A brushless motor mower vehicle jolt control system and method

Abstract

The application discloses a kind of brushless motor mower vehicle jounce control system and method, comprising: the detection module is used to detect the speed signal V xt , the current signal I dt of driving motor and the pressure signal of wheel shock absorber during the travel of mower;The controller calculates the peak current I f of current signal I dt by array arrangement mode, filters current signal I dt And average current I p is obtained by calculation;The controller judges the operating state of mower according to speed signal V xt , peak current I f And average current I p ;When mower is in current overload state, the controller controls the brake of driving motor;When mower is in jounce state, the controller controls seat damping module to act according to pressure signal;The application effectively avoids that vehicle frequently enters current overload protection state and automatically brakes while damping.

Description

Technical Field

[0001] This invention belongs to the field of vehicle shock absorption technology, specifically relating to a brushless motor lawnmower bump control system and method. Background Technology

[0002] Lawn mowers are mainly classified into backpack mowers, push mowers, and riding mowers based on operating habits. To improve rider comfort, riding mowers often have shock-absorbing structures installed under the seat. As a relatively close prior art, such as publication number CN215500487U, the following structure is used: the seat assembly includes a first frame, a second frame, and a seat cushion mounted on the second frame. The first frame is mounted on the machine frame. One end of the second frame is rotatably connected to the first frame, and the other end is detachably connected to the seat support. The end of the second frame connected to the seat support has a support column and a seat spring sleeved on the outside of the support column.

[0003] When riding a lawnmower on a flat or sloping road, users experience a strong sense of bumpiness when encountering uneven surfaces, bumps, or stones. This can even cause the vehicle to automatically brake due to overcurrent protection, resulting in impact inertia and reduced riding comfort. Summary of the Invention

[0004] This invention provides a brushless motor lawnmower bump control system and method to solve the technical problems of poor shock absorption and easy braking of ride-on lawnmowers on uneven road surfaces.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] The first aspect of this invention provides a bump control system for a brushless motor lawnmower, including a seat shock absorption module, a signal acquisition module, a detection module, and a controller; the signal acquisition module is used to acquire the throttle signal and brake signal of the lawnmower and send them to the controller; the controller controls the rotation and braking of the drive motor according to the throttle signal and brake signal; the drive motor drives the wheels of the lawnmower to rotate;

[0007] The detection module is used to detect the speed signal V during the operation of the lawnmower. xt The current signal I of the drive motor dt And the pressure signal from the wheel shock absorber, and the speed signal V xt Current signal I dt The pressure signal is sent to the controller;

[0008] The controller calculates the current signal I using an array arrangement method. dt Peak current I f For current signal I dtFiltering is performed and the average current I is calculated. p The controller is based on the speed signal V xt Peak current I f and average current I p Determine the operating status of the lawnmower; the operating status includes current overload status and bumpy status;

[0009] When the lawnmower is in a current overload state, the controller controls the drive motor to brake; when the lawnmower is in a bumpy state, the controller controls the seat shock absorption module to operate according to the pressure signal.

[0010] Preferably, the seat shock absorption module includes a seat and shock absorption springs; the seat is mounted on the lawnmower mounting body; multiple sets of shock absorption springs are provided between the seat and the lawnmower mounting body; the positions of the shock absorption springs and the wheels of the lawnmower correspond one-to-one; a permanent magnet is provided inside the shock absorption spring, and the permanent magnet is connected to the bottom of the seat through a connecting rod; the shock absorption spring is electrically connected to the controller, and the controller controls the current connected to the shock absorption spring according to the pressure signal.

[0011] Preferably, the seat is provided with a first insulating plate; the lawnmower mounting body is provided with a second insulating plate; one end of the shock-absorbing spring is connected to the first insulating plate, and the other end of the shock-absorbing spring is connected to the second insulating plate; the shock-absorbing spring is covered with a rubber sleeve.

[0012] Preferably, the seat shock absorption module includes a photoelectric sensor; the photoelectric sensor is disposed on the seat; the photoelectric sensor is used to detect whether a driver is present in the seat; the photoelectric sensor is electrically connected to the input terminal of the controller.

