Walk-behind self-propelled working machine

Abstract

The application discloses a rear-walking self-propelled working machine, comprising: a main machine, comprising a walking assembly and a driving motor for driving the walking assembly; a handle device connected to the main machine for a user to operate the rear-walking self-propelled working machine at the rear side of the rear-walking self-propelled working machine; the handle device comprises: an operating piece, comprising a holding part for the user to hold; a connecting rod connected to the main machine; a pressure sensor arranged between the operating piece and the connecting rod; a pressing piece, when the holding part is subjected to a pushing force, the pressing piece applies a force along a preset straight line direction to the sensor to drive the pressure sensor to deform; wherein the ratio of the component of the pushing force on the holding part along the preset straight line direction to the deformation amount of the pressure sensor along the preset straight line direction is greater than or equal to 40 N / mm and less than or equal to 1200 N / mm. The rear-walking self-propelled working machine is convenient to operate and has high reliability.

Description

TECHNICAL FIELD

[0001] The present application relates to a garden tool, in particular to a rear walking type self-propelled working machine. BACKGROUND

[0002] The rear walking type self-propelled working machine mower is generally used by users to trim the lawn at home. When the user pushes the mower on the lawn for a long time to trim the lawn, a lot of physical strength is consumed. In order to reduce the labor intensity of the operator when mowing, a mower that can walk by itself appears on the market. In some existing mowers with self-walking function, the self-walking function needs to be controlled by a person, and only a constant speed can be output, and the user can only follow the mower and perform the mowing operation. In some more advanced mowers, the self-walking system is complex to operate, the user's comfort is poor, and there are many drawbacks. The present application provides a rear walking type self-propelled working machine whose self-walking speed can automatically adapt to the walking speed of the user, greatly improving the operation comfort and convenience. SUMMARY

[0003] In order to solve the problems of the prior art, the purpose of the present application is to provide a rear walking type self-propelled working machine with high comfort and convenient operation, whose self-walking speed can adapt to the walking speed of the user.

[0004] In order to achieve the above-mentioned target, the present application adopts the following technical solution:

[0005] A rear walking type self-propelled working machine, comprising: a main machine comprising a walking assembly and a driving motor driving the walking assembly; a handle device connected to the main machine for a user to operate the rear walking type self-propelled working machine at the rear side of the rear walking type self-propelled working machine; the handle device comprises: an operating piece comprising a holding portion for the user to hold; a connecting rod connected to the main machine; a pressure sensor arranged between the operating piece and the connecting rod; a pressing piece applying a force along a predetermined straight line direction to the sensor to drive the pressure sensor to deform when the holding portion is subjected to a pushing force; wherein the ratio of the component of the pushing force of the holding portion along the predetermined straight line direction to the deformation amount of the pressure sensor along the predetermined straight line direction is greater than or equal to 40N / mm and less than or equal to 1200N / mm.

[0006] Further, the ratio of the component of the pushing force of the holding portion along the predetermined straight line direction to the deformation amount of the pressure sensor along the predetermined straight line direction is greater than or equal to 150N / mm and less than or equal to 300N / mm.

[0007] Further, it further comprises a supporting piece, which is formed with a first accommodating cavity, and the pressure sensor and the pressing piece are at least partially arranged in the first accommodating cavity.

[0008] Further, the supporting piece, the pressing piece and the pressure sensor are arranged in sequence along the predetermined straight line direction.

[0009] Further, the operation member comprises a connecting arm extending along a preset straight line direction; and the supporting member comprises a second accommodating cavity sleeved to the connecting arm.

[0010] Further, the first accommodating cavity and the second accommodating cavity are at least partially through, and the pressing member can pass through.

[0011] Further, the pressing member comprises a trigger surface capable of applying pressure to the pressure sensor, and the pressure sensor comprises a force receiving surface matched with the trigger surface.

[0012] Further, the force receiving surface is perpendicularly intersected with the preset straight line direction.

[0013] Further, a plane in which the trigger surface is located is obliquely intersected with the preset straight line.

[0014] Further, when the trigger surface is in contact with the force receiving surface, in a plane perpendicular to the preset straight line direction, the projection of the trigger surface and the force receiving surface in the plane along the preset straight line direction is a circle.

[0015] The mower has the advantages that: by arranging the pressure sensor between the operation member and the connecting rod, the self-walking speed of the mower can be adapted to the walking speed of the user by sensing the pushing force of the user in real time. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a perspective view of a rear-walking self-propelled working machine;

[0017] Figure 2 is Figure 1 is a perspective view of a handle device of the rear-walking self-propelled working machine in

[0018] Figure 3 is Figure 1 is a sectional view of a partial structure of the handle device of the rear-walking self-propelled working machine in

[0019] Figure 4 is Figure 1 is an exploded schematic view of a partial structure of the handle device of the rear-walking self-propelled working machine in

[0020] Figure 5 is Figure 4 is an exploded schematic view of another perspective of a partial structure of the handle device of the rear-walking self-propelled working machine in

[0021] Figure 6 is Figure 1 is a logic control diagram of a signal receiving of a sensing module of the rear-walking self-propelled working machine in

[0022] Figure 7 is Figure 1 is a trend chart of a relationship between a speed and a pushing force of the rear-walking self-propelled working machine in

[0023] Figure 8 is Figure 1 the logic control diagram of the sensing module of the rear-walking self-propelled working machine in

[0024] Figure 9 is Figure 1 the logic control diagram of the left side sensor array acquisition process of the rear-walking self-propelled working machine in

[0025] Figure 10 is Figure 1 the logic control diagram of the right side sensor array acquisition process of the rear-walking self-propelled working machine in

[0026] Figure 11 is Figure 1 the logic control diagram of the motor response after obtaining the thrust value of the rear-walking self-propelled working machine in

[0027] Figure 12 is Figure 1 the logic control diagram of the judgment of whether the motor is started of the rear-walking self-propelled working machine in

[0028] Figure 13 is Figure 1 the logic control diagram of the judgment of the response mode of the thrust of the rear-walking self-propelled working machine in

[0029] Figure 14 is Figure 1 the logic control diagram of the PID adjustment of the rear-walking self-propelled working machine in DETAILED DESCRIPTION

[0030] The present application will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0031] Figure 1 A rear-walking self-propelled working machine is shown, which can be a lawn mower, a snow sweeper, or other working machines with self-propelled function, such as a small cart. As an optional embodiment, the following will be described taking a lawn mower as an example. As shown in Figure 1 , the lawn mower 100 mainly comprises a handle device 11 and a main machine 12. The main machine 12 comprises a walking assembly 121 and a power mechanism (not shown in the figure). Specifically, the lawn mower 100 is a hand-push lawn mower 100. The handle device 11 is connected to the main machine 12 for a user to operate the lawn mower 100 at the rear side of the lawn mower 100. It can be understood that other rear-walking self-propelled working machines, such as a snow sweeper, a small cart, etc., can also comprise the handle device 11, the main machine 12, the walking assembly 121, etc. As shown in Figure 2As shown, the handle device 11 includes a connecting rod 111 and a holding operation member 112. The operation member includes a holding portion for a user to hold. The connecting rod 111 is a hollow long rod structure, and the connecting rod 111 connects the operation member 112 and the main machine 12. The walking assembly 121 is installed on the main machine 12, and the walking assembly 121 can rotate around a rotating shaft so as to enable the whole mower 100 to move on the ground.

