Intelligent lawn mower control method, device, intelligent lawn mower and computer equipment

Abstract

The present application relates to a smart lawn mower control method, device, smart lawn mower, computer equipment and storage medium. The method detects the output torque of a mowing motor during operation of the smart lawn mower, and when the output torque reaches a first set threshold, reduces the wheel speed of the smart lawn mower, and controls the operation of the smart lawn mower based on the reduced wheel speed so that the blade speed remains unchanged. This not only improves the mowing quality, but also effectively protects the mowing motor, which is beneficial to increasing the service life of the mowing motor.

Description

Technical Field

[0001] The present application relates to the field of automatic control technology, and in particular to a method and device for controlling an intelligent lawn mower, an intelligent lawn mower, and a computer device. Background Art

[0002] With the advancement of technology and the improvement of people's living standards, people's demand for greening is also increasing. Lawns have become an extremely important greening in both public places and private homes. As a tool for mowing lawns, the application of smart lawn mowers is becoming more and more widespread.

[0003] Traditionally, smart mowers operate at a constant mowing speed, cutting height, and travel speed. However, when the grass is deep or dense, resistance to the mower motor increases, which can lead to excessive current. In this case, the smart mower will reduce the drive speed to protect its components, forcing the motor blades to slow down. After a period of time, the mower will stop due to overheating protection, affecting both the quality of the cut and the motor's lifespan. Summary of the Invention

[0004] Based on this, it is necessary to provide an intelligent lawn mower control method, device, intelligent lawn mower, computer equipment and storage medium to address the problem that the traditional control method of the above-mentioned intelligent lawn mower affects the mowing quality and the service life of the mowing motor, so as to effectively ensure the mowing quality and the service life of the mowing motor.

[0005] A method for controlling an intelligent lawn mower, the method comprising:

[0006] Detecting the output torque of the mowing motor during operation of the intelligent mower;

[0007] If the output torque reaches a first set threshold, the wheel speed of the intelligent lawn mower is reduced, and the operation of the intelligent lawn mower is controlled based on the reduced wheel speed.

[0008] In one embodiment, after reducing the wheel speed of the smart lawn mower, the method further includes: if it is detected that the output torque of the mowing motor reaches a second set threshold, controlling the wheel speed of the smart lawn mower to increase to a set wheel speed, wherein the second set threshold is less than the first set threshold.

[0009] In one embodiment, controlling the wheel speed of the intelligent lawn mower to increase to the set wheel speed includes: controlling the wheel speed of the intelligent lawn mower to increase to the set wheel speed based on a set acceleration slope.

[0010] In one embodiment, after reducing the wheel speed of the smart lawn mower, the method further includes: if the output torque is not less than the first set threshold, replanning the walking path of the smart lawn mower.

[0011] In one embodiment, the method for determining that the output torque is not less than the first set threshold includes: detecting the blade speed driven by the mowing motor; if the blade speed is less than the target blade speed, determining that the output torque is not less than the first set threshold.

[0012] In one embodiment, the replanning of the walking path of the smart lawn mower includes: controlling the smart lawn mower to retreat a preset distance and adjusting the forward direction of the smart lawn mower; and controlling the smart lawn mower to walk in the adjusted forward direction.

[0013] In one embodiment, if the output torque reaches a first set threshold, the wheel speed of the smart lawn mower is reduced, including: if the output torque reaches the first set threshold, determining a deceleration coefficient of the wheel speed based on a set deceleration percentage of the wheel speed, the output torque, and the first set threshold; determining a target wheel speed of the smart lawn mower after the speed is reduced according to the wheel speed of the smart lawn mower and the deceleration coefficient; and controlling the wheel speed of the smart lawn mower to reduce to the target wheel speed based on a set deceleration slope.

[0014] In one embodiment, the determining of the deceleration coefficient of the wheel speed based on the set deceleration percentage of the wheel speed, the output torque and the first set threshold includes: determining a first difference between the output torque and the first set threshold; determining a second difference between the maximum output torque and the first set threshold based on the maximum output torque of the mowing motor; obtaining a ratio between the first difference and the second difference; calculating the product between the ratio and the set deceleration percentage, and determining the product as the deceleration coefficient of the wheel speed.