[0013] Preferably, the controller is based on the speed signal V xt Peak current I f and average current I p Methods for determining the operating status of a lawnmower include:

[0014] The controller is based on the speed signal V xt And the throttle signal sets the average current threshold A;

[0015] The controller compares the peak current I f And the preset current overload protection threshold B, record the peak current I. f The number of times the current overload protection threshold B is exceeded is denoted as n;

[0016] When the average current I p When the average current is less than the threshold value A and n is greater than the set threshold value C, the output lawnmower is in a bumpy state; when the average current I... pWhen the average current is less than the average current threshold A and n is less than the set threshold C, the lawnmower is in normal operating condition; when the average current I... p When the average current is greater than the threshold value A and n is greater than 0, the output lawnmower is in a current overload state; when the average current I... p When the current exceeds the average current threshold A and n equals 0, the output lawnmower is in a warning state.

[0017] Preferably, when the lawnmower is in a bumpy state, the method by which the controller controls the seat shock absorption module to operate based on the pressure signal includes:

[0018] The standard current I0 connected to the damping spring is set by the controller;

[0019] The actual current connected to the damping spring is calculated based on the pressure signal and the standard current I0, expressed by the following formula:

[0020]

[0021] In the formula, I s P represents the actual current connected to the shock absorber spring corresponding to the s-th wheel of the lawnmower; s This represents the pressure signal of the shock absorber corresponding to the s-th wheel of the lawnmower; s∈{1,2,3,4}; μ represents the average pressure of the shock absorbers corresponding to the four wheels of the lawnmower; μ represents the set weight.

[0022] The second aspect of this invention provides a method for controlling the bumps of a brushless motor lawnmower, including...

[0023] The system collects the throttle and brake signals of the lawnmower and sends them to the controller; it then controls the drive motor to rotate and brake based on the throttle and brake signals.

[0024] Speed ​​signal V is detected during the operation of the lawnmower. xt The current signal I of the drive motor dt And the pressure signal from the wheel shock absorber, and the speed signal V xt Current signal I dt The pressure signal is sent to the controller;

[0025] Calculate the current signal I using an array arrangement method. dt Peak current I f For current signal I dt Filtering is performed and the average current I is calculated. p According to the speed signal V xt Peak current I f and average current I p Determine the operating status of the lawnmower;

[0026] When the lawnmower is in a current overload state, the drive motor is controlled to brake; when the lawnmower is in a bumpy state, the seat shock absorption module is controlled to operate according to the pressure signal.

[0027] Preferably, the method further includes: before collecting the throttle and brake signals of the lawnmower and sending them to the controller, detecting whether there is a driver on the seat using a photoelectric sensor; when a driver is detected on the seat, performing the step of collecting the throttle and brake signals of the lawnmower and sending them to the controller; when no driver is detected on the seat, controlling the lawnmower to brake.

[0028] Preferably, based on the speed signal V xt Peak current I f and average current I p Methods for determining the operating status of a lawnmower include:

[0029] According to the velocity signal V xt Set the average current threshold A with the throttle signal; compare with the peak current I. f And the preset current overload protection threshold B, record the peak current I. f The number of times the current overload protection threshold B is exceeded is denoted as n;

[0030] When the average current I p When the average current is less than the threshold value A and n is greater than the set threshold value C, the output lawnmower is in a bumpy state; when the average current I... p When the average current is less than the average current threshold A and n is less than the set threshold C, the lawnmower is in normal operating condition; when the average current I... p When the average current is greater than the threshold value A and n is greater than 0, the output lawnmower is in a current overload state; when the average current I... p When the current exceeds the average current threshold A and n equals 0, the output lawnmower is in a warning state.

[0031] Preferably, it also includes repeatedly judging the operating status of the lawnmower at set time intervals T, and resetting n after outputting the operating status of the lawnmower.