[0032] In order to operate conveniently and push labor-savingly, the mower 100 in the embodiment also has a self-walking function, and the power mechanism can drive the walking assembly 121 to rotate, thereby driving the mower 100 to move on the ground, so that the user does not need to manually push the mower 100 to move. The power mechanism can be a driving motor 122, which can output a driving force for driving the walking assembly 121 to rotate. It can be understood that the opening and closing of the self-walking function needs to be separately operated by the user to control the switch. In fact, in some embodiments, the power button 112a, the trigger 112b and the operation switch 112c of the mower 100 are all integrated on the handle device 11. More specifically, the power button 112a, the trigger 112b and the operation switch 112c of the mower 100 are all integrated on the operation member 112. In addition, the operation switch 112c is not limited to a physical switch or a signal switch, and any device that can control the opening and closing of the current in the circuit is applicable. In fact, such an operation switch 112c is not limited to the control of the current, but can also be a mechanical means to control the opening or closing of the self-walking function. In order to increase the convenience of user operation, the embodiment provides a mower 100 which is convenient to operate, can automatically judge the self-walking speed of itself according to the walking speed of the user, and can judge and control the start and closing of the self-walking state according to the operation state of the user, that is, provides an adaptive mode. The embodiment also provides a manual adjustment mode. Specifically, the mower 100 includes a speed adjustment switch provided on the handle device 11, which can be adjusted by the user to adjust the walking speed of the rear-walking self-propelled working machine when walking on the ground. The operation switch 112c provided on the handle device is used to control the rear-walking self-propelled working machine to switch between the adaptive mode and the manual speed adjustment mode. The operation switch 112c includes a signal receiving member, which controls and controls the rear-walking self-propelled working machine to switch modes when receiving a switching signal. The switching signal includes a wireless signal or a wired signal. The switching signal is also set to be input by intelligent voice or by a mobile phone client. The operation switch 112c can also be set to be a switching switch or a control panel.

[0033] As shown in the Figures 1-2 In order to clearly illustrate the technical solutions of the present application, the Figure 1The front side, the rear side, the left side, the right side, the upper side and the lower side are shown. As a specific structure, the handle device 11 is movably connected with the main machine 12. More specifically, the handle device 11 is rotatably connected with the main machine 12 and can be locked at a preset angle by a locking member. It can be understood that when the user operates the mower 100 to mow the grass, the user needs to push the mower 100 to move. According to the amount of grass on the lawn and the road conditions and other variables, the user needs to manually adjust the speed of the mower walking, rather than mechanically mowing the grass according to the self-walking speed output by the mower 100 itself. If the user only controls the mower 100 to move forward and cannot control the self-walking speed of the mower 100 according to the actual situation, or controlling the self-walking speed of the mower 100 needs to go through a series of operations, it greatly reduces the operation experience of the mower 100, and if it involves complex operations, it may not be able to respond to unexpected situations and has certain safety hazards. As an implementation manner, the mower 100 can automatically adjust the self-walking speed according to the walking speed of the user, and can automatically cut off the power output of the driving motor 122 when the user stops moving forward. Specifically, a sensing module 14 is arranged between the operating member 112 and the main machine 12. The sensing module 14 can be arranged on the main machine 12, or arranged on the connection between the operating member 112 and the main machine 12, or arranged at any position between the operating member 112 and the main machine 12. In this embodiment, the sensing module 14 is arranged between the operating member 112 and the connecting rod 111. The sensing module 14 can output an electric signal by sensing the pushing force from the operating member 112. In fact, the pushing force from the operating member 112 is different, and the electric signal output by the sensing module 14 is also different.

[0034] As Figures 2-5As shown, the operation member 112 is formed with a receiving space 112e, and the sensing module 14 is arranged in the receiving space 112e. The sensing module 14 comprises a support 145, a pressing member 146 and a sensor assembly 141. The support 145 is formed with a first receiving cavity 145a, and the pressing member 146 and the sensor assembly 141 are arranged at least partially in the first receiving cavity 145a. The pressing member 146 is operable to trigger the sensor assembly 141, so that the sensor assembly 141 can output an electrical signal. The sensor assembly 141 comprises two pressure sensors 141a arranged respectively on the left and right sides of the support 145, which can feedback pressure values through strain and convert the pressure values into electrical signals for operation or to send an indication signal. Within the range of the interval where the sensing module 14 is arranged, the extension direction of the connecting rod 111 can be defined as the direction of a preset straight line 101, and the support 145, the pressing member 146 and the sensor assembly 141 are arranged in sequence along the direction of the preset straight line 101. The sensing module 14 further comprises an intermediate member 147 and an encapsulating member 149. The intermediate member 147 is used to connect the pressing member 146 to the operation member 112, and the encapsulating member 149 is used to enclose at least part of the first receiving cavity 145a, so that the pressing member 146 and the sensor assembly 141 can be fixed in the first receiving cavity 145a. The operation member 112 further comprises a connecting arm 112d formed in the direction of the preset straight line 101. The support 145 further comprises a second receiving cavity 145b sleeved to the connecting arm 112d, and the first receiving cavity 145a and the second receiving cavity 145b are at least partially through and can be passed through by the pressing member 146. It can be understood that the intermediate member 147 is formed with a through hole, and the pressing member 146 is arranged at least partially in the through hole and connected to the intermediate member 147 through a first connecting member 145f. The intermediate member 147 is formed with a first connecting hole 147a for connecting the pressing member 146, and the pressing member 146 is formed with a second connecting hole 146a matched with the first connecting hole 147a, and the intermediate member 147 and the pressing member 146 are connected through the first connecting member 145f passing through the first connecting hole 147a and the second connecting hole 146a.

