A method for intelligent operation of a lawnmower, a controller, and a lawnmower.

Abstract

This invention relates to the field of lawnmowers, providing an intelligent operation method, controller, and lawnmower for a lawnmower. The intelligent operation method includes: a method for intelligent operation of a lawnmower, comprising: after the lawnmower begins mowing, monitoring whether the load of the mowing motor is less than a first threshold; if it is less, continuously monitoring the load of the mowing motor for a first preset time; determining whether the load of the mowing motor remains less than the first threshold for the first preset time; and if the determination result is yes, controlling the lawnmower to stop mowing. This invention, by monitoring the load of the mowing motor, intelligently adjusts the operating parameters of the lawnmower, thereby preventing the lawnmower from continuing to move on the lawn, which could damage the lawn and affect its health.

Description

[0001] This application is a divisional application of Chinese invention patent application filed on June 22, 2021, with application number 202110693204.8 and invention title "An Intelligent Operation Method, Controller and Lawn Mower for a Lawn Mower". Technical Field

[0002] This invention belongs to the field of lawnmowers, and particularly relates to an intelligent operation method, controller and lawnmower for lawnmowers. Background Technology

[0003] A lawnmower, also known as a lawn mower, lawn trimmer, or lawn mower, is a mechanical tool used for trimming lawns, vegetation, etc. It consists of a chassis, mower body, cutter head assembly, walking mechanism, handle, and control unit. Traditional lawnmowers required manual operation, which was labor-intensive. In recent years, automatic lawnmowers and lawnmower robots have emerged, achieving largely automated lawn mowing. With the development of automatic lawnmowers, intelligent lawnmowers have gradually appeared.

[0004] When using a smart lawnmower, users need to set the start and end times of each mowing operation (i.e., set the mowing operation duration) and the interval between two adjacent mowing operations, as well as other operation parameters.

[0005] However, the operating parameters of existing smart lawnmowers are set by the user or the factory and cannot be intelligently adjusted. The set mowing time may be too long, with the lawnmower continuing to operate even after the grass has been cut, damaging the lawn with its wheels and affecting its health. Furthermore, since grass growth cycles vary with seasons and weather conditions, using the same interval for mowing during slower growth periods leads to overwork, wasting resources, and the constant rolling of the lawnmower wheels also damages the lawn, contributing to its overall health. Summary of the Invention

[0006] This invention provides an intelligent operation method for lawnmowers, which aims to solve the problem that the operating parameters of lawnmowers cannot be intelligently adjusted.

[0007] The present invention is implemented as follows: a method for intelligent operation of a lawnmower, the method comprising:

[0008] After the lawnmower starts mowing, monitor whether the load on the lawnmower's mowing motor is less than the first threshold.

[0009] When the load is less than the specified value, the load of the mowing motor is continuously monitored for a first preset time.

[0010] Determine whether the load on the lawnmower motor is consistently less than a first threshold.

[0011] If the judgment result is yes, then control the lawnmower to stop mowing.

[0012] This invention monitors the load of the lawnmower's motor after it starts mowing. When the motor load remains below a first threshold for a first preset time, it can be determined that the lawn has been mowed, and the lawnmower can be stopped. The operating parameters of the lawnmower are intelligently adjusted to prevent the lawnmower from continuing to move on the lawn, which could damage the lawn and affect its health.

[0013] Furthermore, the method also includes:

[0014] If the judgment result is negative, the lawnmower is controlled to continue mowing until the load of the mowing motor is consistently less than the first threshold within a first preset time, at which point the lawnmower is controlled to stop mowing.

[0015] Furthermore, the method also includes:

[0016] Obtain the mowing operation time of the lawnmower;

[0017] Update the mowing operation time of the lawnmower.

[0018] Furthermore, the update of the lawnmower's mowing operation time specifically refers to:

[0019] Obtain the start time of the lawnmower's operation;

[0020] Obtain the termination time when the lawnmower stops mowing;

[0021] The lawn mowing operation duration is updated based on the start and end times.

[0022] This invention also provides another intelligent operation method for lawnmowers, the method comprising:

[0023] Obtain the interval between two lawn mowing operations;

[0024] After the lawnmower completes a mowing operation, the total or average load of the mowing motor for that operation is calculated as the first load value.