[0032] Preferably, when the lawnmower is in a bumpy state, the method by which the controller controls the seat shock absorption module to operate based on the pressure signal includes:

[0033] The standard current I0 connected to the damping spring is set by the controller; the actual current connected to the damping spring is calculated based on the pressure signal and the standard current I0, expressed by the following formula:

[0034]

[0035] In the formula, I s P represents the actual current connected to the shock absorber spring corresponding to the s-th wheel of the lawnmower;s This represents the pressure signal of the shock absorber corresponding to the s-th wheel of the lawnmower; s∈{1,2,3,4}; μ represents the average pressure of the shock absorbers corresponding to the four wheels of the lawnmower; μ represents the set weight.

[0036] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0037] The controller described in this invention is based on the speed signal V xt Peak current I f and average current I p The controller determines the operating status of the lawnmower, including current overload and bumpy conditions. When the lawnmower is in a current overload state, the controller controls the drive motor to brake. When the lawnmower is in a bumpy condition, the controller controls the seat shock absorption module to operate based on a pressure signal. This invention distinguishes between the vehicle's bumpy and current overload states, effectively reducing shock while preventing the vehicle from frequently entering the current overload protection state for automatic braking, thus improving riding comfort. Attached Figure Description

[0038] Figure 1 This is a structural diagram of the brushless motor lawnmower bump control system provided in Example 1;

[0039] Figure 2 This is a structural diagram of the lawnmower provided in Example 1;

[0040] Figure 3 This is a structural diagram of the seat and shock-absorbing spring provided in Example 1;

[0041] Figure 4 This is a structural diagram of the seat shock absorption module provided in Example 1;

[0042] Figure 5 This is a flowchart of the brushless motor lawnmower bump control method provided in Example 2.

[0043] In the picture: 1. Main body of lawnmower, 2. Seat, 3. Shock absorber spring, 4. Connecting rod, 5. Permanent magnet, 6. First insulation plate, 7. Second insulation plate, 8. Wheel, 9. Shock absorber. Detailed Implementation

[0044] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0045] Example 1

[0046] like Figures 1 to 4As shown, this embodiment provides a brushless motor lawnmower bump control system, including a seat shock absorption module, a signal acquisition module, a detection module, and a controller; the signal acquisition module is used to acquire the throttle signal and brake signal of the lawnmower and send them to the controller; the controller controls the drive motor to rotate and brake according to the throttle signal and brake signal; the drive motor drives the lawnmower wheels to rotate;

[0047] The detection module is used to detect the speed signal V during the operation of the lawnmower. xt The current signal I of the drive motor dt And the pressure signal of the wheel shock absorber 9, and the speed signal V xt Current signal I dt The pressure signal is sent to the controller.

[0048] The seat damping module includes a photoelectric sensor, a seat 2, and a damping spring 3; the photoelectric sensor is mounted on the seat 2; the photoelectric sensor is used to detect whether a driver is in the seat; the photoelectric sensor is electrically connected to the input terminal of the controller.

[0049] The seat 2 is mounted on the lawnmower mounting body 1; multiple sets of shock-absorbing springs 3 are provided between the seat 2 and the lawnmower mounting body 1; the positions of the shock-absorbing springs 3 and the wheels 8 of the lawnmower correspond one-to-one; a permanent magnet 5 is provided inside the shock-absorbing spring 3, and the permanent magnet 5 is connected to the bottom of the seat 2 through a connecting rod 4; the shock-absorbing spring 3 is electrically connected to the controller, and the controller controls the current connected to the shock-absorbing spring according to the pressure signal.

[0050] The seat is provided with a first insulating plate 6; the lawnmower mounting body is provided with a second insulating plate 7; one end of the shock-absorbing spring 3 is connected to the first insulating plate 6, and the other end of the shock-absorbing spring 3 is connected to the second insulating plate 7; the shock-absorbing spring 3 is covered with a rubber soft sleeve.