[0035] In fact, the support 145 further has a third connecting hole 145c matched with the first connecting hole 147a and the second connecting hole 146a, i.e., the first connecting member 145f passes through the first connecting hole 147a, the second connecting hole 146a and the third connecting hole 145c at the same time. Among them, the first connecting member 145f is in interference fit with the first connecting hole 147a when passing through the first connecting hole 147a, so that the intermediate piece 147 cannot be displaced in the direction of the preset straight line 101. The hole diameter of the second connecting hole 146a is larger than the outer diameter of the first connecting member 145f, which can make the pressing piece 146 and the intermediate piece 147 can be relatively rotated when the pressing piece 146 is connected to the intermediate piece 147, so that the force from the operating piece 112 can be transmitted to the pressing piece 146, and the pressing piece 146 can press the sensor assembly 141, so that the sensor assembly 141 is deformed. Among them, the ratio of the component of the pushing force of the holding part in the direction of the preset straight line 101 to the deformation amount of the pressure sensor 141a in the direction of the preset straight line 101 is greater than or equal to 40 N / mm and less than or equal to 1200 N / mm. Further, the ratio of the component of the pushing force of the holding part in the direction of the preset straight line 101 to the deformation amount of the pressure sensor 141a in the direction of the preset straight line 101 is greater than or equal to 150 N / mm and less than or equal to 300 N / mm. Through such a setting, the pressure sensor 141a is more easily to identify the pressure, so as to be able to output more accurate pressure value. More specifically, the intermediate piece 147 further includes a fourth connecting hole 147b through which the second connecting member 145g passes, and the fourth connecting hole 147b is configured to allow the second connecting member 145g to pass through so as to connect the intermediate piece 147 to the connecting arm 112d. It can be understood that the connecting arm 112d is formed with a fifth connecting hole (not shown in the figure) for the second connecting member 145g to access. When the second connecting member 145g is a screw, the fifth connecting hole is configured as a screw hole matched with the screw. In fact, the intermediate piece 147 can also be connected to the connecting arm 112d in other ways, which will not be described here. As an implementation manner, the support 145 can be arranged in the accommodating space 112e as a separate part, or can be arranged in fixed connection or integrated with the connecting rod 111. When the support 145 is arranged in fixed connection or integrated with the connecting rod 111, the connecting rod 111 is arranged in a two-half mode, so as to allow the sensor, the pressing piece 146 and the like to be installed therein.

[0036] The pressing member 146 further comprises a main body portion extending along the preset straight line 101, wherein a first end of the main body portion forms the second connecting hole 146a, and a second end of the main body portion forms the limiting portion 146c and the triggering end 146d. The limiting portion 146c is configured to cooperate with the supporting member 145 to avoid the pressing member 146 from being separated from the supporting member 145. Meanwhile, since the pressing member 146 is further connected with the connecting arm 112d through the intermediate member 147, when the limiting portion 146c cooperates with the supporting member 145, since the communication portion between the first accommodating cavity 145a and the second accommodating cavity 145b of the supporting member 145 is configured as the through hole 145d, the through hole 145d is only capable of allowing the main body portion of the pressing member 146 to pass through, and the limiting portion 146c arranged at one end of the main body portion is unable to pass through the through hole 145d, thus the supporting member 145 is further limited by the limiting portion 146c and is kept from generating relative displacement with the connecting arm 112d. More specifically, the sensing module 14 further comprises the pre-tightening element 148, the pre-tightening element 148 is arranged at a side of the limiting portion 146c away from the triggering end 146d, when the sensor assembly 141 and the pressing member 146 are arranged in the first accommodating cavity 145a and are encapsulated by the encapsulating member 149, the pre-tightening element 148 arranged between the limiting portion 146c and the supporting member 145 is capable of providing a pre-tightening force. It can be understood that the signal value obtained by the sensor assembly 141 due to deformation is of a small order of magnitude, and the signal value obtained by the sensor assembly 141 is generated by the deformation of the pressure sensor 141a itself, within a certain interval range, the pressure sensor 141a can be unable to obtain data, or even if the data is obtained, the accuracy of the data cannot be determined, i.e., the signal value output by the pressure sensor 141a comprises a first interval value and a second interval value. The first interval value is composed of discrete data or nonlinear data, and the first interval value constitutes a nonlinear relationship. The second interval value is data obtained after the pressure sensor 141a is compressed to a certain section or known data, which presents a linear relationship. It can be understood that the first interval value needs to be filtered out by the system through complex calculation, and due to the nonlinear relationship of the data in this section, the system calculation can be inaccurate. By adding the pre-tightening element 148, the pressure sensor 141a can be pre-compressed, which can directly and effectively filter out the above-mentioned first interval value, so that the pressure sensor 141a can output a value containing a zero point and presenting a linear relationship. Thus, the system calculation data is more convenient, and the system is avoided from correcting multiple times to obtain zero point data, thereby reducing the operation load of the system. The pre-tightening element 148 is actually arranged on the upper side of the pressure sensor 141a. As another implementation manner, the pre-tightening element 148 can also be arranged on the lower side of the pressure sensor 141a, which can achieve an effect basically consistent with that of the pre-tightening element 148 arranged on the upper side of the pressure sensor 141a, which will not be described herein again.The pre-tightening element 148 can specifically be a compression spring or other elastic member having elastic force, which can generate substantially linear elastic deformation when subjected to force and return to the original position after the force is removed.

[0037] The trigger end 146d further comprises a trigger surface 146e configured to apply pressure to the sensor assembly 141. The sensor assembly 141 further comprises a force receiving surface 141d configured to receive the pressure from the trigger surface 146e. In one embodiment, the cross section of the force receiving surface 141d in a plane parallel to the preset straight line 101 comprises a section line, and the line formed by connecting two points on the section line is obliquely intersected with the preset straight line 101. In fact, the plane in which the trigger surface 146e is located is also obliquely intersected with the preset straight line 101. Thus, when the trigger surface 146e presses the force receiving surface 141d, the contact surface between the trigger surface 146e and the force receiving surface 141d in the projection along the preset straight line 101 is still a circular surface, which can ensure that the pressure sensor 141a assembly accurately obtains the current pressure value and avoids a complex calculation process. In fact, the trigger end 146d is configured as a circular truncated cone, and the sensor assembly 141 is provided with a through hole 141e through which the circular truncated cone can at least partially pass, and the plane in which the through hole 141e is located is the force receiving surface 141d; the side surface of the circular truncated cone is the trigger surface 146e. In this embodiment, the packaging member 149 is further formed or connected with a supporting portion 149a configured to at least partially support the sensor assembly 141 in cooperation with the sensor assembly 141 to prevent the sensor assembly 141 from being deformed too much and failing under the action of the pressing member 146. As another implementation, the cross section of the force receiving surface 141d in a plane parallel to the preset straight line 101 can also comprise a section line, and the line formed by connecting two points on the section line is obliquely intersected with the preset straight line 101. At this time, the trigger surface 146e is configured as a plane, which can also achieve that the contact surface between the trigger surface 146e and the force receiving surface 141d in the projection along the preset straight line 101 is still a circular surface, ensuring that the pressure sensor 141a assembly accurately obtains the current pressure value and thus avoiding a complex calculation process.

