A mower cutterhead mechanism and a control method, device and terminal equipment thereof

Abstract

This application provides a lawnmower blade mechanism and its control method, device, and terminal equipment. The lawnmower blade mechanism includes a blade motor, a lifting motor, a transmission component, a controller, a first Hall sensor, and a first magnet corresponding to the first Hall sensor. The first Hall sensor is used to determine the lifting height of the blade motor. The controller is used to acquire the required blade height and the initial blade height of the blade motor. Based on multiple lifting heights, the controller determines the correspondence between the output pulse count of the first Hall sensor and the theoretical lifting height of the blade motor. Based on the required blade height, the initial blade height, and the correspondence, the controller determines the required Hall pulse count. Based on the required Hall pulse count, a corresponding operating command is generated and sent to the lifting motor. The lifting motor operates according to the operating command, driving the blade motor to lift and lower to the required blade height via the transmission component. This improves the convenience of adjusting the lifting height of the blade motor.

Description

Technical Field

[0001] This application relates to the field of lawnmower technology, and in particular to a lawnmower blade mechanism and its control method, device and terminal equipment. Background Technology

[0002] Currently, intelligent lawnmowers are being used more and more widely. In practical applications, for perimeter lawnmowers, the height of the blade motor in the blade mechanism needs to be adjusted using a rotary knob or screwdriver to meet the required cutting height. In other words, current technology typically requires users to manually adjust the blade motor height using a rotary knob or screwdriver, which is cumbersome and inefficient.

[0003] Therefore, improving the ease of adjusting the lifting height of the cutter head motor is a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0004] The purpose of this application is to provide a lawnmower blade mechanism, a control method, device, terminal equipment, lawnmower, and computer-readable storage medium for the lawnmower blade mechanism, aiming to improve the convenience of adjusting the lifting height of the blade motor.

[0005] In a first aspect, this application provides a lawnmower blade mechanism. The lawnmower blade mechanism includes a blade motor, a lifting motor, a transmission component, a controller, a first Hall sensor, and a first magnet corresponding to the first Hall sensor; the first Hall sensor and the first magnet are disposed on the side of the lifting motor near the blade motor; the blade motor and the lifting motor transmission component are connected via the transmission component; the lifting motor and the first Hall sensor are respectively communicatively connected to the controller.

[0006] The first Hall sensor is used to determine the lifting height of the cutter head motor;

[0007] The controller is used to acquire the required height of the cutter head and the initial height of the cutter head motor; determine the correspondence between the output pulse number of the first Hall sensor and the theoretical lifting height of the cutter head motor based on multiple lifting heights; determine the required Hall pulse number based on the required height of the cutter head, the initial height of the cutter head, and the correspondence; generate a corresponding running command based on the required Hall pulse number, and send the running command to the lifting motor;

[0008] The lifting motor is used to operate according to the operating command, so as to drive the cutter head motor to lift and lower to the required height of the cutter head through the transmission component.

[0009] In one embodiment, a second Hall sensor is provided on the side of the cutter head motor near the lifting motor; a second magnet corresponding to the second Hall sensor is provided on the cutter head motor;

[0010] When the lifting motor moves from bottom to top until the second magnet triggers the second Hall sensor, the first Hall sensor obtains the maximum height of the cutter head of the cutter head motor;

[0011] The controller is also used to determine the maximum height of the cutter head as the initial height of the cutter head.

[0012] In one embodiment, a third Hall sensor is provided at the end of the cutter head motor away from the lifting motor; a third magnet corresponding to the third Hall sensor is provided on the cutter head motor.

[0013] During the process of the lifting motor driving the cutter head motor to move, when the second magnet first triggers the second Hall sensor or the third magnet first triggers the third Hall sensor, the lifting motor moves in the opposite direction until the second magnet triggers the second Hall sensor again; the first Hall sensor obtains the maximum height of the cutter head of the cutter head motor.

[0014] Secondly, this application provides a control method for a lawnmower cutter head mechanism, applied to the aforementioned lawnmower cutter head mechanism. The method includes:

[0015] Obtain the required height of the cutter head and the initial height of the cutter head motor;

[0016] The correspondence between the output pulse count of the first Hall sensor and the theoretical lifting height of the cutter head motor is determined based on multiple lifting heights.

[0017] The required number of Hall pulses is determined based on the required height of the cutter head, the initial height of the cutter head, and the corresponding relationship.

[0018] Based on the required Hall pulse count, a corresponding operating command is generated and sent to the lifting motor, so that the lifting motor operates according to the operating command and drives the cutter head motor to lift and lower to the required height of the cutter head through the transmission components.

[0019] In one embodiment, the process of determining the initial height of the cutter head includes:

[0020] If the lawnmower blade mechanism is started for the first time, during the process of the lifting motor driving the blade motor, when the second magnet first triggers the second Hall sensor or the third magnet first triggers the third Hall sensor, the lifting motor is controlled to move in the opposite direction until the second magnet triggers the second Hall sensor again; the maximum height of the blade of the blade motor is obtained using the first Hall sensor;

[0021] The maximum height of the cutter head is determined as the initial height of the cutter head.

[0022] In one embodiment, the process of determining the initial height of the cutter head includes:

[0023] If the lawnmower blade mechanism is not being started for the first time, obtain the historical blade height;

[0024] The historical cutter head height is determined as the initial cutter head height.

[0025] Thirdly, this application also provides a control device for a lawnmower blade mechanism, applied to the aforementioned lawnmower blade mechanism. The device includes:

[0026] The acquisition module is used to acquire the required height of the cutter head and the initial height of the cutter head motor.

