a variable that corresponds to the number of rotations / angle of the output shaft.
[0100] In some embodiments of this example, the height adjustment device for the working component includes a height adjustment amount detection module. In one specific embodiment, the height adjustment amount detection module is a Hall sensor comprising a Hall element and a magnet. The magnet is disposed on the output shaft of the height adjustment motor and is driven to rotate by the output shaft. In response to the rotation of the output shaft, the control module can detect the pulse signal emitted by the Hall element through a circuit interface. The number of the pulse signals corresponds to the number of rotations / angles of the output shaft. In this embodiment, the theoretical rotation amount of the output shaft can be the number of pulse signals.
[0101] In some embodiments, the theoretical adjustment amount of the output shaft is determined based on the directional relationship between the rotation direction in the previous control command and the rotation direction in the current control command, the offset of the height adjustment motor after executing the previous control command, and the theoretical rotation amount. This includes: if the rotation direction in the previous control command and the rotation direction in the current control command are the same, the theoretical adjustment amount is configured to be equal to the sum of the offset of the height adjustment motor after executing the previous control command and the theoretical rotation amount; if the rotation direction in the previous control command and the rotation direction in the current control command are different, the theoretical adjustment amount is configured to be the absolute value of the difference between the theoretical rotation amount and the offset of the height adjustment motor after executing the previous control command.
[0102] In summary, the working component height adjustment device provided in this disclosure can adjust the theoretical adjustment amount in the next control command based on the offset amount after the height adjustment motor executes a control command once, so as to achieve a smaller deviation between the actual height of the working component and the target height after each execution of the control command by the height adjustment motor, thereby improving the accuracy of the working component height adjustment.
[0103] It should be noted that the above description describes some embodiments of this disclosure. Other embodiments are within the scope of the appended claims.
[0104] Based on the same inventive concept, corresponding to any of the methods described above, this disclosure also provides a method for adjusting the height of a working component, applied to a working component height adjustment device for a self-moving device. The self-moving device includes a working component, and the working component height adjustment device includes a control module and a height adjustment motor. The height of the working component relative to the ground is adjustable. The self-moving device is configured to travel and / or operate within a work area. Figure 3 As shown, the control method in this embodiment includes steps S310 to S330.
[0105] In step S310, the control module receives the height adjustment command, determines the actual height of the working component and the target height in the height adjustment command, and determines the theoretical adjustment amount and rotation direction of the height adjustment motor based on the height difference between the target height and the actual height.
[0106] In step S320, the control module generates and sends control commands to the height adjustment motor based on the rotation direction.
[0107] In step S330, the motor receives and executes control commands to move the working components.
[0108] In step S340, the control module obtains the actual adjustment amount of the height adjustment motor. If the actual adjustment amount is equal to the theoretical adjustment amount, a motor stop signal is generated and sent to the height adjustment motor.
[0109] The actual height of the working component is determined based on the parameters from the previous historical height adjustment process. These parameters include the target height of the working component in the previous height adjustment command, the rotation direction of the height adjustment motor, and the offset of the height adjustment motor after executing the previous control command.
[0110] In some embodiments, the height adjustment motor includes an output shaft, which is connected to the working component via a height adjustment screw; after receiving a control command, the height adjustment motor controls the output shaft to rotate in the direction of rotation specified in the control command; and, in response to a motor stop signal, controls the output shaft to stop rotating.
[0111] In some embodiments, after the control module generates a motor stop signal and sends it to the height adjustment motor, the method further includes: the control module recording the amount of rotation of the output shaft from the generation of the motor stop signal to the receipt of the next height adjustment command.
[0112] In some embodiments, the method further includes: the control module acquiring the actual adjustment amount detected by the height adjustment amount detection module. The height adjustment amount detection module is configured to detect the rotation amount of the output shaft in response to rotation of the output shaft, and use the rotation amount of the output shaft as the actual adjustment amount of the height adjustment motor.
[0113] In some embodiments of this example, the height adjustment detection module is a Hall sensor, comprising: a magnet disposed on the output shaft for being rotated by the output shaft; and at least one Hall element disposed on the same side of the magnet on the height adjustment motor, without connection to the magnet.
[0114] In some implementations, the Hall sensor is configured to: generate a pulse signal in response to the rotation of the magnet; the pulse signal corresponds to the number of rotations of the output shaft; and send the pulse signal to a control module, which uses the number of pulse signals as the actual adjustment amount based on the number of pulse signals.