[0038] In a first plane perpendicular to the direction of the preset straight line 101, the projection of the position of the second accommodating cavity 145b on the support member 145 on the plane includes a first length extending in the left-right direction and a second length extending in the up-down direction. The first length is greater than or equal to the second length. Preferably, the first length is greater than the second length, and the difference between the first length and the second length is greater than or equal to 1 mm and less than or equal to 10 mm. Through such an arrangement, the connection arm 112d and the operating member 112 are limited in the up-down direction to a certain extent, and can sway in the left-right direction, thereby avoiding the support member 145 and the connection arm 112d from being stuck due to friction or unable to effectively transmit the force due to the effect of friction. More specifically, the projection of the second accommodating cavity 145b on the first plane is in the shape of an ellipse. The long side of the ellipse is arranged in the left-right direction, and the short side of the ellipse is arranged in the front-back direction. Further, in the direction of the preset straight line 101, the projection of the second accommodating cavity 145b on the first plane has a first area, and the projection of the connection arm 112d on the first plane has a second area. The first area is greater than the second area, and the ratio of the first area to the second area is greater than or equal to 1 and less than or equal to 3. Through such an arrangement, on the one hand, it can be ensured that the connection arm 112d can be effectively inserted into the second accommodating cavity 145b, and on the other hand, it can also be ensured that the inner wall of the second accommodating cavity 145b can at least partially limit the connection arm 112d, thereby avoiding the operating member 112 from swaying in the up-down direction when being operated.

[0039] In addition, in the direction of the preset straight line 101, the inner wall of the second accommodating cavity 145b of the support member 145 is formed around a track portion 145e, i.e., the inner wall of the second accommodating cavity 145b is not a continuous elliptical curve, but is provided with uniformly distributed protrusions or grooves, so that when the connection arm 112d is inserted into the second accommodating cavity 145b, the contact surface between the support member 145 and the connection arm 112d is small and a gap can be generated, thereby reducing the friction therebetween. In the present embodiment, a fixing member cooperating with the packaging member 149 is also included, which can be fixed to the connecting rod 111 and cooperate with the housing of the operating member 112 to form an accommodating space 112e capable of accommodating the sensing module 14.

[0040] As Figures 6-7As shown, in the embodiment, when the user operates the operating member 112, the force applied by the user to the operating member 112 is sensed by the sensing module 14 and provided as a determinable electrical signal. Specifically, the sensing module 14 further includes a filter 142 and a signal amplifier 143. The sensor assembly 141 is configured to receive the pressure from the operating member 112 and output an electrical signal, the filter 142 is configured to filter the electrical signal output by the sensor assembly 141, and the signal amplifier 143 is configured to further amplify the electrical signal filtered by the filter 142 to make it a determinable electrical signal.

[0041] Due to the habits of the user, working conditions, and other factors, a single sensor sometimes cannot accurately reflect the actual pressure received by the machine. In order to increase the sensitivity and accuracy of the sensor assembly 141 in receiving the pressure signal, the sensor assembly 141 can further include a first sensor and a second sensor. The first sensor and the second sensor are respectively arranged at the two connection positions of the operating member 112 and the connecting rod 111. The first sensor is arranged at the left connection position of the operating member 112 and the connecting rod 111, and the second sensor is arranged at the right connection position of the operating member 112 and the connecting rod 111. The left connection position and the right connection position can be located at the same position in the lateral direction or the longitudinal direction, or can be located at different positions in the lateral direction and the longitudinal direction, respectively. In practice, due to the different installation positions of the first sensor and the second sensor and the possible influence of the user's operation, the first signal and the second signal input to the sensing module are quite different, and the sensing module needs to superimpose the signal values from the first sensor and the second sensor. In addition, in actual operation, the first signal input to the sensing module and the second signal input to the sensing module need to be corrected, such as being processed by different weighting coefficients, in order to accurately identify the total force input by the user, thereby effectively avoiding misjudgment caused by touching a single sensor. On the other hand, it can also effectively avoid the user who is used to using the right hand or the user who is used to using the left hand applying an unbalanced force to the operating member 112, which will also lead to misjudgment. As another optional embodiment, the sensor assembly 141 can also only include one sensor. By setting a kind of relatively intelligent sensor, the signal is identified according to the operation of the user, and the signal is output to control the self-walking function of the lawn mower 100. Specifically, the above-mentioned sensor can be arranged at one side of the operating member 112 and the connecting rod 111, or arranged at the connection position of the connecting rod 111 and the main machine 12, and can form an output signal by changing the force, displacement, etc. acting on the connecting rod 111 or the main machine 12, and use the signal to control the self-walking function of the lawn mower 100. In the embodiment, the first sensor and the second sensor are specifically two identical pressure sensors 141a. The pressure sensor 141a can be a contactable pressure sensor or a non-contact pressure sensor.

[0042] Specifically, when the trigger end 146d contacts the force receiving surface 141d, the force receiving surface 141d generates a certain elastic deformation, and the deformation amount is converted into an electrical signal output. Due to different pressures, the pressure sensor 141a can output a voltage signal proportional to the pressure, and the user's pushing force value acting on the handle is obtained according to the voltage signal, and the driving motor 122 is controlled to accelerate movement. When the user pushes the handle with different forces, the operating member 112 is displaced by a millimeter or less relative to the connecting rod 111 at the coupling position, and the pressure sensor senses a positive voltage signal proportional to the user's pushing force value, so as to control the speed of the driving motor 122. It should be noted that the force receiving surface 141d of the pressure sensor 141a on the lawn mower 100 and the initial position of the trigger end 146d are about 1mm to 10mm, so that the connection between the operating member 112 and the connecting rod 111 of the lawn mower 100 does not change the appearance of the whole machine, and the relative displacement between the operating member 112 and the connecting rod 111 is small, and the user cannot easily perceive that the operating member 112 and the connecting rod 111 are obviously connected or movably connected, and the user experience of the whole machine product is good.

[0043] It can be understood that the deformation amount of the force receiving surface 141d after being triggered by the trigger end 146d is small in order of magnitude, so the output electrical signal after deformation is also weak, and the signal amplification circuit in the handle device 11 is used to amplify the electrical signal. In fact, before the pressure sensor 141a transmits the signal and the electrical signal is amplified, the electrical signal needs to be filtered. It can be understood that the electrical signal output by the pressure sensor 141a has noise and clutter, and the clutter generally includes: high-frequency small-amplitude noise signals, abnormal pressure signals caused by accidental touch, etc. Specifically, a pre-filtering part is connected in the subsequent circuit of the pressure sensor 141a, and a capacitor with small capacity is used to eliminate high-frequency noise, and a capacitor with large capacity is used to eliminate low-frequency noise. After filtering and amplifying the signal output by the pressure sensor 141a, a basically stable signal is output for judgment.