[0051] The controller calculates the current signal I using an array arrangement method. dt Peak current I f For current signal I dt Filtering is performed and the average current I is calculated. p The controller is based on the speed signal V xt Peak current I f and average current I p Methods for determining the operating status of a lawnmower include:

[0052] The controller is based on the speed signal V xt And the throttle signal sets the average current threshold A;

[0053] The controller compares the peak current If And the preset current overload protection threshold B, record the peak current I. f The number of times the current overload protection threshold B is exceeded is denoted as n; the operating status of the lawnmower is repeatedly judged at a set time interval T, and n is reset after outputting the operating status of the lawnmower.

[0054] When the average current I p When the average current is less than the average current threshold A and n is greater than the set threshold C, the output lawnmower is in a bumpy state, and the controller controls the seat shock absorption module to operate based on the pressure signal; when the average current I... p When the current is less than the average current threshold A and n is less than the set threshold C, the lawnmower is in normal operating condition. The controller will output the average current I. p Connected to the drive motor; when the average current I p When the average current exceeds the threshold value A and n is greater than 0, the output lawnmower is in a current overload state, and the controller controls the drive motor to brake; when the average current I... p When the current exceeds the average current threshold A and n equals 0, the output lawnmower is in a warning state, and the controller issues an alarm. The system distinguishes between the vehicle's bumpy state and the current overload state, effectively reducing shock while preventing the vehicle from frequently entering the current overload protection state for automatic braking, thus improving riding comfort.

[0055] When the lawnmower is in a bumpy state, the method by which the controller controls the seat shock absorption module to operate based on the pressure signal includes:

[0056] The standard current I0 connected to the damping spring is set by the controller;

[0057] The actual current connected to the damping spring is calculated based on the pressure signal and the standard current I0, expressed by the following formula:

[0058]

[0059] In the formula, I s P represents the actual current connected to the shock absorber spring corresponding to the s-th wheel of the lawnmower; s This represents the pressure signal of the shock absorber 9 corresponding to the s-th wheel of the lawnmower; s∈{1,2,3,4}; The pressure is represented by the average pressure of the shock absorbers corresponding to the four wheels of the lawnmower; μ represents the set weight; in this embodiment, the greater the pressure on the shock absorber, the smaller the current connected to the shock-absorbing spring corresponding to the impact and the greater the deformation of the shock-absorbing spring corresponding to the impact; the larger the current connected to the other three shock-absorbing springs and the smaller the deformation, so that the seat can better maintain a balanced state.

[0060] Example 2

[0061] like Figure 5 As shown, a method for controlling the bumps of a brushless motor lawnmower is described. This control method can be applied to the system described in Example 1. The control method includes:

[0062] The system uses photoelectric sensors to detect whether a driver is in the seat; if no driver is detected, the system controls the mower to brake; if a driver is detected, the system collects the throttle and brake signals of the mower and sends them to the controller; and controls the drive motor to rotate and brake based on the throttle and brake signals.

[0063] Speed ​​signal V is detected during the operation of the lawnmower. xt The current signal I of the drive motor dt And the pressure signal from the wheel shock absorber, and the speed signal V xt Current signal I dt The pressure signal is sent to the controller;

[0064] Calculate the current signal I using an array arrangement method. dt Peak current I f For current signal I dt Filtering is performed and the average current I is calculated. p According to the speed signal V xt Peak current I f and average current I p Methods for determining the operating status of a lawnmower include:

[0065] The input power to the drive motor is determined based on the throttle signal, and the input power is determined based on the speed signal V. xt The effective power of the drive motor is calculated; the current I corresponding to the heat generation power is calculated based on the input power and the effective power. r ; to transfer current I r The average current threshold A is obtained by multiplying it by the set threshold factor (greater than 1).

[0066] Comparison of peak current I f And the preset current overload protection threshold B, record the peak current I. f The number of times the current overload protection threshold B is exceeded is denoted as n; the operating status of the lawnmower is repeatedly judged at a set time interval T, and n is reset after outputting the operating status of the lawnmower.

