A method and system for coordinated control of a mower's cutterhead
Patent Information
- Application Number
- CN202611410186.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-09-11
- Publication Date
- 2026-10-27
AI Technical Summary
[0008]本发明实施例提供的技术方案带来的有益效果至少包括：
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Figure CN122972256A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of data processing technology, and in particular to a method and system for coordinated control of the blades of a lawnmower. Background Technology
[0002] Multi-disc lawnmowers are widely used in orchard weeding, lawn mowing, and agricultural and pasture vegetation management. They achieve large-area, efficient cutting through the synchronous rotation of multiple discs. During operation, the phase distribution between the discs directly affects the fluctuation of cutting resistance and the overall vibration level of the machine. When the cutting parts of multiple discs pass through similar angular positions simultaneously, in-phase overlap and harmonic resonance occur, leading to increased power consumption, accelerated component wear, and decreased cutting quality. Therefore, it is necessary to adjust the phase relationship between the discs in real time.
[0003] In existing technologies, multi-disc lawnmowers typically use mechanically staggered installation or fixed phase meters to pre-set the relative phase of each disc, or the controller collects the rotational speed and angle signals of each disc and adjusts the rotational speed deviation based on empirical thresholds to make the rotational speed of each disc approach the set value, thereby reducing the phase overlap between discs to a certain extent.
[0004] However, existing technologies only provide empirical feedback adjustment for rotational speed deviations, and cannot quantitatively determine whether there is a periodic degenerate degenerate resonance state in the phase distribution of multiple cutterheads. It is difficult to detect in a timely manner the phase structure that causes harmonic resonance and in-phase overlap. At the same time, there is a lack of deterministic target phase generation methods and shortest path correction mechanisms. Phase adjustment depends on manual setting and the adjustment path is lengthy, with slow convergence and large control overhead. Summary of the Invention
[0005] To address the shortcomings of existing technologies that rely solely on empirical feedback to adjust rotational speed deviations, making it impossible to quantitatively determine whether a periodic degenerate degenerate resonance state exists in the phase distribution of multiple cutter heads, and thus difficult to promptly detect phase structures that induce harmonic resonance and in-phase overlap; furthermore, the lack of deterministic target phase generation methods and shortest path correction mechanisms, coupled with the reliance on manual setting for phase adjustment, resulting in lengthy adjustment paths, slow convergence, and high control overhead, this invention provides a cutter head collaborative control method and system for a lawnmower.
[0006] The technical solutions provided by the embodiments of the present invention are as follows: The first aspect of this invention provides a method for coordinated control of the blades of a lawnmower, comprising: S1: Obtain the operating parameters of the multi-disc lawnmower's blades; S2: Calculate the current phase difference congruent vector based on the tool turret operating parameters; S3: Determine the distribution state of the current tool head phase based on the current phase difference congruent vector, and obtain the determination result; S4: If the determination result is a degenerate resonance mode, generate a target phase that satisfies the condition of uniform phase slot distribution based on the tool head operating parameters; S5: If the determination result is a degenerate resonance mode, calculate the target phase difference congruent vector based on the target phase; S6: If the determination result is a degenerate resonance mode, generate the command speed based on the current phase difference congruent vector, the target phase difference congruent vector, and the tool head running parameters. If the determination result is a safe uniform traversal mode or a non-degenerate cooperative mode, determine the current speed in the tool head running parameters as the command speed.
[0007] A second aspect of the present invention provides a blade-coordinated control system for a lawnmower, comprising: processor; The memory stores computer-readable instructions that, when executed by a processor, implement the blade coordination control method for a lawnmower as described in the first aspect.
[0008] The beneficial effects of the technical solutions provided in the embodiments of the present invention include at least the following: In this embodiment of the invention, the cutterhead operating parameters are converted into a current phase difference congruent vector, and the phase distribution state is determined based on this vector. This allows for a more accurate quantitative determination of whether a degenerate resonance mode exists in the phase distribution of multiple cutterheads, which helps to identify phase structures that may cause harmonic resonance and in-phase overlap in a timely manner. To a certain extent, this improves the problem of existing technologies that rely solely on empirical adjustments based on speed deviations and struggle to identify degenerate resonance states. At the same time, by generating a target phase that satisfies the condition of uniform phase slot distribution, the generation process of the target phase becomes deterministic, reducing the need for manual setting. Then, using the target phase difference congruent vector as a reference, the command speed is directly generated by combining the current phase difference congruent vector with the cutterhead operating parameters. This makes the phase adjustment tend to converge towards the target phase along a shorter path, shortening the adjustment path and helping to accelerate the convergence speed and reduce control overhead. This alleviates the problems of existing technologies where phase adjustment relies on manual setting, converges slowly, and has high control overhead. Attached Figure Description
[0009] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0010] Figure 1 This is a flowchart illustrating a blade-disc coordinated control method for a lawnmower, as provided in an embodiment of the present invention.
[0011] Figure 2 The robustness diagram for determining the phase distribution state of the multi-tool disk provided in the embodiments of the present invention.
[0012] Figure 3 The diagram shows the convergence curve of the centralized phase slot deviation under the degenerate resonance state provided in the embodiment of the present invention.
[0013] Figure 4 This is a schematic diagram of the structure of a blade-coordinated control system for a lawnmower provided in an embodiment of the present invention. Detailed Implementation
[0014] The technical solution of the present invention will now be described with reference to the accompanying drawings.
[0015] In embodiments of the present invention, words such as "exemplarily," "for example," etc., are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" in the present invention should not be construed as being more preferred or advantageous than other embodiments or design solutions. Specifically, the use of the word "exemplary" is intended to present the concept in a concrete manner. Furthermore, in embodiments of the present invention, the meaning expressed by "and / or" can be both, or either one.
[0016] In the embodiments of this invention, the terms "image" and "picture" may sometimes be used interchangeably. It should be noted that, without emphasizing the distinction between them, they convey the same meaning. Similarly, the terms "of," "corresponding (relevant)," and "corresponding" may sometimes be used interchangeably. It should be noted that, without emphasizing the distinction between them, they convey the same meaning.
[0017] In this embodiment of the invention, sometimes a subscript such as W1 may be written in a non-subscript form such as W1. When the difference is not emphasized, the meaning they express is the same.
[0018] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.
[0019] Reference manual attached Figure 1 The diagram shows a flowchart of a blade-coordinated control method for a lawnmower provided in an embodiment of the present invention.
