A method, system, intelligent terminal and storage medium for solving the problem of a knife tooth being clamped

Abstract

The application relates to a method and system for freeing a stuck knife tooth, an intelligent terminal and a storage medium, and relates to the field of plant pruning technology, which comprises the following steps: acquiring current motor stall triggering information; determining a current unblocking mode according to the motor stall triggering information; instructing the motor to rotate according to the unblocking mode, and updating the motor stall triggering information; and repeatedly determining the unblocking mode or stopping the machine and giving a warning based on the updated motor stall triggering information. The application has the effect of improving the convenience of freeing a stuck knife tooth of a tea tree pruning machine.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of plant pruning technology, and in particular to a method and system for freeing a stuck knife tooth, an intelligent terminal, and a storage medium. BACKGROUND

[0002] A tea tree pruning machine is a special operation machine for tea garden management, which is used for light pruning, shaping pruning, deep pruning, heavy pruning, and bench cutting of tea trees.

[0003] In related technology, a tea tree pruning machine usually includes an upper knife and a lower knife. When a person uses the tea tree pruning machine to prune tea trees, the motor drives the upper knife and the lower knife to reciprocate and stagger, so that the upper knife and the lower knife cut off the branches and leaves on the tea trees. When the branches and leaves block and kill the upper knife and the lower knife during the pruning process, the person needs to use a screwdriver or other sharp objects to clean out the blocked branches and leaves, so as to ensure the normal use of the tea tree pruning machine.

[0004] In view of the related technology in the above, the inventor believes that when the branches and leaves block and kill the upper knife and the lower knife of the tea tree pruning machine, the person needs to use a screwdriver or other sharp objects to pick out the branches and leaves blocked between the knife teeth, which leads to the inconvenience of freeing the stuck knife tooth of the tea tree pruning machine, and there is still room for improvement. SUMMARY

[0005] In order to improve the convenience of freeing the stuck knife tooth of the tea tree pruning machine, the present application provides a method and system for freeing the stuck knife tooth, an intelligent terminal, and a storage medium.

[0006] In a first aspect, the present application provides a method for freeing the stuck knife tooth, which adopts the following technical solution:

[0007] A method for freeing the stuck knife tooth includes:

[0008] Obtaining current motor stall triggering information;

[0009] Determining a current unblocking mode according to the motor stall triggering information;

[0010] Controlling the motor to rotate according to the unblocking mode, and updating the motor stall triggering information;

[0011] Repeating the determination of the unblocking mode or the shutdown warning based on the updated motor stall triggering information.

[0012] By adopting the above technical solution, the motor stall triggering information is detected, the unblocking mode is determined according to the motor stall triggering information, the motor is controlled to rotate for unblocking according to the unblocking mode, and the motor stall triggering information is updated, so as to determine the unblocking mode or the shutdown warning according to the updated motor stall triggering information, thereby improving the convenience of freeing the stuck knife tooth of the tea tree pruning machine.

[0013] Optionally, the method for repeatedly determining the unblocking mode based on the motor stall triggering information update comprises:

[0014] Obtaining the current stall frequency;

[0015] Comparing the stall frequency with the preset reference stall frequency to issue an alarm prompt or obtain the current rotation direction of the motor;

[0016] Based on the rotation direction, the current unblocking mode is determined, and the motor is instructed to unblock according to the unblocking mode.

[0017] By adopting the above technical solution, the stall frequency is detected, and when the stall frequency is greater than the reference stall frequency, an alarm is issued; when the stall frequency is not greater than the reference stall frequency, the rotation direction is detected, and the unblocking mode is determined according to the rotation direction, so that the motor is controlled to unblock according to the unblocking mode, thereby improving the efficiency of the tea tree pruning machine cutter stuck in trouble.

[0018] Optionally, the method for instructing the motor to unblock comprises:

[0019] Determine the current reverse rotation according to the rotation direction;

[0020] According to the reverse rotation, the preset rotation angle and the preset rotation power, the motor is instructed to rotate reversely, and the current cutter movement distance is obtained;

[0021] Comparing the cutter movement distance with the preset reference movement distance to obtain the current movement time or instructing the motor to rotate according to the rotation direction, the rotation angle and the rotation power;

[0022] Based on the movement time, the movement time is compared with the preset reference time to continue to obtain the cutter movement distance or issue an alarm prompt;

[0023] Based on the instruction of the motor rotation according to the rotation direction, the rotation angle and the rotation power, the current cleaning stall information of the motor is obtained;

[0024] Comparing the cleaning stall information with the reference stall information to continue to obtain the stall information or instructing the motor and the preset vibration device to continue to unblock.

[0025] According to the technical scheme, the reverse rotation is determined according to the rotation direction, the motor is controlled to reverse the rotation direction, the rotation power and the rotation angle, the moving distance of the cutter teeth is detected, when the moving distance of the cutter teeth is not less than the reference moving distance, the motor is controlled to rotate forward according to the rotation direction, the rotation angle and the rotation power, so that the cutter teeth are close to each other, after the forward rotation, the detection of the information of the cleaning of the blockage is performed again, so that the motor is repeatedly controlled to rotate forward and reverse, and the convenience of the cutter teeth stuck is improved; when the moving distance of the cutter teeth is less than the reference moving distance, the moving time is detected, when the moving time is greater than the reference time, the personnel is warned, so that the damage of the motor caused by the blockage during the reverse rotation of the motor is avoided as much as possible, and the protection of the motor is improved.

[0026] Optionally, the method for instructing the motor and the vibration device to continue to clean the blockage comprises:

[0027] When the motor is instructed to clean the blockage, the current cleaning times of the motor is acquired;

[0028] The cleaning times is compared with the preset reference times, so as to continue to acquire the cleaning times or acquire the current interval distance of the cutter teeth;

[0029] Based on the interval distance, the interval distance is compared with the preset reference interval distance, so as to continue to acquire the interval distance or calculate the difference value between the reference interval distance and the interval distance, and the calculated difference value is defined as the vibration distance;

[0030] Based on the vibration distance, the current vibration power is determined, and the vibration device is instructed to vibrate the cutter teeth according to the vibration power.

[0031] By adopting the above technical scheme, when the motor rotates to clean the blockage, the cleaning times is detected, when the cleaning times is greater than the reference times, the longitudinal distance between the upper cutter teeth and the lower cutter teeth, that is, the interval distance, is detected, when the interval distance is less than the reference interval distance, the interval distance is subtracted from the reference interval distance to obtain the vibration distance, the vibration power is determined according to the vibration distance, so that the vibration device is controlled to vibrate the cutter teeth at the vibration power, so that the distance of the cutter teeth during the reciprocating and interlaced movement is increased, so that the blocked branches and leaves are removed, and the convenience of the cutter teeth stuck is improved.