[0015] In one embodiment, determining the target wheel speed of the intelligent lawn mower after the speed is reduced based on the wheel speed of the intelligent lawn mower and the speed reduction coefficient includes: determining the reduced wheel speed of the intelligent lawn mower based on the wheel speed of the intelligent lawn mower and the speed reduction coefficient; and determining the difference between the wheel speed of the intelligent lawn mower and the reduced wheel speed of the intelligent lawn mower as the target wheel speed of the intelligent lawn mower after the speed is reduced.

[0016] An intelligent lawn mower control device, comprising:

[0017] A detection module, used for detecting the output torque of the mowing motor during operation of the intelligent mower;

[0018] The control module is configured to reduce a wheel speed of the intelligent lawn mower if the output torque reaches a first set threshold, and control the operation of the intelligent lawn mower based on the reduced wheel speed.

[0019] A smart lawn mower that automatically moves and operates within a working area defined by a boundary line. The smart lawn mower includes: an interconnected data acquisition sensor and a controller, the data acquisition sensor being used to acquire the output torque of a mowing motor during operation of the smart lawn mower; the controller being used to reduce the wheel speed of the smart lawn mower when the output torque acquired by the data acquisition sensor reaches a first set threshold, and to control the operation of the smart lawn mower based on the reduced wheel speed.

[0020] A computer device includes a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above method when executing the computer program.

[0021] A computer-readable storage medium stores a computer program, which implements the steps of the above method when executed by a processor.

[0022] The above-mentioned intelligent lawn mower control method, device, intelligent lawn mower, computer equipment and storage medium detect the output torque of the mowing motor during the operation of the intelligent lawn mower, and when the output torque reaches a first set threshold, reduce the wheel speed of the intelligent lawn mower, and control the operation of the intelligent lawn mower based on the reduced wheel speed so that the blade speed remains unchanged. This not only improves the mowing quality, but also effectively protects the mowing motor, which is beneficial to increasing the service life of the mowing motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 1 is a flow chart of a method for controlling an intelligent lawn mower according to an embodiment;

[0024] Figure 2 A flowchart illustrating steps for reducing the wheel speed of an intelligent lawn mower in one embodiment;

[0025] Figure 3 A schematic flow chart of a method for controlling an intelligent lawn mower in another embodiment;

[0026] Figure 4 is a flow chart of a method for controlling an intelligent lawn mower in another embodiment;

[0027] Figure 5 is a structural block diagram of an intelligent lawn mower control device in one embodiment;

[0028] Figure 6 is a block diagram of the internal structure of an intelligent lawn mower in one embodiment;

[0029] Figure 7 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0031] In one embodiment, Figure 1 As shown, a smart lawn mower control method is provided, comprising the following steps:

[0032] Step 102 : Detect the output torque of the mowing motor during operation of the intelligent lawn mower.

[0033] Among them, the mowing motor is the power source that drives the mowing blades in the intelligent lawn mower to operate so that the blades cut the grass plants. It can also be called a mowing motor.

[0034] It should be pointed out that the above-mentioned output torque can be broadly understood as a load, such as blade rotational speed, blade output torque, etc.; it can also be understood in a narrow sense, such as being understood as a torque caused by strain.

[0035] In one embodiment, the output torque of the mowing motor is related to the corresponding motor speed and power. Therefore, the output torque of the mowing motor can be calculated by monitoring the motor speed and power of the mowing motor. For another example, the output torque of the mowing motor is related to the corresponding motor speed and power, and the power is related to the current. Therefore, the output torque of the mowing motor can be calculated based on the motor speed and current by monitoring the motor speed and current of the mowing motor. Since the torque will cause a certain strain on the transmission shaft, and this strain is proportional to the magnitude of the torque, the output torque can also be determined by detecting the strain of the transmission shaft corresponding to the mowing motor. Of course, the output torque of the mowing motor can also be directly measured using a torque sensor. Specifically, the torque sensor converts the physical change of torque into an accurate electrical signal, and then reads or transmits the torque through the electrical signal.

[0036] In another embodiment, the output torque of the mowing motor is related to the current. For example, the output torque can be a function of the current. The output torque can be obtained by collecting the current through a current detection module such as an analog-to-digital converter (ADC) or a current sensor. For example, the output torque can be obtained by performing an integral operation. In this embodiment, the output torque of the mowing motor can be periodically detected during the operation of the smart mower, and the smart mower can be controlled in subsequent steps based on the detected output torque. It is understood that the specific method for detecting the output torque is not limited in this embodiment.

