Lawn mowing robot and control method thereof

Abstract

The present invention discloses a lawn mowing robot and a control method thereof. The lawn mowing robot includes: a lawn mowing element; a fuselage; a driving assembly, a traveling wheel and a motor; a first detection module for detecting the first distance of the lawn mowing robot within one cycle; a second detection module for detecting the motion parameters of the driving assembly within the cycle and calculating the second distance of the lawn mowing robot within the cycle; a fault judgment module for judging whether the difference between the second distance and the first distance is greater than or equal to a first preset value; an execution module for driving the lawn mowing robot to execute a response program; and a control module respectively connected to the fault judgment module and the execution module. Wherein, when the difference between the second distance and the first distance within each of the continuous n1 cycles is greater than or equal to the first preset value, the control module controls the execution module to execute the response program.

Description

Technical Field

[0001] The present invention relates to an intelligent device, and particularly to a lawn mowing robot and a method for correcting the path of the lawn mowing robot. Background Art

[0002] When a lawn mowing robot walks on the ground, it is very likely to slip due to the unevenness or wetness of the ground. If no response action is taken on the lawn mowing robot in time, the lawn mowing robot will keep slipping, which will reduce the working efficiency of the lawn mowing robot. Similarly, when the lawn mowing robot walks on a slope with a certain gradient, the lawn mowing robot is prone to side-slip or landslide. If no response action is taken on the lawn mowing robot in time, the lawn mowing robot will be in the state of side-slip or landslide for a long time, which will also reduce the working efficiency of the lawn mowing robot. Summary of the Invention

[0003] To solve the deficiencies of the prior art, the purpose of the present invention is to provide a lawn mowing robot with more accurate fault judgment and a control method for the lawn mowing robot.

[0004] To achieve the above objectives, the present invention adopts the following technical solutions:

[0005] A lawn mowing robot, comprising: a mowing element; a fuselage for supporting the mowing element; a driving assembly including a traveling wheel for supporting the fuselage to drive the fuselage to walk on the ground and a motor connected to the traveling wheel to drive the traveling wheel to rotate; a first detection module for detecting the motion parameters of the fuselage of the lawn mowing robot within a period and calculating the first path of the lawn mowing robot within the period; a second detection module for detecting the motion parameters of the driving assembly within the period and calculating the second path of the lawn mowing robot within the period; a fault judgment module for judging whether the difference between the second path and the first path is greater than or equal to a first preset value; an execution module for driving the lawn mowing robot to execute a response program; a control module respectively connected to the fault judgment module and the execution module; wherein, when the difference between the second path and the first path within each of the continuous n1 periods is greater than or equal to the first preset value, the control module controls the execution module to execute the response program.

[0006] In one embodiment, when the number of periods in which the difference between the second path and the first path is greater than or equal to the first preset value within the continuous n2 to n3 periods is greater than or equal to n2, the control module controls the execution module to execute the response program.

[0007] In one embodiment, the execution module includes: an alarm module for sending an alarm signal to the user.

[0008] In one embodiment, the execution module includes an obstacle avoidance module for controlling the lawn mowing robot to perform action responses.

[0009] In one embodiment, the lawn mowing robot further includes a setting module connected to the fault judgment module. The setting module is used to set the magnitude of a first preset value.

[0010] In one embodiment, the fault judgment module further judges whether the difference between the first distance and the second distance is greater than or equal to a second preset value. Wherein, when the difference between the first distance and the second distance in each of k1 consecutive cycles is greater than or equal to the second preset value, the control module controls the execution module to execute a response program.

[0011] In one embodiment, the fault judgment module further judges whether the difference between the first distance and the second distance is greater than or equal to a second preset value. Wherein, when the number of cycles in which the difference between the first distance and the second distance is greater than or equal to the second preset value in k2 to k3 consecutive cycles is greater than or equal to k2, the control module controls the execution module to execute a response program.

[0012] A lawn mowing robot includes a mowing element; a fuselage for supporting the mowing element; a drive assembly including a traveling wheel for supporting the fuselage to drive the fuselage to travel on the ground and a motor connected to the traveling wheel to drive the traveling wheel to rotate; a first detection module for detecting the motion parameters of the fuselage of the lawn mowing robot in one cycle and calculating the first distance of the lawn mowing robot in this cycle; a second detection module for detecting the motion parameters of the drive assembly in the cycle and calculating the second distance of the lawn mowing robot in this cycle; a fault judgment module for judging whether the difference between the second distance and the first distance is greater than or equal to a preset value; an execution module for driving the lawn mowing robot to execute a response program; a control module respectively connected to the fault judgment module and the execution module. Wherein, when the number of cycles in which the difference between the second distance and the first distance is greater than or equal to the preset value in n1 to n2 consecutive cycles is greater than or equal to n1, the control module controls the execution module to execute a response program.

[0013] A lawn mowing robot, comprising: a mowing element; a fuselage for supporting the mowing element; a driving assembly including a traveling wheel for supporting the fuselage to drive the fuselage to travel on the ground and a motor connected to the traveling wheel to drive the traveling wheel to rotate; a first detection module for detecting the motion parameters of the fuselage of the lawn mowing robot within a period and calculating the first distance of the lawn mowing robot within the period; a second detection module for detecting the motion parameters of the driving assembly within the period and calculating the second distance of the lawn mowing robot within the period; a fault judgment module for judging whether the difference between the first distance and the second distance is greater than or equal to a preset value; an execution module for driving the lawn mowing robot to execute a response program; a control module respectively connected to the fault judgment module and the execution module; wherein, when the difference between the first distance and the second distance within each of the consecutive k1 periods is greater than or equal to the preset value, the control module controls the execution module to execute the response program.

[0014] A lawn mowing robot, comprising: a mowing element; a fuselage for supporting the mowing element; a driving assembly including a traveling wheel for supporting the fuselage to drive the fuselage to travel on the ground and a motor connected to the traveling wheel to drive the traveling wheel to rotate; a first detection module for detecting the motion parameters of the fuselage of the lawn mowing robot within a period and calculating the first distance of the lawn mowing robot within the period; a second detection module for detecting the motion parameters of the driving assembly within the period and calculating the second distance of the lawn mowing robot within the period;

[0015] A fault judgment module for judging whether the difference between the first distance and the second distance is greater than or equal to a preset value;

[0016] An execution module for driving the lawn mowing robot to execute a response program;

[0017] A control module respectively connected to the fault judgment module and the execution module;

[0018] Wherein, when the number of periods in which the difference between the first distance and the second distance is greater than or equal to the preset value within the consecutive k1 to k2 periods is greater than or equal to k1, the control module controls the execution module to execute the response program.

[0019] A control method for a lawn mowing robot, the lawn mowing robot comprising a body and a drive assembly, the drive assembly including a traveling wheel for supporting the body to drive the body to travel on the ground and a motor connected to the traveling wheel to drive the traveling wheel to rotate, the control method comprising the steps of: detecting the motion parameters of the body of the lawn mowing robot within a period and calculating a first distance of the lawn mowing robot within the period, and detecting the motion parameters of the drive assembly within the period and calculating a second distance of the lawn mowing robot within the period; determining whether the difference between the second distance and the first distance in each of consecutive n1 periods is greater than or equal to a preset value; when the difference between the second distance and the first distance in each of consecutive n1 periods is greater than or equal to the preset value, controlling the lawn mowing robot to execute a response program.