[0020] This invention provides a method for coordinated control of the blades of a lawnmower. This method can be implemented by a coordinated control device for the lawnmower's blades, which can be a terminal or a server. The processing flow of the lawnmower's coordinated control method may include the following steps: S1: Obtain the operating parameters of the multi-disc lawnmower's blades.
[0021] Optionally, the specific operating parameters of the cutter head include: the number of cutter heads, the polar angle sorting index, the current mechanical rotation angle, the current rotation speed, and the control cycle.
[0022] Among them, the polar angle sorting index refers to the correspondence between the sorting position and the original cutter head number after arranging each cutter head in ascending order of polar angle, with the lawnmower chassis coordinate system as a reference and the polar angle formed by the center position of each cutter head relative to the preset reference direction.
[0023] Specifically, the number of cutter heads is obtained, and they are sorted in ascending order of polar angle according to their position in the chassis coordinate system, resulting in a polar angle sorting index. Simultaneously, the current mechanical rotation angle, current speed, and control cycle of each cutter head are obtained.
[0024] S2: Calculate the current phase difference congruent vector based on the tool turret operating parameters.
[0025] In one possible implementation, S2 specifically includes: S201: Based on the polar angle sorting index, determine the annular adjacency relationship between each cutter disc in the multi-disc lawnmower after polar angle arrangement.
[0026] Among them, the ring-shaped adjacency relationship refers to determining two adjacent cutter heads as a group of adjacent cutter heads according to the polar angle sorting results of each cutter head, and also determining the last cutter head after polar angle sorting as an adjacent cutter head with the first cutter head, so that all cutter heads are connected end to end to form a closed ring-shaped adjacency structure.
[0027] Specifically, based on the polar angle sorting index, the two adjacent cutter heads are determined in order of increasing polar angle of each cutter head, and the last cutter head after polar angle sorting is determined to be adjacent to the first cutter head, thus forming a closed loop of adjacent relationships.
[0028] S202: Calculate the cyclic phase difference between each group of adjacent cutterheads based on the circumferential adjacent relationship and the current mechanical rotation angle.
[0029] Among them, the cyclic phase difference refers to the calculation of the difference between the current mechanical rotation angles of each group of adjacent cutter heads according to the cyclic adjacent relationship, and the current mechanical rotation angle of the next cutter head is subtracted from the current mechanical rotation angle of the previous cutter head. The resulting angle difference is then processed by taking the modulus of twice pi so that the calculation result falls within the range of zero to twice pi.
[0030] Specifically, based on the circumferential adjacency relationship, the current mechanical rotation angle of each group of adjacent cutter heads is obtained sequentially. The current mechanical rotation angle of the next cutter head is subtracted from the current mechanical rotation angle of the previous cutter head, and the resulting rotation angle difference is processed by taking the modulus of twice pi so that it falls within the range of zero to twice pi, thus obtaining the cyclic phase difference between each group of adjacent cutter heads.
[0031] S203: Determine the phase slot width based on the number of cutter heads.
[0032] Specifically, based on the number of cutter heads, twice the value of pi corresponding to a complete rotation cycle is divided into several phase slots equal to the number of cutter heads, and the angle value obtained by dividing twice the value of pi by the number of cutter heads is determined as the width of the phase slot.
[0033] S204: Discretize each cyclic phase difference according to the phase slot width to obtain the congruent integer of the current phase slot corresponding to each cyclic phase difference.
[0034] Among them, the current phase slot congruent integer refers to the discrete value obtained by converting the cyclic phase difference between each group of adjacent tool heads into the corresponding integer phase slot position based on the phase slot width as the discretization benchmark. Its value range is from zero to the number of tool heads minus one.
[0035] It should be noted that the current phase slot congruent integer is used to represent the number of phase slots occupied by the current cyclic phase difference between the corresponding adjacent tool heads, and can be arranged sequentially according to the cyclic adjacent relationship to form the current phase difference congruent vector, thereby providing a discretized data basis for subsequent cyclic matrix construction and tool head phase distribution state determination.
[0036] Specifically, based on the phase slot width, the phase difference of each cycle is divided by the phase slot width to obtain the corresponding number of phase slots. The number of phase slots is rounded to the nearest integer and then processed according to the number of cutter heads to make the result fall within the integer range of zero to the number of cutter heads minus one, thus obtaining the corresponding congruent integer of the current phase slot.
[0037] It should be noted that, using the phase slot width as the discretization benchmark, each cyclic phase difference is divided by the phase slot width to obtain the number of phase slots corresponding to that cyclic phase difference. The obtained number of phase slots is then rounded to the nearest integer and moduloed according to the number of tool heads, so that the processing result falls within the integer range of zero to the number of tool heads minus one. This converts the continuously changing cyclic phase difference into a discrete congruent integer of the current phase slot, so as to enable a unified analysis and judgment of the phase distribution state of multiple tool heads in the future.
[0038] Specifically, the congruent integer of the current phase slot is:
[0039] in, The current phase slot congruent integer represents the discretized cyclic phase difference between the i-th cutter head and the next adjacent cutter head after polar angle arrangement, where n represents the number of cutter heads. This represents the cyclic phase difference between the i-th cutter head and its next adjacent cutter head after polar angle sorting, where π represents pi and mod represents the modulo operation. This indicates the floor function.
[0040] It should be noted that this formula divides a complete rotation cycle into several phase slots according to the number of cutter heads, making the width of a single phase slot the ratio of twice pi to the number of cutter heads. By comparing the cyclic phase difference with the width of the phase slot and rounding down after adding half, the result is limited to a preset range of phase slot numbers using the number of cutter heads. This converts the continuously changing cyclic phase difference into discrete congruent integers of the current phase slot, which is beneficial for uniformly representing the phase relationship between adjacent cutter heads and reducing the complexity of subsequent phase distribution determination based on continuous angle data.
[0041] S205: Based on the arrangement order of each group of adjacent cutterheads in the annular adjacent relationship, arrange the congruent integers of each current phase slot to obtain the current phase difference congruent vector.
[0042] The current phase difference congruent vector refers to the vector formed by sequentially arranging the congruent integers of the current phase slots corresponding to each group of adjacent toolheads according to their arrangement order in the annular adjacent relationship.
[0043] It should be noted that the current phase difference congruence vector can represent the discrete phase difference distribution state among multiple toolheads in the current control cycle as a whole, and retain the spatial adjacency order relationship between each group of adjacent toolheads, thus providing a unified data input for subsequent cyclic matrix construction, cyclic determinant calculation and current toolhead phase distribution state determination.