[0025] Determine whether the first load value is less than the second threshold;

[0026] If the judgment result is yes, the interval time is extended; if the judgment result is no, the interval time is shortened.

[0027] This invention, in its embodiments, calculates the total or average load of the mowing motor after each mowing operation as a first load value. When the first load value is less than a second threshold, it can be determined that the grass is short, and the mowing interval is extended. When the first load value is greater than the second threshold, it can be determined that the grass is deep, and the mowing interval is shortened. By intelligently adjusting the operating parameters of the mowing machine, it prevents resource waste caused by the mowing machine working too frequently, and also prevents the intelligent mowing machine wheels from frequently rolling over the lawn and damaging it, thus affecting the health of the lawn.

[0028] Furthermore, the method also includes:

[0029] After the lawnmower completes one mowing operation, it is controlled to continue mowing for a second preset time and the load of the mowing motor is monitored.

[0030] Determine whether the load of the lawnmower motor is consistently less than a third threshold within the second preset time period;

[0031] If the judgment result is yes, the interval time is extended; if the judgment result is no, the interval time is shortened.

[0032] This invention also provides another intelligent operation method for lawnmowers, the method comprising:

[0033] Obtain the interval between two lawn mowing operations;

[0034] After the lawnmower completes a mowing operation, the total or average load of the mowing motor for that operation is calculated as the second load value.

[0035] After the lawnmower completes the next mowing operation, the total or average load of the mowing motor for that mowing operation is calculated as the third load value.

[0036] Determine whether the third load value is less than the second load value;

[0037] If the judgment result is yes, the interval time is extended; if the judgment result is no, the interval time is shortened.

[0038] This invention, in its embodiments, calculates the total or average load of the mowing motor after each mowing operation as a second load value. After the mowing machine completes the next mowing operation, it calculates the total or average load of the mowing motor as a third load value. When the third load value is less than the second load value, it can be determined that the grass is short, and the mowing machine is controlled to extend the interval time. When the third load value is greater than the second load value, it can be determined that the grass is deep, and the mowing machine is controlled to shorten the interval time. By intelligently adjusting the operating parameters of the mowing machine, it prevents the waste of resources caused by the mowing machine working too frequently, and also prevents the intelligent mowing machine wheels from frequently rolling over the lawn and damaging it, thus affecting the health of the lawn.

[0039] Furthermore, the method also includes:

[0040] After the lawnmower completes one mowing operation, it is controlled to continue mowing for a third preset time period, and the load of the mowing motor is monitored.

[0041] Determine whether the load of the lawnmower motor is consistently less than a fourth threshold within the third preset time period;

[0042] If the judgment result is yes, the interval time is extended; if the judgment result is no, the interval time is shortened.

[0043] This invention also provides a controller, comprising:

[0044] The first monitoring module is used to monitor whether the load of the mower's motor is less than a first threshold after the mower starts mowing operations.

[0045] The second monitoring module is used to continuously monitor the load of the mowing motor for a first preset time when the load is less than a certain value.

[0046] The first judgment module is used to determine whether the load of the lawnmower motor is always less than a first threshold within a first preset time period.

[0047] The first execution module is used to control the lawnmower to stop mowing when the judgment result is yes.

[0048] This invention also provides a controller, comprising:

[0049] The first acquisition module is used to acquire the interval time between two lawn mowing operations;

[0050] The first calculation module is used to calculate the total or average load of the mowing motor for a mowing operation as the first load value after the mower completes a mowing operation.

[0051] The second judgment module is used to determine whether the first load value is less than the second threshold.

[0052] The first adjustment module is used to extend the interval time when the judgment result is yes, and to shorten the interval time when the judgment result is no.

[0053] This invention also provides a controller, comprising:

[0054] The second acquisition module is used to acquire the interval time between two mowing operations;

[0055] The second calculation module is used to calculate the total or average load of the mowing motor for a mowing operation as a second load value after the mower completes a mowing operation.

[0056] The third calculation module is used to calculate the total or average load of the mowing motor for the mowing operation after the mower completes the next mowing operation, and use this as the third load value.

[0057] The third judgment module is used to determine whether the third load value is less than the second load value;

[0058] The second adjustment module is used to extend the interval time when the judgment result is yes, and to shorten the interval time when the judgment result is no.