[0037] Step 104 : If the output torque reaches a first set threshold, the wheel speed of the intelligent lawn mower is reduced, and the operation of the intelligent lawn mower is controlled based on the reduced wheel speed.

[0038] The first set threshold is a preset torque threshold for the mower motor during normal operation. It can be set based on the maximum output torque of the mower motor during normal operation. For example, if the output torque of the mower motor exceeds the first set threshold, it will enter an abnormal operating state. Deep grass or high grass density increases resistance to the mower motor, which can easily lead to excessive current in the mower motor and force the blade speed of the mower motor to decrease. Both increased current and decreased blade speed directly affect the output torque of the mower motor, resulting in an increase in output torque. Furthermore, since increased current shortens the mower motor's service life, while decreased blade speed affects mowing quality, in this embodiment, a first set threshold for the output torque of the mower motor during normal operation is set. When the output torque of the mower motor reaches the first set threshold, the intelligent mower is controlled by reducing the wheel speed of the intelligent mower, thereby maintaining a constant blade speed.

[0039] In the above-mentioned intelligent lawn mower control method, the output torque of the mowing motor during the operation of the intelligent lawn mower is detected, and when the output torque reaches a first set threshold, the wheel speed of the intelligent lawn mower is reduced, and the operation of the intelligent lawn mower is controlled based on the reduced wheel speed, so that the blade speed remains unchanged, which not only improves the mowing quality but also effectively protects the mowing motor, which is beneficial to increasing the service life of the mowing motor.

[0040] In one embodiment, Figure 2 As shown, in step 104, if the output torque reaches the first set threshold, the wheel speed of the intelligent lawn mower is reduced, which can be specifically achieved through the following steps:

[0041] Step 202 : If the output torque reaches the first set threshold, a wheel speed reduction coefficient is determined based on the set deceleration percentage of the wheel speed, the output torque, and the first set threshold.

[0042] The set deceleration percentage is a predetermined deceleration percentage for the wheel speed, which may specifically be a maximum deceleration percentage for the wheel speed. The deceleration coefficient is the percentage by which the wheel speed before deceleration is to be reduced relative to the final determined wheel speed after deceleration. In this embodiment, the deceleration coefficient can be calculated using a predefined calculation formula based on the set deceleration percentage for the wheel speed, the output torque, and the first set threshold.

[0043] Specifically, a first difference between the output torque and a first set threshold is calculated, and based on the maximum output torque of the mower motor, a second difference between the maximum output torque and the first set threshold is calculated. The ratio of the first difference to the second difference is then calculated, and the product of the ratio and the set deceleration percentage is calculated. The resulting product is then determined as the wheel speed reduction coefficient. The maximum output torque of the mower motor may be the torque boundary value during normal operation of the mower motor. Since the mower motor is highly likely to enter an abnormal operating state when at its maximum output torque, in this embodiment, a first set threshold value less than the maximum output torque may be set to ensure normal operation of the mower motor.

[0044] Step 204 : determining a target wheel speed of the intelligent lawn mower after the speed is reduced according to the wheel speed of the intelligent lawn mower and the speed reduction coefficient.

[0045] The wheel speed of the smart lawn mower can be the wheel speed of the smart lawn mower measured when the output torque of the mowing motor reaches a first set threshold, or can be the pre-set wheel speed of the smart lawn mower during normal operation, and this embodiment is not limited thereto. In this embodiment, based on the aforementioned wheel speed reduction coefficient and the wheel speed of the smart lawn mower, the wheel speed to be reduced by the smart lawn mower can be calculated. The difference between the wheel speed of the smart lawn mower and the wheel speed to be reduced is then calculated, and this difference is determined as the target wheel speed of the smart lawn mower after the speed is reduced.

[0046] Step 206 : Control the wheel speed of the intelligent lawn mower to reduce to the target wheel speed based on the set speed reduction slope.