[0044] Specifically, according to the arrangement order of each group of adjacent tool disks in the annular adjacent relationship, the obtained current phase slot congruent integers are arranged in sequence to form a current phase difference congruent vector used to characterize the current phase difference distribution state of the multi-tool disk.
[0045] In this embodiment of the invention, the continuous mechanical rotation angle difference is discretized into congruent integers based on the phase slot width, eliminating the problem of angle jumps across period boundaries. Furthermore, the data is uniformly mapped to a finite integer range from zero to one less than the number of cutter heads, significantly reducing the computational complexity of subsequent cyclic matrix construction and phase distribution determination. Simultaneously, the vectors formed by cyclically adjacent elements fully preserve the spatial adjacency relationships between cutter heads, accurately representing the phase distribution state of multiple cutter heads as a whole, and providing a standardized data foundation for subsequent target phase generation and speed correction.
[0046] S3: Determine the distribution state of the current tool head phase based on the current phase difference congruent vector, and obtain the determination result.
[0047] In one possible implementation, S3 specifically includes: S301: Construct a cyclic matrix based on the order of the congruent integers of each current phase slot in the current phase difference congruent vector.
[0048] The cyclic matrix is a square matrix constructed according to the arrangement order of the congruent integers of each current phase slot in the current phase difference congruent vector. The congruent integers of each current phase slot are arranged sequentially to form the first row, and each element in the previous row is cyclically moved one position in a preset direction to form the next row, until a matrix with the same number of rows and columns as the number of cutter heads is obtained.
[0049] Specifically, based on the order of the congruent integers of each current phase slot in the current phase difference congruent vector, each congruent integer of the current phase slot is used as the first row of the circular matrix in turn, and in each subsequent row, the elements in the previous row are cyclically moved one position in a preset direction until a circular matrix is formed with the same number of rows and columns as the number of cutter heads.
[0050] S302: Calculate the cyclic determinant based on the cyclic matrix.
[0051] Among them, the cyclic determinant refers to the value obtained by performing a determinant operation on a cyclic matrix constructed based on the current phase difference congruent vector, which can reflect the overall structural characteristics of the cyclic matrix.
[0052] Specifically, based on the cyclic matrix, the cyclic matrix is operated on according to the rules for calculating determinants to obtain the corresponding cyclic determinant. Specifically, based on each unit root corresponding to the cyclic matrix, the weighted sum of the current phase difference congruent vector under each unit root is calculated, and then the weighted sums are multiplied together to obtain the cyclic determinant.
[0053] The specific formula for calculating the cyclic determinant is as follows:
[0054] in, Represents a cyclic determinant. This represents the congruent vector of the current phase difference, det() represents the determinant operation, and C represents the circulant matrix. This represents the j-th congruent integer of the current phase slot in the current phase difference congruent vector. Represents the k-th unit root The j-1 power.
[0055] It should be noted that this formula allows for eigenvalue decomposition of the cyclic matrix based on the unit root, with its determinant equal to the product of all eigenvalues. By weighted summing of the congruent integers of each current phase slot in the current phase difference congruent vector with different powers of the corresponding unit root, the eigenvalues of the cyclic matrix under different unit roots can be obtained. Multiplying these eigenvalues together yields the cyclic determinant. This calculation method transforms the overall arrangement characteristics of the current phase difference congruent vector into a single determinant value, facilitating a unified determination of the phase distribution state of multiple blade disks and providing a computational basis for subsequent identification of whether the phase distribution exhibits degradation characteristics.
[0056] S303: Determine the phase difference distribution characteristics based on the numerical relationship between the congruent integers of each current phase slot and the coprime relationship between the congruent integers of each current phase slot and the number of tool turrets.
[0057] Among them, the phase difference distribution characteristics refer to the characteristic information determined based on the numerical relationship between the congruent integers of each current phase slot in the current phase difference congruent vector, and the coprime relationship between the congruent integers of each current phase slot and the number of tool heads.
[0058] It should be noted that by judging whether the congruent integers of each current phase slot are equal, and further judging whether their common value and the greatest common divisor of the number of cutterheads are 1 when they are equal, the distribution law of the current multi-cutterhead phase difference in each phase slot is characterized, thereby providing a basis for subsequent determination of safe uniform traversal mode, degenerate resonance mode or non-degenerate cooperative mode.
[0059] Specifically, the values of the congruent integers of each current phase slot are compared to determine whether they are equal. If the congruent integers of each current phase slot are equal, their common value is calculated using the greatest common divisor (GCD) with the number of tool holders. If the GCD is 1, it is determined that the two satisfy a coprime relationship; otherwise, it is determined that the two do not satisfy a coprime relationship. Based on this, the phase difference distribution characteristics corresponding to the current phase difference congruent vector are obtained.
[0060] S304: Based on the cyclic determinant and phase difference distribution characteristics, determine the current distribution state of the tool head phase and obtain the determination result.
[0061] Reference manual attached Figure 2 The diagram illustrates the robustness of multi-tool disk phase distribution state determination provided by an embodiment of the present invention.
[0062] It should be noted that, to further verify the stability of the aforementioned phase distribution state determination method under mechanical angle measurement disturbance conditions, this embodiment uses a multi-disc lawnmower consisting of eight cutter discs as the test object. A complete rotation cycle is divided into eight phase slots, and initial phase states for the safe uniform ergonomic mode, degenerate resonance mode, and non-degenerate cooperative mode are constructed respectively. Random measurement noise with standard deviations of 0°, 2°, 4°, 6°, and 8° is superimposed on the mechanical angle measurement values of each cutter disc. The test is repeated according to the aforementioned process of phase slot discretization, current phase difference congruence vector construction, cyclic determinant calculation, and phase difference distribution characteristic determination. As can be seen from the figure, when the standard deviation of the mechanical angle measurement noise does not exceed 4°, the determination accuracy of the three types of phase distribution states remains at a high level. When the noise standard deviation increases to 6°, the determination accuracy of the safe uniform ergonomic mode and the degenerate resonance mode remains at approximately 94%, while the non-degenerate cooperative mode remains close to 100%. When the noise increases further to 8°, some phase differences are disturbed and cross the discrete boundary of the phase slot, causing a decrease in the accuracy of determining the safe uniform ergodic mode and the degenerate resonance mode. This result indicates that by discretizing the continuous mechanical rotation angle difference into congruent integers of the phase slots, and further combining this with cyclic determinants and coprime relations for state determination, a relatively stable phase structure identification capability can be maintained within a certain range of mechanical rotation angle measurement disturbances. This provides a reliable basis for subsequent state determination to trigger target phase generation and speed correction only in the degenerate resonance mode.