[0032] Optionally, the method for instructing the vibration device to vibrate the cutter teeth comprises:

[0033] When the motor rotates, the current coincidence trigger information of the cutter teeth is acquired;

[0034] The coincidence trigger information is compared with the preset reference coincidence trigger information, so as to continue to acquire the coincidence trigger information or instruct the vibration device to vibrate the cutter teeth;

[0035] Based on the instruction of the vibration device to vibrate the cutter teeth, the current interlaced distance of the cutter teeth is acquired.

[0036] calculating the difference between the staggered distance and the preset gap distance, and defining the calculated difference as a remaining distance;

[0037] comparing the remaining distance with the preset blade width to continue to obtain the staggered distance or instruct the vibration device to stop vibrating the blade.

[0038] By adopting the above technical solution, the coincidence trigger information of the blade is detected, when the coincidence trigger information is inconsistent with the reference coincidence trigger information, that is, when the upper and lower blades stagger, the vibration device is controlled to vibrate the blade, the staggered distance is detected, and the remaining distance is obtained by subtracting the staggered distance from the idle distance. When the remaining distance is equal to the blade width, the vibration device is controlled to stop vibrating the blade. Therefore, the blade is vibrated when the blades stagger and stopped when the blades coincide, so as to avoid the collision of the blades caused by vibration as much as possible, and the protection of the blades is improved.

[0039] Optionally, the method for clearing the blocked blade further comprises:

[0040] determining the current reverse movement distance according to the reverse rotation, the rotation angle and the rotation power, and obtaining the current reverse time;

[0041] comparing the reverse time with the reference time to continue to obtain the reverse time or comparing the blade movement distance with the reverse movement distance;

[0042] based on the comparison of the blade movement distance with the reverse movement distance, instructing the motor to rotate according to the rotation direction, the rotation angle and the rotation power, or obtaining the current jammed blade;

[0043] based on the jammed blade, determining the current oil injection position;

[0044] determining the jamming degree according to the reverse time, the rotation power and the blade movement distance, and determining the current oil injection amount according to the jamming degree;

[0045] instructing the preset oil injection device to lubricate and clean the blade according to the oil injection amount and the oil injection position.

[0046] By adopting the above technical solution, when the reverse time is greater than the reference time, the blade movement distance is compared with the reverse movement distance. When the blade movement distance is less than the reverse movement distance, the jammed blade is detected, so as to determine the oil injection position, determine the jamming degree according to the reverse time, the rotation power and the blade movement distance, determine the oil injection amount according to the jamming degree, and control the oil injection device to lubricate and clean the oil injection position with the oil injection amount. Therefore, the friction between the blade and the blocked branches and leaves is reduced, and the convenience of the blade jammed and rescued is improved.

[0047] Optionally, the method for obtaining the blocked rotation frequency comprises:

[0048] When the motor is reversely rotated, a current stress waveform and a current tooth distance of the clamped cutter tooth are acquired;

[0049] The stress waveform is compared with a preset reference stress waveform to determine whether the current motor is in pseudo-stall or in real stall;

[0050] Based on the motor pseudo-stall, the cutter distance is used to instruct the trimmer to continue trimming;

[0051] Based on the motor real stall, a current real stall frequency is determined;

[0052] The current stall frequency is determined according to the real stall frequency and a preset statistical time.

[0053] By using the above technical solution, when the motor is stalled, the motor is reversely rotated, and the stress waveform of the clamped cutter tooth is detected. When the stress waveform is consistent with the reference stress waveform, it indicates that the stress of the cutter tooth during reverse rotation is short, so the motor is stalled because the branches are too thick and the cutter tooth cannot be trimmed. Therefore, the cutter distance is used to control the trimmer to continue trimming. When the stress waveform is inconsistent with the reference waveform, it indicates that the stress of the cutter tooth during reverse rotation is continuous, so the motor is stalled because the branches block the cutter tooth. Therefore, the motor real stall is determined, the real stall frequency is determined, and the stall frequency is determined according to the real stall frequency and the statistical time. Thus, the stall caused by the branches that cannot be trimmed is corrected, and the accuracy of the stall frequency is improved.

[0054] In a second aspect, the application provides a cutter tooth clamping escape system, which adopts the following technical solution:

[0055] A cutter tooth clamping escape system comprises:

[0056] An acquisition module is configured to acquire motor stall triggering information;

[0057] A memory is configured to store a program of any one of the cutter tooth clamping escape methods described above;

[0058] A processor, and the program in the memory can be loaded and executed by the processor and implement any one of the cutter tooth clamping escape methods described above.

[0059] By using the above technical solution, the processor loads and executes the program of the cutter tooth clamping escape method stored in the memory, so as to control the acquisition module to acquire a series of data related to the cutter tooth clamping escape, and analyze and process the data, thereby completing the cutter tooth clamping escape and improving the convenience of the cutter tooth clamping escape of the trimmer.

[0060] In a third aspect, the application provides an intelligent terminal, which adopts the following technical solution:

[0061] An intelligent terminal comprises a memory and a processor, and the memory stores a computer program capable of being loaded and executed by the processor to implement any one of the above-described methods for releasing a jammed cutter.

[0062] By using the above technical solution, the processor loads and executes the computer program of the method for releasing a jammed cutter stored in the memory when the personnel operating the intelligent terminal issues an operation instruction, thereby releasing the jammed cutter and improving the convenience of releasing the jammed cutter of the tea tree trimmer.

[0063] In the fourth aspect, the application provides a computer storage medium capable of storing a corresponding program, which has the characteristics of facilitating the implementation of the convenience of releasing the jammed cutter of the tea tree trimmer. The technical solution is as follows:

[0064] A computer readable storage medium stores a computer program capable of being loaded and executed by the processor to implement any one of the above-described methods for releasing a jammed cutter.

[0065] By using the above technical solution, the processor directly loads and executes the computer program in the memory when the personnel operating the intelligent terminal issues an operation instruction, thereby analyzing and processing the obtained data, completing the release of the jammed cutter, and improving the efficiency of releasing the jammed cutter.