[0020] A control method for a lawn mowing robot, the lawn mowing robot comprising a body and a drive assembly, the drive assembly including a traveling wheel for supporting the body to drive the body to travel on the ground and a motor connected to the traveling wheel to drive the traveling wheel to rotate, the control method comprising the steps of: detecting the motion parameters of the body of the lawn mowing robot within a period and calculating a first distance of the lawn mowing robot within the period, and detecting the motion parameters of the drive assembly within the period and calculating a second distance of the lawn mowing robot within the period; determining whether the number of periods in which the difference between the second distance and the first distance is greater than or equal to a preset value in consecutive n1 to n2 periods is greater than or equal to n1; when the number of periods in which the difference between the second distance and the first distance is greater than or equal to the preset value in consecutive n1 to n2 periods is greater than or equal to n1, controlling the lawn mowing robot to execute a response program.

[0021] A control method for a lawn mowing robot, the lawn mowing robot comprising a body and a drive assembly, the drive assembly including a traveling wheel for supporting the body to drive the body to travel on the ground and a motor connected to the traveling wheel to drive the traveling wheel to rotate, the control method comprising the steps of: detecting the motion parameters of the body of the lawn mowing robot within a period and calculating a first distance of the lawn mowing robot within the period, and detecting the motion parameters of the drive assembly within the period and calculating a second distance of the lawn mowing robot within the period; determining whether the difference between the first distance and the second distance in each of consecutive k1 periods is greater than or equal to a preset value; when the difference between the first distance and the second distance in each of consecutive k1 periods is greater than or equal to the preset value, controlling the lawn mowing robot to execute a response program.

[0022] A control method for a lawn mowing robot, the lawn mowing robot comprising a body and a driving assembly, the driving assembly including a traveling wheel for supporting the body to drive the body to travel on the ground and a motor connected to the traveling wheel to drive the traveling wheel to rotate. The control method includes the steps of: detecting the motion parameters of the body of the lawn mowing robot within a cycle and calculating the first distance of the lawn mowing robot within the cycle, and detecting the motion parameters of the driving assembly within the cycle and calculating the second distance of the lawn mowing robot within the cycle; determining whether the number of cycles in which the difference between the first distance and the second distance is greater than or equal to a preset value within k1 to k2 consecutive cycles is greater than or equal to k1; when the number of cycles in which the difference between the first distance and the second distance is greater than or equal to the preset value within k1 to k2 consecutive cycles is greater than or equal to k1, controlling the lawn mowing robot to execute a response program.

[0023] The beneficial effect of the present invention is that through the detection and judgment of multiple cycles, the accuracy of the fault judgment of the lawn mowing robot is higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a perspective view of the lawn mowing robot in an embodiment;

[0025] Figure 2 is Figure 1 a plan view of the lawn mowing robot in when driving in the boundary line area;

[0026] Figure 3 is Figure 1 a module structure diagram of the lawn mowing robot in ;

[0027] Figure 4 is Figure 1 a flowchart of the method for correcting the distance of the lawn mowing robot in ;

[0028] Figure 5 is Figure 1 a flowchart of another method for correcting the distance of the lawn mowing robot in ;

[0029] Figure 6 is Figure 1 a flowchart of the method for judging the slipping phenomenon of the lawn mowing robot in ;

[0030] Figure 7 is Figure 1 a flowchart of another method for judging the slipping phenomenon of the lawn mowing robot in ;

[0031] Figure 8 is Figure 1 a flowchart of the method for judging the sideslip phenomenon or landslide phenomenon of the lawn mowing robot in ;

[0032] Figure 9 is Figure 1Flowchart of another method for judging the sideslip or landslide phenomenon of the lawn mowing robot in it. Detailed implementation manner

[0033] Figure 1 The lawn mowing robot 100 shown is an outdoor walking power tool, which is usually used to trim lawns, weeds and other vegetation outdoors. The lawn mowing robot 100 can walk automatically outdoors without the user pushing it by hand, and the lawn mowing robot 100 can automatically trim the lawn according to its own or the user terminal's control system.

[0034] As Figure 2 shown, the lawn mowing robot 100 can walk within a boundary line area 200 set outdoors to cut vegetation. The boundary of the boundary line area 200 can be a cable, and the cable surrounds the boundary line area 200. Or the boundary can also be a virtual boundary on the map, and the virtual boundary surrounds the virtual boundary line area 200. A charging pile 300 for charging the lawn mowing robot 100 is set within or on the boundary line area 200. When the power of the lawn mowing robot 100 is insufficient, the lawn mowing robot 100 automatically walks to the charging pile 200 for charging.

[0035] As Figure 1 shown, the lawn mowing robot 100 includes: a mowing element 11, a housing 12, a walking assembly 13, a first motor 14 and a second motor. The mowing element 11 is used to cut the grass on the ground. The housing 12 is used to support the mowing element 11, the walking assembly 13, the first motor 14 and the second motor. The walking assembly 13 includes a first walking wheel 131, and the first walking wheel 131 is connected to the first motor 14, and the first motor 14 drives the first walking wheel 131 to rotate. The walking assembly 13 further includes a second walking wheel, and the second walking wheel is installed on the front side of the housing 12, and the second walking wheel is not connected to the first motor 14. That is to say, the first motor 14 only drives the first walking wheel 131 to rotate, and the second walking wheel serves the purpose of auxiliary support and walking. It can be understood that in other embodiments, the lawn mowing robot 100 may also include a plurality of first motors 14 that respectively drive the first walking wheel 131 and the second walking wheel. The second motor is used to drive the mowing element 11 to rotate to achieve the mowing function. In other embodiments, the lawn mowing robot 100 may also include only one motor, and this motor drives the walking assembly 13 and also drives the mowing element 11. Among them, in this embodiment, the overall formed by the first walking wheel 131 and the first motor 14 that drives the first walking wheel 131 is considered as a driving assembly 15 for driving the lawn mowing robot 100 to walk on the ground.