[0063] In one possible implementation, S304 specifically includes: S3041: When the cyclic determinant is a preset value and the phase difference distribution characteristics meet the preset safe uniform traversal conditions, the current distribution state of the tool head phase is determined as the safe uniform traversal mode.
[0064] The default value is 0.
[0065] The preset safe uniform traversal condition means that all the current phase slot congruent integers in the current phase difference congruent vector are equal, and the greatest common divisor of the equal current phase slot congruent integers and the number of tool heads is 1.
[0066] The safe uniform traversal mode refers to the situation where the congruent integers of the current phase slots of each adjacent cutter head are completely equal, and these equal congruent integers of the current phase slots are coprime to the number of cutter heads. In this case, the phases of each cutter head are evenly distributed and traverse all phase slots evenly with rotation, without overlapping or resonance. This is an ideal cooperative state, so the controller does not need to make corrections and can directly maintain the current rotational speed output of each cutter head.
[0067] It should be noted that when this condition is met, it means that there is a consistent increasing relationship of phase slots between adjacent cutter heads, and the equal current phase slot congruent integer is coprime with the number of cutter heads. Therefore, it is possible to traverse all phase slots within the range of the number of die cutter heads, thereby forming a uniform phase distribution feature that does not undergo periodic repetition.
[0068] Specifically, the cyclic determinant is compared with 0, and the phase difference distribution characteristics are judged. When the cyclic determinant is equal to 0, and all the congruent integers of the current phase slots are equal, and the greatest common divisor of the equal congruent integers of the current phase slots and the number of tool heads is 1, it is determined that the phase difference distribution characteristics meet the preset safe uniform traversal condition, and the current tool head phase distribution state is determined to be a safe uniform traversal mode.
[0069] S3042: When the cyclic determinant is a preset value and the phase difference distribution characteristics do not meet the preset safe uniform traversal conditions, the current distribution state of the tool head phase is determined as the degenerate resonance mode.
[0070] Among them, the degenerate resonance mode refers to a state where the cyclic determinant is 0, indicating that the cyclic matrix corresponding to the current phase difference congruent vector has structural degradation or singular characteristics, and the current phase difference distribution does not meet the safe uniform ergodicity condition. In this state, some cutterheads may repeatedly fall into the same phase slot, or form a periodically repeating phase distribution, causing the phase excitation of multiple cutterheads to concentrate at some phase positions, posing a risk of in-phase superposition or periodic excitation enhancement.
[0071] Specifically, when the cyclic determinant is equal to 0, but the congruent integers of each current phase slot are not completely equal, or when the congruent integers of each current phase slot are all equal but their common value and the greatest common divisor of the number of tool heads are not 1, it is determined that the phase difference distribution characteristics do not meet the preset safe uniform traversal condition, and the current tool head phase distribution state is determined as the degenerate resonance mode.
[0072] S3043: When the cyclic determinant is not a preset value, the current distribution state of the tool head phase is determined to be a non-degenerate cooperative mode.
[0073] Among them, the non-degenerate cooperative mode refers to the phase distribution state where the cyclic determinant is not zero, indicating that the current phase difference congruent vector itself has broken the periodic degenerate structure and there is no degenerate resonance phenomenon. This is a good cooperative state that does not require correction. The controller does not perform target phase generation or speed adjustment for this state, but directly outputs the current speed of each cutter head as the command speed and enters the next control cycle.
[0074] Specifically, the cyclic determinant is compared with 0. When the cyclic determinant is not equal to 0, the current tool head phase distribution state is determined to be a non-degenerate cooperative mode.
[0075] S3044: Use safe uniform ergodic mode, degenerate resonance mode or non-degenerate cooperative mode as the judgment result.
[0076] Specifically, based on the obtained state determination result, the corresponding one of the safe uniform traversal mode, degenerate resonance mode or non-degenerate cooperative mode is used as the determination result of the current tool disk phase distribution state.
[0077] In this embodiment of the invention, the current phase difference congruent vector is constructed into a cyclic matrix, and the cyclic determinant is calculated using unit root eigenvalue decomposition. This condenses the overall arrangement characteristics of the vectors into a single value, making the judgment operation efficient and easy to implement. Furthermore, by combining the discrete features of whether each congruent integer is equal and whether its greatest common divisor with the number of cutterheads is one, the phase distribution state can be deterministically divided into three modes: safe uniform traversal, degenerate resonance, and non-degenerate coordination. The judgment criteria are entirely determined by mathematical conditions, without any artificially set empirical thresholds. Therefore, the controller can perform differentiated processing for different states. For good states that do not require correction, the current speed is directly maintained, avoiding unnecessary adjustments. Only in degenerate resonance states is the target phase generation and speed correction triggered, thereby reducing the risk of in-phase superposition and periodic excitation concentration caused by phase periodic repetition and repeated occupation of phase slots. Simultaneously, unnecessary adjustments to non-degenerate coordination states are reduced, helping to lower control overhead and improve the stability and real-time performance of multi-cutterhead coordinated operation.
[0078] It should be noted that different control flows are executed based on the determination result. When the determination result is a degenerate resonance mode, S4 to S6 are executed to generate the target phase, the target phase difference congruent vector, and the corrected command speed based on this. When the determination result is a safe uniform traversal mode or a non-degenerate cooperative mode, S4 and S5 are not executed, and the current speed of each tool head is directly determined as the corresponding command speed.
[0079] S4: If the determination result is a degenerate resonance mode, generate a target phase that satisfies the condition of uniform phase slot distribution based on the tool head operating parameters.
[0080] In one possible implementation, S4 specifically includes: S401: If the determination result is a degenerate resonance mode, the complete rotation cycle is divided according to the number of cutter heads to obtain multiple phase slots, and the width of the phase slots is determined.
[0081] Specifically, when the determination result is a degenerate resonance mode, the number of blades in the multi-blade lawnmower is obtained. The complete rotation cycle of each blade is then divided equally according to the number of blades. The angle range corresponding to the complete rotation cycle is divided by the number of blades to obtain the phase slot width, thus obtaining multiple phase slots and their widths. Simultaneously, the angle range corresponding to the complete rotation cycle is divided by the number of blades to obtain the angle range corresponding to each phase slot within the complete rotation cycle. This angle range is then determined as the phase slot width corresponding to each phase slot, thus obtaining multiple phase slots and their corresponding widths.