[0059] This invention also provides a lawnmower, comprising:

[0060] Host;

[0061] The mowing disc installed on the main unit; and

[0062] The controller described above is installed on the host. Attached Figure Description

[0063] Figure 1 This is a flowchart provided in Embodiment 1 of the present invention;

[0064] Figure 2 This is a flowchart provided in Embodiment 2 of the present invention;

[0065] Figure 3 This is a flowchart provided in Embodiment 3 of the present invention;

[0066] Figure 4 This is another flowchart provided in Embodiment 3 of the present invention;

[0067] Figure 5 This is a structural block diagram of the controller provided in Embodiment 4 of the present invention;

[0068] Figure 6 This is another structural block diagram of the controller provided in Embodiment 4 of the present invention;

[0069] Figure 7 This is another structural block diagram of the controller provided in Embodiment 4 of the present invention;

[0070] Figure 8 This is another structural block diagram of the controller provided in Embodiment 4 of the present invention;

[0071] Figure 9 This is a structural block diagram of the third adjustment module provided in Embodiment 4 of the present invention;

[0072] Figure 10 This is a flowchart provided in Embodiment 5 of the present invention;

[0073] Figure 11 This is a flowchart provided in Embodiment Six of the present invention;

[0074] Figure 12 This is a structural block diagram of the controller provided in Embodiment 7 of the present invention;

[0075] Figure 13 This is another structural block diagram of the controller provided in Embodiment 7 of the present invention;

[0076] Figure 14 This is a flowchart provided in Embodiment 8 of the present invention;

[0077] Figure 15 This is a flowchart provided in Embodiment Nine of the present invention;

[0078] Figure 16 This is a structural block diagram of the controller provided in Embodiment 10 of the present invention;

[0079] Figure 17 This is another structural block diagram of the controller provided in Embodiment 10 of the present invention.

[0080] In the diagram, 11 is the first monitoring module; 12 is the second monitoring module; 13 is the first judgment module; 14 is the first execution module; 15 is the second execution module; 16 is the third acquisition module; 17 is the third adjustment module; 171 is the start time acquisition submodule; 172 is the end time acquisition submodule; 173 is the operation duration adjustment submodule; 21 is the first acquisition module; 22 is the first calculation module; 23 is the second judgment module; 24 is the first adjustment module; 25 is the third monitoring module; 26 is the fourth judgment module; 27 is the fourth adjustment module; 31 is the second acquisition module; 32 is the second calculation module; 33 is the third calculation module; 34 is the third judgment module; 35 is the second adjustment module; 36 is the fourth monitoring module; 37 is the fifth judgment module; and 38 is the fifth adjustment module. Detailed Implementation

[0081] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0082] This invention provides an intelligent operation method for a lawnmower, comprising: monitoring the load of the lawnmower's mowing motor after the lawnmower starts mowing; determining whether the load of the mowing motor is consistently less than a first threshold within a first preset time; and controlling the lawnmower to stop mowing when the determination result is yes. This embodiment of the invention monitors the load of the lawnmower's mowing motor after the lawnmower starts mowing. When the load of the mowing motor is consistently less than a first threshold within a first preset time, it can be determined that the lawn has been mowed, and the lawnmower can be controlled to stop mowing. This intelligent adjustment of the lawnmower's operating parameters prevents the lawnmower from continuing to move on the lawn, thus preventing damage to the lawn from the mowing wheels and affecting the health of the lawn.

[0083] Example 1

[0084] like Figure 1 As shown, the present invention provides an intelligent operation method for a lawnmower, the method comprising:

[0085] After the lawnmower starts mowing, monitor whether the load on the lawnmower's mowing motor is less than the first threshold.

[0086] When the load is less than the specified value, the load of the mowing motor is continuously monitored for a first preset time.

[0087] Determine whether the load of the lawnmower motor remains below a first threshold for a first preset time period;

[0088] If the judgment result is yes, then control the lawnmower to stop mowing.

[0089] The methods for monitoring the lawnmower motor load include monitoring the instantaneous operating current of the lawnmower motor or monitoring the instantaneous operating power of the lawnmower motor. The first preset time and the first threshold can be set by the user or by the lawnmower factory settings. Specifically, the first threshold can be the lawnmower motor load detected when the lawn is mowed to the desired height and the lawnmower continues mowing on the lawn that has reached the desired height. The desired height can also be adjusted according to the user's preference. For example, some users prefer a grass height of 10 cm, while others prefer 20 cm. When the user prefers a grass height of 10 cm, the first threshold can be set as the lawnmower motor load detected when the lawnmower continues mowing on grass that is 10 cm high.