[0066] In summary, the application has at least one of the following beneficial technical effects:

[0067] 1. By detecting the motor stall triggering information and determining the clearing mode according to the motor stall triggering information, controlling the motor to rotate to clear the blockage according to the clearing mode, and updating the motor stall triggering information, the clearing mode or the shutdown warning is determined according to the updated motor stall triggering information, thereby improving the convenience of releasing the jammed cutter of the tea tree trimmer;

[0068] 2. By determining the reverse rotation according to the rotation direction, the motor is controlled to rotate in reverse, the rotation power and the rotation angle are reversed, and the cutter movement distance is detected. When the cutter movement distance is not less than the reference movement distance, the motor is controlled to rotate forward according to the rotation direction, the rotation angle and the rotation power, so that the cutters move closer to each other. After forward rotation, the detection of the clearing stall information is performed again, thereby repeatedly controlling the motor to rotate forward and reverse, thereby improving the convenience of releasing the jammed cutter. When the cutter movement distance is less than the reference movement distance, the movement time is detected. When the movement time is greater than the reference time, the personnel is warned to avoid damage to the motor caused by the reverse rotation of the motor, thereby improving the protection of the motor;

[0069] 3. The method comprises the following steps: detecting the number of times of clearing blockage when the motor rotates to clear blockage; detecting the longitudinal distance between the upper cutter and the lower cutter, i.e. the interval distance, when the number of times of clearing blockage is greater than the reference number of times; when the interval distance is less than the reference interval distance, the vibration distance is obtained by subtracting the interval distance from the reference interval distance, the vibration power is determined according to the vibration distance, and the vibration device is controlled to vibrate the cutter at the vibration power, so that the distance of the cutter in the process of reciprocating and staggered movement is increased, thereby removing the blocked branches and leaves, and further improving the convenience of the cutter being stuck. BRIEF DESCRIPTION OF DRAWINGS

[0070] Figure 1 is a flowchart of a method for removing the cutter from being stuck in the embodiments of the present application.

[0071] Figure 2 is a flowchart of a method for repeatedly determining the clearing blockage mode based on updating the motor blockage triggering information in the embodiments of the present application.

[0072] Figure 3 is a flowchart of a method for instructing the motor to clear blockage in the embodiments of the present application.

[0073] Figure 4 is a flowchart of a method for instructing the motor and the vibration device to continue to clear blockage in the embodiments of the present application.

[0074] Figure 5 is a flowchart of a method for instructing the vibration device to vibrate the cutter in the embodiments of the present application.

[0075] Figure 6 is a flowchart of a method for clearing blockage of the cutter in the embodiments of the present application.

[0076] Figure 7 is a flowchart of a method for obtaining the blockage frequency in the embodiments of the present application.

[0077] Figure 8 is a flowchart of a method for instructing the trimmer to continue to trim according to the distance of the cutter in the embodiments of the present application.

[0078] Figure 9 is a schematic diagram of an oiling device in the embodiments of the present application. DETAILED DESCRIPTION

[0079] In order to make the objectives, technical solutions and advantages of the present application clearer, the following will combine the drawings and embodiments to further describe the present application in detail. It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application. Figures 1-9

[0080] ​The application detects the motor stall triggering information when the trimmer is started, determines the unblocking mode according to the motor stall triggering information when the motor stall triggering information exists, controls the motor to rotate according to the unblocking mode, thereby removing the leaves blocked on the cutter teeth, and detects the motor stall triggering information again to determine whether the unblocking is effective, and continues to unblock in the unblocking mode when it is effective, and alarms when it is ineffective, thereby improving the convenience and efficiency of the cutter teeth jamming escape.

[0081] With reference to Figure 1 The application discloses a cutter teeth jamming escape method, which comprises the following steps:

[0082] Step S100: acquiring current motor stall triggering information.

[0083] The stall triggering information is the triggering information of the motor stopping rotating, which is detected, uploaded, and stored by a computer program and hardware for calling. The motor is a driving mechanism installed in the trimmer to drive the cutter to reciprocate and stagger to trim, and specific parameters are set by a person skilled in the art according to actual conditions, which will not be described here.

[0084] Step S101: determining the current unblocking mode according to the motor stall triggering information.

[0085] The unblocking mode refers to the mode in which the motor rotates to drive the cutter to move, so that the cutter removes the blocked leaves. When the motor stall triggering information exists, the unblocking mode can be determined.

[0086] Step S102: rotating the motor according to the unblocking mode and updating the motor stall triggering information.

[0087] The motor is controlled to rotate in the corresponding direction of the unblocking mode, so that the motor drives the cutter to remove the blocked leaves, and the motor stall triggering information is continuously detected to update the motor stall triggering information, so as to verify whether the cutter is still blocked.

[0088] Step S103: repeatedly determining the unblocking mode or stopping and alarming based on the updated motor stall triggering information.

[0089] The updated motor stall triggering information is analyzed to determine whether the motor rotates or the motor is completely stationary. When the motor rotates, the motor is controlled to unblock in the unblocking mode repeatedly, and when the motor is completely stationary, the motor is stopped and alarmed.

[0090] With reference to Figure 2 The method for repeatedly determining the unblocking mode based on the updated motor stall triggering information comprises the following steps:

[0091] Step S200: acquiring current stall frequency.

[0092] The stall frequency refers to the stall frequency of the motor within a certain time, which is detected by a counter and a timer, and the quotient of the number of times and the time is calculated.

[0093] Step S201: comparing the stall frequency with the preset reference stall frequency to issue an alarm prompt or obtain the current rotation direction of the motor.

[0094] The reference stall frequency is the preset stall frequency of the motor within a certain time, and the specific value is set by the person skilled in the art according to the actual situation, which is not described here. The rotation direction is the rotation direction of the motor output shaft, including clockwise rotation and counterclockwise rotation, which is detected, uploaded, and stored by computer program and hardware for calling.

[0095] By comparing and analyzing the numerical value corresponding to the stall frequency with the numerical value corresponding to the reference stall frequency, it is determined whether the stall frequency is less than the reference stall frequency, so as to determine whether the motor stalls too much, and thus determine whether the trimmer is damaged, for further analysis and processing.

[0096] If the stall frequency is not less than the reference stall frequency, it indicates that the number of stalls of the motor within a certain time is too much, and the trimmer may be damaged, so an alarm prompt is issued.

[0097] If the stall frequency is less than the reference stall frequency, it indicates that the number of stalls of the motor within a certain time is normal, so the rotation direction of the motor is detected to provide data support for subsequent jamming of the cutter teeth.

[0098] Step S202: determining the current clearing mode based on the rotation direction, and instructing the motor to clear the blockage according to the clearing mode.

[0099] The clearing mode is the clearing mode of the trimmer for the branches blocked on the cutter teeth, which is summarized by the person skilled in the art according to different rotation directions through a large number of tests, and a database is generated, which stores the rotation direction related to the clearing mode and has multiple rotation directions corresponding to the clearing mode. According to the input rotation direction, the clearing mode is matched and output. The clearing mode is determined by the rotation direction, and the motor is controlled to clear the blocked branches according to the clearing mode, thereby improving the convenience of the cutter teeth jamming.

[0100] Referring to Figure 3 , the method for instructing the motor to clear the blockage comprises the following steps:

[0101] Step S300: determining the current reverse rotation based on the rotation direction.