[0082] S402: Determine the target phase slot position for each cutter head based on the polar angle arrangement order and multiple phase slots of the multi-disc lawnmower.
[0083] In one possible implementation, S402 specifically includes: S4021: Determine the corresponding arrangement position of each cutter head according to the polar angle arrangement order of each cutter head.
[0084] Specifically, according to the polar angle arrangement order of each cutter head in the coordinate system of the lawnmower chassis, the sequential position of each cutter head in the polar angle arrangement order is determined, and the position corresponding to each cutter head in the polar angle arrangement order is determined as the arrangement position of that cutter head, thereby establishing a one-to-one correspondence between each cutter head and its arrangement position, so that the phase slot corresponding to each cutter head can be determined according to the arrangement position in the future.
[0085] S4022: Establish the correspondence between each tool disc and multiple phase slots based on the arrangement position of each tool disc.
[0086] Specifically, based on the arrangement position of each cutter head, and according to the order of these positions, each cutter head is sequentially associated with multiple phase slots, so that cutter heads in different arrangements correspond to different phase slots. Specifically, the phase slot corresponding to each cutter head arrangement position is determined according to the order of these arrangements, thus establishing the correspondence between each cutter head, each arrangement position, and the multiple phase slots.
[0087] S4023: Determine the target phase slot position for each tool disc based on the correspondence.
[0088] Specifically, based on the established correspondence between each cutter head and multiple phase slots, the phase slot corresponding to each cutter head is determined, and the slot position of the phase slot in the complete rotation cycle is obtained. The slot position is determined as the target phase slot position of the corresponding cutter head, thereby obtaining the target phase slot position corresponding to each cutter head, so as to determine the target mechanical rotation angle corresponding to each cutter head according to the target phase slot position and the phase slot width.
[0089] It should be noted that multiple phase slots are numbered sequentially according to the rotation direction of the complete rotation cycle. The value of the phase slot number ranges from zero to the number of tool discs minus one. Based on the arrangement position of each tool disc, different tool discs are sequentially mapped to different phase slots, and the number of the corresponding phase slot is determined as the target phase slot position of the corresponding tool disc.
[0090] S403: Determine the target mechanical rotation angle corresponding to each tool head based on the position and width of each target phase slot.
[0091] Specifically, the target phase slot positions corresponding to each cutter head are obtained, and based on each target phase slot position, the angular position corresponding to each cutter head's target phase slot position is determined from multiple phase slots and their corresponding phase slot widths. For each cutter head, the target phase slot position corresponding to that cutter head is multiplied by the phase slot width to obtain the mechanical angle corresponding to the target phase slot position relative to the start position of the complete rotation cycle, and this mechanical angle is determined as the target mechanical angle corresponding to that cutter head, thus obtaining the target mechanical angles corresponding to each cutter head.
[0092] S404: Arrange the mechanical rotation angles of each target to generate the target phase.
[0093] Specifically, the target mechanical rotation angles corresponding to each cutter head are obtained, and the arrangement positions of each target mechanical rotation angle are determined sequentially according to the polar angle arrangement order of each cutter head in the multi-disc lawnmower, so that the polar angle arrangement positions of each target mechanical rotation angle are consistent with those of the corresponding cutter head. Subsequently, the target mechanical rotation angles are arranged sequentially according to the polar angle arrangement order, and the arranged target mechanical rotation angles are combined to form a target phase, so that the target phase can characterize the mechanical rotation angle distribution of each cutter head in the target state.
[0094] Specifically, the mechanical rotation angles of each target in the target phase are as follows:
[0095] in, p represents the target mechanical rotation angle corresponding to the i-th tool head after polar angle arrangement. i This indicates the position of the target phase slot corresponding to the i-th tool head after polar angle arrangement.
[0096] It should be noted that the formula is based on dividing the complete rotation cycle of the cutter head into equal parts according to the number of cutter heads, so that the angular width corresponding to a single phase slot is... , and then the first The target phase slot position corresponding to each cutter head As a slot position parameter, the target mechanical rotation angle of the cutter head during a complete rotation cycle is determined by multiplying the phase slot width by the target phase slot position. This calculation method can convert discrete target phase slot positions into continuous target phase angles, giving the target phase determination process a clear mathematical correspondence, which facilitates subsequent target phase difference calculations and speed corrections.
[0097] In this embodiment of the invention, by dividing phase slots according to the number of cutterheads in the degenerate resonance mode and combining the polar angle arrangement order of each cutterhead, mutually distinguishable target phase slot positions are determined for different cutterheads. Then, the discrete target phase slot positions are converted into corresponding target mechanical rotation angles using the phase slot width, thereby forming target phases that satisfy the condition of uniform phase slot distribution. This avoids the concentration of target phases of multiple cutterheads at the same or repeated phase positions, reducing the risk of phase overlap and periodic excitation concentration. Furthermore, the target phases can be automatically determined based on the number and arrangement of cutterheads, eliminating the need for manual setting. This provides a clear, unified, and calculable target reference for subsequent calculation of the target phase difference congruence vector and correction of the rotational speed of each cutterhead, which is beneficial for improving the determinism, adaptability, and convergence stability of multi-cutterhead cooperative control.
[0098] S5: If the determination result is a degenerate resonance mode, calculate the target phase difference congruent vector based on the target phase.
[0099] In one possible implementation, S5 specifically includes: S501: When the determination result is a degenerate resonance mode, calculate the target cyclic phase difference corresponding to each group of adjacent cutterheads based on the target phase and the annular adjacent relationship.
[0100] Specifically, based on the target phase, the target mechanical rotation angles corresponding to each group of adjacent cutter heads are obtained sequentially according to the circumferential adjacent relationship. The target mechanical rotation angle of the next cutter head is subtracted from the target mechanical rotation angle of the previous cutter head, and the obtained rotation angle difference is processed by taking the modulus of twice pi so that the calculation result falls within the range of zero to twice pi, thus obtaining the target circumferential phase difference corresponding to each group of adjacent cutter heads.
[0101] S502: Discretize the cyclic phase difference of each target according to the phase slot width to obtain the target phase slot congruent integer corresponding to the cyclic phase difference of each target.
[0102] Specifically, based on the phase slot width, the phase difference of each target cycle is divided by the phase slot width to obtain the corresponding number of target phase slots. The number of target phase slots is rounded to the nearest integer and then processed according to the number of cutter heads to make the result fall within the range of zero to the number of cutter heads minus one, thus obtaining the congruent integer of the target phase slots corresponding to each target cycle phase difference.