[0047] The deceleration slope reflects how quickly the wheel speed of the smart lawn mower decreases. In this embodiment, to improve the stability of the smart lawn mower, a deceleration slope can be pre-set. After determining the target wheel speed after the smart lawn mower decelerates through the above steps, the smart lawn mower can be controlled to reduce its wheel speed to the target wheel speed based on the pre-set deceleration slope, thereby maintaining good stability during the deceleration process.

[0048] In one embodiment, Figure 3 As shown, after reducing the wheel speed of the intelligent lawn mower, the method further includes the following steps:

[0049] Step 106: If it is detected that the output torque of the mowing motor reaches a second set threshold, the wheel speed of the intelligent mower is controlled to increase to a set wheel speed.

[0050] The second threshold value is also a preset torque limit for the mower motor during normal operation. It can be set based on the normal output torque of the mower motor during normal operation. For example, if the output torque of the mower motor is less than the second threshold value, it indicates that the smart mower has entered a normal operating range, i.e., the smart mower has passed through an area with deep or dense grass. The set wheel speed can be a preset wheel speed for the smart mower during normal operation, or it can be the wheel speed recorded before the smart mower slows down.

[0051] Specifically, the second set threshold is less than the first set threshold. In this embodiment, after reducing the wheel speed of the smart lawn mower, if it is detected that the output torque of the mowing motor reaches the second set threshold, that is, the output torque of the smart lawn mower drops to the second set threshold, it indicates that the smart lawn mower has entered the normal operating range. To ensure the mowing efficiency of the smart lawn mower, the wheel speed of the smart lawn mower can be increased. Specifically, the wheel speed of the smart lawn mower can be controlled to increase to the set wheel speed, thereby improving the mowing efficiency of the smart lawn mower.

[0052] In one embodiment, the wheel speed of the intelligent lawn mower is controlled to increase to a set wheel speed. Specifically, the wheel speed of the intelligent lawn mower is controlled to increase to the set wheel speed based on a set acceleration slope.

[0053] The acceleration slope reflects how quickly the wheel speed of the smart lawn mower increases. In this embodiment, to ensure the stability of the smart lawn mower, a pre-set acceleration slope can be used. When the output torque of the mowing motor reaches a second set threshold, the pre-set acceleration slope can be used to control the smart lawn mower to increase its wheel speed to the set wheel speed, steadily increasing the vehicle speed. This allows the smart lawn mower to maintain good stability during acceleration.

[0054] In one embodiment, the output torque of the mowing motor of the smart lawn mower is periodically detected during operation to control the smart lawn mower in real time. Therefore, after reducing the wheel speed of the smart lawn mower, if it is detected that the output torque of the smart lawn mower is still not less than the first set threshold, the walking path of the smart lawn mower is replanned.

[0055] Among them, such as Figure 4 As shown, the method for determining whether the output torque is not less than the first set threshold may include the following steps:

[0056] Step 402: Detect the rotation speed of the blade driven by the mowing motor.

[0057] The blade speed refers to the number of revolutions the mowing blade makes along its axis per unit time when driven by the mowing motor. The unit is rpm, usually expressed as r / S (revolutions per second) or r / min (revolutions per minute). Specifically, the blade speed can be directly detected by a sensor or calculated by collecting relevant physical data, and this is not limited in this embodiment.

[0058] Step 404: If the blade rotation speed is less than the target blade rotation speed, determine that the output torque is not less than a first set threshold.

[0059] The target blade speed refers to the minimum blade speed when the mowing motor is operating normally, and may also be another value determined based on the minimum speed. The walking path refers to the walking route of the smart lawn mower. In this embodiment, after reducing the wheel speed of the smart lawn mower, if it is detected that the blade speed of the smart lawn mower is less than the target blade speed, it means that the output torque is still large, that is, it can be determined that the output torque is not less than the first set threshold. At this time, the smart lawn mower may encounter greater resistance, such as encountering a large tree or a similar obstacle. Therefore, it is necessary to replan the walking path of the smart lawn mower so that the smart lawn mower can operate normally.

[0060] Specifically, the following methods can be used to replan the walking path of the smart lawn mower. For example, the smart lawn mower can be controlled to retreat a preset distance and adjust the forward direction of the smart lawn mower, that is, change the angle of the smart lawn mower relative to the original path; of course, the angle of the smart lawn mower relative to the original path can also be adjusted while controlling the smart lawn mower to retreat, thereby adjusting the direction of the smart lawn mower, and controlling the smart lawn mower to move forward in the adjusted direction to change the original walking path of the smart lawn mower, thereby avoiding obstacles with greater resistance and allowing the smart lawn mower to work normally.