[0090] The first preset time can be any preset time, such as 1 minute, 2 minutes, 3 minutes, etc. Within the first preset time, it is determined whether the lawnmower motor load is consistently lower than the first threshold. This can prevent misjudgments caused by uneven grass height or temporary entry into already mowed areas where the lawnmower motor load temporarily falls below the first threshold.

[0091] In this invention, the user can set a relatively long mowing time, for example, from 15:00 to 19:00. The lawnmower starts working at 15:00. If, at 17:00, the load on the mowing motor is detected to be consistently below a first threshold for a first preset time period, the lawnmower is controlled to end the mowing operation early. Stopping the mowing operation means stopping the lawnmower's blade drive motor, thus disabling the mowing blades.

[0092] This invention monitors the load of the lawnmower's motor after it starts mowing. When the motor load remains below a first threshold for a first preset time, it can be determined that the lawn has been mowed, and the lawnmower can be stopped. The operating parameters of the lawnmower are intelligently adjusted to prevent the lawnmower from continuing to move on the lawn, which could damage the lawn and affect its health.

[0093] Example 2

[0094] like Figure 2 As shown, in another optional embodiment of the present invention, the intelligent operation method for the lawnmower includes:

[0095] After the lawnmower starts mowing, monitor the load on the mowing motor.

[0096] Within a first preset time period, it is determined whether the load of the lawnmower motor is consistently less than a first threshold.

[0097] When the judgment result is yes, control the lawnmower to stop mowing.

[0098] If the judgment result is negative, the lawnmower is controlled to continue mowing until the load of the mowing motor is consistently less than the first threshold within a first preset time, at which point the lawnmower is controlled to stop mowing.

[0099] In this embodiment of the invention, when the judgment result is negative, the lawnmower is controlled to continue mowing until the load of the mowing motor is consistently less than a first threshold within a first preset time. At this point, the lawnmower is controlled to stop mowing. The user can arbitrarily set the mowing duration, i.e., arbitrarily set the start and end times of the mowing operation. The lawnmower starts working at the set start time. When the load of the mowing motor is consistently less than the first threshold within the first preset time, it can be determined that the grass has been mowed, and the lawnmower stops mowing. For example, if the user sets the mowing time to 15:00 to 19:00, and the lawnmower starts working at 15:00, if the load of the mowing motor is detected to be consistently less than the first threshold within the first preset time at 17:00, the lawnmower is controlled to end mowing early. If the load of the mowing motor has not yet reached the condition of consistently being less than the first threshold within the first preset time at 19:00, the lawnmower is controlled to continue mowing. If the load of the mowing motor is detected to be consistently less than the first threshold within the first preset time at 21:00, the lawnmower is controlled to end mowing at this time.

[0100] The embodiments of the present invention can prevent the grass on the lawn from not being completely cut due to the user setting the mowing operation time too short, so that the lawnmower can complete the mowing operation more intelligently without the need for manual monitoring.

[0101] Example 3

[0102] like Figure 3 , Figure 4 As shown, in another optional embodiment of the present invention, the intelligent operation method for lawnmowers further includes: obtaining the lawnmower's mowing operation time; and updating the lawnmower's mowing operation time.

[0103] Specifically, updating the mowing operation duration of the lawnmower involves: obtaining the start time of the lawnmower starting the mowing operation; obtaining the end time of the lawnmower stopping the mowing operation; and updating the mowing operation duration based on the start time and end time.

[0104] Among them, obtaining the mowing operation time of the lawnmower means obtaining the preset value of the mowing operation time of the lawnmower. After completing one mowing operation, the preset value is adjusted to the actual time of the lawnmower completing the mowing operation (i.e., the difference between the start time and the end time).

[0105] The embodiments of the present invention can adjust the mowing time of the lawnmower according to the actual working time, so that the lawnmower can complete the mowing work more intelligently. Users can set the mowing time at will, and no manual monitoring is required.