[0036] As Figure 3As shown, the lawn mowing robot 100 further includes a first detection module 161 and a second detection module 162. The first detection module 161 is configured to detect the motion parameters of the body 10a of the lawn mowing robot 100 within a period T and calculate the first distance ΔS1 of the lawn mowing robot 100 within this period T. The second detection module 162 is configured to detect the motion parameters of the drive assembly 15 within this period T and calculate the second distance ΔS2 of the lawn mowing robot 100 within this period T. The body 10a of the lawn mowing robot 100 can be understood as a motion parameter of the entire lawn mowing robot. Specifically, during detection, the first detection module 161 can obtain the motion parameters of the body 10a of the lawn mowing robot 100 by detecting the motion parameters of the housing 12, or the first detection module 161 can also obtain the motion parameters of the body 10a of the lawn mowing robot 100 by detecting the motion parameters of other parts that move forward or backward synchronously with the housing 12. Specifically, the motion parameters of the body 10a can specifically be the acceleration of the body 10a or the attitude of the body 10a, etc., and finally the first distance ΔS1 of the movement of the body 10a is obtained through calculation. It can be understood that within a relatively short period T, the first distance ΔS1 calculated by detecting the motion parameters of the body 10a is basically the same as the actual distance traveled by the lawn mowing robot 100 within this period. The second detection module 162 can calculate the second distance ΔS2 of the lawn mowing robot 100 by detecting the motion parameters of the first motor 14, or the second detection module 162 can also calculate the second distance ΔS2 of the lawn mowing robot 100 by detecting the motion parameters of the first driving wheel 131.

[0037] When the lawn mowing robot 100 is running normally on the ground, within a relatively short period T, the first distance ΔS1 and the second distance ΔS2 are basically the same. At this time, the actual distance of the lawn mowing robot 100 can be calculated through the first distance ΔS1 or the second distance ΔS2. When the lawn mowing robot 100 has a skidding phenomenon, a sideslip phenomenon or a landslide phenomenon during running on the ground, the first distance ΔS1 and the second distance ΔS2 of the lawn mowing robot 100 within a period T are different. Among them, the skidding phenomenon means that the first driving wheel 131 rotates normally under the drive of the first motor 14, but the lawn mowing robot 100 stops running, or the distance traveled by the lawn mowing robot 100 is less than the distance that the first driving wheel 131 should drive the lawn mowing robot 100 to travel, that is, the first driving wheel 131 has an idling situation. Specifically, when the lawn mowing robot 100 is running outdoors, if the lawn mowing robot 100 runs on an uneven ground, the raised obstacles on the ground may cause the first driving wheel 131 to idle, and thus the lawn mowing robot 100 is prone to skidding. Or, when the lawn mowing robot 100 runs on a wet ground, the friction between the ground and the running assembly 13 is small, and at this time the first driving wheel 131 is also prone to idling, so the lawn mowing robot 100 will also have a skidding phenomenon. When the lawn mowing robot 100 is on a ground with a certain slope, especially when the ground is relatively wet, if the fuselage 10a moves but the first driving wheel 131 does not rotate, it can be judged that the lawn mowing robot 100 may have a landslide phenomenon or a sideslip phenomenon.

[0038] In this embodiment, the lawn mowing robot 100 further includes a fault judgment module 17, a correction module 181, a control module 182 and an execution module 19. The fault judgment module 17 is connected to the first detection module 161, and the fault judgment module 17 is also connected to the second detection module 162. The fault judgment module 17 can judge whether the difference between the second distance ΔS2 and the first distance ΔS1 is greater than or equal to a first preset value C1. The correction module 181 is used to correct the actual distance of the lawn mowing robot 100. The control module 182 is connected to the fault judgment module 17, and the control module 182 is also connected to the execution module 19. When the difference between the second distance ΔS2 and the first distance ΔS1 is greater than or equal to the first preset value C1, the control module 182 controls the correction module 181 to correct the actual distance of the lawn mowing robot 100 to the sum of the initial distance at the start of this period T and the first distance ΔS1. Specifically, the fault judgment module 17 includes a first fault judgment module 171, and the first fault judgment module 171 is mainly used to judge the problem that the lawn mowing robot 100 may have a skidding phenomenon.

[0039] When the mowing robot 100 experiences a skidding phenomenon, the first distance ΔS1 is closer to the actual distance traveled by the mowing robot 100 during the period T, while the second distance ΔS2 will be greater than the actual distance of the mowing robot 100. Therefore, at this time, the actual distance of the mowing robot 100 is corrected to the sum of the initial distance at the start of the period T and the first distance ΔS1, which can make the calculation of the distance of the mowing robot 100 more accurate. At the same time, in this embodiment, both the first distance ΔS1 and the second distance ΔS2 are detected within a certain period T. In this way, through the setting of the period T, the mowing robot 100 can perform distance correction cyclically, thereby making the calculation of the real-time distance of the mowing robot 100 more accurate. In addition, as we know, even when the mowing robot 100 is traveling normally on the ground, due to the limitation of the detection accuracy of the first detection module 161, the first distance ΔS1 cannot be exactly the same as the actual distance of the mowing robot 100. Similarly, due to the limitation of the detection accuracy of the second detection module 162, the second distance ΔS2 cannot be exactly the same as the actual distance of the mowing robot 100. Therefore, the condition for fault judgment is set to whether the difference between the second distance ΔS2 and the first distance ΔS1 is greater than or equal to a first preset value C1, and this first preset value C1 is also greater than 0, which can avoid the situation of inaccurate correction of the actual distance of the mowing robot 100.

[0040] The fault judgment module 17 further includes a second fault judgment module 172. The second fault judgment module 172 is connected to the first detection module 161 and the second detection module 162. The second fault judgment module 172 is used to judge whether the difference between the first distance ΔS1 and the second distance ΔS2 is greater than or equal to a second preset value C2. When the difference between the first distance ΔS1 and the second distance ΔS2 is greater than or equal to the second preset value C2, the control module 182 controls the correction module 181 to correct the actual distance of the mowing robot 100 to the sum of the initial distance at the start of the period T and the first distance ΔS1.

[0041] Specifically, when the lawn mowing robot 100 experiences a side-slip phenomenon or a landslide phenomenon, the first distance ΔS1 is closer to the actual distance traveled by the lawn mowing robot 100 within the period T, while the second distance ΔS2 will be less than the actual distance of the lawn mowing robot 100. Therefore, at this time, the actual distance of the lawn mowing robot 100 is corrected to the sum of the initial distance at the start of the period T and the first distance ΔS1, which can make the calculation of the distance of the lawn mowing robot 100 more accurate. At the same time, in this embodiment, both the first distance ΔS1 and the second distance ΔS2 are detected within a certain period T. In this way, through the setting of the period T, the lawn mowing robot 100 can perform distance correction cyclically, thereby making the calculation of the real-time distance of the lawn mowing robot 100 more accurate. In addition, as we know, even when the lawn mowing robot 100 is driving normally on the ground, due to the limitation of the detection accuracy of the first detection module 161, the first distance ΔS1 cannot be exactly the same as the actual distance of the lawn mowing robot 100. Similarly, due to the limitation of the detection accuracy of the second detection module 162, the second distance ΔS2 cannot be exactly the same as the actual distance of the lawn mowing robot 100. Therefore, the condition for fault judgment is set to whether the difference between the first distance ΔS1 and the second distance ΔS2 is greater than or equal to the second preset value C2, and the second preset value C2 is also greater than 0, which can avoid the situation of inaccurately correcting the actual distance of the lawn mowing robot 100.