[0061] In one embodiment, the specific implementation process of reducing the wheel speed of the intelligent lawn mower in the above embodiment is further described below through a specific embodiment. In this embodiment, it is assumed that the maximum output torque of the mowing motor is T, the first set threshold is 90% of T, and the set deceleration percentage of the wheel speed is 75%. If the output torque of the mowing motor is detected to be 95% of T, the output torque of the mowing motor reaches the first set threshold. Therefore, the parameters are substituted and the wheel speed reduction coefficient A is calculated using the following formula:

[0062]

[0063] The wheel speed reduction coefficient A obtained through calculation is 37.5%, which means that in this case, the wheel speed needs to be reduced by 37.5%.

[0064] If the wheel speed of the smart lawn mower is 33rpm during normal operation, then based on the above-mentioned deceleration coefficient of 37.5%, the wheel speed D that the smart lawn mower needs to reduce can be calculated, and D = 33 × 37.5%. Then the target wheel speed V of the smart lawn mower after reducing the speed is 33-D. Then the wheel speed of the smart lawn mower is controlled to be reduced to the target wheel speed. During the deceleration process, in order to improve the stability of the smart lawn mower, the deceleration process of the smart lawn mower can be controlled based on the deceleration slope. It can be understood that the parameter values ​​used in this embodiment are only used to illustrate the principles of this application and do not limit the scope of this application. Different parameter values ​​can be set as needed in actual applications.

[0065] It should be understood that although Figure 1-Figure 4 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. In addition, Figure 1-Figure 4 At least part of the steps may include multiple steps or multiple stages. These steps or stages are not necessarily performed at the same time, but can be performed at different times. The order of execution of these steps or stages is not necessarily one by one, but can be performed in turn or alternately with other steps or at least part of the steps or stages in other steps.

[0066] In one embodiment, Figure 5 As shown, a smart lawn mower control device is provided, including: a detection module 502 and a control module 504, wherein:

[0067] A detection module 502 is used to detect the output torque of the mowing motor during the operation of the intelligent mower;

[0068] The control module 504 is configured to reduce the wheel speed of the intelligent lawn mower if the output torque reaches a first set threshold, and control the operation of the intelligent lawn mower based on the reduced wheel speed.

[0069] In one embodiment, the control module is further configured to: if it is detected that the output torque of the mowing motor reaches a second set threshold, control the wheel speed of the intelligent lawn mower to increase to a set wheel speed.

[0070] In one embodiment, the control module is further configured to: control the wheel speed of the intelligent lawn mower to increase to a set wheel speed based on a set acceleration slope.

[0071] In one embodiment, a path planning module is further included, which is used to: after reducing the wheel speed of the intelligent lawn mower, if it is detected that the output torque is not less than the first set threshold, re-plan the walking path of the intelligent lawn mower.

[0072] In one embodiment, the detection module is further configured to detect a blade rotation speed driven by the mowing motor; if the blade rotation speed is less than a target blade rotation speed, determining that the output torque is not less than the first set threshold.

[0073] In one embodiment, the path planning module is specifically used to: control the intelligent lawn mower to retreat a preset distance, and adjust the forward direction of the intelligent lawn mower; and control the intelligent lawn mower to move in the adjusted forward direction.

[0074] In one embodiment, the control module is specifically configured to: if the output torque reaches a first set threshold, determine a deceleration coefficient for the wheel speed based on a set deceleration percentage of the wheel speed, the output torque, and the first set threshold; determine a target wheel speed after the smart lawn mower is reduced in speed based on the wheel speed of the smart lawn mower and the deceleration coefficient; and control the wheel speed of the smart lawn mower to reduce to the target wheel speed based on a set deceleration slope.

[0075] In one embodiment, the control module is further used to: determine a first difference between the output torque and the first set threshold; determine a second difference between the maximum output torque and the first set threshold based on the maximum output torque of the mowing motor; obtain a ratio between the first difference and the second difference; calculate the product between the ratio and the set deceleration percentage, and determine the product as the deceleration coefficient of the wheel speed.

