Method, control device and computer-readable storage medium for lawn mower with steep slope descent
A technology for control devices and lawn mowers, which is applied to harvesters, cutters, vehicle components, etc., can solve the problems of low safety and poor mowing effect of lawn mowers, and achieve the effect of improving safety and reducing impact
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Embodiment 1
[0056] See figure 1 , the figure is a flow chart of a method of steep slope descent of a lawnmower provided by an embodiment of the invention, such as figure 1 As shown, the method comprises the steps of:
[0057] Step 101, acquire the inclination angle, throttle status and driving direction of the lawnmower.
[0058] Among them, the inclination angle is obtained by using a three-axis acceleration sensor. The three-axis acceleration sensor works based on the principle of acceleration. Acceleration is a space vector. To accurately understand the motion state of an object, it must be measured on the three coordinate axes weight. At the same time, when the moving direction of the object is not known in advance, only the three-axis acceleration sensor is used to detect the acceleration signal, and the detection effect is good. The three-axis acceleration sensor itself has the characteristics of small size and light weight. It can be used to measure spatial acceleration and ca...
Embodiment 2
[0074] See figure 2 , the figure is a flow chart of a method for a lawnmower to descend a steep slope provided by an embodiment of the present invention, as figure 2 As shown, on the basis of Embodiment 1, in this embodiment, the step of determining whether the lawn mower is in a downhill state according to the tilt angle, throttle state and motor rotation direction includes:
[0075] Step 1021, when the state of the throttle is backward, the direction of rotation of the motor is the forward direction, and the inclination angle is greater than or equal to the first preset angle, it is determined that the lawnmower is in the backward downhill state.
[0076] Specifically, by installing the circuit of the three-axis acceleration sensor on the riding lawn mower; the installation error is eliminated, and when the lawn mower is in a horizontal static state, the three-axis acceleration sensor connects X, Y, and Z through the communication interface. The acceleration data in the a...
Embodiment 3
[0084] See image 3 , image 3 It is a flow chart of a method for steep descent of a lawnmower provided by an embodiment of the present invention. On the basis of Embodiments 1 and 2, in this embodiment, the step of determining the current target speed of the lawnmower according to the state of the throttle include:
[0085] Step 1031 , when the lawnmower is in the backward downhill state, recall the pre-stored first throttle-vehicle speed correspondence.
[0086]Specifically, the current vehicle speed is obtained through the Hall sampling circuit of the traction motor installed on the lawn mower, the voltage signal output by the current user stepping on the pedal is obtained through the accelerator pedal voltage detection circuit, and the target speed is determined according to the voltage signal, so that the accelerator pedal can be known. The target speed relationship, so that it is convenient to call the pre-stored first throttle-vehicle speed correspondence relationship...
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