[0103] S503: Based on the arrangement order of each group of adjacent tool heads in the annular adjacent relationship, arrange the congruent integers of each target phase slot to obtain the target phase difference congruent vector.
[0104] Specifically, according to the arrangement order of each group of adjacent cutter heads in the annular adjacent relationship, the congruent integers of each target phase slot are arranged in sequence, and the congruent integers of each target phase slot after arrangement are combined to form the target phase difference congruent vector.
[0105] In this embodiment of the invention, following the same processing flow as the current phase difference congruent vector, the target phase undergoes cyclic adjacent difference calculation, modulo discretization, and sequential arrangement. This unifies the target phase and the current phase under the same discrete congruent framework, ensuring they have completely identical data formats and slot references. This guarantees that subsequent congruent differences can be directly subtracted slot by slot, avoiding conversion errors introduced by inconsistent representation methods. Furthermore, this step clearly verifies the uniform ergodicity of the target phase difference congruent vector, providing a standardized and definite target reference for shortest path speed correction, ensuring the entire phase control process is completed in a closed loop within the same number theory framework.
[0106] Reference manual attached Figure 3 The diagram shows the convergence curve of the centralized phase slot deviation under the degenerate resonance state provided in the embodiment of the present invention.
[0107] It should be noted that the figure shows the trend of the root mean square (RMS) deviation of the centralized phase slot under degenerate resonance conditions with the control cycle. It can be seen that in the initial stage, the RMS deviation of the centralized phase slot is at a high level. As the control process continues, this index decreases rapidly and gradually stabilizes after several control cycles, eventually remaining at a low level. This indicates that the adopted phase adjustment mechanism can continuously reduce the phase deviation between adjacent toolheads, enabling the phase relationship of the multiple toolheads to gradually converge towards the target cooperative state, and exhibiting good convergence stability.
[0108] S6: If the determination result is a degenerate resonance mode, generate the command speed based on the current phase difference congruent vector, the target phase difference congruent vector, and the tool head running parameters. If the determination result is a safe uniform traversal mode or a non-degenerate cooperative mode, determine the current speed in the tool head running parameters as the command speed.
[0109] In one possible implementation, in step S6, if the determination result is a degenerate resonance mode, generating the command speed based on the current phase difference congruent vector, the target phase difference congruent vector, and the tool head operating parameters specifically includes: S601: If the determination result is a degenerate resonance mode, calculate the congruence difference between the current phase slot congruence integer and the target phase slot congruence integer based on the current phase difference congruence vector and the target phase difference congruence vector.
[0110] The congruence difference refers to the difference between the corresponding slot congruence integers in the current phase difference congruence vector and the target phase difference congruence vector, reflecting the degree of deviation between the current phase slot position and the target phase slot position of each adjacent tool head pair.
[0111] Specifically, based on the current phase difference congruent vector and the target phase difference congruent vector, the current phase slot congruent integer and the target phase slot congruent integer are selected sequentially according to the same arrangement position. The target phase slot congruent integer is subtracted from the corresponding current phase slot congruent integer to obtain the congruent difference corresponding to each group of adjacent tool heads.
[0112] S602: Perform a centering mapping on the congruence difference to obtain the centering phase slot deviation corresponding to each group of adjacent tool heads.
[0113] Specifically, for the congruence difference corresponding to each group of adjacent cutterheads, the number of cutterheads is divided by two and the result is rounded down to obtain a centralized offset integer. The congruence difference is added to the centralized offset integer, and the result is moduloed according to the number of cutterheads. Then, the centralized offset integer is subtracted from the modulo result to transform each congruence difference into a value range centered at zero, thus obtaining the centralized phase slot deviation corresponding to each group of adjacent cutterheads. This allows the centralized phase slot deviation to characterize the number of phase slots that need to be adjusted along the shorter phase adjustment direction for the corresponding adjacent cutterheads.
[0114] It should be noted that for each candidate combination that satisfies the loop closure condition, the sum of the absolute values of each phase difference adjustment value in the candidate combination is calculated, and the sum of the absolute values is determined as the total phase adjustment amount of the corresponding candidate combination.
[0115] S603: Based on the annular adjacency relationship, the deviation of each centered phase slot is corrected by closed-loop consistency correction to obtain the annular phase difference adjustment vector.
[0116] It should be noted that the deviations of each centralized phase slot are arranged according to the order of adjacent cutterheads in the annular adjacency relationship. Based on the number of cutterheads, the deviations of each centralized phase slot are increased by an integer modulus to obtain multiple candidate phase difference adjustment values. From the candidate combinations that satisfy the algebraic sum of each phase difference adjustment value being zero, the candidate combination with the smallest overall phase adjustment is determined as the annular phase difference adjustment vector.
[0117] It should be noted that when there are multiple candidate combinations with the same overall phase adjustment amount, one of the candidate combinations is determined as the annular phase difference adjustment vector based on the order of the adjacent cutter heads in the annular adjacency relationship.
[0118] Specifically, according to the arrangement order of adjacent cutterheads in the annular adjacency relationship, the deviations of each centralized phase slot are arranged sequentially. Using the number of cutterheads as the complete modulus, the integer modulus of each centralized phase slot deviation is increased within its corresponding congruence class to obtain multiple candidate phase difference adjustment values corresponding to each centralized phase slot deviation. Subsequently, different candidate phase difference adjustment values are combined, and the algebraic sum of all phase difference adjustment values in each candidate combination is calculated. The candidate combination with an algebraic sum of zero is determined as the candidate annular phase difference adjustment vector that satisfies the annular closure condition. When there are multiple candidate combinations that satisfy the annular closure condition, the total phase adjustment amount corresponding to each candidate combination is compared, and the candidate combination with the smaller total phase adjustment amount is taken as the annular phase difference adjustment vector, so that the phase difference adjustment requirement between each adjacent cutterhead in the annular arrangement can be closed end to end.
[0119] S604: Based on the annular adjacent relationship and the annular phase difference adjustment vector, solve for the corresponding tool head phase adjustment amount for each tool head.