[0102] The reverse rotation is in a direction opposite to the rotation direction. For example, if the rotation direction is clockwise rotation, the reverse rotation is counterclockwise rotation; if the rotation direction is counterclockwise rotation, the reverse rotation is clockwise rotation, which is detected, recognized, uploaded and stored by a computer program for calling. The reverse rotation is determined by the rotation direction, thereby providing data support for subsequent control of the motor to clear the blockage.

[0103] Step S301: The motor is instructed to rotate reversely according to the reverse rotation, the preset rotation angle and the preset rotation power, and the current cutter tooth movement distance is obtained.

[0104] The rotation angle is the radian of the rotation of the motor during cleaning, and the specific value is set by the person skilled in the art according to the actual situation. The rotation power is the rated power of the motor during rotation, and the specific value is set by the person skilled in the art according to the actual situation. The cutter tooth movement distance is the distance moved by the cutter tooth when the motor rotates reversely, which is detected, uploaded and stored by a laser range finder for calling by a computer program.

[0105] The motor is controlled to rotate reversely by the reverse rotation, the rotation angle and the rotation power, so that the upper and lower cutter teeth move away from each other, thereby pushing the blocked branches and leaves out, and the cutter tooth movement distance is detected, thereby providing data support for subsequent control of the motor to clear the blockage.

[0106] Step S302: The cutter tooth movement distance is compared with the preset reference movement distance to obtain the current movement time or the motor is instructed to rotate according to the rotation direction, the rotation angle and the rotation power.

[0107] The reference movement distance is the standard movement distance of the cutter tooth, and the specific value is set by the person skilled in the art according to the actual situation. The movement time is the time from the start of the reverse rotation of the motor to the detection, which is detected, uploaded and stored by a clock for calling by a computer program.

[0108] The numerical value corresponding to the cutter tooth movement distance and the numerical value corresponding to the reference movement distance are sorted and compared, so as to determine whether the cutter tooth movement distance is less than the reference movement distance, thereby determining whether the cutter tooth moves under the driving of the reverse rotation of the motor for further analysis and processing.

[0109] If the cutter tooth movement distance is less than the reference movement distance, it indicates that the cutter tooth moves too small under the driving of the reverse rotation of the motor, so the movement time is detected to provide data support for subsequent judgment.

[0110] If the cutter tooth movement distance is not less than the reference movement distance, it indicates that the cutter tooth moves normally under the driving of the reverse rotation of the motor, so the motor is controlled to rotate according to the rotation direction, the rotation angle and the rotation power, thereby verifying whether the motor is blocked.

[0111] Step S3021: based on the moving time, the moving time is compared with the preset reference time to continue to obtain the cutter tooth moving distance or issue an alarm prompt.

[0112] The reference time is the preset time of the motor reverse rotation, and the specific value is set by the person skilled in the art according to the actual situation, which is not described here.

[0113] After detecting the moving time, the numerical value corresponding to the moving time is sorted and compared with the numerical value corresponding to the reference time, so as to determine whether the moving time is less than the reference time, so as to determine whether the time of the motor reverse rotation is too long when the cutter tooth moving distance is too small, for further analysis and processing.

[0114] If the moving time is less than the reference time, it indicates that the cutter tooth moving distance is too small, and the time of the motor reverse rotation does not reach the time of damaging the motor, so the detection of the cutter tooth moving distance is continued to monitor the change of the cutter tooth moving distance.

[0115] If the moving time is not less than the reference time, it indicates that the cutter tooth moving distance is too small, and the time of the motor reverse rotation reaches the time of damaging the motor, so an alarm prompt is issued.

[0116] Step S3022: based on the indication of the motor rotation according to the rotation direction, the rotation angle and the rotation power, the current cleaning and blocking information of the motor is obtained.

[0117] The cleaning and blocking information is the blocking trigger information when the motor is rotated in the reverse direction, which is detected, uploaded, stored by the computer program and hardware for calling. By controlling the motor to rotate in the forward direction through the rotation direction, the rotation angle and the rotation power, the cleaning and blocking information of the motor is detected, so as to verify whether the cutter tooth is stuck after cleaning and blocking.

[0118] Step S30221: compare the cleaning and blocking information with the reference blocking information to continue to obtain the blocking information or instruct the motor and the preset vibration device to continue to clean and block.

[0119] The vibration device is a mechanical device for vibrating the cutter tooth, including a vibration motor and the like, and the specific installation position is set by the person skilled in the art according to the actual situation, which is not described here.

[0120] By comparing and analyzing the data corresponding to the cleaning and blocking information with the data corresponding to the reference blocking information, it is determined whether the cleaning and blocking information is consistent with the reference blocking information, so as to determine whether the cutter tooth is released from the stuck state when the motor is reversed.

[0121] If the cleaning jamming information is consistent with the reference jamming information, it indicates that the cutter teeth are not disengaged from the jammed state when the motor reverses, so the motor and the vibration device continue to clean the jam.

[0122] If the cleaning jamming information is consistent with the reference jamming information, it indicates that the cutter teeth are not disengaged from the jammed state when the motor reverses, so the motor and the vibration device continue to clean the jam.

[0123] Referring to Figure 4 , the method for instructing the motor and the vibration device to continue to clean the jam includes the following steps:

[0124] Step S400: When instructing the motor to clean the jam, the current cleaning jamming number of the motor is obtained.

[0125] The cleaning jamming number is the number of times the motor is cleaned when the motor is rotated forward and reversed, which is detected, uploaded, and stored by the computer program and hardware for calling. When the motor is controlled to rotate forward and reversed to clean the jam, the cleaning jamming number is detected, thereby providing data support for subsequent control of the motor and the vibration device to clean the jam.

[0126] Step S401: The cleaning jamming number is compared with the preset reference number to continue to obtain the cleaning jamming number or the current interval distance of the cutter teeth.

[0127] The reference number is the preset number of times the motor is cleaned, and the specific value is set by the person skilled in the art according to the actual situation, which is not described here. The interval distance is the vertical distance between the upper and lower cutter teeth, which is detected, uploaded, and stored by the laser range finder for calling by the computer program.

[0128] By sorting and comparing the numerical value corresponding to the cleaning jamming number and the numerical value corresponding to the reference number, it is determined whether the cleaning jamming number is less than the reference number, so as to determine whether the cleaning jamming number of the motor is too much, for further analysis and processing.

[0129] If the cleaning jamming number is less than the reference number, it indicates that the cleaning jamming number of the motor does not reach the number of times the vibration device needs to be started, so the cleaning jamming number is continuously detected to continuously monitor the change of the cleaning jamming number.

[0130] If the cleaning jamming number is not less than the reference number, it indicates that the cleaning jamming number of the motor is too much to reach the number of times the vibration device needs to be started, so the interval distance is detected to provide data support for subsequent control of the vibration device.