[0076] In one embodiment, the control module is further configured to: determine the reduced wheel speed of the intelligent lawn mower based on the wheel speed of the intelligent lawn mower and the speed reduction coefficient; and determine the difference between the wheel speed of the intelligent lawn mower and the reduced wheel speed of the intelligent lawn mower as the target wheel speed of the intelligent lawn mower after the speed is reduced.

[0077] In one embodiment, a smart lawn mower is provided that automatically moves and works within a working area defined by a boundary line, wherein the boundary line can be a physical boundary such as a fence or a wire, or a virtual boundary different from a physical boundary. Figure 6 As shown, it includes a mowing motor 602, a wheel drive motor 604, and a data acquisition sensor 606 and a controller 608 that are interconnected, wherein the data acquisition sensor 606 is used to collect the output torque of the mowing motor 602 during the operation of the intelligent lawn mower, and the controller 608 is used to control the wheel drive motor 604 to reduce the wheel speed of the intelligent lawn mower when the output torque collected by the data acquisition sensor 606 reaches a first set threshold, and control the operation of the intelligent lawn mower based on the reduced wheel speed.

[0078] In one embodiment, the smart lawn mower is provided with an identification module 610, which is connected to the controller 608. The identification module can be used to identify the boundary line and send the identified boundary line to the controller 608, so that the controller 608 can control the movement of the smart lawn mower according to the identification information of the identification module 610.

[0079] In one embodiment, the recognition module 610 may be, for example, a visual sensor that recognizes the boundary line by vision; or a magnetic sensor that recognizes the boundary by detecting the magnetic field generated by the power supply of the wire.

[0080] The specific definitions of the intelligent lawn mower control device and intelligent lawn mower can be found in the definitions of the intelligent lawn mower control method above and will not be repeated here. Each module in the intelligent lawn mower control device can be implemented in whole or in part through software, hardware, or a combination thereof. Each of the modules can be embedded in or independent of a processor in a computer device in hardware form, or can be stored in a memory in a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0081] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 7As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, an operator network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a smart lawn mower control method is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad provided on the computer device housing, or an external keyboard, touchpad or mouse.

[0082] Those skilled in the art will understand that Figure 7 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0083] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0084] Detecting the output torque of the mowing motor during operation of the intelligent mower;

[0085] If the output torque reaches a first set threshold, the wheel speed of the intelligent lawn mower is reduced, and the operation of the intelligent lawn mower is controlled based on the reduced wheel speed.

[0086] In one embodiment, when the processor executes the computer program, the following steps are further implemented: after reducing the wheel speed of the intelligent lawn mower, if it is detected that the output torque of the lawn mower motor reaches a second set threshold, controlling the wheel speed of the intelligent lawn mower to increase to a set wheel speed, wherein the second set threshold is less than the first set threshold.

[0087] In one embodiment, when the processor executes the computer program, the processor further implements the following steps: controlling the wheel speed of the intelligent lawn mower to increase to a set wheel speed based on a set acceleration slope.

[0088] In one embodiment, when the processor executes the computer program, the following steps are further implemented: after reducing the wheel speed of the intelligent lawn mower, if the output torque is not less than the first set threshold, replanning the walking path of the intelligent lawn mower.

[0089] In one embodiment, when the processor executes the computer program, the processor further implements the following steps: detecting the blade speed driven by the mowing motor; if the blade speed is less than the target blade speed, determining that the output torque is not less than the first set threshold.

[0090] In one embodiment, when the processor executes the computer program, the processor further implements the following steps: controlling the intelligent lawn mower to retreat a preset distance and adjusting the forward direction of the intelligent lawn mower; and controlling the intelligent lawn mower to move in the adjusted forward direction.

[0091] In one embodiment, when the processor executes the computer program, the following steps are further implemented: if the output torque reaches a first set threshold, determining a deceleration coefficient of the wheel speed based on the set deceleration percentage of the wheel speed, the output torque, and the first set threshold; determining a target wheel speed of the smart lawn mower after the speed is reduced according to the wheel speed of the smart lawn mower and the deceleration coefficient; and controlling the wheel speed of the smart lawn mower to reduce to the target wheel speed based on a set deceleration slope.