[0067] When the average current I p When the average current is less than the average current threshold A and n is greater than the set threshold C, the output lawnmower is in a bumpy state, and the controller controls the seat shock absorption module to operate based on the pressure signal; when the average current I... p When the current is less than the average current threshold A and n is less than the set threshold C, the lawnmower is in normal operating condition. The controller will output the average current I.p Connected to the drive motor; when the average current I p When the average current exceeds the threshold value A and n is greater than 0, the output lawnmower is in a current overload state, and the controller controls the drive motor to brake; when the average current I... p When the current exceeds the average current threshold A and n equals 0, the output lawnmower is in a warning state, and the controller issues an alarm. The system distinguishes between the vehicle's bumpy state and the current overload state, effectively reducing shock while preventing the vehicle from frequently entering the current overload protection state for automatic braking, thus improving riding comfort.

[0068] When the lawnmower is in a bumpy state, the methods for controlling the seat shock absorption module based on pressure signals include:

[0069] The standard current I0 connected to the damping spring is set by the controller; the actual current connected to the damping spring is calculated based on the pressure signal and the standard current I0, expressed by the following formula:

[0070]

[0071] In the formula, I s P represents the actual current connected to the shock absorber spring corresponding to the s-th wheel of the lawnmower; s This represents the pressure signal of the shock absorber corresponding to the s-th wheel of the lawnmower; s∈{1,2,3,4}; μ represents the average pressure of the shock absorbers corresponding to the four wheels of the lawnmower; μ represents the set weight.

[0072] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0073] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0074] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0075] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0076] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A brushless motor lawnmower bump control system, characterized in that, It includes a seat shock absorption module, a signal acquisition module, a detection module, and a controller; the signal acquisition module is used to collect the throttle and brake signals of the lawnmower and send them to the controller; the controller controls the rotation and braking of the drive motor according to the throttle and brake signals; the drive motor drives the wheels of the lawnmower to rotate; The detection module is used to detect the speed signal V during the operation of the lawnmower. xt The current signal I of the drive motor dt And the pressure signal from the wheel shock absorber, and the speed signal V xt Current signal I dt The pressure signal is sent to the controller; The controller calculates the current signal I using an array arrangement method. dt Peak current I f For current signal I dt Filtering is performed and the average current I is calculated. p The controller is based on the speed signal V xt Peak current I f and average current I p Determine the operating status of the lawnmower; the operating status includes current overload status and bumpy status; When the lawnmower is in a current overload state, the controller controls the drive motor to brake; when the lawnmower is in a bumpy state, the controller controls the seat shock absorption module to operate according to the pressure signal.

2. The brushless motor lawnmower bump control system according to claim 1, characterized in that, The seat shock absorption module includes a seat and shock absorption springs; the seat is mounted on the lawnmower mounting body; multiple sets of shock absorption springs are provided between the seat and the lawnmower mounting body; the positions of the shock absorption springs and the wheels of the lawnmower are one-to-one; a permanent magnet is provided inside the shock absorption spring, and the permanent magnet is connected to the bottom of the seat through a connecting rod; the shock absorption spring is electrically connected to the controller, and the controller controls the current connected to the shock absorption spring according to the pressure signal.

3. The brushless motor lawnmower bump control system according to claim 1, characterized in that, The seat shock absorption module includes a photoelectric sensor; the photoelectric sensor is disposed on the seat; the photoelectric sensor is used to detect whether a driver is in the seat; the photoelectric sensor is electrically connected to the input terminal of the controller.

4. The brushless motor lawnmower bump control system according to claim 1, characterized in that, The controller is based on the speed signal V xt Peak current I f and average current I p Methods for determining the operating status of a lawnmower include: The controller is based on the speed signal V xt And the throttle signal sets the average current threshold A; The controller compares the peak current I f And the preset current overload protection threshold B, record the peak current I. f The number of times the current overload protection threshold B is exceeded is denoted as n; When the average current I p When the average current is less than the threshold value A and n is greater than the set threshold value C, the output lawnmower is in a bumpy state; when the average current I... p When the average current is less than the average current threshold A and n is less than the set threshold C, the lawnmower is in normal operating condition; when the average current I... p When the average current is greater than the threshold value A and n is greater than 0, the output lawnmower is in a current overload state; when the average current I... p When the current exceeds the average current threshold A and n equals 0, the output lawnmower is in a warning state.