[0115] In some embodiments, the step of the control module determining the theoretical adjustment amount and rotation direction of the height adjustment motor based on the height difference between the target height and the actual height includes: calculating the difference between the target height in the previous height adjustment command and the target height in the current height adjustment command; calculating the theoretical rotation amount of the output shaft based on the difference; determining the rotation direction based on the magnitude of the target height in the previous height adjustment command and the target height in the current height adjustment command; and determining the theoretical adjustment amount of the output shaft based on the directional relationship between the rotation direction in the previous control command and the rotation direction in the current control command, the offset of the height adjustment motor after executing the previous control command, and the theoretical rotation amount.
[0116] In some embodiments, the theoretical adjustment amount of the output shaft is determined based on the directional relationship between the rotation direction in the previous control command and the rotation direction in the current control command, the offset of the height adjustment motor after executing the previous control command, and the theoretical rotation amount. This includes: if the rotation direction in the previous control command and the rotation direction in the current control command are the same, the theoretical adjustment amount is configured to be equal to the sum of the offset of the height adjustment motor after executing the previous control command and the theoretical rotation amount; if the rotation direction in the previous control command and the rotation direction in the current control command are different, the theoretical adjustment amount is configured to be the absolute value of the difference between the theoretical rotation amount and the offset of the height adjustment motor after executing the previous control command.
[0117] An embodiment of the present invention also proposes a self-moving device, including a working component and the above-described working component height adjustment device.
[0118] An embodiment of the present invention also proposes a self-moving device, which includes a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, it implements the job control method described above.
[0119] like Figure 4 As shown, the self-moving device includes one or more processors 2101 and memory 2102.
[0120] In some embodiments of this example, the processor 2101 may be a central processing unit (CPU) or other form of processing unit with data processing capabilities and / or instruction execution capabilities, and may control other components in the self-moving device to perform desired functions.
[0121] In some embodiments of this application, memory 2102 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory. Non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and processor 2101 may execute the program instructions to implement the methods of the various embodiments of this application described above and / or other desired functions. Various content, such as images including multiple working areas, may also be stored in the computer-readable storage medium.
[0122] In other embodiments, such as Figure 4 As shown, the self-moving device may also include an input device 2103 and an output device 2104, which are interconnected via a bus system and / or other forms of connection mechanism (not shown).
[0123] In some embodiments of this example, the input device 2103 may include, for example, a keyboard, a mouse, etc.
[0124] In some embodiments of this example, the output device 2104 can output various information to the outside, including grassy areas in an image. The output device 2104 may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, etc.
[0125] Of course, for the sake of simplicity, Figure 4 Only some of the components of the self-moving device relevant to this application are shown, omitting components such as buses, input / output interfaces, etc. In addition, the self-moving device may include any other suitable components depending on the specific application.
[0126] In addition to the methods and apparatus described above, embodiments of this application may also be computer program products, which include computer program instructions that, when executed by a processor, cause the processor to perform the steps of the methods according to the various embodiments of this application described above.
[0127] In this application, the same or similar terms, concepts, technical solutions and / or application scenario descriptions are generally described in detail only when they appear for the first time. When they appear again, they are generally not repeated for the sake of brevity. When understanding the technical solutions and other contents of this application, the same or similar terms, concepts, technical solutions and / or application scenario descriptions that are not described in detail later can be referred to their previous relevant detailed descriptions.
[0128] In this application, the descriptions of the various embodiments have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.
[0129] The technical features of the present application can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of the present application.
[0130] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause the self-propelled lawnmower to execute the methods of each embodiment of this application.
[0131] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, storage disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk (SSD)).
[0132] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.
Claims
1. A working component height adjustment device, applied to a self-moving device, the self-moving device including a working component, the working component height adjustment device including a control module and a height adjustment motor, the height of the working component relative to the ground being adjustable, characterized in that: The control module is configured to: receive a height adjustment command, determine the actual height of the working component and the target height in the height adjustment command, determine the theoretical adjustment amount and rotation direction of the height adjustment motor based on the height difference between the target height and the actual height, and generate and send a control command to the height adjustment motor according to the rotation direction; The height adjustment motor is configured to receive the control command and execute the control command to drive the working component to move; The control module is also configured to: acquire the actual adjustment amount of the height adjustment motor; if the actual adjustment amount is equal to the theoretical adjustment amount, generate a motor stop signal and send it to the height adjustment motor. The actual height of the working component is determined based on parameters from the previous historical height adjustment process. These parameters include the target height of the working component in the previous height adjustment command, the rotation direction of the height adjustment motor, and the offset of the height adjustment motor after executing the previous control command.