[0044] The sensing module 14 further comprises a posture sensor 144, which is used to collect the spatial position signal of the mower 100 and can output a three-dimensional posture azimuth signal. During the operation of the mower 100, when the mower 100 needs to turn around, the user generally needs to lift the head of the mower 100 and use the rear wheel as a fulcrum to make it more convenient to turn around. In fact, during the process from before the mower 100 turns around to after the mower 100 turns around, the mower 100 is still in the working state, and the user generally does not have the consciousness of actively operating the control switch on the operating member 112 to shut down the mower 100, so that the mower 100 at this time has certain safety hazards. At this time, by installing the posture sensor 144, when it is detected that the mower 100 is lifted and has a tendency to turn around, a signal is output to the sensing module 14, and the sensing module 14 outputs a stop signal to control the brake or stop of the mower 100.

[0045] After receiving various signals, the sensing module 14 will be preliminarily processed and can further output an electrical signal for judgment, which is further transmitted to the driving circuit 15. The driving circuit 15 controls the driving motor 122 according to the signal transmitted by the sensing module 14. Specifically, when the user opens the operating switch 112c and pushes the mower 100 forward, the user will give the operating member 112 a larger pushing force value. At this time, the pressure sensor 141a will output a larger electrical signal, which, after being preliminarily processed by the sensing module 14, i.e., filtering, amplifying and combining the pressure signals of the two pressure sensors 141a, is transmitted to the driving circuit 15, and the driving circuit 15 controls the driving motor 122 to output a larger torque according to the electrical signal. When the user needs to slow down according to the operation, at this time the pushing force value of the user acting on the operating member 112 becomes smaller, and the pressure sensor 141a will output a smaller electrical signal, which, after being processed by the sensing module 14, continues to transmit the signal to the driving circuit 15, and the driving circuit 15 controls the driving motor 122 to output a smaller torque according to the electrical signal. When the user does not touch the operating member 112 or is far away from the operating member 112, at this time the pressure sensor 141a no longer outputs an electrical signal, and the driving circuit 15 controls the self-driving motor 122 to stop rotating according to the change of the electrical signal value in the circuit, so that the mower 100 stops.

[0046] It can be understood that the rotation speed of the driving motor 122 is substantially positively correlated with the walking speed of the user pushing the mower 100. That is, the walking speed of the user is faster, and the rotation speed of the self-propelled driving motor 122 is faster; the walking speed of the user is slower, and the rotation speed of the self-propelled driving motor 122 is slower. For the proportion relationship between the rotation speed of the driving motor 122 and the walking speed of the user deviating from the above-mentioned positive correlation relationship when fluctuations occur in the circuit or the electrical signal is unstable, it is also considered that the proportion relationship between the rotation speed of the driving motor 122 and the walking speed of the user falls within the above-mentioned positive correlation relationship. It can be understood that the size of the electrical signal output by the sensor assembly and the output torque of the self-propelled driving motor 122 also constitute a positive correlation relationship. When the accuracy of the sensing module 14 and the driving circuit 15 reaches a high level, the rotation speed of the self-propelled driving motor 122 and the walking speed of the user can be in a proportional relationship.

[0047] When the user needs to lift the head of the mower 100 and turn, the posture sensor 144 will detect the situation at this time and output an electrical signal, which is transmitted to the driving circuit 15. The driving circuit 15 controls the self-propelled driving motor 122 of the mower 100 to stop after judgment. When the user adjusts the turning of the mower 100 and puts the mower 100 flat, the driving circuit 15 of the mower 100 is turned on, which can start the self-propelled function and adjust the self-propelled speed according to the walking speed of the user.

[0048] As another implementation mode, the rear walking type self-propelled working machine also has a constant speed mode. Specifically, the mower 100 is taken as an example. In this embodiment, the driving mode of the mower 100 can make the user more convenient to operate. Specifically, as shown in Figure 6 and Figure 7 When the user presses the operation switch 112c, the self-propelled function of the mower 100 is started, and the mower 100 enters a soft start stage. In this stage, the self-propelled driving motor 122 gives the mower 100 an acceleration, and the mower 100 enters the walking state from the stopped state. It needs to be explained here that the soft start stage is very short, which only provides an acceleration to change the state of the mower 100. In the process of the user pressing the operation switch 112c and pushing the mower to walk, the soft start stage has been completed, and the mower 100 enters the self-propelled state. At this time, the mower 100 controls the rotation speed or torque of the self-propelled driving motor 122 according to the walking speed of the user, so as to control the self-propelled speed. Further, the mower 100 is pushed by the user, and the pressure from the operating member 112 is received by the sensor assembly 141, so as to control the acceleration of the mower 100. When the user walks to a uniform speed state suitable for his walking speed, and keeps outputting a relatively stable pressure to the operating member 112 of the mower 100, the mower 100 enters a constant speed state suitable for the walking speed of the user.

[0049] As shown in Figure 7As shown, the mower 100 is in a constant speed state within a preset pressure interval range. Specifically, when the pressure received by the sensor assembly 141 is greater than or equal to F1 and less than or equal to F2, the mower 100 enters a constant speed state according to the user's walking speed. It should be explained here that within the interval range where the pressure received by the sensor assembly 141 is greater than or equal to F1 and less than or equal to F2, the walking speed of the mower 100 is not positively correlated with the force acting on it. Rather, when the user pushes the mower 100 to move faster, the sensor assembly 141 will drive the mower 100 to move at a faster speed according to the force acting on it. When the walking speed of the mower 100 is synchronized with the user's walking speed, the force acting on the handle 112 by the user begins to decrease, but since a portion of the force is still needed to be output to the handle 112 to hold it, the force acting on the sensor assembly 141 decreases to between F1 and F2, and the sensing module 14 will control the mower 100 to maintain the current walking speed. It can be understood that different users push the mower 100 to move at different speeds, and at this time the force acting on the handle 112 by the user gradually decreases and falls between F1 and F2 when the user and the mower 100 move at a constant speed, and the mower 100 enters a constant speed state with the same running speed as the previous time. At this time, the user does not need to push the mower 100 to continue moving forward, but only needs to hold the handle 112 and follow the mower 100 to move at a constant speed.

[0050] In addition, it should also be explained that when the force acting on the sensor assembly 141 is greater than F2, the mower 100 will continue to enter an acceleration state until the force acting on the sensor assembly 141 again falls within the interval range greater than or equal to F1 and less than or equal to F2, and the mower 100 again enters a constant speed state. When the force acting on the sensor assembly 141 is less than F1, the mower 100 enters a deceleration state from the constant speed state. When the force acting on the sensor assembly 141 continues to decrease and decreases to 0, the mower 100 stops running. F1 and F2 defined here do not limit the maximum and minimum speeds of the user's own walking speed, and the user adjusts the relative motion of the mower 100 according to the user's own walking speed, and when the force acting on the sensor assembly 141 falls between F1 and F2, the mower 100 runs at the same speed as the previous time in a constant speed state. It can be understood that the speed at which the mower 100 maintains a constant speed is also limited within a speed interval range that is safe and can maintain effective mowing. That is, when the mower 100 runs at a high speed, it will not exceed a maximum speed N2 that threatens the safety of the user and makes the user's walking speed unable to keep up; when the mower 100 runs at a low speed, it will also not be lower than a minimum speed N1 that hinders the user's normal walking and affects the mowing effect.