[0027] The correspondence determination module is used to determine the correspondence between the output pulse number of the first Hall sensor and the theoretical lifting height of the cutter head motor based on multiple lifting heights;

[0028] The pulse count determination module is used to determine the required Hall pulse count based on the required height of the cutter head, the initial height of the cutter head, and the corresponding relationship.

[0029] The adjustment control module is used to generate a corresponding running command based on the required Hall pulse count and send the running command to the lifting motor, so that the lifting motor runs according to the running command and drives the cutter head motor to lift and lower to the required height of the cutter head through the transmission components.

[0030] Fourthly, this application also provides a terminal device. The terminal device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method described above.

[0031] Fifthly, this application also provides a lawnmower, which includes a lawnmower body and the aforementioned lawnmower blade mechanism.

[0032] Sixthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the method described above.

[0033] This application provides a lawnmower blade mechanism, which includes a blade motor, a lifting motor, a transmission component, a controller, a first Hall sensor, and a first magnet corresponding to the first Hall sensor. The first Hall sensor and the first magnet are disposed on the side of the lifting motor near the blade motor. The lifting height of the blade motor is determined using the first Hall sensor. After acquiring the required height and initial height of the blade, the controller determines the correspondence between the output pulse count of the first Hall sensor and the theoretical lifting height of the blade motor based on multiple lifting heights. Then, based on the required height, the initial height, and the correspondence, the required Hall pulse count is determined, and the lifting motor is controlled to operate according to the required Hall pulse count. During operation, the lifting motor drives the blade motor to lift and lower to reach the required blade height through the transmission component. In other words, the lifting motor can automatically adjust the lifting height of the blade motor according to the required Hall pulse count, thus improving the convenience of adjusting the lifting height of the blade motor.

[0034] It is understood that the control method, device, terminal equipment, lawnmower, and computer-readable storage medium provided in the embodiments of this application have the same beneficial effects as the lawnmower blade mechanism described above, and will not be repeated here. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0036] Figure 1 This application provides a schematic diagram of the structure of a lawnmower blade mechanism.

[0037] Figure 2 This is a schematic diagram of another lawnmower blade mechanism provided in an embodiment of this application;

[0038] Figure 3 A flowchart illustrating a control method for a lawnmower blade mechanism provided in this application embodiment;

[0039] Figure 4 A schematic diagram of data transmission in a lawnmower blade mechanism provided in an embodiment of this application;

[0040] Figure 5 A schematic diagram of the structure of a control device for a lawnmower blade mechanism provided in an embodiment of this application;

[0041] Figure 6 This is a schematic diagram of the structure of a terminal device provided in an embodiment of this application. Detailed Implementation

[0042] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of this application with unnecessary detail.

[0043] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0044] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0045] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0046] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0047] References to "one embodiment" or "some embodiments" in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized. "A plurality" means "two or more."

[0048] Figure 1 This is a schematic diagram of a lawnmower blade mechanism provided in an embodiment of this application. For ease of explanation, only the parts relevant to this embodiment are shown. In this embodiment, a lawnmower blade mechanism includes a blade motor 110, a lifting motor 120, a transmission component 130, a controller 140, a first Hall sensor 150, and a first magnet 160 corresponding to the first Hall sensor 150. The first Hall sensor 150 and the first magnet 160 are disposed on the side of the lifting motor 120 near the blade motor 110. The blade motor 110 and the lifting motor 120 are connected through the transmission component 130. The lifting motor 120 and the first Hall sensor 150 are respectively communicatively connected to the controller 140.

[0049] The first Hall sensor 150 is used to determine the lifting height of the cutter head motor 110;

[0050] The controller 140 is used to acquire the required height and initial height of the cutter head motor 110; determine the correspondence between the Hall pulse count of the first Hall sensor 150 and the theoretical lifting height of the cutter head motor 110 based on multiple lifting heights; determine the required Hall pulse count based on the required height, initial height, and the correspondence; generate the corresponding running command based on the required Hall pulse count, and send the running command to the lifting motor 120.

[0051] The lifting motor 120 is used to operate according to the running instructions, so as to drive the cutter head motor 110 to lift and lower to the required height of the cutter head through the transmission component 130.

[0052] Among them, the blade motor 110 refers to the motor used to control the high-speed rotation of the blade to achieve grass cutting; the lifting motor 120 refers to the motor used to adjust the lifting height of the blade motor 110; the blade motor 110 and the lifting motor 120 are connected by a transmission component 130. Therefore, when the lifting motor 120 rotates forward and reverse, it drives the blade motor 110 to lift and lower through the transmission component 130 to adjust the blade height of the blade motor 110.

[0053] It should be noted that the lifting motor 120 can be composed of a DC motor and a gearbox; since the lifting motor 120 is used less frequently in actual applications, the DC motor in the lifting motor 120 can specifically be a DC brushed motor.

[0054] The lifting motor 120 has an internal worm gear and an external worm gear corresponding to the internal one. The worm gear structure is used to transmit motion and power between two intersecting shafts. The cutter head motor 110 is connected to the external worm gear, and the worm gear is connected to the lifting motor 120. The lifting motor 120 drives the external worm gear to rotate, thereby driving the cutter head motor 110 to lift and lower. Therefore, the lifting height of the cutter head motor 110 can be adjusted more precisely.