2. The working component height adjustment device according to claim 1, characterized in that, The height-adjusting motor includes an output shaft, which is connected to the working component via a height-adjusting screw; the height-adjusting motor is configured to: Upon receiving the control command, the output shaft is controlled to rotate in the stated rotation direction; and, In response to the motor stop signal, the output shaft is controlled to stop rotating.
3. The working component height adjustment device according to claim 2, characterized in that, After generating a motor stop signal and sending it to the height-adjusting motor, the control module is further configured to: Record the amount of rotation of the output shaft from the generation of the motor stop signal to the receipt of the next height adjustment command.
4. The working component height adjustment device according to claim 2, characterized in that, The working component height adjustment device further includes: The height adjustment detection module is configured to detect the amount of rotation of the output shaft in response to the rotation of the output shaft, use the amount of rotation of the output shaft as the actual adjustment amount of the height adjustment motor, and send the actual adjustment amount to the control module.
5. The working component height adjustment device according to claim 4, characterized in that, The height adjustment detection module is a Hall sensor, comprising: A magnet is mounted on the output shaft and is driven to rotate by the output shaft. At least one Hall element is disposed on the same side of the height adjustment motor as the magnet, and is not connected to the magnet.
6. The working component height adjustment device according to claim 5, characterized in that, The Hall sensor is configured to: In response to the rotation of the magnet, a pulse signal is generated; the pulse signal corresponds to the number of rotations of the output shaft. The pulse signal is sent to the control module, which uses the number of pulse signals as the actual adjustment amount.
7. The working component height adjustment device according to claim 2, characterized in that, The step of determining the theoretical adjustment amount and rotation direction of the height adjustment motor based on the height difference between the target height and the actual height includes: Calculate the difference between the target height in the previous elevation command and the target height in the current elevation command; The theoretical rotation of the output shaft is calculated based on the difference. The rotation direction is determined based on the target height in the previous height adjustment command and the target height in the current height adjustment command. Based on the directional relationship between the rotation direction in the previous control command and the rotation direction in the current control command, the offset of the height adjustment motor after executing the previous control command, and the theoretical rotation amount, the theoretical adjustment amount of the output shaft is determined.
8. The working component height adjustment device according to claim 7, characterized in that, The determination of the theoretical adjustment amount of the output shaft based on the directional relationship between the rotation direction in the previous control command and the rotation direction in the current control command, the offset of the height adjustment motor after executing the previous control command, and the theoretical rotation amount includes: If the rotation direction in the previous control command is the same as the rotation direction in the current control command, the theoretical adjustment amount is configured to be equal to the sum of the offset of the height adjustment motor after executing the previous control command and the theoretical rotation amount. If the rotation direction in the previous control command is different from the rotation direction in the current control command, the theoretical adjustment amount is configured as: the absolute value of the difference between the theoretical rotation amount and the offset of the height adjustment motor after executing the previous control command.
9. A method for adjusting the height of a working component, applied to a working component height adjustment device for a self-moving device, the self-moving device including a working component, the working component height adjustment device including a control module and a height adjustment motor, the height of the working component relative to the ground being adjustable, characterized in that... The method includes: The control module receives a height adjustment command, determines the actual height of the working component and the target height in the height adjustment command, and determines the theoretical adjustment amount and rotation direction of the height adjustment motor based on the height difference between the target height and the actual height. The control module generates and sends control commands to the height adjustment motor based on the rotation direction. The height adjustment motor receives the control command and executes the control command to drive the working component to move; The control module obtains the actual adjustment amount of the height adjustment motor. If the actual adjustment amount is equal to the theoretical adjustment amount, it generates a motor stop signal and sends it to the height adjustment motor. The actual height of the working component is determined based on parameters from the previous historical height adjustment process. These parameters include the target height of the working component in the previous height adjustment command, the rotation direction of the height adjustment motor, and the offset of the height adjustment motor after executing the previous control command.
10. A self-propelled lawn mowing device, characterized in that, It includes a working component and a working component height adjustment device as described in any one of claims 1 to 8.