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CN-121994245-A - Optimized control method and device for mower, mower and readable storage medium

CN121994245ACN 121994245 ACN121994245 ACN 121994245ACN-121994245-A

Abstract

The application provides an optimized control method and device for a mower, the mower and a readable storage medium, and belongs to the technical field of mowers. The method comprises the steps of obtaining a plurality of candidate tracks from a starting point to a target point, obtaining a path total execution time estimated value, an energy consumption estimated value smoothness estimated value and a direction switching punishment parameter energy consumption estimated value, a smoothness estimated value and a direction switching punishment parameter of each candidate track, calculating the score of each candidate track according to the path total execution time estimated value, the energy consumption estimated value, the smoothness estimated value and the direction switching punishment parameter of each candidate track, and determining the candidate track corresponding to the highest score as an optimal track. In this way, the candidate track with the highest score is selected as the optimized optimal track, so that the total time of the optimal track is short, the motion is continuous and smooth, the operation efficiency is obviously improved, and the mechanical abrasion and the energy consumption are reduced.

Inventors

  • ZHAO YANG
  • WANG XUECONG

Assignees

  • 青庭智能科技(苏州)有限公司

Dates

Publication Date
20260508
Application Date
20260212

Claims (11)

  1. 1. An optimized control method of a mower, the method comprising: acquiring a plurality of candidate tracks from a starting point to a target point; Obtaining path total execution time estimated values, energy consumption estimated values, smoothness estimated values and direction switching punishment parameters of the candidate tracks; Calculating the score of each candidate track according to the path total execution time estimated value, the energy consumption estimated value, the smoothness estimated value and the direction switching punishment parameter of each candidate track; and determining the candidate track corresponding to the highest score as the optimal track.
  2. 2. The method of claim 1, wherein obtaining the direction switch penalty parameter comprises: determining the number of the backward segments and the total length of the backward segments in each candidate track; And determining the direction switching punishment parameters according to the first switching punishment coefficient, the second switching punishment coefficient, the number of the backward segments and the total length of the backward segments.
  3. 3. The method of claim 1, wherein calculating the score of each candidate trajectory based on the path total execution time estimate, the energy consumption estimate, the smoothness estimate, and the direction switch penalty parameter for each candidate trajectory comprises: Calculating a first product value of a first weight coefficient and the path total execution time estimated value; Calculating a second product value of a second weight coefficient and the estimated value of the quantity consumption; Calculating a third product value of a third weight coefficient and the smoothness estimation value; calculating a fourth product value of a fourth weight coefficient and the direction switching penalty parameter; and determining a sum of the first product value, the second product value, the third product value and the fourth product value as the score.
  4. 4. The method according to claim 1, wherein the method further comprises: Generating a speed model corresponding to the optimal track, wherein each track point of the optimal track corresponds to each speed in the speed model one by one, the absolute value of any speed in the speed model is larger than or equal to a preset speed, and the preset speed is larger than 0.
  5. 5. The method according to claim 4, wherein the method further comprises: Transmitting the optimal track and the speed model to a tracking controller, wherein each track point of the optimal track also corresponds to each acceleration in the speed model one by one; And controlling the mower to execute smooth speed switching by taking the speed and the acceleration of each track point as optimization conditions.
  6. 6. The method of claim 5, wherein the method further comprises: Detecting the current speed and the current acceleration of the mower in real time in the process of controlling the mower to run according to the optimal track; respectively determining a speed reference value and an acceleration reference value from the speed model according to the current track point; determining a speed compensation value according to the current speed and the speed reference value; and determining an acceleration compensation value according to the current acceleration and the acceleration reference value.
  7. 7. The method according to claim 1, wherein the method further comprises: Generating a planning pose model corresponding to the optimal track, wherein each track point of the optimal track corresponds to each pose information in the planning pose model one by one; in the process of controlling the operation of the mower according to the optimal track, detecting the current pose information of the mower in real time; determining planning pose information from the planning pose model according to the current track point; And if the pose deviation between the current pose information and the planning pose information is greater than or equal to a preset threshold value, the current track is used as a new starting point, and a plurality of candidate tracks between the new starting point and the target point are acquired again.
  8. 8. The method of claim 1, wherein the acquiring a plurality of candidate trajectories from a start point to a target point comprises: Respectively acquiring initial pose information of a mower at a starting point and target pose information of a target point; Acquiring key control parameters, wherein the key control parameters are used for determining the vertical distance between a virtual control point and a reference line segment, and the reference line segment is a line segment formed by connecting the starting point and the target point; Obtaining a minimum turning radius of the mower; Performing kinematic constraint self-adaptive track sampling according to the starting point, the virtual control point, the starting pose and the minimum turning radius to obtain a first candidate track set comprising a plurality of first tracks; Performing kinematic constraint self-adaptive track sampling according to the virtual control point, the target pose and the minimum turning radius to obtain a second candidate track set comprising a plurality of second tracks; and matching the first track with the second track one by one to obtain a plurality of candidate tracks from the starting point to the target point.
  9. 9. An optimal control device for a lawn mower, the device comprising: a first acquisition module for acquiring a plurality of candidate trajectories from a start point to a target point; the second acquisition module is used for acquiring the path total execution time estimated value, the energy consumption estimated value, the smoothness estimated value and the direction switching penalty parameter of each candidate track; the calculation module is used for calculating the scores of the candidate tracks according to the path total execution time estimated value, the energy consumption estimated value, the smoothness estimated value and the direction switching punishment parameter of the candidate tracks; and the determining module is used for determining the candidate track corresponding to the highest score as the optimal track.
  10. 10. A mower comprising a memory and a processor, the memory storing a computer program which, when run by the processor, performs the method of optimizing control of a mower of any one of claims 1 to 8.
  11. 11. A computer-readable storage medium, characterized in that it stores a computer program that, when run on a processor, performs the method of optimizing control of a lawn mower according to any one of claims 1 to 8.