[0055] The lifting motor 120 has a first Hall sensor 150 and a corresponding first magnet 160 on the side near the cutter head motor 110. The first Hall sensor 150 and the first magnet 160 work together to determine the cutter head height of the cutter head motor 110. Specifically, when the lifting motor 120 is running, the two Hall outputs corresponding to the first Hall sensor 150 will output two square wave AB outputs (Hall-A and Hall-B). The controller 140 determines the lifting displacement of the lifting motor 120 by reading the number of outputs of the two square wave AB outputs of the first Hall sensor 150, and thus determines the cutter head height of the cutter head motor 110. In practical applications, since the phase difference between the two square wave AB outputs is 90 degrees, the lifting height of the cutter head motor 110 can be determined by reading the number of Hall output pulses of either Hall output (Hall-A and Hall-B).

[0056] In this embodiment, the controller 140 can be a CPU (Central Processing Unit), MCU (Microcontroller Unit), etc., and this embodiment does not limit it.

[0057] The required height of the cutter head motor 110 is the same as the mowing height. The required height of the cutter head motor 110 can be obtained directly in response to the user's input operation, or when the controller 140 is connected to the user terminal, the user can input the required height of the cutter head motor 110 on the user terminal, and the user terminal will send the required height to the controller 140, so that the controller 140 can obtain the required height of the cutter head motor 110 through the user terminal.

[0058] The initial height of the cutter head refers to the initial height of the cutter head motor 110 when the lifting height of the cutter head motor 110 needs to be adjusted. In practical applications, the initial height of the cutter head can be determined directly using the first Hall sensor 150, or it can be a preset parameter; this embodiment does not limit this.

[0059] Specifically, the first Hall sensor 150 at the tail of the lifting motor 120 outputs a waveform to the controller 140 for real-time analysis. The controller 140 controls the number of rotations of the lifting motor 120, and the cutter head motor 110 is raised or lowered by a certain displacement, thus determining the lifting height of the cutter head motor 110.

[0060] Specifically, after acquiring multiple lifting heights of the cutter head motor 110 using the first Hall sensor 150, the correspondence between the output pulse count of the first Hall sensor 150 and the theoretical lifting height of the cutter head motor 110 is determined based on the multiple lifting heights.

[0061] In one specific implementation, it is assumed that the resolution of the first Hall sensor 150 is 2 PPR (pulse per revolution, the number of pulses output per revolution of the encoder), meaning that for every revolution of the lifting motor 120, the first Hall sensor 150 outputs two pulses. The output shaft of the lifting motor 120 drives the external worm gear to rotate one revolution, and the theoretical lifting height of the cutter head motor 110 is H. The reduction ratio of the reduction gearbox of the lifting motor 120 is I. That is, when the lifting height of the cutter head motor 110 is H, the number of pulses N of the first Hall sensor 150 is N = H * I * 2. For example, if the reduction ratio of the reduction gearbox of the lifting motor 120 is 100, and the lifting height H of the cutter head motor 110 is 1 cm, the number of pulses N output by the first Hall sensor 150 is 200. This embodiment does not limit the correspondence between the number of Hall pulses of the first Hall sensor 150 and the theoretical lifting height of the cutter head motor 110.

[0062] Specifically, after determining the required height of the cutter head motor 110, the initial height of the cutter head, and the correspondence between the output pulse count of the first Hall sensor 150 and the theoretical lifting height of the cutter head motor 110, the required number of Hall pulses is determined based on the required height, the initial height, and the correspondence. That is, when the Hall output pulse count of the first Hall sensor 150 equals the required number of Hall pulses, the lifting height of the cutter head motor 110 reaches the required height. For example, assuming the initial height of the cutter head is H0 and the required height is Hx, the required number of Hall pulses can be determined using {(H0-Hx) / H}*I*2.

[0063] Specifically, after determining the required number of Hall pulses, the controller 140 first generates a start command based on the required number of Hall pulses and sends the start command to the lifting motor 120. The lifting motor 120 starts to rotate forward or reverse according to the start command and drives the cutter head motor 110 to lift and lower through the transmission component 130.

[0064] In one specific implementation, the controller 140 outputs a PWM signal to the driver IC of the lifting motor 120 to control the lifting motor 120 to rotate forward or reverse at a preset speed. Simultaneously, the controller 140 starts counting the pulses from the first Hall sensor 150. When the count reaches the required number of Hall pulses, the controller 140 sends a stop command to the lifting motor 120. The lifting motor 120 stops rotating forward or reverse according to the stop command. At this time, the lifting displacement of the lifting motor 120 causes the cutter head motor 110 to reach the cutter head height.

[0065] This application provides a lawnmower blade mechanism, which includes a blade motor, a lifting motor, a transmission component, a controller, a first Hall sensor, and a first magnet corresponding to the first Hall sensor. The first Hall sensor and the first magnet are disposed on the side of the lifting motor near the blade motor. The lifting height of the blade motor is determined using the first Hall sensor. After acquiring the required blade height and the initial blade height, the controller determines the correspondence between the output pulse count of the first Hall sensor and the theoretical lifting height of the blade motor based on multiple lifting heights. Then, based on the required blade height, the initial blade height, and the correspondence, the required Hall pulse count is determined, and the lifting motor is controlled to operate according to the required Hall pulse count. During operation, the lifting motor drives the blade motor to lift and lower to reach the required blade height through the transmission component. In other words, the lifting motor can automatically adjust the lifting height of the blade motor according to the required Hall pulse count, thus improving the convenience of adjusting the lifting height of the blade motor.

[0066] Figure 2 This is a schematic diagram of another lawnmower blade mechanism provided in an embodiment of this application. Based on the above embodiments, this embodiment further explains and optimizes the technical solution, specifically as follows: Figure 2 As shown, in this embodiment, a second Hall sensor 170 is provided on the side of the cutter head motor 110 near the lifting motor 120; a second magnet 180 corresponding to the second Hall sensor 170 is provided on the cutter head motor 110.