[0042] It can be understood that the period T of the first distance ΔS1 detected based on the skidding phenomenon and the period T of the first distance ΔS1 detected based on the side-slip phenomenon can also be different. In this way, the actual distance of the lawn mowing robot 100 can be detected more accurately according to different working conditions of the lawn mowing robot 100. For example, in one embodiment, the lawn mowing robot 100 includes two first detection modules 161 and two second detection modules 162. The two first detection modules 161 can respectively detect the motion parameters of the body 10a of the lawn mowing robot 100 within different periods T, and the two second detection modules 162 can also respectively detect the motion parameters of the drive assembly 15 within different periods T.

[0043] As Figure 4 shown, the method for correcting the distance of the lawn mowing robot 100 includes the following steps:

[0044] P1. Detect the motion parameters of the body 10a of the lawn mowing robot 100 within a period T, calculate the first distance ΔS1 of the lawn mowing robot 100 within this period, and detect the motion parameters of the drive assembly 15 within the period T and calculate the second distance ΔS2 of the lawn mowing robot 100 within this period. Specifically, within a period T, the first detection module 161 starts detecting the motion parameters of the body 10a of the lawn mowing robot 100 from the moment t1 at the start of this period T and calculates the first distance ΔS1 generated by the lawn mowing robot 100 within this period T. Among them, the distance that the lawn mowing robot 100 has traveled at the moment t1 is the initial distance St1. The second detection module 162 starts detecting the motion parameters of the drive assembly 15 from the moment t1 at the start of this period T and calculates the second distance ΔS2 of the lawn mowing robot 100 within this period T.

[0045] P2. Determine whether the difference between the second distance ΔS2 and the first distance ΔS1 is greater than or equal to the first preset value C1. The first fault judgment module 171 receives the data detected by the first detection module 161 and the second detection module 162, and then determines whether the difference between the second distance ΔS2 and the first distance ΔS1 is greater than or equal to the first preset value C1, that is, determines whether the following formula is satisfied:

[0046] ΔS2 - ΔS1 ≥ C1;

[0047] When the difference between the second distance ΔS2 and the first distance C is greater than or equal to the first preset value C1, proceed to the next step. When the difference between the second distance ΔS2 and the first distance ΔS1 is less than the first preset value C1, return to step P1 to continue the detection.

[0048] P3. Correct the actual distance St2 of the lawn mowing robot 100 to the sum of the initial distance St1 at the start of the period T and the first distance ΔS1. When the first fault judgment module 171 determines that the difference between ΔS2 and ΔS1 is greater than or equal to the first preset value C1, send the judgment result to the control module 182, and the control module 182 controls the correction module 181 to correct the actual distance of the lawn mowing robot 100. Specifically, the correction module 181 corrects the actual distance St2 of the lawn mowing robot 100 when it travels to the moment t2 at the end of the period T to the sum of the initial distance St1 at the start of the period T and the first distance ΔS1, that is, corrects the actual distance St2 at the moment t2 according to the following formula:

[0049] St2 = St1 + ΔS1;

[0050] When the difference between the second distance ΔS2 and the first distance ΔS1 is less than the first preset value C1, return to step P1 to continue the detection.

[0051] Such as Figure 5As shown, between step P2 and step P1, there is also step P21. Specifically: when the difference between the second distance ΔS2 and the first distance ΔS1 is less than the first preset value C1, it is further determined whether the difference between the first distance ΔS1 and the second distance ΔS2 is greater than or equal to the second preset value C2, that is, it is determined whether the formula is satisfied:

[0052] ΔS1 - ΔS2 ≥ C2;

[0053] When the difference between the first distance ΔS1 and the second distance ΔS2 is greater than or equal to the second preset value C2, it enters step P3, and the correction module 181 corrects the actual distance St2 at time t2 when the lawn mowing robot 100 travels to the end of the period T to the sum of the initial distance St1 at the start of the period T and the first distance ΔS1. If the difference between the first distance ΔS1 and the second distance ΔS2 is less than the second preset value C2, it returns to step P1 to continue the detection. It should be noted that it can be understood that there is no sequential order between step P2 and step P21. In other embodiments, step P21 can be performed first, and then step P2.

[0054] When the difference between the second distance ΔS2 and the first distance ΔS1 is less than the first preset value C1, and the difference between the first distance ΔS1 and the second distance ΔS2 is less than the second preset value C2, at this time, the correction module 181 fuses the first distance ΔS1 and the second distance ΔS2 to obtain a fused distance ΔS, and then the correction module 181 corrects the actual distance St2 of the lawn mowing robot 100 at time t2 to the sum of the initial distance St1 and the fused distance ΔS. That is:

[0055] ΔS = f(ΔS1, ΔS2);

[0056] In this way, the detection accuracies of the first detection module 161 and the second detection module 162 can be taken into account simultaneously, so that the detection accuracy of the distance of the lawn mowing robot 100 can be further improved.

[0057] In this embodiment, the first detection module 161 uses an inertial measurement unit, and the second detection module 162 uses an odometer. In this way, when the lawn mowing robot 100 travels for a long time, the inertial measurement unit will make the detection result inaccurate due to the accumulation of errors. Of course, within a relatively short period T, the detection result of the inertial measurement unit is relatively accurate. Therefore, in some other embodiments, when the difference between the second distance ΔS2 and the first distance ΔS1 is less than the first preset value C1, and the difference between the first distance ΔS1 and the second distance ΔS2 is also less than the second preset value C2, the correction module 181 corrects the actual distance St2 of the lawn mowing robot 100 at time t2 to the sum of the initial distance St1 and the second distance ΔS2.

[0058] In this embodiment, the period T for the first detection module 161 to perform detection is greater than or equal to 1 millisecond and less than or equal to 100 milliseconds. In this way, the detection accuracy of the actual travel distance of the lawn mowing robot 100 can be improved. Further, the period T is greater than or equal to 10 milliseconds and less than or equal to 50 milliseconds. On the one hand, it can avoid the problem that the program is prone to errors caused by overly frequent detection. On the other hand, it can also reduce the length of the detection period, further improving the detection accuracy of the actual travel distance.

[0059] The magnitude of the first preset value C1 can be adjusted or set. In this way, the magnitude of the first preset value C1 can be adjusted in real time according to the actual conditions of the lawn mowing robot 100 itself and the operating conditions, thereby improving the detection accuracy of the actual travel distance of the lawn mowing robot 100. Specifically, in this embodiment, the lawn mowing robot 100 further includes a first setting module 173 for setting the first preset value C1. The first setting module 173 is connected to the first fault judgment module 171, and the first setting module 173 can set the magnitude of the first preset value C1 in real time. In this embodiment, when the difference between the second travel distance △S2 and the first travel distance △S1 is greater than or equal to the first preset value C1 within a continuous first number of periods T, the error of the actual travel distance corrected by the correction module 181 according to the first travel distance △S1 detected by the first detection module 161 will continuously increase. At this time, the first setting module 173 changes the magnitude of the first preset value C1 according to the change of the first number, thereby reducing the detection error. Further, the first setting module 173 increases the magnitude of the first preset value C1 as the first number increases.