[0092] In one embodiment, when the processor executes the computer program, it further implements the following steps: determining a first difference between the output torque and the first set threshold; determining a second difference between the maximum output torque and the first set threshold based on the maximum output torque of the mowing motor; obtaining a ratio between the first difference and the second difference; calculating the product between the ratio and the set deceleration percentage, and determining the product as the deceleration coefficient of the wheel speed.

[0093] In one embodiment, when the processor executes the computer program, it further implements the following steps: determining a reduced wheel speed of the intelligent lawn mower based on the wheel speed of the intelligent lawn mower and the speed reduction coefficient; and determining a difference between the wheel speed of the intelligent lawn mower and the reduced wheel speed of the intelligent lawn mower as a target wheel speed of the intelligent lawn mower after the speed is reduced.

[0094] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0095] Detecting the output torque of the mowing motor during operation of the intelligent mower;

[0096] If the output torque reaches a first set threshold, the wheel speed of the intelligent lawn mower is reduced, and the operation of the intelligent lawn mower is controlled based on the reduced wheel speed.

[0097] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: after reducing the wheel speed of the intelligent lawn mower, if it is detected that the output torque of the mowing motor reaches a second set threshold, controlling the wheel speed of the intelligent lawn mower to increase to the set wheel speed.

[0098] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: controlling the wheel speed of the intelligent lawn mower to increase to a set wheel speed based on a set acceleration slope.

[0099] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: after reducing the wheel speed of the intelligent lawn mower, if the output torque is not less than the first set threshold, replanning the walking path of the intelligent lawn mower.

[0100] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: detecting the blade speed driven by the mowing motor; if the blade speed is less than the target blade speed, determining that the output torque is not less than the first set threshold.

[0101] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: controlling the smart lawn mower to retreat a preset distance and adjusting the forward direction of the smart lawn mower; and controlling the smart lawn mower to move in the adjusted forward direction.

[0102] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: if the output torque reaches a first set threshold, a deceleration coefficient of the wheel speed is determined based on the set deceleration percentage of the wheel speed, the output torque, and the first set threshold; a target wheel speed of the smart lawn mower after the speed is reduced is determined according to the wheel speed of the smart lawn mower and the deceleration coefficient; and the wheel speed of the smart lawn mower is controlled to be reduced to the target wheel speed based on a set deceleration slope.

[0103] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: determining a first difference between the output torque and the first set threshold; determining a second difference between the maximum output torque and the first set threshold based on the maximum output torque of the mowing motor; obtaining a ratio between the first difference and the second difference; calculating the product between the ratio and the set deceleration percentage, and determining the product as the deceleration coefficient of the wheel speed.

[0104] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: determining a reduced wheel speed of the intelligent lawn mower based on the wheel speed of the intelligent lawn mower and the speed reduction coefficient; and determining a difference between the wheel speed of the intelligent lawn mower and the reduced wheel speed of the intelligent lawn mower as a target wheel speed of the intelligent lawn mower after the speed is reduced.

[0105] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0106] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0107] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A method for controlling an intelligent lawn mower, characterized in that: The method comprises: Detecting the output torque of the mowing motor during operation of the intelligent mower; If the output torque reaches a first set threshold, reducing the wheel speed of the smart lawn mower, and controlling the operation of the smart lawn mower based on the reduced wheel speed so that the blade speed remains unchanged; If the output torque reaches a first set threshold, reducing the wheel speed of the intelligent lawn mower includes: If the output torque reaches a first set threshold, determining a speed reduction coefficient of the wheel speed based on the set deceleration percentage of the wheel speed, the output torque, and the first set threshold; determining a target wheel speed of the intelligent lawn mower after the speed is reduced according to the wheel speed of the intelligent lawn mower and the speed reduction coefficient; Controlling the wheel speed of the intelligent lawn mower to reduce to the target wheel speed based on the set deceleration slope; The step of determining the wheel speed reduction coefficient based on the set deceleration percentage of the wheel speed, the output torque, and the first set threshold value includes: determining a first difference between the output torque and the first set threshold; determining a second difference between the maximum output torque and the first set threshold based on the maximum output torque of the mowing motor; Obtaining a ratio between the first difference and the second difference; A product of the ratio and the set deceleration percentage is calculated, and the product is determined as a deceleration coefficient of the wheel speed.