[0067] When the lifting motor 120 moves from bottom to top until the second magnet 180 triggers the second Hall sensor 170, the first Hall sensor 150 obtains the maximum height of the cutter head of the cutter head motor 110.

[0068] The controller 140 is also used to determine the maximum height of the cutter head as the initial height of the cutter head.

[0069] It should be noted that when the lifting motor 120 is running, when the distance between the magnet and the Hall sensor is less than the preset distance threshold, the magnet will trigger the corresponding Hall sensor; when the Hall sensor is triggered, the lifting motor 120 will stop running immediately. The Hall sensor plays the role of limiting the cutter head motor 110 to prevent the lifting motor 120 from stalling.

[0070] Therefore, in this embodiment, a second Hall sensor 170 is provided on the side of the cutter head motor 110 near the lifting motor 120, and a corresponding second magnet 180 is provided on the cutter head motor 110. During the upward movement of the lifting motor 120, when the second magnet 180 on the lifting motor 120 triggers the second Hall sensor 170, it indicates that the cutter head motor 110 has reached the top limit position, and the lifting motor 120 stops running to prevent the lifting motor 120 from stalling. At this time, the lifting height of the cutter head motor 110 is obtained using the first Hall sensor 150, thus determining the maximum height of the cutter head of the cutter head motor 110.

[0071] In practical applications, the maximum height of the cutter head is determined as the initial height of the cutter head, and the lifting height of the cutter head motor 110 is adjusted based on the initial height (maximum height) of the cutter head.

[0072] As can be seen, the method of this embodiment can efficiently and conveniently determine the initial height of the cutter head motor.

[0073] Based on the above embodiments, this embodiment further explains and optimizes the technical solution. Specifically, in this embodiment, a third Hall sensor 190 is provided at the end of the cutter head motor 110 away from the lifting motor 120; a third magnet 200 corresponding to the third Hall sensor 190 is provided on the cutter head motor 110.

[0074] If the lawnmower blade mechanism is started for the first time, during the process of the lifting motor 120 driving the blade motor 110 to move, when the second magnet 180 first triggers the second Hall sensor 170 or the third magnet 200 first triggers the third Hall sensor 190, the lifting motor 120 moves in the opposite direction until the second magnet 180 triggers the second Hall sensor 170 again; the first Hall sensor 150 obtains the maximum height of the blade of the blade motor 110.

[0075] Because when the lifting motor 120 is running, the magnet will trigger the corresponding Hall sensor when the distance between the magnet and the Hall sensor is less than a preset distance threshold. Based on this, this embodiment further considers that if the lifting motor 120 initially moves upward, the initial distance between the second magnet 180 at the top of the cutter head motor 110 and the second Hall sensor 170 may be less than the preset distance threshold, and the second magnet 180 will trigger the second Hall sensor 170. At this time, the maximum height of the cutter head of the cutter head motor 110 obtained by the first Hall sensor 150 will not be accurate enough.

[0076] In this embodiment, magnets (second magnet 180 and third magnet 200) are respectively installed at the top and bottom of the cutter head motor 110 to trigger the Hall sensors (second Hall sensor 170 and third Hall sensor 190) at its top and bottom. The controller reads the output values ​​of the second Hall sensor 170 and the third Hall sensor 190 in real time; if the second Hall sensor 170 or the third Hall sensor 190 is not initially triggered, it indicates that the cutter head motor 110 is in the middle position. Therefore, the lifting motor 120 is used to control the cutter head motor 110 to move from bottom to top until the second Hall sensor 170 is triggered.

[0077] If either Hall sensor (the second Hall sensor 170 or the third Hall sensor 190) is triggered, the lifting motor 120 controls the cutter head motor 110 to move in the opposite direction until the second Hall sensor 170 is triggered.

[0078] Specifically, if the lifting motor 120 initially moves downward, when the third magnet 200 at the bottom of the cutter head motor 110 triggers the third Hall sensor 190, the lifting motor 120 stops running. At this time, the cutter head motor 110 runs to the bottom limit position, so the cutter head motor 110 is controlled to move in the opposite direction, that is, the lifting motor 120 moves upward. When the second magnet 180 triggers the second Hall sensor 170, the lifting motor 120 stops running. At this time, the cutter head motor 110 runs to the top limit position (calibration point), and the maximum height Hmax of the cutter head of the cutter head motor 110 is obtained by the first Hall sensor 150 and stored.

[0079] If the lifting motor 120 initially moves upward, the lifting motor 120 stops running when the second magnet 180 at the top of the cutter head motor 110 first triggers the second Hall sensor 170. However, it is possible that the initial distance between the second magnet 180 at the top of the cutter head motor 110 and the second Hall sensor 170 is less than the preset distance threshold. Therefore, the cutter head motor 110 is controlled to move in the opposite direction, that is, the lifting motor 120 moves downward. When the third magnet 200 triggers the third Hall sensor 190, it indicates that the cutter head motor 110 has reached the bottom limit position. The cutter head motor 110 is then controlled to move in the opposite direction, that is, the lifting motor 120 moves upward. When the second magnet 180 triggers the second Hall sensor 170 again, it indicates that the cutter head motor 110 has reached the top limit position. At this time, the first Hall sensor 150 is used to obtain and store the maximum height Hmax of the cutter head of the cutter head motor 110.