[0106] Example 4

[0107] like Figure 5 As shown, the present invention also provides a controller, comprising:

[0108] The first monitoring module 11 is used to monitor whether the load of the mowing motor of the lawnmower is less than a first threshold after the lawnmower starts mowing operations.

[0109] The second monitoring module 12 is used to continuously monitor the load of the mowing motor for a first preset time when the load is less than the specified value.

[0110] The first judgment module 13 is used to determine whether the load of the lawn mowing motor is always less than the first threshold within a first preset time.

[0111] The first execution module 14 is used to control the lawnmower to stop mowing when the judgment result is yes.

[0112] In this embodiment of the invention, the first monitoring module 11 monitors the load of the mower motor after the mower starts mowing. When the mower motor load is less than a first threshold, the second monitoring module 12 continuously monitors the mower motor load for a first preset time. When the mower motor load remains less than the first threshold for the first preset time, the first judgment module 13 can determine that the lawn has been mowed. The first execution module 14 then controls the mower to stop mowing and intelligently adjusts the operating parameters of the mower to prevent the mower from continuing to move on the lawn, which could damage the lawn and affect its health.

[0113] like Figure 6 As shown, in another optional embodiment of the invention, the controller further includes:

[0114] The second execution module 15 is used to control the lawnmower to continue mowing when the judgment result is negative, until the load of the mowing motor is consistently less than the first threshold within a first preset time, and then control the lawnmower to stop mowing.

[0115] When the judgment result is negative, the second execution module 15 controls the lawnmower to continue mowing until it receives a signal from the first judgment module 13 that the load of the mowing motor is consistently less than the first threshold within a first preset time. At this point, the second execution module 15 controls the lawnmower to stop mowing. Therefore, the user can arbitrarily set the mowing operation duration, that is, arbitrarily set the start time and end time of the mowing operation. The lawnmower starts working at the set start time of the mowing operation. When the load of the mowing motor is consistently less than the first threshold within a first preset time, it can be determined that the grass has been mowed, and the lawnmower stops mowing.

[0116] like Figure 7 , Figure 8 As shown, in another optional embodiment of the invention, the controller further includes:

[0117] The third acquisition module 16 is used to acquire the mowing operation time of the lawnmower;

[0118] The third adjustment module 17 is used to update the mowing operation time of the lawnmower.

[0119] like Figure 9 As shown, in another optional embodiment of the present invention, the third adjustment module 17 includes:

[0120] The start time acquisition submodule 171 is used to acquire the start time of the lawnmower starting its mowing operation;

[0121] The termination time acquisition submodule 172 is used to acquire the termination time when the lawnmower stops mowing.

[0122] The operation duration adjustment submodule 173 is used to update the mowing operation duration according to the start time and end time.

[0123] In this embodiment, the third adjustment module 17 can update the set lawnmower mowing operation duration to the difference between the start time of the lawnmower's start mowing operation and the end time of the lawnmower's stop mowing operation. This embodiment of the invention can update and adjust the lawnmower's mowing operation duration according to the actual operation time, enabling the lawnmower to complete the mowing operation more intelligently without the need for manual monitoring.

[0124] Example 5

[0125] like Figure 10 As shown, the present invention also provides an intelligent operation method for a lawnmower, the method comprising:

[0126] Obtain the interval between two lawn mowing operations;

[0127] After the lawnmower completes a mowing operation, the total or average load of the mowing motor for that operation is calculated as the first load value.

[0128] Determine whether the first load value is less than the second threshold;

[0129] If the judgment result is yes, the interval time is extended; if the judgment result is no, the interval time is shortened.

[0130] In this invention, the second threshold can be set by the user or by the lawnmower factory. Specifically, the second threshold can be the sum or average value of the lawnmower motor load after the grass on the lawn has been cut from the predetermined height to the required height. It should be noted that if the grass is relatively flat, the real-time lawnmower motor load can be used as the first load value and directly compared with it; this is an equivalent technical solution to the sum or average value of the lawnmower motor load used in this invention. If the first load value is less than the second threshold, it can be determined that the actual height of the grass before mowing is less than the predetermined height, thus indicating slow grass growth and allowing for an extended interval. If the first load value is greater than the second threshold, it can be determined that the actual height of the grass before mowing is greater than the predetermined height, thus indicating fast grass growth and allowing for a shorter interval.