[0131] Step S402: Based on the interval distance, the interval distance is compared with the preset reference interval distance to continue to obtain the interval distance or calculate the difference between the reference interval distance and the interval distance, and the calculated difference is defined as the vibration distance.

[0132] The reference interval distance is the vertical distance between the teeth when the vibration device cannot be started, and the specific value is set by the person skilled in the art according to the actual situation, which is not described here. The vibration distance is the distance between the upper and lower teeth, which is obtained by subtracting the reference interval distance from the interval distance, uploaded, stored and called by the computer program.

[0133] By comparing the size of the interval distance corresponding to the numerical value and the size of the reference interval distance corresponding to the numerical value, it is determined that the interval distance is less than or equal to the reference interval distance, so as to determine whether the vibration device has space to start, for further analysis and processing.

[0134] If the interval distance is equal to the reference interval distance, it means that the vibration device has no space to start, so the interval distance continues to be detected to monitor the change of the interval distance.

[0135] If the interval distance is less than the reference interval distance, it means that the vibration device has space to start, so the vibration distance is obtained by subtracting the reference interval distance from the interval distance, thereby providing data support for subsequent control of the vibration device vibration.

[0136] Step S403: Based on the vibration distance, the current vibration power is determined, and the vibration device is vibrated according to the vibration power.

[0137] The vibration power is the power value when the vibration device vibrates the teeth, which is summarized by the person skilled in the art according to different vibration distances through a large number of tests, and a database is generated. The database stores vibration distances related to vibration power, and has multiple vibration distances corresponding to vibration power. According to the input vibration distance, the vibration power is matched and output, and the motor is controlled according to the vibration power to vibrate the teeth, so that the upper and lower teeth reciprocate away from each other along the vertical direction, thereby reducing the interaction force between the blocked branches and the teeth when the motor drives the upper and lower teeth to stagger, thereby achieving the purpose of removing the blocked branches.

[0138] Referring to Figure 5 , the method for indicating the vibration device to vibrate the teeth comprises the following steps:

[0139] Step S500: When the motor rotates, the current coincidence trigger information of the teeth is obtained.

[0140] The coincidence trigger information is the trigger data of the coincidence of the upper and lower teeth, which is detected, uploaded and stored by the laser positioner for calling by the computer program. When the motor rotates, the coincidence trigger information of the teeth is detected, thereby providing data support for controlling the vibration device to vibrate the teeth.

[0141] Step S501: comparing the coincidence trigger information with the preset reference coincidence trigger information to continue to obtain the coincidence trigger information or instruct the vibration device to vibrate the cutter teeth.

[0142] The reference coincidence trigger information is preset data when the upper cutter teeth coincide with the lower cutter teeth, and the specific data is set by the person skilled in the art according to the actual situation, which is not described here.

[0143] By comparing and analyzing the data corresponding to the coincidence trigger information and the data corresponding to the reference coincidence trigger information, it is determined whether the coincidence trigger information is consistent with the reference coincidence trigger information, so as to determine whether the upper and lower cutter teeth coincide, for further analysis and processing.

[0144] If the coincidence trigger information is consistent with the reference coincidence trigger information, it indicates that the upper and lower cutter teeth coincide, and it is not easy to vibrate the cutter teeth, which is easy to cause the cutter teeth to collide. Therefore, the coincidence trigger information is continuously detected to monitor the change of the coincidence trigger information.

[0145] If the coincidence trigger information is inconsistent with the reference coincidence trigger information, it indicates that the upper and lower cutter teeth do not coincide, and therefore the vibration device is controlled to vibrate the cutter teeth, so that the upper and lower cutter teeth are away from each other, and the clogged branches and leaves are easily cleaned out from between the cutter teeth.

[0146] Step S502: based on the instruction to vibrate the cutter teeth of the vibration device, the current staggered distance of the cutter teeth is obtained.

[0147] The staggered distance is the horizontal distance between the upper and lower cutter teeth, which is detected, uploaded and stored by the laser range finder for computer program calling. When the vibration device is controlled to vibrate the cutter teeth, the staggered distance of the cutter teeth is detected to provide data support for controlling the vibration device to vibrate the cutter teeth.

[0148] Step S503: calculating the difference between the staggered distance and the preset gap distance, and defining the calculated difference as the remaining distance.

[0149] The gap distance is the distance between the horizontally adjacent upper cutter teeth and lower cutter teeth when the upper cutter teeth coincide with the lower cutter teeth, and the specific value is set by the person skilled in the art according to the actual situation, which is not described here. The remaining distance is the distance between the horizontally adjacent upper cutter teeth and lower cutter teeth when the cutter teeth stagger, which is obtained by subtracting the staggered distance from the gap distance, uploaded and stored for calling. The remaining distance is obtained by subtracting the staggered distance from the gap distance, thereby providing data support for controlling the vibration device to vibrate the cutter teeth.

[0150] Step S504: comparing the remaining distance with the preset cutter tooth width to continue to obtain the staggered distance or instruct the vibration device to stop vibrating the cutter teeth.

[0151] The tooth width is a preset tooth width value, and the specific numerical value is set by a person skilled in the art according to actual conditions, which is not described herein. By sorting and comparing the numerical value corresponding to the remaining distance and the numerical value corresponding to the tooth width, it is determined whether the remaining distance is greater than the tooth width, so as to determine whether the upper tooth and the lower tooth will coincide.

[0152] If the remaining distance is greater than the tooth width, it indicates that the horizontally adjacent upper and lower teeth have not yet coincided, so the staggered distance is continuously detected to continuously monitor the change of the staggered distance.

[0153] If the remaining distance is not greater than the tooth width, it indicates that the horizontally adjacent upper and lower teeth will coincide, so the vibration device is controlled to stop vibrating the tooth to avoid the upper and lower teeth from colliding when they are about to coincide.

[0154] Reference Figure 6 The method for clearing the blocked tooth further includes the following steps:

[0155] Step S600: determining the current reverse movement distance according to the reverse rotation, the rotation angle and the rotation power, and obtaining the current reverse time.

[0156] The reverse movement distance is the distance controlled by the motor to drive the tooth to move according to the reverse rotation, the rotation angle and the rotation power. A database is generated by a person skilled in the art through a large number of tests according to different reverse rotations, rotation angles and rotation powers. The database stores the reverse rotation, the rotation angle and the rotation power related to the reverse movement distance, and has multiple reverse rotations, rotation angles and rotation powers corresponding to the reverse movement distance. According to the input reverse rotation, rotation angle and rotation power, the reverse movement distance is matched and output. The reverse time is the time when the motor is reversed to the detection time, which is detected, uploaded and stored for computer program calling. The reverse movement distance is determined by the reverse rotation, the rotation angle and the rotation power, and the reverse time is detected, thereby providing data support for subsequent clearing of the blocked tooth.