[0080] In practical applications, when the cutter head motor 110 is in the top limit position, the maximum height of the cutter head is determined as the initial height of the cutter head. Then, based on the initial height (maximum height) of the cutter head motor 110, the required number of Hall pulses is calculated. This is the number of pulses required for the cutter head motor 110 to move from the top limit position to the required cutter head height. The lifting height of the cutter head motor 110 is then adjusted according to this required number of pulses. For example, assuming the maximum height (initial height) Hmax of the cutter head motor 110 is 7cm and the required height Hx = 5cm, the required number of Hall pulses is determined according to (Hmax - Hx) / H*I*2.

[0081] Furthermore, the third Hall sensor 190 at the bottom can prevent damage to the cutter head motor 110 or the cutter head when the lifting motor 120 or the cutter head motor 110 malfunctions and causes the cutter head motor 110 to fall.

[0082] As can be seen, the lawnmower blade mechanism in this embodiment can more accurately determine the maximum height of the blade, i.e., the initial height of the blade, thus improving the accuracy of determining the required number of Hall pulses and using the lifting motor to precisely adjust the lifting height of the blade motor.

[0083] This application also provides a control method for a lawnmower blade mechanism. This method can be executed by the controller in the lawnmower blade mechanism of the above embodiments when running a corresponding computer program. Figure 3 A flowchart illustrating a control method for a lawnmower blade mechanism provided in this application embodiment. Figure 4 This is a schematic diagram illustrating data transmission in a lawnmower blade mechanism, provided as an embodiment of this application. (Combined with...) Figure 3 and Figure 4 As shown, for ease of explanation, only the parts relevant to this embodiment are shown. The method provided in this embodiment includes the following steps:

[0084] S100: Obtain the required height of the cutter head and the initial height of the cutter head motor.

[0085] The required height of the blade motor is the same as the mowing height. This can be obtained directly in response to user input, or when the controller and user terminal are connected, the user can input the required height of the blade motor on the user terminal, and the user terminal will send the required height to the controller. This allows the controller to obtain the required height of the blade motor through the user terminal, thereby enabling remote adjustment of the lifting height of the blade motor of the lawnmower's blade mechanism.

[0086] The initial height of the cutter head refers to the initial height of the cutter head motor when the lifting height of the cutter head motor needs to be adjusted. In practical applications, the initial height of the cutter head can be determined directly using the first Hall sensor, or it can be a preset parameter; this embodiment does not limit this.

[0087] S200: Determine the correspondence between the output pulse count of the first Hall sensor and the theoretical lifting height of the cutter head motor based on multiple lifting heights.

[0088] Specifically, the waveform output by the first Hall sensor at the tail of the lifting motor is sent to the controller for real-time analysis. The controller controls the number of rotations of the lifting motor, which corresponds to a certain displacement of the cutter head motor, thus determining the corresponding lifting height of the cutter head motor.

[0089] Specifically, after obtaining multiple lifting heights of the cutter head motor using the first Hall sensor, the correspondence between the output pulse count of the first Hall sensor and the theoretical lifting height of the cutter head motor is determined based on the multiple lifting heights.

[0090] In one specific implementation, it is assumed that the resolution of the first Hall sensor is 2PPR (pulse per revolution, the number of pulses output per encoder revolution), meaning that for every revolution of the lifting motor, the first Hall sensor outputs two pulses. The output shaft of the lifting motor drives the external worm gear to rotate one revolution, and the theoretical lifting height of the cutter head motor is H. The reduction ratio of the lifting motor's gearbox is I. That is, when the lifting height of the cutter head motor is H, the number of pulses N of the first Hall sensor is N = H * I * 2. For example, if the reduction ratio of the lifting motor's gearbox is 100, and the lifting height H of the cutter head motor is 1cm, the number of pulses N output by the first Hall sensor is 200. This embodiment does not limit the correspondence between the number of Hall pulses of the first Hall sensor and the theoretical lifting height of the cutter head motor.

[0091] S300: Determine the required number of Hall pulses based on the required height of the cutter head, the initial height of the cutter head, and the corresponding relationship.

[0092] Specifically, after determining the required cutter head height and initial cutter head height of the cutter head motor, as well as the correspondence between the output pulse count of the first Hall sensor and the theoretical lifting height of the cutter head motor, the required Hall pulse count is determined based on the required cutter head height, the initial cutter head height, and the corresponding relationship. In other words, when the Hall output pulse count of the first Hall sensor equals the required Hall pulse count, the cutter head height of the cutter head motor reaches the required cutter head height. For example, assuming the initial cutter head height is H0 and the required cutter head height is Hx, the required Hall pulse count can be determined using {(H0-Hx) / H}*I*2.

[0093] S400: Generates corresponding operating instructions based on the required Hall pulse count and sends the operating instructions to the lifting motor so that the lifting motor runs according to the operating instructions and drives the cutter head motor to lift and lower to the required height of the cutter head through the transmission components.

[0094] Specifically, after determining the required number of Hall pulses, the controller first generates a start command based on the required Hall pulse count and sends the start command to the lifting motor. The lifting motor then starts rotating forward or in reverse according to the start command, driving the cutter head motor to move up and down via the transmission components. In one specific implementation, the controller outputs a PWM signal to the lifting motor's driver IC to control the lifting motor to rotate forward or in reverse at a preset speed. Simultaneously, the controller starts counting the pulses from the first Hall sensor. When the count reaches the required number of Hall pulses, the controller sends a stop command to the lifting motor. The lifting motor stops rotating forward or in reverse according to the stop command, and at this point, the lifting motor's vertical displacement causes the cutter head motor to reach the cutter head height.