[0131] This invention is adaptable to different seasons, weather conditions, and grass growth cycles. Embodiments of this invention can determine the grass height based on the sum or average value of the mowing motor load, thereby intelligently adjusting the interval between two mowing operations. This avoids problems such as resource waste caused by the intelligent lawnmower working too frequently, and damage to the lawn from frequent trampling, which negatively impacts lawn health.

[0132] Example 6

[0133] like Figure 11 As shown, in an optional embodiment of the present invention, the method includes:

[0134] Obtain the interval between two lawn mowing operations;

[0135] After the lawnmower completes a mowing operation, the total or average load of the mowing motor for that operation is calculated as the first load value.

[0136] Determine whether the first load value is less than the second threshold;

[0137] If the judgment result is yes, the interval time is extended; if the judgment result is no, the interval time is shortened.

[0138] After the lawnmower completes one mowing operation, it is controlled to continue mowing for a second preset time and the load of the mowing motor is monitored.

[0139] Determine whether the load of the lawnmower motor is consistently less than a third threshold within the second preset time period;

[0140] If the judgment result is yes, the interval time is extended; if the judgment result is no, the interval time is shortened.

[0141] In this invention, the second preset time has the same meaning as the first preset time in Embodiment 1, and the specific numbers may be the same or different. The third threshold is the load of the mower motor when the grass on the lawn has been cut to the required height, which has the same meaning as the first threshold in Embodiment 1, and the specific numbers may be the same or different.

[0142] Since the required mowing height is set on the lawnmower, if the required height is set incorrectly or forgotten to be adjusted back to the required height, the actual height of the grass after a mowing operation may not be the required height.

[0143] In this invention, after the lawnmower completes one mowing operation, it can be controlled to continue mowing for a second preset time, and the load of the mowing motor can be monitored to detect whether the actual height of the grass is the required height. If it is less than a third threshold, it is determined that the actual height of the grass is lower than the required height, too much grass has been cut, and the interval between the next mowing is extended. If it is greater than the third threshold, it is determined that the actual height of the grass is higher than the required height, too little grass has been cut, and the interval between the next mowing is shortened.

[0144] This invention can intelligently adjust the interval between two mowing operations, avoiding the problem of unreasonable mowing intervals caused by errors in the previous mowing.

[0145] Implementing Column 7

[0146] like Figure 12 As shown, the present invention also provides a controller, comprising:

[0147] The first acquisition module 21 is used to acquire the interval time between two mowing operations;

[0148] The first calculation module 22 is used to calculate the total or average load of the mowing motor for the mowing operation as the first load value after the mowing machine completes a mowing operation.

[0149] The second judgment module 23 is used to determine whether the first load value is less than the second threshold.

[0150] The first adjustment module 24 is used to extend the interval time when the judgment result is yes, and to shorten the interval time when the judgment result is no.

[0151] This invention can determine the height of the grass based on the sum or average value of the load on the mowing motor, thereby intelligently adjusting the interval between two mowing operations. This avoids problems such as resource waste and damage to the lawn caused by the intelligent mower working too frequently, which can affect the health of the lawn.

[0152] like Figure 13As shown, in an optional embodiment of the present invention, the controller further includes:

[0153] The third monitoring module 25 is used to control the lawnmower to continue mowing for a second preset time after the lawnmower completes a mowing operation, and to monitor the load of the lawnmower's mowing motor.

[0154] The fourth judgment module 26 is used to determine whether the load of the lawnmower motor is always less than the third threshold during the second preset time period;

[0155] The fourth adjustment module 27 is used to extend the interval time when the judgment result is yes, and to shorten the interval time when the judgment result is no.

[0156] This invention can also intelligently adjust the interval between two mowing operations, avoiding the problem of unreasonable mowing intervals caused by errors in the previous mowing.

[0157] Example 8

[0158] like Figure 14 As shown, the present invention also provides an intelligent operation method for a lawnmower, the method comprising:

[0159] Obtain the interval between two lawn mowing operations;

[0160] After the lawnmower completes a mowing operation, the total or average load of the mowing motor for that operation is calculated as the second load value.

[0161] After the lawnmower completes the next mowing operation, the total or average load of the mowing motor for that mowing operation is calculated as the third load value.

[0162] Determine whether the third load value is less than the second load value;

[0163] If the judgment result is yes, the interval time is extended; if the judgment result is no, the interval time is shortened.