[0060] In some embodiments, the magnitude of the first preset value C1 can also change according to the change of the traveling speed of the lawn mowing robot 100. When the traveling speed of the lawn mowing robot 100 is relatively high, the error between the detected first travel distance △S1 and the second travel distance △S2 will increase. Therefore, when the traveling speed of the lawn mowing robot 100 increases, the first setting module 173 can increase the first preset value C1. Specifically, when the fuselage 10a of the lawn mowing robot 100 has a first traveling speed, the first preset value C1 is a first value. When the fuselage 10a of the lawn mowing robot 100 has a second traveling speed, the first preset value C1 is a second value. When the first traveling speed is greater than the second traveling speed, the first value is greater than the second value.

[0061] In other embodiments, the first preset value C1 can also change with the change of the first travel distance △S1. Specifically, the first preset value C1 when the first travel distance △S1 of the lawn mowing robot 100 within a period T is a first value is greater than the first preset value C1 when the first travel distance △S1 of the lawn mowing robot 100 within a period T is a second value, where the first value is greater than the second value.

[0062] Similarly, the magnitude of the second preset value C2 can be adjusted or set. In this way, the magnitude of the second preset value C2 can be adjusted in real time according to the actual conditions of the lawn mowing robot 100 itself and the operating conditions, thereby improving the detection accuracy of the actual distance of the lawn mowing robot 100. Specifically, in this embodiment, the lawn mowing robot 100 further includes a second setting module 174 for setting the second preset value C2. The second setting module 174 is connected to the second fault determination module 172, and the second setting module 174 can set the magnitude of the second preset value C2 in real time. In this embodiment, when the difference between the first distance ΔS1 and the second distance ΔS2 is greater than or equal to the second preset value C2 within a continuous first number of cycles T, the error of the actual distance corrected by the correction module 181 according to the first distance ΔS1 detected by the first detection module 161 will continuously increase. At this time, the second setting module 174 changes the magnitude of the second preset value C2 according to the change in the first number, thereby reducing the detection error. Further, the second setting module 174 increases the magnitude of the second preset value C2 as the first number increases.

[0063] In some embodiments, the magnitude of the second preset value C2 can also change according to the change in the traveling speed of the lawn mowing robot 100. When the traveling speed of the lawn mowing robot 100 is relatively high, the error between the detected first distance ΔS1 and the second distance ΔS2 will increase. Therefore, when the traveling speed of the lawn mowing robot 100 increases, the setting module can increase the second preset value C2. Specifically, when the body 10a of the lawn mowing robot 100 has a first traveling speed, the second preset value C2 is a first value, and when the body 10a of the lawn mowing robot 100 has a second traveling speed, the second preset value C2 is a second value. When the first traveling speed is greater than the second traveling speed, the first value is greater than the second value.

[0064] In other embodiments, the second preset value C2 can also change with the change in the first distance ΔS1. Specifically, the second preset value C2 when the first distance ΔS1 of the lawn mowing robot 100 within a cycle T is a first value is greater than the second preset value C2 when the first distance ΔS1 of the lawn mowing robot 100 within a cycle T is a second value, where the first value is greater than the second value.

[0065] In this way, the method for correcting the distance of the lawn mowing robot 100 further includes the step of setting the magnitude of the first preset value C1 according to the change in a motion parameter of the lawn mowing robot 100. As described above, the motion parameter can be the traveling speed of the body 10a of the lawn mowing robot 100 or the first distance ΔS1 within a cycle T, or the motion parameter can also be the number of consecutive cycles T in which the difference between the first distance ΔS1 and the second distance ΔS2 is greater than or equal to the first preset value C1.

[0066] The mowing robot 100 may further include an execution module 19 for executing a response program. When the difference between the second distance ΔS2 and the first distance ΔS1 in each of the consecutive n1 cycles T is greater than or equal to a first preset value C1, the control module 182 controls the execution module 19 to execute the response program. That is, in each of the consecutive n1 cycles T, the formula:

[0067] ΔS2 - ΔS1 ≥ C1

[0068] Specifically, when the difference between the second distance ΔS2 and the first distance ΔS1 in each of the consecutive n1 cycles T is greater than or equal to the first preset value C1, at this time, the first fault judgment module 171 determines that the mowing robot 100 has a slipping phenomenon. In this embodiment, the number of consecutive cycles T that satisfy the condition that the difference between the second distance ΔS2 and the first distance ΔS1 is greater than or equal to the first preset value C1 is set, so as to improve the accuracy of the judgment of the first fault judgment module 171 and reduce the misjudgment rate. As we know, during the actual driving of the mowing robot 100, it usually moves on the lawn, and the lawn is generally not flat enough. Then, in a relatively short cycle T, it is easier for the mowing robot 100 to satisfy the condition that the difference between the second distance ΔS2 and the first distance ΔS1 is greater than or equal to the first preset value C1. If the mowing robot 100 is made to execute the response program at this time, it is very likely that the mowing robot 100 will keep executing the response program, or the mowing robot 100 will execute the response program as soon as it starts. Obviously, this will greatly affect the operation of the mowing robot 100 and reduce the work efficiency. In this embodiment, the number of consecutive cycles T that satisfy the condition that the difference between the second distance ΔS2 and the first distance ΔS1 is greater than or equal to the first preset value C1 is set, so as to avoid the problem that the mowing robot 100 executes the response program when there is no slipping or the slipping time can be ignored, thereby improving the work efficiency. On the other hand, when the first fault judgment module 171 determines that the mowing robot 100 has a slipping phenomenon, the execution module 19 executes the response program, which can prevent the mowing robot 100 from being in a slipping state all the time, thus affecting the mowing efficiency.

[0069] In this embodiment, the execution module 19 may include an alarm module 191. When the first fault determination module 171 determines that the mowing robot 100 has a slipping phenomenon, the alarm module 191 can timely send an alarm signal to the user. The alarm signal can be a sound signal. In this way, when the alarm module 191 emits a sound signal, if the user is not near the mowing robot 100 but is doing other things indoors, the user can timely hear the sound signal of the mowing robot 100 having a fault, so that the user can timely rush to make the mowing robot 100 get out of trouble, thereby improving the working efficiency of the mowing robot 100. Or, the alarm signal is a light signal. In this way, in a relatively dim environment or a relatively noisy environment, the user can timely discover that the mowing robot 100 has a fault, so as to timely make the mowing robot 100 get out of trouble. Or, the alarm signal can also be an alarm mark appearing on a display screen of the mowing robot 100 itself. Or, the alarm module 191 can directly transmit the alarm signal to the user's mobile phone, computer or other devices, so that the user can more easily discover that the mowing robot 100 has a fault.

[0070] In this embodiment, the execution module 19 further includes an obstacle avoidance module 192. When the first fault determination module 171 determines that the mowing robot 100 has a slipping phenomenon, the obstacle avoidance module 192 controls the mowing robot 100 to perform an action response, so that the mowing robot 100 automatically gets out of trouble. The action response can be to make the mowing robot 100 stop, the action response can also be to make the mowing robot 100 reverse, the action response can also be to make the mowing robot 100 turn, and the action response can also be to make the mowing robot 100 change its traveling speed, etc. Finally, through the action response of the mowing robot 100, the mowing robot 100 no longer slips. It can be understood that the obstacle avoidance module 192 controlling the mowing robot 100 to perform an action response, or the alarm module 191 emitting an alarm signal, is considered that the execution module 19 has executed the response program.