[0095] This application provides a control method for a lawnmower blade mechanism, applied to the lawnmower blade mechanism described in the above embodiments. After obtaining the required blade height and the initial blade height, the method determines the correspondence between the output pulse count of a first Hall sensor and the theoretical lifting height of the blade motor based on multiple lifting heights. Then, based on the required blade height, the initial blade height, and the correspondence, the required Hall pulse count is determined. The lifting motor is then controlled to operate according to the required Hall pulse count. During operation, the lifting motor drives the blade motor to lift and lower to reach the required blade height through a transmission component. In other words, the lifting motor can automatically adjust the lifting height of the blade motor according to the required Hall pulse count, thus improving the convenience of adjusting the lifting height of the blade motor in the lawnmower blade mechanism.

[0096] Based on the above embodiments, this embodiment further explains and optimizes the technical solution. Specifically, in this embodiment, the process of determining the initial height of the cutter head includes:

[0097] If the lawnmower's blade mechanism is started for the first time, during the process of the lifting motor driving the blade motor, when the second magnet first triggers the second Hall sensor or the third magnet first triggers the third Hall sensor, the lifting motor is controlled to move in the opposite direction until the second magnet triggers the second Hall sensor again; the maximum height of the blade motor is obtained using the first Hall sensor;

[0098] The maximum height of the cutter head is determined as the initial height of the cutter head.

[0099] Because when the lifting motor is running, the magnet will trigger the corresponding Hall sensor when the distance between the magnet and the Hall sensor is less than a preset distance threshold. Based on this, this embodiment further considers that if the lifting motor initially moves upward, the initial distance between the second magnet at the top of the cutter head motor and the second Hall sensor may be less than the preset distance threshold, and the second magnet will trigger the second Hall sensor. In this case, using the first Hall sensor to obtain the maximum height of the cutter head motor will not be accurate enough.

[0100] In this embodiment, magnets (a second magnet and a third magnet) are installed at the top and bottom of the cutter head motor, respectively, to trigger the Hall sensors (a second Hall sensor and a third Hall sensor) at its top and bottom. The controller reads the output values ​​of the second and third Hall sensors in real time; if neither the second nor the third Hall sensor is initially triggered, it indicates that the cutter head motor is in the middle position. Therefore, the lifting motor is used to control the cutter head motor to move from bottom to top until the second Hall sensor is triggered.

[0101] If any Hall sensor (the second Hall sensor or the third Hall sensor) is triggered, the lifting motor controls the cutter head motor to move in the opposite direction until the second Hall sensor is triggered.

[0102] Specifically, if the lifting motor initially moves downwards, the lifting motor stops when the third magnet at the bottom of the cutter head motor triggers the third Hall sensor. At this time, the cutter head motor moves to the bottom limit position, so the cutter head motor is controlled to move in the opposite direction, that is, the lifting motor moves upwards. When the second magnet triggers the second Hall sensor, the lifting motor stops. At this time, the cutter head motor moves to the top limit position (calibration point), and the maximum height Hmax of the cutter head motor is obtained using the first Hall sensor and stored.

[0103] If the lifting motor initially moves upward, it stops when the second magnet at the top of the cutter head motor first triggers the second Hall sensor. However, the initial distance between the second magnet and the second Hall sensor may be less than a preset distance threshold, so the cutter head motor is controlled to move in the opposite direction, i.e., the lifting motor moves downward. When the third magnet triggers the third Hall sensor, it indicates that the cutter head motor has reached the bottom limit position. The cutter head motor is then controlled to move in the opposite direction, i.e., the lifting motor moves upward. When the second magnet triggers the second Hall sensor again, it indicates that the cutter head motor has reached the top limit position. At this time, the maximum height Hmax of the cutter head motor is obtained using the first Hall sensor and stored.

[0104] In practical applications, when the cutter head motor is in the top limit position, the maximum height of the cutter head is determined as the initial height. Then, based on this initial height (maximum height), the required Hall pulse count is calculated. This is the number of pulses required for the cutter head motor to move from the top limit position to the required cutter head height. The lifting height of the cutter head motor is then adjusted according to this required pulse count. For example, assuming the maximum cutter head height (initial height) Hmax is 7cm and the required height Hx is 5cm, the required Hall pulse count is determined by (Hmax - Hx) / H*I*2.

[0105] It should be noted that after determining the maximum height of the cutter head, a height protection value can be further obtained, and the maximum cutter head height can be updated based on the maximum cutter head height and the height protection value. For example, assuming the first Hall sensor determines the maximum cutter head height to be 10cm and the height protection value to be 2cm, then the maximum cutter head height can be updated to 8cm based on these two values. Adjusting the lifting height according to the updated maximum cutter head height can further reduce the risk of damage to the cutter head motor.

[0106] Furthermore, the third Hall sensor at the bottom can prevent damage to the cutter head motor or cutter head when the lifting motor or cutter head motor malfunctions and causes the cutter head motor to fall.

[0107] As can be seen, the method of this embodiment can more accurately determine the maximum height of the cutter head, i.e., the initial height of the cutter head, thus improving the accuracy of determining the required number of Hall pulses and using the lifting motor to precisely adjust the lifting height of the cutter head motor.

[0108] It is understandable that if this is not the first time the lawnmower's blade mechanism has been started, the initial height of the blade can be determined directly based on the previous adjustment result of the blade motor. Based on the above embodiment, this embodiment further explains and optimizes the technical solution. Specifically, in this embodiment, the process of determining the initial height of the blade includes:

[0109] If the lawnmower's blade mechanism is not being used for the first time, retrieve the historical blade height.