[0051] As an implementation, the mower 100 further comprises a controller, which can be provided with a preset module, a conversion module and a control module. The preset module is used to set or store a preset thrust value; the sensing module can periodically sense the thrust value applied to the handle device to drive the mower 100; the conversion module can obtain an expected speed according to the thrust value sensed by the sensing module and the thrust value set or stored in the preset module; and the control module controls the speed of the driving motor 122 to change towards the expected speed.

[0052] Specifically, as shown in Figure 8 The preset module is a storage system of the mower 100, which can store a set of data in the initialization state. Specifically, the preset module records the electrical signal values of the left and right sensors in the no-pressure state respectively, and generates 20 initial elements a1 to a20 on the left side and 20 initial elements b1 to b20 on the right side through random rules, stores them into the preset module and obtains the average of the storage matrix A1 and the average of the storage matrix A2. Further, two sets of average and standard deviation are obtained by statistical parameter estimation to obtain left and right normal distribution, and the system is initialized.

[0053] As shown in Figures 9-10As shown, after the system completes initialization, the mower 100 can be normally operated. Specifically, after the system completes initialization, the left and right two pressure sensors arranged on the operating member start sensing the current pressure signal value as the sensing module. Here, taking the pressure sensor arranged on the left side as an example, when the pressure sensor senses pressure, the system filters the sensed pressure signal, and when filtering is completed, the system collects 100 filtered values, averages the 100 values, obtains a parameter a21, and at this time, calls the normal distribution stored on the left side, determines whether the parameter a21 falls within the normal distribution, if yes, discards the current parameter a21, calls the average value of the storage matrix A1 and obtains the storage matrix A1, if not, enters the creep calibration rule judgment process. The mower 100 further comprises a correction module, and the creep calibration rule is arranged in the correction module, and the correction module is used to correct the initial output signal value when the sensed initial output signal of the sensing module meets the above normal distribution. Specifically, the creep calibration rule determines whether the current judgment parameter a21 satisfies (a21-μ)<1.1×3σ, wherein μ is the mathematical expectation of the normal distribution stored in the preset module, and σ is the standard deviation of the normal distribution stored in the preset module. When the parameter a21 meets the creep calibration rule, the above left initial elements a1 to a20 are updated to a2 to a21, the updated initial elements form an updated storage matrix A1', the average of the updated storage matrix A1' is calculated, and then a set of updated average and standard deviation is obtained through statistical parameter estimation, at this time, the normal distribution on the left side is updated, the system calls the average value of the updated storage matrix A1' and obtains the storage matrix A1'.

[0054] As Figure 10The right side pressure sensor obtains the average value of the real storage matrix in the same way. Specifically, when the pressure sensor senses the pressure, the system filters the sensed pressure signal, and when the filtering is completed, the system collects 100 filtered values, averages the 100 values, obtains a parameter b21, and at this time, calls the normal distribution stored on the left side to determine whether the parameter b21 falls within the normal distribution. If yes, the current parameter b21 is discarded, the average value of the storage matrix A2 is called, and the storage matrix A2 is obtained. If no, the creep calibration rule judgment process is entered. Specifically, the creep calibration rule determines whether the current judgment parameter b21 satisfies (b21-μ)<1.1×3σ, where μ is the mathematical expectation of the normal distribution stored in the preset module, and σ is the standard deviation of the normal distribution stored in the preset module. When the parameter b21 satisfies the creep calibration rule, the above left side initial elements b1 to b20 are updated to b2 to b21, the updated initial elements form an updated storage matrix A2', the average of the updated storage matrix A2' is calculated, and then a set of updated average and standard deviation is obtained through statistical parameter estimation. At this time, the normal distribution existing on the left side is updated, the system calls the average value of the updated storage matrix A2' and obtains the storage matrix A2'. When the parameter b21 does not satisfy the creep calibration rule, the current parameter b21 is discarded, the average value of the original storage matrix A2 is called, and the storage matrix A2 is obtained. Here, by setting the creep calibration rule, the system can effectively avoid the situation that the data called by the system cannot meet the actual precision requirements of the pressure sensor after the creep of the pressure sensor. By setting the creep calibration rule, the pressure sensor can provide accurate data in real time. By averaging the average values of the real storage matrices obtained by the left and right side pressure sensors again, the real-time thrust value of the pressure sensor is obtained.

[0055] As Figures 11-14As shown, as an implementation manner, the mower 100 in the present application comprises a low-speed driving mode and an adaptive mode. Wherein, when the pushing force value accepted by the sensing module is less than a first preset value f1, the mower 100 is in the low-speed driving mode; when the pushing force value is greater than a second preset value f2, the mower 100 is in the adaptive mode. Here, the preset module also sets or stores a preset speed, when the self-propelled self-propelled working machine is in the low-speed driving mode, the control module controls the rotation speed of the driving motor 122 to be less than or equal to the preset rotation speed; when the self-propelled self-propelled working machine is in the adaptive mode, the control module controls the driving motor 122 to change towards an expected rotation speed obtained according to the pushing force value, and the expected rotation speed is greater than the preset rotation speed. It can be understood that the first preset value f1 is less than or equal to the second preset value f2. When the first preset value f1 is equal to the second preset value f2, the self-propelled self-propelled working machine is set to only include the low-speed driving mode and the adaptive mode. When the first preset value f1 is less than the second preset value f2, the self-propelled self-propelled working machine is set to also include the low-speed driving mode and the adaptive mode. Specifically, when the pushing force value is greater than the second preset value f2, the mower 100 is in the adaptive mode; when the pushing force value is greater than 0 and less than f2, the mower 100 is in the low-speed driving mode; wherein, when the pushing force value is greater than or equal to f1 and less than f2, the mower 100 is in the low-speed driving mode, and the driving motor 122 keeps rotating at a speed less than or equal to the preset speed value. When the pushing force value is greater than 0 and less than f1, the driving motor 122 has a tendency to keep rotating at a speed less than or equal to the preset speed value at this time, and the conversion module determines the rotation speed of the driving motor 122 according to the duration of the pushing force value sensed by the sensing module, that is, when the pushing force value sensed by the sensing module is greater than 0 and less than f1 and the duration is less than or equal to a preset duration T, the control module still controls the driving motor 122 to keep rotating at a speed less than or equal to the preset speed value; when the pushing force value sensed by the sensing module is greater than 0 and less than f1 and the duration is greater than a preset duration T, the control module controls the driving motor 122 to stop.