[0164] In this embodiment, the second load value can be the sum or average value of the mowing motor load of a standard mowing operation, calculated after the operation. The third load value of any subsequent mowing operation is compared with the second load value of the standard mowing operation. Alternatively, the second load value can be the sum or average value of the mowing motor load of the previous mowing operation, calculated after the operation. The comparison between the third load value and the second load value is always made by comparing the sum or average value of the mowing motor load of two adjacent mowing operations.

[0165] It should be noted that if the grass is relatively flat, the real-time lawnmower motor load can be used as the second and third load values ​​and directly compared with the real-time lawnmower motor load. This is also an equivalent technical solution to the sum or average value of the lawnmower motor load used in this invention.

[0166] If the third load value is less than the second load value, it can be determined that the actual height of the grass before mowing is less than the predetermined height to be mowed or the height before the last mowing operation. Therefore, it can be determined that the grass is growing slowly and the interval time can be extended. If the third load value is greater than the second load value, it can be determined that the actual height of the grass before mowing is greater than the predetermined height to be mowed or the height before the last mowing operation. Therefore, it can be determined that the grass is growing fast and the interval time can be shortened.

[0167] This invention is adaptable to different seasons, weather conditions, and grass growth cycles. Embodiments of this invention can determine the grass height based on the sum or average value of the mowing motor load, thereby intelligently adjusting the interval between two mowing operations. This avoids problems such as resource waste caused by the intelligent lawnmower working too frequently, and damage to the lawn from frequent trampling, which negatively impacts lawn health.

[0168] Example 9

[0169] like Figure 15 As shown, in an optional embodiment of the present invention, the method includes:

[0170] Obtain the interval between two lawn mowing operations;

[0171] After the lawnmower completes a mowing operation, the total or average load of the mowing motor for that operation is calculated as the second load value.

[0172] After the lawnmower completes the next mowing operation, the total or average load of the mowing motor for that mowing operation is calculated as the third load value.

[0173] Determine whether the third load value is less than the second load value;

[0174] If the judgment result is yes, the interval time is extended; if the judgment result is no, the interval time is shortened.

[0175] After the lawnmower completes one mowing operation, it is controlled to continue mowing for a third preset time period, and the load of the mowing motor is monitored.

[0176] Determine whether the load of the lawnmower motor is consistently less than a fourth threshold within the third preset time period;

[0177] If the judgment result is yes, the interval time is extended; if the judgment result is no, the interval time is shortened.

[0178] The third preset time in this embodiment has the same meaning as the second preset time in embodiment six, and the fourth threshold has the same meaning as the third threshold in embodiment six. For a detailed description and technical effect of this embodiment, please refer to embodiment eight and embodiment six, which will not be repeated here.

[0179] Example 10

[0180] like Figure 16 As shown, the present invention also provides a controller, comprising:

[0181] The second acquisition module 31 is used to acquire the interval time between two mowing operations;

[0182] The second calculation module 32 is used to calculate the total or average load of the mowing motor for the mowing operation as the second load value after the mower completes a mowing operation.

[0183] The third calculation module 33 is used to calculate the total or average load of the mowing motor for the mowing operation as the third load value after the mower completes the next mowing operation.

[0184] The third judgment module 34 is used to determine whether the third load value is less than the second load value;

[0185] The second adjustment module 35 is used to extend the interval time when the judgment result is yes, and to shorten the interval time when the judgment result is no.

[0186] This invention can determine the height of the grass based on the sum or average value of the load on the mowing motor, thereby intelligently adjusting the interval between two mowing operations. This avoids problems such as resource waste and damage to the lawn caused by the intelligent mower working too frequently, which can affect the health of the lawn.

[0187] like Figure 17 As shown, in an optional embodiment of the present invention, the controller further includes:

[0188] The fourth monitoring module 36 is used to control the lawnmower to continue mowing for a third preset time after the lawnmower completes a mowing operation, and to monitor the load of the lawnmower's mowing motor.

[0189] The fifth judgment module 37 is used to determine whether the load of the lawnmower motor is always less than the fourth threshold within the third preset time period;

[0190] The fifth adjustment module 38 is used to extend the interval time when the judgment result is yes, and to shorten the interval time when the judgment result is no.