[0157] Step S601: comparing the reverse time with the reference time to continue obtaining the reverse time or comparing the tooth movement distance with the reverse movement distance.

[0158] By sorting and comparing the numerical value corresponding to the reverse time and the numerical value corresponding to the reference time, it is determined whether the reverse time is less than the reference time, so as to determine whether the tooth meets the requirement of moving the reverse movement distance in time, for further analysis and processing.

[0159] If the reverse time is less than the reference time, it indicates that the cutter tooth does not meet the requirement of moving the reverse moving distance in time, so the reverse time continues to be detected to continuously monitor the change of the reverse time.

[0160] If the reverse time is not less than the reference time, it indicates that the cutter tooth meets the requirement of moving the reverse moving distance in time, so the cutter tooth moving distance and the reverse moving distance are compared for further judgment.

[0161] Step S602: Based on the comparison of the cutter tooth moving distance and the reverse moving distance, the motor rotation or the current jammed cutter tooth is indicated according to the rotation direction, the rotation angle and the rotation power.

[0162] The jammed cutter tooth is the cutter tooth blocked by branches and leaves, which is detected, uploaded and stored by the force sensor for computer program calling. By sorting and comparing the numerical values corresponding to the cutter tooth moving distance and the reverse moving distance, it is determined that the cutter tooth moving distance is less than or equal to the reverse moving distance, so as to determine whether the motor driving cutter tooth reverse movement is the same as the normal movement for further analysis and processing.

[0163] If the cutter tooth moving distance is equal to the reverse moving distance, it indicates that the motor driving cutter tooth reverse movement is the same as the forward movement, so the motor driving cutter tooth forward movement is controlled according to the rotation direction, the rotation angle and the rotation power, so as to continue pruning or verifying the unblocking.

[0164] If the cutter tooth moving distance is less than the reverse moving distance, it indicates that the motor driving cutter tooth reverse movement is not the same as the forward movement, and the movement is not smooth, so the jammed cutter tooth is detected to provide data support for the unblocking of the cutter tooth.

[0165] Step S603: Based on the jammed cutter tooth, the current oil injection position is determined.

[0166] The oil injection position is the position of the jammed cutter tooth, which is summarized by a person skilled in the art according to a large number of experiments of different jammed cutter teeth, a database is generated, the database stores the jammed cutter tooth related to the oil injection position, and has a plurality of jammed cutter teeth corresponding to the oil injection position, the input jammed cutter tooth is matched to output the oil injection position, so as to provide data support for the subsequent unblocking of the cutter tooth.

[0167] Step S604: The jamming degree is determined according to the reverse time, the rotation power and the cutter tooth moving distance, and the current oil injection amount is determined according to the jamming degree.

[0168] The jamming degree is the degree of blockage of branches and leaves between the upper and lower cutter teeth, which is summarized by a person skilled in the art according to a large number of tests of different reverse rotation times, rotation powers and cutter tooth moving distances, a database is generated, the database stores the reverse rotation times, rotation powers and cutter tooth moving distances related to the jamming degree, and has a plurality of reverse rotation times, rotation powers and cutter tooth moving distances corresponding to the jamming degree, and the input reverse rotation time, rotation power and cutter tooth moving distance are matched to output the jamming degree. The oil injection amount is the minimum oil injection amount of the oil injection device for lubricating and cleaning the jammed cutter teeth, which is summarized by a person skilled in the art according to a large number of tests of different jamming degrees, a database is generated, the database stores the jamming degrees related to the oil injection amount, and has a plurality of jamming degrees corresponding to the oil injection amount, and the input jamming degree is matched to output the oil injection amount. The reverse rotation time, rotation power and cutter tooth moving distance are used to determine the jamming degree, and the oil injection amount is determined according to the jamming degree, thereby providing data support for subsequent cutter tooth unblocking.

[0169] Step S605: Lubricating and cleaning the cutter teeth according to the oil injection amount and the oil injection position.

[0170] The oil injection device is a device for lubricating and cleaning the jammed cutter teeth, referring to Figure 9 , comprising an oil injection tank and an oil injection port, the oil injection port is movably connected to the inner side of the oil injection tank, an oil injection cavity is formed on the oil injection tank, the oil injection cavity is in communication with the oil injection port, the oil injection port comprises a pump body and other devices, when the cutter teeth of the trimmer are inserted into the oil injection tank, the oil injection port is aligned with the oil injection position for oil injection, so that the oil cleans and lubricates the jammed position. The oil injection amount and the oil injection position are used to control the lubrication and cleaning of the cutter teeth by the oil injection device, thereby reducing the friction between the branches and the cutter teeth and improving the convenience of cutter tooth jamming and unblocking.

[0171] Referring to Figure 9 , the oil injection device further comprises a filter screen arranged at the bottom of the oil injection tank, an oil storage portion and an oil inlet are formed at the bottom of the oil injection tank, the oil inlet communicates the oil storage portion and the oil injection cavity, after the cutter teeth are inserted into the oil injection tank, the filter screen filters out impurities after the oil injection port lubricates and cleans the jammed cutter teeth, and the oil enters the oil storage portion and is circulated in the oil injection cavity.

[0172] The method for cleaning and lubricating the jammed cutter teeth by the oil injection port comprises: detecting the cleaning distance between the oil injection port and the jammed cutter teeth, inputting the cleaning distance and the jamming degree into the database, and matching the output cleaning power, so that the oil injection port cleans and lubricates the jammed cutter teeth according to the cleaning power and the oil injection amount.

[0173] The number of stuck cutter teeth is detected, the position of the cutter teeth is detected, the relative upper cutter teeth and the relative lower cutter teeth are determined according to the position of the cutter teeth and the stuck cutter teeth, the relative upper oil amount is determined according to the oil injection amount and the relative upper cutter teeth, the relative distance between the relative upper cutter teeth and the relative lower cutter teeth is detected, the lower oil amount is determined according to the relative upper oil amount and the relative distance, and the relative lower oil amount is determined according to the oil injection amount, the lower oil amount and the relative lower cutter teeth, so that the oil injection port is controlled to clean the relative upper cutter teeth with the relative upper oil amount and to clean the relative lower cutter teeth with the relative lower oil amount.

[0174] Reference Figure 7 The method for obtaining the locked-rotor frequency comprises the following steps:

[0175] Step S700: When the motor is reversely rotating, the current stress waveform of the stuck cutter teeth and the current cutter tooth distance are obtained.