[0056] The above only describes the process by which the lawnmower 100 determines whether to switch between low-speed driving mode and adaptive mode. In reality, when the lawnmower 100 is being operated, the thrust applied to the operating unit is continuously sensed by the sensing module. The sensing module continuously judges the sensed thrust value according to the above determination process, thereby controlling the lawnmower 100 to adjust its operating status in real time based on the real-time thrust value. That is, after the drive motor 122 obtains the current speed, it will respond to the whole machine and control the whole machine to drive at the current speed. When the control module obtains the next speed value, it will immediately control the drive motor 122 to respond to the next speed value. It can be understood that when the thrust applied to the lawnmower 100 is 0, or when the lawnmower 100 is pulled backward, the thrust value sensed by the sensing module is less than or equal to 0. At this time, the control module controls the speed of the drive motor 122 to be 0. It needs to be explained here that, since the sensing module is equipped with a pre-compression element, the pre-compression element itself is in a pre-compression state, which causes the pressure sensor to be in a pre-compression state. When the operating part of the lawnmower 100 is pulled back, the pre-compression acting on the pressure sensor is at least partially relieved, and the pressure sensor outputs a negative value at this time, that is, the thrust value output by the sensing module is less than or equal to 0.

[0057] When the lawnmower 100 moves on surfaces with low friction, the user only needs to output a small thrust value to propel it. At this time, the thrust value sensed by the sensing module remains within the range of greater than 0 and less than f2, and the control module controls the drive motor 122 to rotate at a speed less than or equal to a preset value. The user can maintain a comfortable state while propelling the lawnmower 100. Unless the user needs to actively accelerate, rapidly propelling the lawnmower 100 will cause the force exerted by the user on the operating components to be greater than or equal to f2 for a certain period. In this case, the conversion module can obtain a desired speed based on the thrust value sensed by the sensing module and the thrust value set or stored in the preset module. The control module then controls the speed of the drive motor 122 to change towards this desired speed.

[0058] When the mower 100 is running on the ground or grass with large friction, at this time, the user needs to output a larger pushing force value to push the mower 100, that is, the force acting on the operating member at this time is greater than or equal to f2, and the conversion module can obtain an expected rotating speed according to the pushing force value sensed by the sensing module and the pushing force value set or stored in the preset module, and the control module controls the rotating speed of the driving motor 122 to change toward the expected rotating speed. Specifically, when the pushing force value sensed by the sensing module is greater than or equal to f2, the conversion module first filters the current pushing force value. Then, the filtered pushing force value is adjusted to obtain an expected rotating speed. As an implementation manner, the conversion process of the conversion module can adopt PID adjustment. Specifically, the preset module also sets or stores a preset pushing force value F*, which can be set as a constant value and can be selected within a preset range. The preset pushing force value F* is subtracted from the real-time obtained pushing force value to obtain a value, which is subjected to proportional operation, integral operation and differential operation to obtain an expected rotating speed, and the control module controls the motor to run at the expected rotating speed in real time. It can be understood that the expected rotating speed value is greater than the preset rotating speed value. The above PID adjustment only reflects a process of once adjustment. In fact, when the user operates the mower 100, the sensing module is constantly sensing the pushing force value applied to the operating member, and the conversion module is also constantly converting according to the pushing force value. When the pushing force value is greater than or equal to f2, the system is also constantly PID adjusted until the walking speed of the user and the self-running speed of the mower 100 reach a dynamic balance, that is, the walking speed of the user and the self-running speed of the mower 100 are basically consistent. It should be explained here that in the above PID adjustment process, the pushing force value sensed by the sensing module may not be able to reflect the real-time rotating speed of the driving motor 122 through PID adjustment. Generally, in the process of transmitting the expected rotating speed signal to the driving motor 122 and the driving motor 122 responding to the current signal to change the rotating speed, there is a response time difference, that is, the time from the sensing module sensing the current pushing force value to the completion of the PID adjustment to obtain the expected rotating speed is short, and the speed of obtaining the expected rotating speed and the speed of signal transmission are much greater than the response speed of the driving motor 122. However, the existence of the response time difference does not affect the operation of the mower 100. In order to avoid that the speed of obtaining the expected rotating speed is too fast to cause the driving motor 122 to fail to respond in time, the sensing module is set to sense the current pushing force value for 0.04 s before sensing the next pushing force value. In this process, although the time from the sensing module sensing the current pressure value to the conversion module completing the conversion of the current pushing force value and obtaining the expected rotating speed is much less than 0.04 s, the sensing module does not sense the pushing force value again until 0.04 s has elapsed, and then the sensing module starts to sense the current pushing force value again and transmits the pushing force value to the conversion module for conversion, so as to obtain a new expected rotating speed.After a series of PID adjustment processes, the walking speed of the user and the self-walking speed of the mower 100 tend to be consistent, and the response time difference disappears.

[0059] It can be understood that the preset rotating speed at this time is a preset rotating speed value in the system for reference, and the expected rotating speed is the rotating speed value that the operator expects the driving motor 122 to reach when operating. As an implementation manner, the above-mentioned values can be set to the following data. Specifically, the preset rotating speed in the preset module of the mower 100 is set to 3000 r / min, the first preset value f1 is set to 10 N, and the second preset value is set to 17 N. The preset time T is set to 0.25 s, and the preset thrust value F * can be selected in the interval range greater than or equal to 10 N and less than or equal to 60 N; preferably, the preset thrust value F * can be selected in the interval range greater than or equal to 20 N and less than or equal to 30 N. When the thrust value received by the sensing module is less than or equal to 0 N, the control module controls the rotating speed of the driving motor 122 to be 0; when the thrust value received by the sensing module is greater than 0 N and less than or equal to 10 N, it is judged whether the continuous time of the thrust value is less than or equal to 0.25 s, when the continuous time is less than or equal to 0.25 s, the control module controls the rotating speed of the driving motor 122 to rotate at a speed less than or equal to 3000 r / min, and when the continuous time is greater than 0.25 s, the control module controls the rotating speed of the driving motor 122 to be 0. When the thrust value received by the sensing module is greater than or equal to 10 N and less than or equal to 17 N, the control module controls the rotating speed of the driving motor 122 to rotate at a speed less than or equal to 3000 r / min. When the thrust value received by the sensing module is greater than or equal to 17 N, the conversion module can obtain an expected rotating speed by filtering and PID adjusting the thrust value sensed by the sensing module, and the control module controls the driving motor 122 to rotate at an expected rotating speed greater than 3000 r / min, until the thrust value of the user is stabilized in the interval range greater than or equal to 20 N and less than or equal to 30 N, and the mower 100 operates at a speed that the user can walk comfortably. It can be understood that the preset rotating speed, f1, f2, and T are not limited to the above-mentioned values, and only an optional embodiment is given here for reference.