[0120] Specifically, the arrangement order of each cutter head is determined according to the annular adjacency relationship, and one cutter head is selected as the phase adjustment reference, with its initial phase adjustment amount set as a preset reference value. Then, according to the annular adjacency relationship, each phase difference adjustment value in the annular phase difference adjustment vector is read sequentially. The initial phase adjustment amount of the previous cutter head is accumulated with the phase difference adjustment value between the corresponding adjacent cutter heads to obtain the initial phase adjustment amounts for the remaining cutter heads. After obtaining the initial phase adjustment amounts of all cutter heads, the average value of all initial phase adjustment amounts is calculated, and the average value is subtracted from each initial phase adjustment amount to make the average value of the adjusted cutter head phase adjustment amounts zero, thus obtaining the cutter head phase adjustment amount corresponding to each cutter head. This eliminates common phase offsets while maintaining the relative phase adjustment relationship between adjacent cutter heads, allowing each cutter head to obtain a differentiated self-phase adjustment amount.
[0121] S605: Based on the number of cutter heads and the control cycle, convert the phase adjustment of each cutter head into the corresponding speed correction.
[0122] Specifically, the angle width corresponding to a single phase slot is determined based on the number of cutter heads. The phase adjustment amount of each cutter head is multiplied by the phase slot width to obtain the mechanical rotation angle that each cutter head needs to adjust. The mechanical rotation angle is then divided by the control cycle to obtain the angular velocity change required for each cutter head to complete the corresponding phase adjustment within the control cycle. The angular velocity change is then determined as the rotational speed correction amount of the corresponding cutter head.
[0123] Specifically, the speed correction amount is as follows:
[0124] in, This represents the speed correction amount for the i-th cutter head after polar angle arrangement. Indicates the control period. This represents the tool head phase adjustment amount corresponding to the i-th tool head after polar angle arrangement.
[0125] It should be noted that the formula is based on the tool turret phase adjustment amount. Characterizing the polar angle arrangement after the first The number of phase slots that need to be adjusted for each tool head, and the angle width corresponding to a single phase slot is... Therefore, Multiplying the phase slot width by the mechanical rotation angle required to adjust the tool turret gives the required adjustment angle; then dividing by the control cycle gives the mechanical rotation angle required to adjust the tool turret. This yields the angular velocity change required to complete the corresponding phase adjustment within one control cycle, i.e., the speed correction amount. This formula can directly convert discrete cutter head phase adjustment requirements into continuous speed control quantities, establishing a clear mathematical correspondence between phase adjustment quantities, the number of cutter heads, and the control cycle, which facilitates differentiated and calculable speed corrections for each cutter head.
[0126] S606: Determine the mapping relationship between each speed correction amount and the corresponding tool head based on the polar angle sorting index.
[0127] Specifically, based on the polar angle sorting index, the correspondence between each cutter head after polar angle arrangement and each original cutter head number is determined. Then, according to the correspondence, each speed correction amount obtained based on the polar angle arrangement order is mapped to the corresponding original cutter head, thereby establishing the mapping relationship between each speed correction amount and the corresponding cutter head.
[0128] S607: Based on the mapping relationship, the speed correction amount is added to the current speed to generate the command speed.
[0129] Specifically, based on the mapping relationship, the speed correction amount corresponding to each original cutter head is obtained, and the speed correction amount is added to the current speed of the corresponding cutter head. The speed value obtained by the addition is used as the command speed of the corresponding cutter head, thereby generating the command speed of each cutter head in the current control cycle.
[0130] In this embodiment of the invention, the phase deviation between adjacent cutterheads is obtained by comparing the current phase difference congruent vector with the target phase difference congruent vector. A shorter phase adjustment direction is determined through centering mapping. Then, closed-loop consistency correction is implemented based on the annular adjacency relationship. The phase difference adjustment requirement between adjacent cutterheads is converted into an annular phase difference adjustment vector that satisfies the annular closure constraint. Further inverse solving yields the differentiated phase adjustment amount corresponding to each cutterhead. This cutterhead phase adjustment amount is converted into a speed correction amount and mapped to the corresponding cutterhead, then superimposed with the current speed to generate the commanded speed. This avoids the common speed deviation problem caused by directly correcting the speed based on the phase difference between adjacent cutterheads. It ensures that the speed adjustment of each cutterhead can actually change the relative phase relationship between them, while also considering the shorter adjustment path and the consistency of the annular structure. This facilitates the gradual convergence of the phases of multiple cutterheads under degenerate resonance state towards the target phase distribution, improving the accuracy, stability, and control efficiency of phase coordinated control.
[0131] Reference manual attached Figure 4 The diagram shows a schematic of the blade-coordinated control system for a lawnmower provided by the present invention.
[0132] The present invention also provides a blade-coordinated control system 20 for a lawnmower, applied to the aforementioned blade-coordinated control method for a lawnmower, comprising: Processor 201.
[0133] The memory 202 stores computer-readable instructions, which, when executed by the processor 201, implement the blade coordination control method for a lawnmower as described in the method embodiment.
[0134] The blade coordination control system 20 for lawnmowers provided by this invention can execute the above-described blade coordination control method for lawnmowers and achieve the same or similar technical effects. To avoid repetition, this invention will not elaborate further.
[0135] It should be understood that the processor in the embodiments of the present invention can be a central processing unit (CPU), or it can be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.
[0136] It should also be understood that the memory in the embodiments of the present invention can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate synchronous DRAM (DDR SDRAM), enhanced synchronous DRAM (ESDRAM), synchronous linked DRAM (SLDRAM), and direct rambus RAM (DR RAM).
[0137] The above embodiments can be implemented, in whole or in part, by software, hardware (such as circuits), firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, all or part of the processes or functions described in the embodiments of the present invention are 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, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. Wireless means can include infrared, radio, or microwave. 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 includes one or more sets of available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. A semiconductor medium can be a solid-state drive.
[0138] It should be understood that the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. A and B can be singular or plural. Additionally, the character " / " in this article generally indicates an "or" relationship between the preceding and following related objects, but it can also represent an "and / or" relationship. Please refer to the context for a more accurate understanding.
[0139] In this invention, "at least one" means one or more, and "more than one" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of a single item or a plurality of items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be a single item or multiple items.
[0140] It should be understood that, in various embodiments of the present invention, the order of the above-mentioned process numbers does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.
[0141] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.
[0142] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the devices, apparatuses, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.
[0143] In the several embodiments provided by this invention, it should be understood that the disclosed devices, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.
[0144] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.
[0145] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.
[0146] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.
[0147] This invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the blade coordination control method for a lawnmower as described in the method embodiment.
[0148] The present invention provides a computer-readable storage medium that can implement the steps and effects of the blade coordination control method for lawnmowers in the above-described method embodiments. To avoid repetition, the present invention will not repeat the details.
[0149] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.