[0176] The stress waveform is the pressure received by the stuck cutter teeth when the stuck cutter teeth move away from each other in the reverse direction, which is detected, uploaded and stored by the force sensor for calling by the computer program. The cutter tooth distance is the horizontal distance between the upper cutter teeth and the lower cutter teeth when the cutter teeth are stuck. When the motor is reversely rotating to drive the cutter teeth to move in the reverse direction, the stress waveform and the cutter tooth distance are detected, thereby providing data support for subsequent obtaining of the locked-rotor frequency.

[0177] Step S701: The current stress waveform is compared with a preset reference stress waveform to determine whether the motor is in pseudo-locked-rotor or in real-locked-rotor.

[0178] The reference stress waveform is the stress waveform of the cutter teeth when the cutter teeth are blocked by branches and leaves, which is a continuous pressure waveform and is set by the person skilled in the art according to the actual situation, which will not be described herein. The motor pseudo-locked-rotor indicates that the motor is locked because the cutter teeth cannot cut the branches and leaves, and the stress waveform when the cutter teeth cannot cut the branches and leaves is short. The motor real-locked-rotor indicates that the motor is locked because the cutter teeth are blocked by branches and leaves or the cutter teeth are bent, which is determined, uploaded and stored by calling the stress waveform and the reference stress waveform by the computer program for calling.

[0179] The stress waveform is compared with the reference stress waveform to determine whether the stress waveform is consistent with the reference stress waveform, thereby determining whether the motor is locked because the cutter teeth cannot cut the branches and leaves or the branches and leaves block the cutter teeth, for further analysis and processing.

[0180] If the stress waveform is consistent with the reference stress waveform, it indicates that the motor is locked because the cutter teeth are blocked by branches and leaves or the cutter teeth are bent, and thus the motor is determined to be in real-locked-rotor.

[0181] If the stress waveform is not consistent with the reference stress waveform, it indicates that the motor is locked because the cutter teeth cannot cut the branches and leaves, and thus the motor is determined to be in pseudo-locked-rotor.

[0182] Step S7011: Based on the motor pseudo-stall, the mower continues to trim according to the cutter distance indication.

[0183] When the motor pseudo-stall is determined, i.e. the cutter cannot cut the leaves, the mower is controlled according to the cutter distance to trim the leaves that cannot be cut, thereby improving the trimming efficiency of the mower.

[0184] Step S7012: Based on the motor real stall, the current real stall times are determined.

[0185] The real stall times are the number of times the motor real stalls, which are detected, uploaded and stored by the computer program for subsequent calling. When the motor real stall is determined, the real stall times are detected, thereby providing data support for subsequent acquisition of stall frequency.

[0186] Step S70121: The current stall frequency is determined according to the real stall times and the preset statistical time.

[0187] The statistical time is the time for presetting the stall frequency statistics once, and the specific numerical value is set by the person skilled in the art according to the actual situation, which is not described here. The stall frequency is the number of times the motor stalls due to the cutter blocking leaves or the cutter deforming within the statistical time, which is calculated by the computer program calling the real stall times and the statistical time, uploaded and stored for subsequent calling. The stall frequency is determined by the real stall times and the statistical time, thereby avoiding the influence of the motor stall caused by the leaves that cannot be cut on the accuracy of the motor stall caused by the leaves blocking or the cutter deforming.

[0188] Referring to Figure 8 , the method for the mower to continue trimming according to the cutter distance indication comprises the following steps:

[0189] Step S800: The cutter distance is compared with the preset maximum trimming diameter to issue an alarm prompt or determine the current trimming sharpness according to the cutter distance and the rotating power.

[0190] The maximum trimming diameter is the maximum diameter of the leaves that can be cut by the mower, and the specific numerical value is set by the person skilled in the art according to the actual situation, which is not described here. The trimming sharpness is the sharpness of the cutter that can cut the leaves corresponding to the cutter distance. The person skilled in the art can generate a database by a large number of experiments according to different cutter distances and rotating powers, and the database stores the cutter distance and rotating power related to the trimming sharpness, and has multiple cutter distances and rotating powers corresponding to the trimming sharpness. According to the input cutter distance and rotating power, the trimming sharpness is matched and output.

[0191] By sorting and comparing the numerical size corresponding to the distance between the teeth and the numerical size corresponding to the maximum pruning diameter, it is determined whether the distance between the teeth is greater than the maximum pruning diameter, so as to determine whether the pruning machine can cut the branches and leaves, for further analysis and processing.

[0192] If the distance between the teeth is greater than the maximum pruning diameter, it indicates that the diameter of the current branches and leaves is too large, and the pruning machine cannot cut the branches and leaves, so an alarm prompt is issued.

[0193] If the distance between the teeth is not greater than the maximum pruning diameter, it indicates that the diameter of the current branches and leaves is appropriate, and the pruning machine can cut the branches and leaves, so the pruning sharpness is determined according to the distance between the teeth and the rotating power, thereby providing data support for subsequent pruning.

[0194] Step S801: Based on the pruning sharpness, the current reflective brightness of the teeth is obtained.

[0195] The reflective brightness is the intensity of the tooth reflection, which is detected, uploaded and stored by the brightness instrument for computer program calling. After determining the pruning sharpness, the reflective brightness of the teeth is detected, thereby providing data support for subsequent pruning.

[0196] Step S802: The current tooth sharpness is determined according to the reflective brightness.

[0197] The tooth sharpness is the sharpness of the tooth, which is summarized by a person skilled in the art according to different reflective brightness through a large number of tests, a database is generated, the database stores the reflective brightness related to the tooth sharpness, and has multiple reflective brightness corresponding to the tooth sharpness, the input reflective brightness is matched to output the tooth sharpness, thereby providing data support for subsequent pruning.

[0198] Step S803: The pruning sharpness and the tooth sharpness are compared to determine the current blunt teeth and the current sharp teeth.

[0199] The blunt teeth are the teeth with a tooth sharpness less than the pruning sharpness, and the sharp teeth are the teeth with a tooth sharpness greater than the pruning sharpness, which are determined by the computer program calling the pruning sharpness and the tooth sharpness comparison, uploaded and stored for calling.

[0200] By sorting and comparing the numerical size corresponding to the pruning sharpness and the numerical size corresponding to the tooth sharpness, it is determined whether the tooth sharpness is greater than the pruning sharpness, so as to determine which tooth can cut the branches and leaves.

[0201] If the tooth sharpness is not greater than the pruning sharpness, it indicates that the current tooth is blunt and cannot cut the branches and leaves, so the tooth is determined as a blunt tooth.

[0202] If the sharpness of the tine is greater than the sharpness of the pruning tine, it indicates that the current tine is sharp and can cut the branches and leaves, and thus the tine is determined as a sharp tine.

[0203] Step S804: Based on the blunt tine and the sharp tine, prompting the person to prune with the sharp tine.