[0110] The historical cutter head height is set as the initial cutter head height.

[0111] The historical cutterhead height refers to the required cutterhead height at the time of the last adjustment of the cutterhead motor's height. In practical applications, after determining the corresponding required Hall pulse count based on the required cutterhead height each time, and adjusting the cutterhead height of the cutterhead motor according to the required Hall pulse count, the required cutterhead height is stored, thus obtaining the historical cutterhead height. The next time the cutterhead height of the motor needs to be adjusted, the pre-stored historical cutterhead height can be directly read, and the historical cutterhead height can be used to determine the initial cutterhead height. Then, the required Hall pulse count is determined based on the required cutterhead height, the initial cutterhead height, and the correspondence between the Hall pulse count and the theoretical lifting height of the cutterhead motor.

[0112] As can be seen, the method of this embodiment can efficiently and conveniently determine the initial height of the blade motor, improve the efficiency of determining the required number of Hall pulses, and thus improve the convenience and efficiency of adjusting the blade height of the blade motor in the lawnmower blade mechanism.

[0113] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0114] Figure 5 The diagram shown is a structural schematic of a control device for a lawnmower blade mechanism according to an embodiment of this application. Figure 5 As shown, the control device for the lawnmower blade mechanism in this embodiment is applied to the aforementioned lawnmower blade mechanism and includes an acquisition module 510, a correspondence determination module 520, a pulse count determination module 530, and an adjustment control module 540; wherein,

[0115] The acquisition module 510 is used to acquire the required height of the cutter head and the initial height of the cutter head motor;

[0116] The correspondence determination module 520 is used to determine the correspondence between the output pulse number of the first Hall sensor and the theoretical lifting height of the cutter head motor based on multiple lifting heights;

[0117] The pulse count determination module 530 is used to determine the required Hall pulse count based on the required height of the cutter head, the initial height of the cutter head, and the corresponding relationship.

[0118] The adjustment control module 540 is used to generate corresponding running instructions based on the required number of Hall pulses and send the running instructions to the lifting motor so that the lifting motor runs according to the running instructions and drives the cutter head motor to lift and lower to the required height of the cutter head through the transmission components.

[0119] The control device for a lawnmower blade mechanism provided in this application embodiment has the same beneficial effects as the control method for a lawnmower blade mechanism described above.

[0120] In one embodiment, the acquisition module includes:

[0121] The maximum height acquisition submodule for the cutter head is used to control the lifting motor to move in the opposite direction when the second magnet first triggers the second Hall sensor or the third magnet first triggers the third Hall sensor during the initial start-up of the lawnmower's cutter head mechanism, while the lifting motor drives the cutter head motor to move, until the second magnet triggers the second Hall sensor again; and to acquire the maximum height of the cutter head motor using the first Hall sensor.

[0122] The first tool head initial height determination submodule is used to determine the maximum height of the tool head as the initial height of the tool head.

[0123] In one embodiment, the acquisition module includes:

[0124] The historical cutter head height acquisition submodule is used to acquire the historical cutter head height if the lawnmower's cutter head mechanism is not being started for the first time.

[0125] The second cutter head initial height determination submodule is used to determine the historical cutter head height as the initial cutter head height.

[0126] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0127] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0128] Figure 6 This is a schematic diagram of the structure of a terminal device provided in an embodiment of this application. Figure 6 As shown, the terminal device 600 of this embodiment includes a memory 601, a processor 602, and a computer program 603 stored in the memory 601 and executable on the processor 602; when the processor 602 executes the computer program 603, it implements the steps in the control method embodiments of the lawnmower blade mechanism described above; or when the processor 602 executes the computer program 603, it implements the functions of each module / unit in the device embodiments described above.

[0129] For example, computer program 603 can be divided into one or more modules / units, one or more of which are stored in memory 601 and executed by processor 602 to implement the method of the embodiments of this application. One or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of computer program 603 in terminal device 600. For example, computer program 603 can be divided into an acquisition module, a correspondence determination module, a pulse count determination module, and an adjustment control module, with the specific functions of each module as follows:

[0130] The acquisition module is used to acquire the required height of the cutter head and the initial height of the cutter head motor.

[0131] The correspondence determination module is used to determine the correspondence between the output pulse number of the first Hall sensor and the theoretical lifting height of the cutter head motor based on multiple lifting heights;

[0132] The pulse count determination module is used to determine the required Hall pulse count based on the required height of the cutter head, the initial height of the cutter head, and the corresponding relationship.

[0133] The adjustment control module is used to generate corresponding operating instructions based on the required number of Hall pulses and send the operating instructions to the lifting motor, so that the lifting motor runs according to the operating instructions and drives the cutter head motor to lift and lower to the required height of the cutter head through the transmission components.

[0134] In applications, terminal device 600 can be a computing device such as a desktop computer, laptop, handheld computer, or cloud server. Terminal device 600 may include, but is not limited to, memory 601 and processor 602. Those skilled in the art will understand that... Figure 6 This is merely an example of a terminal device and does not constitute a limitation on the terminal device. It may include more or fewer components than shown, or combine certain components, or different components. For example, a terminal device may also include input / output devices, network access devices, buses, etc.; among which, input / output devices may include cameras, audio acquisition / playback devices, displays, etc.; network access devices may include communication modules for wireless communication with external devices.