[0150] The following points need to be explained: (1) The accompanying drawings of the embodiments of the present invention only involve the structures involved in the embodiments of the present invention. Other structures can refer to the general design.
[0151] (2) Where there is no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other to obtain new embodiments.
[0152] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. The scope of protection of the present invention should be determined by the scope of the claims.
Claims
1. A method for coordinated control of the blades of a lawnmower, characterized in that, include: S1: Obtain the operating parameters of the multi-disc lawnmower's blades; S2: Calculate the current phase difference congruent vector based on the cutter head operating parameters; S3: Determine the distribution state of the current tool head phase based on the current phase difference congruent vector, and obtain the determination result; S4: If the determination result is a degenerate resonance mode, generate a target phase that satisfies the condition of uniform phase slot distribution according to the cutter head operating parameters; S5: If the determination result is a degenerate resonance mode, calculate the target phase difference congruence vector based on the target phase; S6: If the determination result is the degenerate resonance mode, generate the command speed according to the current phase difference congruent vector, the target phase difference congruent vector and the tool head running parameters. If the determination result is the safe uniform traversal mode or the non-degenerate cooperative mode, determine the current speed in the tool head running parameters as the command speed.
2. The blade-disc coordinated control method for a lawnmower according to claim 1, characterized in that, The specific operating parameters of the cutterhead include: the number of cutterheads, the polar angle sorting index, the current mechanical rotation angle, the current rotation speed, and the control cycle.
3. The blade-disc coordinated control method for a lawnmower according to claim 2, characterized in that, S2 specifically includes: S201: Determine the annular adjacency relationship between each blade in the multi-blade mower after polar angle arrangement based on the polar angle sorting index; S202: Calculate the cyclic phase difference between each group of adjacent cutterheads based on the circumferential adjacent relationship and the current mechanical rotation angle; S203: Determine the phase slot width based on the number of cutter heads; S204: Discretize each of the cyclic phase differences according to the phase slot width to obtain the current phase slot congruent integers corresponding to each of the cyclic phase differences; S205: Arrange the current phase slot congruent integers according to the arrangement order of each group of adjacent cutterheads in the annular adjacent relationship to obtain the current phase difference congruent vector.
4. The blade-coordinated control method for a lawnmower according to claim 2, characterized in that, S3 specifically includes: S301: Construct a cyclic matrix according to the order of the congruent integers of each current phase slot in the current phase difference congruent vector; S302: Calculate the cyclic determinant based on the cyclic matrix; S303: Determine the phase difference distribution characteristics based on the numerical relationship between the congruent integers of each current phase slot and the coprime relationship between the congruent integers of each current phase slot and the number of cutter heads; S304: Based on the cyclic determinant and the phase difference distribution characteristics, determine the distribution state of the current tool head phase to obtain the determination result.
5. The blade-disc coordinated control method for a lawnmower according to claim 4, characterized in that, Specifically, S304 includes: S3041: When the cyclic determinant is a preset value and the phase difference distribution feature satisfies the preset safe uniform traversal condition, the current distribution state of the tool head phase is determined as the safe uniform traversal mode. S3042: When the cyclic determinant is the preset value and the phase difference distribution characteristics do not meet the preset safe uniform traversal condition, the current distribution state of the tool disk phase is determined as the degenerate resonance mode. S3043: When the cyclic determinant is not the preset value, the current distribution state of the tool disk phase is determined as the non-degenerate cooperative mode; S3044: The safe uniform traversal mode, the degenerate resonance mode, or the non-degenerate cooperative mode shall be used as the determination result.
6. The blade-disc coordinated control method for a lawnmower according to claim 2, characterized in that, S4 specifically includes: S401: If the determination result is the degenerate resonance mode, the complete rotation cycle is divided according to the number of cutter heads to obtain multiple phase slots, and the width of the phase slots is determined. S402: Determine the target phase slot position corresponding to each of the blades based on the polar angle arrangement order of each blade in the multi-blade lawnmower and the multiple phase slots; S403: Determine the target mechanical rotation angle corresponding to each of the target phase slots based on the position and width of each target phase slot; S404: Arrange the target mechanical rotation angles to generate the target phase.
7. The blade-coordinated control method for a lawnmower according to claim 6, characterized in that, Specifically, S402 includes: S4021: Determine the arrangement position of each cutter head according to the polar angle arrangement order of each cutter head; S4022: Establish the correspondence between each of the tool discs and the multiple phase slots according to the arrangement position of each of the tool discs; S4023: Determine the target phase slot position corresponding to each of the tool discs based on the correspondence.
8. The blade-disc coordinated control method for a lawnmower according to claim 3, characterized in that, S5 specifically includes: S501: If the determination result is the degenerate resonance mode, calculate the target cyclic phase difference corresponding to each group of adjacent cutterheads based on the target phase and the annular adjacent relationship; S502: Discretize each target cyclic phase difference according to the phase slot width to obtain the target phase slot congruent integers corresponding to each target cyclic phase difference; S503: According to the arrangement order of each group of adjacent tool disks in the annular adjacent relationship, arrange the congruent integers of each target phase slot to obtain the congruent vector of the target phase difference.
9. The blade-disc coordinated control method for a lawnmower according to claim 8, characterized in that, In step S6, when the determination result is the degenerate resonance mode, generating the command speed based on the current phase difference congruent vector, the target phase difference congruent vector, and the tool head operating parameters specifically includes: S601: When the determination result is the degenerate resonance mode, calculate the congruence difference between the current phase slot congruence integer and the target phase slot congruence integer based on the current phase difference congruence vector and the target phase difference congruence vector; S602: Perform a centering mapping on the congruence difference to obtain the centering phase slot deviation corresponding to each group of adjacent tool turrets; S603: Based on the annular adjacent relationship, the deviation of each of the centralized phase slots is corrected in a closed loop to obtain the annular phase difference adjustment vector; S604: Based on the annular adjacent relationship and the annular phase difference adjustment vector, solve for the tool disc phase adjustment amount corresponding to each of the tool discs; S605: Based on the number of cutterheads and the control cycle, convert the phase adjustment amount of each cutterhead into a corresponding speed correction amount; S606: Determine the mapping relationship between each of the rotational speed corrections and the corresponding cutterhead based on the polar angle sorting index; S607: Based on the mapping relationship, the speed correction amount is added to the current speed to generate the commanded speed.
10. A blade-coordinated control system for a lawnmower, characterized in that, include: processor; A memory storing computer-readable instructions, which, when executed by the processor, implement the blade coordination control method for a lawnmower as described in any one of claims 1 to 9.