2. The method according to claim 1, characterized in that After reducing the wheel speed of the intelligent lawn mower, the method further includes: If it is detected that the output torque of the lawn mower motor reaches a second set threshold, the wheel speed of the intelligent lawn mower is controlled to increase to a set wheel speed, wherein the second set threshold is smaller than the first set threshold.

3. The method according to claim 2, characterized in that The controlling the wheel speed of the intelligent lawn mower to increase to a set wheel speed includes: The wheel speed of the intelligent lawn mower is controlled to increase to a set wheel speed based on the set acceleration slope.

4. The method according to claim 1, wherein After reducing the wheel speed of the intelligent lawn mower, the method further includes: If the output torque is not less than the first set threshold, the walking path of the intelligent lawn mower is replanned.

5. The method according to claim 4, characterized in that The method further comprises: detecting the rotational speed of a blade driven by the intelligent mowing motor; If the blade rotation speed is less than the target blade rotation speed, it is determined that the output torque is not less than the first set threshold.

6. The method according to claim 4, characterized in that The replanning of the walking path of the intelligent lawn mower includes: Controlling the intelligent lawn mower to retreat a preset distance and adjusting the forward direction of the intelligent lawn mower; The intelligent lawn mower is controlled to move in the adjusted forward direction.

7. The method according to claim 1, characterized in that The step of determining a target wheel speed of the intelligent lawn mower after the speed is reduced according to the wheel speed of the intelligent lawn mower and the speed reduction coefficient includes: determining a reduced wheel speed of the intelligent lawn mower according to the wheel speed of the intelligent lawn mower and the speed reduction coefficient; The difference between the wheel speed of the intelligent lawn mower and the reduced wheel speed of the intelligent lawn mower is determined as the target wheel speed of the intelligent lawn mower after the speed is reduced.

8. An intelligent lawn mower control device, characterized in that: The device comprises: A detection module, used for detecting the output torque of the mowing motor during operation of the intelligent mower; a control module, configured to reduce a wheel speed of the intelligent lawn mower if the output torque reaches a first set threshold, and control the operation of the intelligent lawn mower based on the reduced wheel speed so that a blade speed remains unchanged; The control module is used to: If the output torque reaches a first set threshold, determining a reduction coefficient of the wheel speed based on the set deceleration percentage of the wheel speed, the output torque, and the first set threshold includes: determining a first difference between the output torque and the first set threshold; determining a second difference between the maximum output torque and the first set threshold based on the maximum output torque of the mowing motor; Obtaining a ratio between the first difference and the second difference; calculating a product of the ratio and the set deceleration percentage, and determining the product as a deceleration coefficient of the wheel speed; determining a target wheel speed of the intelligent lawn mower after the speed is reduced according to the wheel speed of the intelligent lawn mower and the speed reduction coefficient; The wheel speed of the intelligent lawn mower is controlled to decrease to the target wheel speed based on the set speed reduction slope.

9. An intelligent lawn mower, characterized in that: The intelligent lawn mower automatically moves and operates within a working area defined by a boundary line. The intelligent lawn mower includes a data acquisition sensor and a controller that are interconnected. The data acquisition sensor is used to collect output torque of a mowing motor during operation of the intelligent lawn mower. The controller is used to reduce a wheel speed of the intelligent lawn mower when the output torque collected by the data acquisition sensor reaches a first set threshold, and control the operation of the intelligent lawn mower based on the reduced wheel speed so that the blade speed remains unchanged. The controller is used to: If the output torque reaches a first set threshold, determining a reduction coefficient of the wheel speed based on the set deceleration percentage of the wheel speed, the output torque, and the first set threshold includes: determining a first difference between the output torque and the first set threshold; determining a second difference between the maximum output torque and the first set threshold based on the maximum output torque of the mowing motor; Obtaining a ratio between the first difference and the second difference; Calculate the product of the ratio and the set deceleration percentage, and determine the product as the deceleration coefficient of the wheel speed determining a target wheel speed of the intelligent lawn mower after the speed is reduced according to the wheel speed of the intelligent lawn mower and the speed reduction coefficient; The wheel speed of the intelligent lawn mower is controlled to decrease to the target wheel speed based on the set speed reduction slope.

10. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

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