5. The brushless motor lawnmower bump control system according to claim 1, characterized in that, When the lawnmower is in a bumpy state, the method by which the controller controls the seat shock absorption module to operate based on the pressure signal includes: The standard current I0 connected to the damping spring is set by the controller; The actual current connected to the damping spring is calculated based on the pressure signal and the standard current I0, expressed by the following formula: In the formula, I s P represents the actual current connected to the shock absorber spring corresponding to the s-th wheel of the lawnmower; s This represents the pressure signal of the shock absorber corresponding to the s-th wheel of the lawnmower; s∈{1,2,3,4}; μ represents the average pressure of the shock absorbers corresponding to the four wheels of the lawnmower; μ represents the set weight.

6. A method for controlling the vibration of a brushless motor lawnmower, characterized in that, include The system collects the throttle and brake signals of the lawnmower and sends them to the controller; it then controls the drive motor to rotate and brake based on the throttle and brake signals. Speed ​​signal V is detected during the operation of the lawnmower. xt The current signal I of the drive motor dt And the pressure signal from the wheel shock absorber, and the speed signal V xt Current signal I dt The pressure signal is sent to the controller; Calculate the current signal I using an array arrangement method. dt Peak current I f For current signal I dt Filtering is performed and the average current I is calculated. p According to the speed signal V xt Peak current I f and average current I p Determine the operating status of the lawnmower; When the lawnmower is in a current overload state, the drive motor is controlled to brake; when the lawnmower is in a bumpy state, the seat shock absorption module is controlled to operate according to the pressure signal.

7. The brushless motor lawnmower bump control system according to claim 6, characterized in that, Also includes: Before collecting the throttle and brake signals of the lawnmower and sending them to the controller, photoelectric sensors detect whether there is a driver in the seat; Once the driver is detected in the seat, the steps are performed to collect the throttle and brake signals of the lawnmower and send them to the controller; The lawnmower is activated when no driver is detected in the seat.

8. The brushless motor lawnmower bump control system according to claim 6, characterized in that, According to the velocity signal V xt Peak current I f and average current I p Methods for determining the operating status of a lawnmower include: According to the velocity signal V xt Set the average current threshold A with the throttle signal; compare with the peak current I. f And the preset current overload protection threshold B, record the peak current I. f The number of times the current exceeds the overload protection threshold B is denoted as n: When the average current I p When the average current is less than the threshold value A and n is greater than the set threshold value C, the output lawnmower is in a bumpy state; when the average current I... p When the average current is less than the average current threshold A and n is less than the set threshold C, the lawnmower is in normal operating condition; when the average current I... p When the average current is greater than the threshold value A and n is greater than 0, the output lawnmower is in a current overload state; when the average current I... p When the current exceeds the average current threshold A and n equals 0, the output lawnmower is in a warning state.

9. The brushless motor lawnmower bump control system according to claim 8, characterized in that, It also includes repeatedly judging the operating status of the lawnmower at set intervals T, and resetting n after outputting the operating status of the lawnmower.

10. The brushless motor lawnmower bump control system according to claim 6, characterized in that, When the lawnmower is in a bumpy state, the method by which the controller controls the seat shock absorption module to operate based on the pressure signal includes: The standard current I0 connected to the damping spring is set by the controller; the actual current connected to the damping spring is calculated based on the pressure signal and the standard current I0, expressed by the following formula: In the formula, I s P represents the actual current connected to the shock absorber spring corresponding to the s-th wheel of the lawnmower; s This represents the pressure signal of the shock absorber corresponding to the s-th wheel of the lawnmower; s∈{1,2,3,4}; μ represents the average pressure of the shock absorbers corresponding to the four wheels of the lawnmower; μ represents the set weight.

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