[0071] We know that during the process of the lawn mowing robot 100 slipping, it is also possible that the difference between the second distance △S2 and the first distance △S1 within a certain period T is less than the first preset value C1. Therefore, the first fault judgment module 171 can also judge whether the number of periods T in which the difference between the second distance △S2 and the first distance △S1 is greater than or equal to the first preset value C1 within n2 to n3 consecutive periods T is greater than or equal to n2. When the number of periods T in which the difference between the second distance △S2 and the first distance △S1 is greater than or equal to the first preset value C1 within n2 to n3 consecutive periods T is greater than or equal to n2, the control module 182 controls the execution module 19 to execute the response program. In this way, it is possible to avoid missing fault judgments, thereby improving the accuracy of slip phenomenon judgment. In this embodiment, n1 < n2 and n2 < n3, which makes the fault judgment more reasonable. Specifically, within n2 to n3 consecutive periods T, if the number of periods T that satisfy the formula: △S2 - △S1 ≥ C1 is greater than or equal to n2, it is considered that the lawn mowing robot 100 has a slip phenomenon. It can be understood that if within n2 to n3 consecutive periods T, the ratio of the number of periods T in which the difference between the second distance △S2 and the first distance △S1 is greater than or equal to the first preset value C1 to n3 is greater than or equal to a preset value, it is also considered an indirect judgment of whether the number of periods T in which the difference between the second distance △S2 and the first distance △S1 is greater than or equal to the first preset value C1 is greater than or equal to n2.

[0072] The second fault judgment module 172 can also judge whether the difference between the first distance △S1 and the second distance △S2 is greater than or equal to the second preset value C2. When the difference between the first distance △S1 and the second distance △S2 in each of the k1 consecutive periods T is greater than or equal to the second preset value C2, the control module 182 controls the execution module 19 to execute the response program. That is, within k1 consecutive periods T, each period T satisfies the formula:

[0073] △S1 - △S2 ≥ C2.

[0074] Specifically, when the difference between the first distance ΔS1 and the second distance ΔS2 is greater than or equal to the second preset value C2 within k1 consecutive cycles T, the second fault judgment module 172 determines that the lawn mowing robot 100 has a skidding or landsliding phenomenon. In this embodiment, the number of consecutive cycles T that satisfy the condition that the difference between the first distance ΔS1 and the second distance ΔS2 is greater than or equal to the second preset value C2 is set, so as to improve the judgment accuracy of the second fault judgment module 172 and reduce the misjudgment rate. As we know, during the actual movement of the lawn mowing robot 100, it usually moves on the lawn, and the lawn is generally not flat enough. Then, within a relatively short cycle T, it is easier for the lawn mowing robot 100 to satisfy the condition that the difference between the first distance ΔS1 and the second distance ΔS2 is greater than or equal to the second preset value C2. If the lawn mowing robot 100 is allowed to execute the response program at this time, it is very likely that the lawn mowing robot 100 will keep executing the response program, or the lawn mowing robot 100 will execute the response program as soon as it starts. Obviously, this will greatly affect the operation of the lawn mowing robot 100 and reduce the work efficiency. In this embodiment, the number of consecutive cycles T that satisfy the condition that the difference between the first distance ΔS1 and the second distance ΔS2 is greater than or equal to the second preset value C2 is set, so as to avoid the problem that the lawn mowing robot 100 executes the response program when there is no skidding or when the skidding time can be ignored, thereby improving the work efficiency. On the other hand, when the second fault judgment module 172 determines that the lawn mowing robot 100 has a skidding or landsliding phenomenon, the execution module 19 executes the response program, which can prevent the lawn mowing robot 100 from being in a skidding or landsliding state all the time, thus affecting the mowing efficiency.

[0075] Similarly, when the second fault judgment module 172 determines that the lawn mowing robot 100 has a skidding or landsliding phenomenon, the alarm module 191 can send out an alarm signal, or the obstacle avoidance module 192 controls the lawn mowing robot 100 to perform an action response.

[0076] When the lawn mowing robot 100 experiences a side-slip phenomenon or a landslide phenomenon, it is also possible that the difference between the first distance ΔS1 and the second distance ΔS2 within a certain period T is less than the second preset value C2. Therefore, the second fault determination module 172 can also determine whether the number of periods T in which the difference between the first distance ΔS1 and the second distance ΔS2 is greater than or equal to the second preset value C2 within k2 to k3 consecutive periods T is greater than or equal to k2. When the number of periods T in which the difference between the first distance ΔS1 and the second distance ΔS2 is greater than or equal to the second preset value C2 within k2 to k3 consecutive periods T is greater than or equal to k2, the control module 182 controls the execution module 19 to execute a response program. In this way, it is possible to avoid omissions in fault determination, thereby improving the accuracy of determining the side-slip phenomenon or the landslide phenomenon. In this embodiment, k1 is less than k2, and k2 is less than k3, which makes the fault determination more reasonable. Specifically, within k2 to k3 consecutive periods T, if the number of periods T in which the difference between the first distance ΔS1 and the second distance ΔS2 is greater than or equal to the second preset value C2 is greater than or equal to k2, it is considered that the lawn mowing robot 100 has a side-slip phenomenon or a landslide phenomenon. It can be understood that if within k2 to k3 consecutive periods T, the ratio of the number of periods T in which the difference between the first distance ΔS1 and the second distance ΔS2 is greater than or equal to the second preset value C2 to k3 is greater than or equal to a preset value, it is also considered an indirect determination of whether the number of periods T in which the difference between the first distance ΔS1 and the second distance ΔS2 is greater than or equal to the second preset value C2 is greater than or equal to k2.

[0077] As shown in 6, a control method for controlling the lawn mowing robot 100, specifically a method for determining whether the lawn mowing robot 100 has a skidding phenomenon and how to execute a response program, includes the following steps:

[0078] Q1, Detect the motion parameters of the body 10a of the lawn mowing robot 100 within a period T and calculate the first distance ΔS1 of the lawn mowing robot 100 within this period, and detect the motion parameters of the drive assembly 15 within the period T and calculate the second distance ΔS2 of the lawn mowing robot 100 within this period.

[0079] Q2, Determine whether the difference between the second distance ΔS2 and the first distance ΔS1 within each period T within n1 consecutive periods T is greater than or equal to the first preset value C1. When the difference between the second distance ΔS2 and the first distance ΔS1 within each period T within n1 consecutive periods T is greater than or equal to the first preset value C1, proceed to the next step. When the difference between the second distance ΔS2 and the first distance ΔS1 within each period T within n1 consecutive periods T does not satisfy the condition of being greater than or equal to the first preset value C1, return to step Q1 to continue the detection.

[0080] Q3. When the difference between the second distance and the first distance in each of the consecutive n1 cycles is greater than or equal to the first preset value, control the mowing robot 100 to execute a response program.