[0060] In the embodiment, the mower 100 also needs the system to determine whether the driving motor 122 is started according to the real-time thrust value before entering the mode determination of the low-speed driving mode or the adaptive mode. Specifically, when the real-time thrust value is less than a second preset value f2 in the preset module, the motor is not started. When the real-time thrust value is greater than or equal to the second preset value f2, the system filters the obtained real-time thrust value, and then obtains a motor target value after PID adjustment of the filtered value. Here, the preset module also stores a starting preset speed, and when the motor target value is greater than the starting preset speed and the duration is greater than 0.25 s, the motor is started and enters the mode determination process of the low-speed driving mode or the adaptive mode. Otherwise, the motor is not started.

[0061] The application also provides a rear-walking type pushing working machine method, which comprises the following steps:

[0062] S101: start power-on and perform S102. That is, the mower 100 is connected to the power supply, and the power supply switch is in the on stage.

[0063] S102: after the acquisition of the electric signal is completed, perform S103. At this time, the sensing module arranged in the operating member starts to collect the pressure signal under the action of external force. Specifically, the first sensor collects 100 electric signals; and the second sensor collects 100 electric signals.

[0064] S103: after the filtering is completed, perform S104. When the pressure signal is collected, the system starts to filter the collected pressure signal, that is, filters out some noise and clutter. When the filtering is completed, the system collects 100 filtered values on the left and right respectively, averages them, and determines a21 and b21.

[0065] S104: determine whether a21 conforms to the normal distribution in the initial state, if yes, perform 105, and if no, perform 107.

[0066] S105: discard the current value a21 and perform 106.

[0067] S106: the normal distribution of the storage matrix A1 in the initial state is not updated; and the average of the left current storage matrix A1 is obtained.

[0068] S107: determine whether the current value a21 conforms to the creep calibration rule, if yes, perform S108; and if no, perform S110.

[0069] S108: perform storage matrix updating and perform S109.

[0070] S109: obtain the average of the updated storage matrix A1'.

[0071] S110: Discard the current value a21, and perform S111.

[0072] S111: The normal distribution of the initial state storage matrix A1 is not updated; obtain the average of the left current storage matrix A1.

[0073] b21 and a21 are judged in the same way. The judgment process is the same as S104 to S111 above.

[0074] S112: Obtain the average of the left and right current storage matrices, and perform S113.

[0075] S113: Obtain the implementation thrust value F, and perform S114.

[0076] S114: Determine whether to start the drive motor 122 according to the real-time thrust value F, if F < f2, perform S119; if F ≥ f2, perform S115.

[0077] S115: When the thrust value F is collected, the system starts to filter the thrust value F, that is, to filter out some noise and clutter. After filtering is completed, S116 is performed.

[0078] S116: Perform PID conversion, and perform S117.

[0079] S117: Obtain the drive motor 122 Pre-speed, and perform S118.

[0080] S118: Determine whether the Pre-speed is greater than 3200 and lasts for 0.25s, if not, perform S119, if yes, perform S120.

[0081] S119: The drive motor 122 is not started.

[0082] S120: The drive motor 122 is started, and S121 is performed.

[0083] S121: Determine the thrust response mode according to the real-time thrust value F,

[0084] if F ≤ 0, perform S122;

[0085] if 0 < F < f1, perform S123;

[0086] if f1 < F < f2, perform S124;

[0087] if f2 ≤ F, perform S125;

[0088] S122: The drive motor 122 outputs a rotation speed of 0. That is, the drive motor 122 is in the brake state.

[0089] S123: drive motor 122 output speed is 3000, judge whether to continue output 0.25s, if yes, execute S122; if not, execute S127.

[0090] S124: the system starts to filter the thrust value F. That is, filter out some noise clutter. When the filtering is completed, execute S125.

[0091] S125: PID conversion is carried out, and S126 is executed.

[0092] S126: the drive motor 122 Pre-speed is obtained, and S127 is executed. At this time, there is a process of drive motor 122 speed following the drive motor 122 pre-speed.

[0093] S127: drive motor 122 response, whole machine response, execute S121.

[0094] The above shows and describes the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the above examples do not limit the present application in any form, and any technical solutions obtained by equivalent replacement or equivalent transformation fall within the scope of the present application.

Claims

1. A rear-moving self-propelled working machine, comprising: The main unit includes a walking component and a drive motor that drives the walking component; A handle device is connected to the main unit to allow the user to operate the rear-walking self-propelled machine from the rear side. Its features are: The handle device includes: The operating element includes a grip for the user to hold; A connecting rod is attached to the host unit. A pressure sensor is disposed between the operating element and the connecting rod; When the gripping part is pushed, the pressing member applies a force along a preset straight line to the sensor to drive the pressure sensor to deform. It also includes a pre-tightening element, which pre-presses the pressure sensor so that the output signal value of the pressure sensor is in the linear response range; the ratio of the component of the thrust force on the gripping part along the preset straight line direction to the deformation of the pressure sensor along the preset straight line direction is greater than or equal to 40 N / mm and less than or equal to 1200 N / mm.

2. The rear-walking self-propelled machine according to claim 1, characterized in that, The ratio of the component of the thrust force on the gripping part along the preset straight line to the deformation of the pressure sensor along the preset straight line is greater than or equal to 150 N / mm and less than or equal to 300 N / mm.

3. The rear-walking self-propelled working machine according to claim 1, characterized in that, It also includes a support member having a first receiving cavity, wherein the pressure sensor and the pressing member are at least partially disposed within the first receiving cavity.

4. The rear-walking self-propelled working machine according to claim 3, characterized in that, The support member, the pressing member, and the pressure sensor are arranged sequentially along the preset straight line direction.

5. The rear-walking self-propelled working machine according to claim 3, characterized in that, The operating component includes a connecting arm extending along the preset straight line direction; the support component includes a second receiving cavity sleeved onto the connecting arm.

6. The rear-walking self-propelled working machine according to claim 5, characterized in that, The first receiving cavity and the second receiving cavity are at least partially connected and are passable by the pressing member.

7. The rear-walking self-propelled working machine according to claim 1, characterized in that, The pressing element includes a trigger surface capable of applying pressure to the pressure sensor, and the pressure sensor includes a force-receiving surface that mates with the trigger surface.

8. The rear-walking self-propelled working machine according to claim 7, characterized in that, The force-bearing surface intersects perpendicularly with the preset straight line direction.

9. The rear-walking self-propelled working machine according to claim 7, characterized in that, The plane containing the trigger surface intersects the preset straight line at an angle.

10. The rear-walking self-propelled working machine according to claim 7, characterized in that, When the trigger surface contacts the force-receiving surface, the projections of the trigger surface and the force-receiving surface onto the plane along the preset straight line direction are circles.

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