[0191] This invention can also intelligently adjust the interval between two mowing operations, avoiding the problem of unreasonable mowing intervals caused by errors in the previous mowing.

[0192] Example 11

[0193] The present invention also provides a lawnmower, comprising: a main unit; a mowing disc disposed on the main unit; and a controller disposed on the main unit as described above.

[0194] This invention monitors the load of the lawnmower's motor after it starts mowing, which determines that the lawn has been completely mowed. It then controls the lawnmower to stop mowing and intelligently adjusts its operating parameters to prevent the lawnmower from continuing to move on the lawn, thus preventing damage to the lawn from the lawnmower wheels and affecting the health of the lawn.

[0195] This invention can also adapt to different seasons, different weather conditions, and different growth cycles of grass. In embodiments of this invention, the height of the grass can be determined based on the load of the mowing motor, the sum of the mowing motor loads, or the average load of the mowing motors, thereby intelligently adjusting the interval between two mowing operations. This avoids problems such as resource waste caused by the intelligent lawnmower working too frequently, and damage to the lawn from frequent trampling, which affects the health of the lawn.

[0196] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A mowing machine intelligent operation method, characterized by, The method comprises: acquiring an interval time between two mowing operations; calculating a total or average of the mowing motor load of a mowing operation as a first load value after the mower completes the mowing operation; determining whether the first load value is less than a second threshold value; when the determination result is yes, extending the interval time, and when the determination result is no, shortening the interval time; The method further comprises: controlling the mower to continue the mowing operation for a second preset time after the mower completes a mowing operation, and monitoring the mowing motor load of the mower; determining whether the mowing motor load is always less than a third threshold value within the second preset time; when the determination result is yes, extending the interval time, and when the determination result is no, shortening the interval time.

2. A mowing machine intelligent work method, characterized in that, The method comprises: acquiring an interval time between two mowing operations; calculating a total or average of the mowing motor load of a mowing operation as a second load value after the mower completes the mowing operation; calculating a total or average of the mowing motor load of a mowing operation as a third load value after the mower completes the next mowing operation; determining whether the third load value is less than the second load value; when the determination result is yes, extending the interval time, and when the determination result is no, shortening the interval time; The method further comprises: controlling the mower to continue the mowing operation for a third preset time after the mower completes a mowing operation, and monitoring the mowing motor load of the mower; determining whether the mowing motor load is always less than a fourth threshold value within the third preset time; when the determination result is yes, extending the interval time, and when the determination result is no, shortening the interval time.

3. A controller characterized by comprising: It comprises: a first acquisition module for acquiring an interval time between two mowing operations; a first calculation module for calculating a total or average of the mowing motor load of a mowing operation as a first load value after the mower completes the mowing operation; a second determination module for determining whether the first load value is less than a second threshold value; a first adjustment module for, when the determination result is yes, extending the interval time, and when the determination result is no, shortening the interval time; a third monitoring module for controlling the mower to continue the mowing operation for a second preset time after the mower completes a mowing operation, and monitoring the mowing motor load of the mower; a fourth determination module for determining whether the mowing motor load is always less than a third threshold value within the second preset time; a fourth adjustment module for, when the determination result is yes, extending the interval time, and when the determination result is no, shortening the interval time.

4. A controller characterized by comprising: It comprises: a second acquisition module for acquiring an interval time between two mowing operations; a second calculation module for calculating a total or average of the mowing motor load of a mowing operation as a second load value after the mower completes the mowing operation; a third calculation module for calculating a total or average of the mowing motor load of a mowing operation as a third load value after the mower completes the next mowing operation; a third determination module for determining whether the third load value is less than the second load value; a second adjusting module, configured to lengthen the interval time when the result of the judgment is yes, and shorten the interval time when the result of the judgment is no; a fourth monitoring module, configured to control the mower to continue mowing after the mower completes a mowing operation, and monitor a mowing motor load of the mower within a third preset time; a fifth judging module, configured to judge whether the mowing motor load is less than a fourth threshold value all the time within the third preset time; a fifth adjusting module, configured to lengthen the interval time when the result of the judgment is yes, and shorten the interval time when the result of the judgment is no.

5. A lawnmower characterised in that, comprising: a host; a mowing disc arranged on the host; and a controller as claimed in any one of claims 3 or 4 arranged on the host.

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