[0081] As Figure 6 shown, step Q12 may also be included between step Q1 and step Q2. Specifically, before determining whether the difference between the second distance △S2 and the first distance △S1 in each of the consecutive n1 cycles T is greater than or equal to the first preset value C1, it may also be possible to first determine whether the difference between the second distance △S2 and the first distance △S1 in this cycle T is greater than or equal to the first preset value C1. In this way, if in one cycle T, it does not meet the condition that the difference between the second distance △S2 and the first distance △S1 is less than the first preset value C1, it can directly return to step Q1 to detect the next cycle T, thereby improving the efficiency of the program operation.

[0082] As Figure 7 shown, step Q21 may also be included between step Q2 and step Q3. Specifically, when it does not meet the condition that the difference between the second distance △S2 and the first distance △S1 in each of the consecutive n1 cycles T is greater than or equal to the first preset value C1, it may further determine whether the number of cycles T in which the difference between the second distance △S2 and the first distance △S1 in the consecutive n2 to n3 cycles T is greater than or equal to the first preset value C1 is greater than or equal to n2. If so, proceed to the next step Q3; if not, return to step Q1 again. It can be understood that there is no prior or subsequent order between step Q2 and step Q21. In other embodiments, step Q21 may also be performed first, and then step Q2.

[0083] As shown in 8, another control method for the mowing robot 100 is specifically a method for determining whether the mowing robot 100 has a sideslip phenomenon or a landslide phenomenon and how to make a response program, which includes the following steps:

[0084] R1. Detect the motion parameters of the body 10a of the mowing robot 100 in a cycle T and calculate the first distance △S1 of the mowing robot 100 in this cycle T, and detect the motion parameters of the drive assembly 15 in the cycle T and calculate the second distance △S2 of the mowing robot 100 in this cycle T.

[0085] R2, determine whether the difference between the first distance ΔS1 and the second distance ΔS2 in each of the consecutive k1 periods T is greater than or equal to the second preset value C2. When the difference between the first distance ΔS1 and the second distance ΔS2 in each of the consecutive k1 periods T is greater than or equal to the second preset value C2, proceed to the next step. When the condition that the difference between the first distance ΔS1 and the second distance ΔS2 in each of the consecutive k1 periods T is greater than or equal to the second preset value C2 is not satisfied, return to step R1 to continue the detection.

[0086] R3, when the difference between the first distance ΔS1 and the second distance ΔS2 in each of the consecutive k1 periods T is greater than or equal to the second preset value C2, control the lawn mowing robot 100 to execute a response program.

[0087] As Figure 8 shown, step R12 may also be included between step R1 and step R2. Specifically, before determining whether the difference between the first distance ΔS1 and the second distance ΔS2 in each of the consecutive k1 periods T is greater than or equal to the second preset value C2, it may first be determined whether the difference between the first distance ΔS1 and the second distance ΔS2 in this period T is greater than or equal to the second preset value C2. In this way, if in a period T the condition that the difference between the first distance ΔS1 and the second distance ΔS2 is less than the second preset value C2 is not satisfied, it can directly return to step R1 to perform the detection for the next period, thereby improving the efficiency of the program operation.

[0088] As Figure 9 shown, step R21 may also be included between step R2 and step R3. Specifically, when the condition that the difference between the first distance ΔS1 and the second distance ΔS2 in each of the consecutive k1 periods T is greater than or equal to the second preset value C2 is not satisfied, it may further be determined whether the number of periods T in which the difference between the first distance ΔS1 and the second distance ΔS2 in each of the consecutive k2 to k3 periods T is greater than or equal to the second preset value C2 is greater than or equal to k2. If so, also proceed to the next step R3; if not, return to step R1. It can be understood that there is no prior or subsequent order between step R2 and step R21. In other embodiments, step R21 may also be performed first, and then step R2.

[0089] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art of this industry should understand that the above embodiments do not limit the present invention in any form. Any technical solutions obtained by means of equivalent replacement or equivalent transformation fall within the protection scope of the present invention.

Claims

1. A lawn mowing robot, comprising: A lawn mowing element; A fuselage for supporting the lawn mowing element; A driving assembly, including a walking wheel for supporting the fuselage to drive the fuselage to walk on the ground and a motor connected to the walking wheel to drive the walking wheel to rotate; A first detection module that detects the motion parameters of the fuselage of the lawn mowing robot within one cycle and calculates the first distance traveled by the lawn mowing robot within this cycle; A second detection module that detects the motion parameters of the driving assembly within the cycle and calculates the second distance traveled by the lawn mowing robot within this cycle; A fault judgment module that judges whether the difference between the second distance and the first distance is greater than or equal to a first preset value; An execution module that drives the lawn mowing robot to execute a response program; A control module, respectively connected to the fault judgment module and the execution module; Wherein, when the difference between the second distance and the first distance within each of the consecutive n1 cycles is greater than or equal to the first preset value, the control module controls the execution module to execute the response program; The fault judgment module also judges whether the difference between the first distance and the second distance is greater than or equal to a second preset value; When the difference between the first distance and the second distance within each of the consecutive k1 cycles is greater than or equal to the second preset value, the control module controls the execution module to execute the response program.

2. The lawn mowing robot according to claim 1, characterized in that: When the number of cycles in which the difference between the second distance and the first distance is greater than or equal to the first preset value within consecutive n2 to n3 cycles is greater than or equal to n2, the control module controls the execution module to execute the response program.

3. The lawn mowing robot according to claim 1, characterized in that: The execution module shown includes: An alarm module for sending an alarm signal to the user.

4. The lawn mowing robot according to claim 1, characterized in that: The execution module includes: An obstacle avoidance module for controlling the lawn mowing robot to perform action responses.

5. The lawn mowing robot according to claim 1, characterized in that: The lawn mowing robot further includes: A setting module connected to the fault judgment module; The setting module is used to set the magnitude of the first preset value.

6. The lawn mowing robot according to claim 1, characterized in that: The fault judgment module also judges whether the difference between the first distance and the second distance is greater than or equal to a second preset value; Wherein, when the number of cycles in which the difference between the first distance and the second distance is greater than or equal to the second preset value within consecutive k2 to k3 cycles is greater than or equal to k2, the control module controls the execution module to execute the response program.

7. A lawn mowing robot, comprising: A lawn mowing element; A fuselage for supporting the lawn mowing element; A driving assembly, including a walking wheel for supporting the fuselage to drive the fuselage to walk on the ground and a motor connected to the walking wheel to drive the walking wheel to rotate; The first detection module detects the motion parameters of the body of the lawn mowing robot within one cycle and calculates the first distance of the lawn mowing robot within this cycle; The second detection module detects the motion parameters of the drive assembly within the cycle and calculates the second distance of the lawn mowing robot within this cycle; The fault judgment module judges whether the difference between the second distance and the first distance is greater than or equal to a first preset value; The execution module drives the lawn mowing robot to execute a response program; The control module is respectively connected to the fault judgment module and the execution module; Wherein, when the number of cycles in which the difference between the second distance and the first distance is greater than or equal to the first preset value within consecutive n1 to n2 cycles is greater than or equal to n1, the control module controls the execution module to execute the response program; The fault judgment module also judges whether the difference between the first distance and the second distance is greater than or equal to a second preset value; When the number of cycles in which the difference between the first distance and the second distance is greater than or equal to the second preset value within consecutive k1 to k2 cycles is greater than or equal to k1, the control module controls the execution module to execute the response program.