[0135] In applications, the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0136] In applications, memory can be an internal storage unit of a terminal device, such as its hard drive or RAM; it can also be an external storage device, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card; or it can include both internal and external storage units. Memory is used to store operating systems, applications, boot loaders, data, and other programs, such as computer program code. Memory can also be used to temporarily store data that has been output or will be output.

[0137] This application also provides a lawnmower, which includes a lawnmower body and the lawnmower blade mechanism described in the above embodiments.

[0138] The lawnmower provided in this application embodiment has the same beneficial effects as the lawnmower blade mechanism described above because it includes the aforementioned lawnmower blade mechanism.

[0139] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, can implement the steps in the above-described method embodiments.

[0140] The computer-readable storage medium provided in this application embodiment has the same beneficial effects as the above-described control method for a lawnmower blade mechanism.

[0141] This application also provides a computer program product, including a computer program that, when executed by a processor, can implement the steps in the various method embodiments described above.

[0142] The computer program product provided in this application embodiment has the same beneficial effects as the above-described control method for a lawnmower blade mechanism.

[0143] This application implements all or part of the processes in the methods of the above embodiments, which can be accomplished by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium can include at least: any entity or device capable of carrying the computer program code to a terminal device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, such as a USB flash drive, a portable hard drive, a magnetic disk, or an optical disk.

[0144] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0145] Those skilled in the art will recognize that the device and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0146] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interface, or the device may be indirectly coupled or communicated, and may be electrical, mechanical, or other forms.

[0147] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A blade mechanism for a lawnmower, characterized in that, The lawnmower blade mechanism includes a blade motor, a lifting motor, a transmission component, a controller, a first Hall sensor, and a first magnet corresponding to the first Hall sensor. The first Hall sensor and the first magnet are disposed on the side of the lifting motor closer to the blade motor. The blade motor and the lifting motor are connected through the transmission component. The lifting motor and the first Hall sensor are respectively communicatively connected to the controller. A second Hall sensor and a third Hall sensor are respectively disposed on the side of the blade motor closer to the lifting motor and the side farther from the lifting motor. The blade motor is provided with a second magnet corresponding to the second Hall sensor and a third magnet corresponding to the third Hall sensor. The first Hall sensor is used to determine the lifting height of the cutter head motor and to obtain the maximum height of the cutter head motor. The controller is used to acquire the required height of the cutter head and the initial height of the cutter head motor; determine the correspondence between the output pulse number of the first Hall sensor and the theoretical lifting height of the cutter head motor based on multiple lifting heights; determine the required Hall pulse number based on the required height of the cutter head, the initial height of the cutter head, and the correspondence; generate a corresponding running command based on the required Hall pulse number, and send the running command to the lifting motor; The maximum height of the cutter head is determined as the initial height of the cutter head; The lifting motor is used to operate according to the operating command, so as to drive the cutter head motor to lift and lower to the required height of the cutter head through the transmission component. Specifically, when the lifting motor moves from bottom to top until the second magnet triggers the second Hall sensor, the first Hall sensor obtains the maximum height of the cutter head of the cutter head motor; During the process of the lifting motor driving the cutter head motor to move, when the second magnet first triggers the second Hall sensor or the third magnet first triggers the third Hall sensor, the lifting motor moves in the opposite direction until the second magnet triggers the second Hall sensor again.

2. A control method for a lawnmower blade mechanism, characterized in that, Applied to the lawnmower blade mechanism as described in claim 1, the method includes: Obtain the required height of the cutter head and the initial height of the cutter head motor; The correspondence between the output pulse count of the first Hall sensor and the theoretical lifting height of the cutter head motor is determined based on multiple lifting heights. The required number of Hall pulses is determined based on the required height of the cutter head, the initial height of the cutter head, and the corresponding relationship. Based on the required Hall pulse count, a corresponding operating command is generated and sent to the lifting motor, so that the lifting motor operates according to the operating command and drives the cutter head motor to lift and lower to the required height of the cutter head through the transmission components.

3. The control method for the lawnmower blade mechanism according to claim 2, characterized in that, The process of determining the initial height of the cutter head includes: If the lawnmower blade mechanism is started for the first time, during the process of the lifting motor driving the blade motor, when the second magnet first triggers the second Hall sensor or the third magnet first triggers the third Hall sensor, the lifting motor is controlled to move in the opposite direction until the second magnet triggers the second Hall sensor again; the maximum height of the blade of the blade motor is obtained using the first Hall sensor; The maximum height of the cutter head is determined as the initial height of the cutter head.

4. The control method for the lawnmower blade mechanism according to claim 3, characterized in that, The process of determining the initial height of the cutter head includes: If the lawnmower blade mechanism is not being started for the first time, obtain the historical blade height; The historical cutter head height is determined as the initial cutter head height.

5. A control device for a lawnmower blade mechanism, characterized in that, Applied to the lawnmower blade mechanism as described in claim 1, the device comprises: The acquisition module is used to acquire the required height of the cutter head and the initial height of the cutter head motor. The correspondence determination module is used to determine the correspondence between the output pulse number of the first Hall sensor and the theoretical lifting height of the cutter head motor based on multiple lifting heights; The pulse count determination module is used to determine the required Hall pulse count based on the required height of the cutter head, the initial height of the cutter head, and the corresponding relationship. The adjustment control module is used to generate a corresponding running command based on the required Hall pulse count and send the running command to the lifting motor, so that the lifting motor runs according to the running command and drives the cutter head motor to lift and lower to the required height of the cutter head through the transmission components.

6. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 2 to 4.

7. A lawnmower, characterized in that, The lawnmower includes a lawnmower body and a lawnmower blade mechanism as described in claim 1.

8. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 2 to 4.

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