[0204] After determining the blunt tine and the sharp tine, the person is prompted to prune with the sharp tine, thereby improving the pruning efficiency of the pruning machine. After determining the blunt tine and the sharp tine, the prompt light on the pruning machine is controlled to illuminate the blunt tine and the sharp tine with different colored lights, for example, illuminating the blunt tine with a red light and illuminating the sharp tine with a green light, thereby prompting the person.

[0205] Based on the same inventive concept, the embodiment of the present application provides a tine jamming and freeing system, comprising:

[0206] The acquisition module is configured to acquire motor stall triggering information, stall frequency, rotation direction, tine movement distance, movement time, cleaning stall information, cleaning stall frequency, interval distance, coincidence triggering information, staggered distance, reverse rotation time, jammed tine, stress waveform, tine distance, and reflective light brightness.

[0207] The memory is configured to store a program of a tine jamming and freeing method according to any one of the preceding Figures 1-9 The processor is configured to load and execute the program in the memory, and implement a tine jamming and freeing method according to any one of the preceding

[0208] The processor is configured to load and execute the program in the memory, and implement a tine jamming and freeing method according to any one of the preceding Figures 1-8

[0209] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional modules is exemplified, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0210] The embodiment of the present application provides a computer readable storage medium, which stores a computer program capable of being loaded and executed by a processor to implement a tine jamming and freeing method.

[0211] The computer storage medium includes, for example, a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0212] ​Based on the same inventive concept, the embodiment of the present application provides a kind of intelligent terminal, including memory and processor, the computer program of a kind of knife tooth jam stuck escape method can be loaded and executed by processor on memory.

[0213] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above-mentioned division of functional modules is exemplified, and in actual application, the above-mentioned functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the above-described system, device and unit can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0214] The above are preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Any feature disclosed in the specification (including the abstract and drawings) can be replaced by other equivalent or similar features unless specifically described. That is, each feature is only an example of a series of equivalent or similar features unless specifically described.

Claims

1. A method of freeing a stuck knife tooth, comprising: The method comprises the following steps: acquiring current motor stall triggering information; determining a current unblocking mode according to the motor stall triggering information; indicating the motor to rotate according to the unblocking mode and updating the motor stall triggering information; repeating the determination of the unblocking mode or the shutdown warning based on the updated motor stall triggering information; the method for repeating the determination of the unblocking mode based on the updated motor stall triggering information comprises: acquiring a current stall frequency; comparing the stall frequency with a preset reference stall frequency to issue a warning prompt or acquire a current rotation direction of the motor; determining a current unblocking mode based on the rotation direction and indicating the motor to unblock according to the unblocking mode; the method for indicating the motor to unblock comprises: determining a current reverse rotation direction according to the rotation direction; indicating the motor to reverse rotate according to the reverse rotation direction, a preset rotation angle and a preset rotation power and acquiring a current cutter tooth moving distance; comparing the cutter tooth moving distance with a preset reference moving distance to acquire a current moving time or indicating the motor to rotate according to the rotation direction, the rotation angle and the rotation power; based on the moving time, comparing the moving time with a preset reference time to continue acquiring the cutter tooth moving distance or issuing a warning prompt; based on the indication of the motor to rotate according to the rotation direction, the rotation angle and the rotation power, acquiring current unblocking information of the motor; comparing the unblocking information with reference unblocking information to continue acquiring the unblocking information or indicating the motor and a preset vibration device to continue unblocking; the method for indicating the motor and the vibration device to continue unblocking comprises: acquiring a current unblocking frequency of the motor when indicating the motor to unblock; comparing the unblocking frequency with a preset reference frequency to continue acquiring the unblocking frequency or acquiring a current interval distance of the cutter tooth; based on the interval distance, comparing the interval distance with a preset reference interval distance to continue acquiring the interval distance or calculating a difference value between the reference interval distance and the interval distance and defining the calculated difference value as a vibration distance; based on the vibration distance, determining a current vibration power and indicating the vibration device to vibrate the cutter tooth according to the vibration power.

2. A method of releasing a stuck knife tooth according to claim 1, wherein, the method for indicating the vibration device to vibrate the cutter tooth comprises: acquiring current coincidence triggering information of the cutter tooth when the motor rotates; comparing the coincidence triggering information with a preset reference coincidence triggering information to continue acquiring the coincidence triggering information or indicating the vibration device to vibrate the cutter tooth; based on the indication of the vibration device to vibrate the cutter tooth, acquiring a current staggered distance of the cutter tooth; calculating a difference value between the staggered distance and a preset gap distance and defining the calculated difference value as a remaining distance; comparing the remaining distance with a preset cutter tooth width to continue acquiring the staggered distance or indicating the vibration device to stop vibrating the cutter tooth.

3. The method of claim 1, wherein, the unblocking method for the cutter tooth further comprises: determining a current reverse moving distance according to the reverse rotation direction, the rotation angle and the rotation power and acquiring a current reverse rotation time; comparing the reverse rotation time with a reference rotation time to continue acquiring the reverse rotation time or comparing the cutter tooth moving distance with the reverse moving distance; based on the comparison of the cutter tooth moving distance with the reverse moving distance, indicating the motor to rotate according to the rotation direction, the rotation angle and the rotation power or acquiring a current jammed cutter tooth; based on the jammed cutter tooth, determining a current oil injection position; According to the reverse time, the rotating power and the cutter tooth moving distance to determine the jamming degree, and according to the jamming degree to determine the current oil injection amount; According to the oil injection amount and the oil injection position to indicate the preset oil injection device to lubricate and clean the cutter tooth.

4. A method of releasing a knife tooth clip according to claim 3, wherein, The method for obtaining the stall frequency comprises: When the motor reverses, the current stress waveform of the jammed cutter tooth and the current cutter tooth distance are obtained; The stress waveform is compared with the preset reference stress waveform to determine the current motor pseudo-stall or the motor actual stall; Based on the motor pseudo-stall, the cutter tooth distance is used to instruct the trimmer to continue trimming; Based on the motor actual stall, the current actual stall frequency is determined; According to the actual stall frequency and the preset statistical time, the current stall frequency is determined.

5. A knife tooth jam release system characterized by, Comprise: An acquisition module is configured to acquire motor stall triggering information; A memory is configured to store a program of the cutter tooth jamming escape method according to any one of claims 1 to 4; A processor, the program in the memory can be loaded and executed by the processor, and the cutter tooth jamming escape method according to any one of claims 1 to 4 is implemented.

6. An intelligent terminal, characterized by comprising a memory and a processor, the memory has stored a computer program capable of being loaded and executed by the processor to implement the cutter tooth jamming escape method according to any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that, The computer program capable of being loaded and executed by the processor to implement the cutter tooth jamming escape method according to any one of claims 1 to 4 is stored.

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