8. A lawn mowing robot, comprising: A mowing element; A body for supporting the mowing element; A drive assembly, including a walking wheel for supporting the body to drive the body to walk on the ground and a motor connected to the walking wheel to drive the walking wheel to rotate; The first detection module detects the motion parameters of the body of the lawn mowing robot within one cycle and calculates the first distance of the lawn mowing robot within this cycle; The second detection module detects the motion parameters of the drive assembly within the cycle and calculates the second distance of the lawn mowing robot within this cycle; The fault judgment module judges whether the difference between the first distance and the second distance is greater than or equal to a second preset value; The execution module drives the lawn mowing robot to execute a response program; The control module is respectively connected to the fault judgment module and the execution module; Wherein, when the difference between the first distance and the second distance in each of consecutive k1 cycles is greater than or equal to the second preset value, the control module controls the execution module to execute the response program; The fault judgment module also judges whether the difference between the second distance and the first distance is greater than or equal to a first preset value; When the number of cycles in which the difference between the second distance and the first distance is greater than or equal to the first preset value within consecutive n1 to n2 cycles is greater than or equal to n1, the control module controls the execution module to execute the response program.

9. A lawn mowing robot, comprising: A mowing element; A body for supporting the mowing element; A drive assembly, including a walking wheel for supporting the body to drive the body to walk on the ground and a motor connected to the walking wheel to drive the walking wheel to rotate; The first detection module detects the motion parameters of the body of the lawn mowing robot within one cycle and calculates the first distance of the lawn mowing robot within this cycle; A second detection module that detects the motion parameters of the driving component within the cycle and calculates the second distance traveled by the lawn mowing robot within this cycle; A fault judgment module that judges whether the difference between the first distance and the second distance is greater than or equal to a second preset value; An execution module that drives the lawn mowing robot to execute a response program; A control module that is respectively connected to the fault judgment module and the execution module; Wherein, when the number of cycles in which the difference between the first distance and the second distance is greater than or equal to the second preset value within k1 to k2 consecutive cycles is greater than or equal to k1, the control module controls the execution module to execute the response program; The fault judgment module also judges whether the difference between the second distance and the first distance is greater than or equal to a first preset value; When the difference between the second distance and the first distance in each of n1 consecutive cycles is greater than or equal to the first preset value, the control module controls the execution module to execute the response program.

10. A control method for a lawn mowing robot, the lawn mowing robot includes a body and a driving component, the driving component includes a walking wheel that supports the body to drive the body to walk on the ground and a motor that is connected to the walking wheel to drive the walking wheel to rotate, the control method includes the steps: Detect the motion parameters of the body of the lawn mowing robot within a cycle and calculate the first distance traveled by the lawn mowing robot within this cycle, and detect the motion parameters of the driving component within the cycle and calculate the second distance traveled by the lawn mowing robot within this cycle; Judge whether the difference between the second distance and the first distance in each of n1 consecutive cycles is greater than or equal to a first preset value; Judge whether the difference between the first distance and the second distance in each of k1 consecutive cycles is greater than or equal to a second preset value; When the difference between the second distance and the first distance in each of n1 consecutive cycles is greater than or equal to the first preset value, and / or, when the difference between the first distance and the second distance in each of k1 consecutive cycles is greater than or equal to the second preset value, control the lawn mowing robot to execute a response program.

11. A control method for a lawn mowing robot, the lawn mowing robot includes a body and a driving component, the driving component includes a walking wheel that supports the body to drive the body to walk on the ground and a motor that is connected to the walking wheel to drive the walking wheel to rotate, the control method includes the steps: Detect the motion parameters of the body of the lawn mowing robot within a cycle and calculate the first distance traveled by the lawn mowing robot within this cycle, and detect the motion parameters of the driving component within the cycle and calculate the second distance traveled by the lawn mowing robot within this cycle; Judge whether the number of cycles in which the difference between the second distance and the first distance is greater than or equal to the first preset value within n1 to n2 consecutive cycles is greater than or equal to n1; Determine whether the number of cycles in which the difference between the first distance and the second distance is greater than or equal to a second preset value within consecutive k1 to k2 cycles is greater than or equal to k1; When the number of cycles in which the difference between the second distance and the first distance is greater than or equal to the first preset value within consecutive n1 to n2 cycles is greater than or equal to n1, and / or when the number of cycles in which the difference between the first distance and the second distance is greater than or equal to the second preset value within consecutive k1 to k2 cycles is greater than or equal to k1, control the mowing robot to execute a response program.

12. A control method for a mowing robot, the mowing robot comprising a fuselage and a drive assembly, the drive assembly including a traveling wheel for supporting the fuselage to drive the fuselage to travel on the ground and a motor connected to the traveling wheel to drive the traveling wheel to rotate, the control method comprising the steps of: Detect the motion parameters of the fuselage of the mowing robot in one cycle and calculate the first distance of the mowing robot in this cycle, and detect the motion parameters of the drive assembly in the cycle and calculate the second distance of the mowing robot in this cycle; Determine whether the difference between the first distance and the second distance in each of consecutive k1 cycles is greater than or equal to a second preset value; Determine whether the number of cycles in which the difference between the second distance and the first distance is greater than or equal to a first preset value within consecutive n1 to n2 cycles is greater than or equal to n1; When the difference between the first distance and the second distance in each of consecutive k1 cycles is greater than or equal to the second preset value, and / or when the number of cycles in which the difference between the second distance and the first distance is greater than or equal to the first preset value within consecutive n1 to n2 cycles is greater than or equal to n1, control the mowing robot to execute a response program.

13. A control method for a mowing robot, the mowing robot comprising a fuselage and a drive assembly, the drive assembly including a traveling wheel for supporting the fuselage to drive the fuselage to travel on the ground and a motor connected to the traveling wheel to drive the traveling wheel to rotate, the control method comprising the steps of: Detect the motion parameters of the fuselage of the mowing robot in one cycle and calculate the first distance of the mowing robot in this cycle, and detect the motion parameters of the drive assembly in the cycle and calculate the second distance of the mowing robot in this cycle; Determine whether the number of cycles in which the difference between the first distance and the second distance is greater than or equal to a second preset value within consecutive k1 to k2 cycles is greater than or equal to k1; Determine whether the difference between the second distance and the first distance in each of consecutive n1 cycles is greater than or equal to a first preset value; When the number of cycles in which the difference between the first distance and the second distance is greater than or equal to the second preset value within consecutive k1 to k2 cycles is greater than or equal to k1, and / or when the difference between the second distance and the first distance is greater than or equal to the first preset value in each of the consecutive n1 cycles, control the lawn mowing robot to execute a response program.

Images