Description

Optimized control method and device for mower, mower and readable storage medium Technical Field The application relates to the technical field of mowers, in particular to an optimized control method and device of a mower, the mower and a readable storage medium. Background With the rapid development of intelligent gardening equipment, autonomous mowers have been widely used in home court, park green, golf course, and other settings. In the prior art, the arch-shaped (Boustrophedon) full-coverage path planning is a main flow operation strategy of the autonomous mower, and in the prior art, when the autonomous mower executes the arch-shaped full-coverage operation, the track planning quality of the reversing stage directly determines the operation efficiency, the lawn protection effect and the machine service life. In the prior art, a reversing mode cannot be selected in a self-adaptive manner according to the width of a reversing space by adopting fixed radius steering or simple curve connection, failure is easy to plan in a narrow area or an inefficient track is generated, and in order to execute an unreasonable track, sudden stop, in-situ rotation or tire slip of a mower often occurs, rolling and shearing damage to a lawn are not caused, and the problems of single reversing strategy and poor adaptability are caused. Disclosure of Invention In order to solve the technical problems, the application provides an optimized control method and device of a mower, the mower and a readable storage medium. In a first aspect, the present invention provides a method for optimally controlling a mower, the method comprising: acquiring a plurality of candidate tracks from a starting point to a target point; obtaining a path total execution time estimated value, an energy consumption estimated value smoothness estimated value and a direction switching punishment parameter of each candidate track, wherein the path total execution time estimated value, the energy consumption estimated value smoothness estimated value and the direction switching punishment parameter are obtained; Calculating the score of each candidate track according to the path total execution time estimated value, the energy consumption estimated value, the smoothness estimated value and the direction switching punishment parameter of each candidate track; and determining the candidate track corresponding to the highest score as the optimal track. In an alternative embodiment, obtaining the direction switch penalty parameter includes: determining the number of the backward segments and the total length of the backward segments in each candidate track; And determining the direction switching punishment parameters according to the first switching punishment coefficient, the second switching punishment coefficient, the number of the backward segments and the total length of the backward segments. In an optional embodiment, the calculating the score of each candidate track according to the path total execution time estimated value, the energy consumption estimated value, the smoothness estimated value and the direction switching penalty parameter of each candidate track includes: Calculating a first product value of a first weight coefficient and the path total execution time estimated value; Calculating a second product value of a second weight coefficient and the estimated value of the quantity consumption; Calculating a third product value of a third weight coefficient and the smoothness estimation value; calculating a fourth product value of a fourth weight coefficient and the direction switching penalty parameter; and determining a sum of the first product value, the second product value, the third product value and the fourth product value as the score. In an alternative embodiment, the method further comprises: Generating a speed model corresponding to the optimal track, wherein each track point of the optimal track corresponds to each speed in the speed model one by one, the absolute value of any speed in the speed model is larger than or equal to a preset speed, and the preset speed is larger than 0. In an alternative embodiment, the method further comprises: Transmitting the optimal track and the speed model to a tracking controller, wherein each track point of the optimal track also corresponds to each acceleration in the speed model one by one; And controlling the mower to execute smooth speed switching by taking the speed and the acceleration of each track point as optimization conditions. In an alternative embodiment, the method further comprises: Detecting the current speed and the current acceleration of the mower in real time in the process of controlling the mower to run according to the optimal track; respectively determining a speed reference value and an acceleration reference value from the speed model according to the current track point; determining a speed compensation value according to the current speed and the speed reference value