Cutting apparatus, control method of cutting apparatus, and computer storage medium

Abstract

The application discloses a cutting device, a control method of the cutting device and a computer storage medium. The cutting device comprises a body; a cutting device which is movably connected with the body to be unfolded or folded relative to the body, and is used for performing a cutting action; a moving device which is used for moving the body; a sensing device which is used for detecting the position of the cutting device; and a controller which is electrically connected with the sensing device, the cutting device and the moving device, and is used for controlling the cutting device and / or the moving device to perform a corresponding action according to the position of the cutting device. The cutting action and the running action of the cutting device are intelligently controlled, and the cutting effect of the cutting device on the edges of obstacles (for example, walls) is improved.

Description

Technical Field

[0001] This application relates to the field of lawn mowing equipment, and more particularly to a cutting device, a control method for the cutting device, and a computer storage medium. Background Technology

[0002] In the process of lawn maintenance, lawn mowing is the most tedious and complicated part. In order to reduce the labor intensity and cost, cutting equipment, such as lawn mowing robots, has been developed.

[0003] Currently, a significant number of lawn mowing robots are equipped with cutting blades to trim lawns by rotating the blades. However, current lawn mowing robots are not very effective at mowing grass along the edges of obstacles (such as walls). Summary of the Invention

[0004] This application provides a cutting device, a control method for the cutting device, and a computer storage medium, which aims to achieve intelligent control of the cutting action of the cutting device to improve the cutting effect of the cutting device on the edges of obstacles (such as walls).

[0005] In a first aspect, this application provides a cutting device, comprising:

[0006] ontology;

[0007] The cutting device is movably connected to the main body to expand or retract relative to the main body, and the cutting device is also used to perform cutting actions.

[0008] A mobile device used to move the main body;

[0009] Sensing devices are used to detect the position of the cutting device;

[0010] The controller is electrically connected to the sensing device, cutting device, and moving device, and is used for:

[0011] Based on the position of the cutting device, control the cutting device and / or the moving device to perform corresponding actions.

[0012] In some embodiments, the cutting device includes a reset assembly disposed between the body and the cutting device, the reset assembly being used to provide a force to reset the cutting device to a first preset unfolding range;

[0013] When the cutting device comes into contact with the target object, the controller controls the moving device to move the main body along the target's direction of travel, so that the cutting device moves to the second preset expansion range under the pressure applied by the target object and the force provided by the reset component.

[0014] In some embodiments, the cutting device includes a connecting mechanism and a cutting mechanism for performing the cutting action. The cutting mechanism is movably connected to the main body through the connecting mechanism, and the cutting mechanism retracts into the main body when blocked by an external object.

[0015] When the cutting mechanism retracts to the first position, the controller controls the cutting speed of the cutting device to decrease.

[0016] In some implementations, when the spread of the cutting device relative to the body is less than a preset spread threshold, the controller controls the cutting speed of the cutting device to decrease to zero, wherein the spread is determined by the positional relationship of the cutting device relative to the body.

[0017] In some embodiments, the connecting mechanism includes a deflection component connected to the body and the cutting mechanism respectively, and the cutting mechanism rotates with the body through the deflection component to expand or retract relative to the body.

[0018] The sensing device is connected to at least one of the body, the deflection component, and the cutting mechanism to detect the rotation angle of the cutting mechanism relative to the body. The rotation angle is used to characterize the positional relationship between the cutting device and the body.

[0019] In some embodiments, the connecting mechanism further includes a torsion unit connected between the body and the cutting mechanism, which undergoes torsional deformation when the cutting mechanism rotates relative to the body.

[0020] The sensing device is also used to detect the degree of torsion of the torsion unit to determine the rotation angle of the cutting mechanism relative to the body.

[0021] In some embodiments, the connecting mechanism includes a telescopic component connected to the body and the cutting mechanism, and the telescopic component is used to adjust the distance of the cutting mechanism relative to the body.

[0022] The sensing device is connected to at least one of the body, the telescopic component, and the cutting mechanism to detect the movement distance of the cutting mechanism relative to the body, and the movement distance is used to characterize the positional relationship between the cutting device and the body.

[0023] In some embodiments, the sensing device includes a collision sensor disposed at a preset location on the body and electrically connected to the controller, wherein the preset location is the part of the body that contacts the cutting device when the cutting device is retracted to its limit position.

[0024] The collision sensor is configured to output a collision signal matching the collision intensity when it collides with the cutting device. The controller is used to control the cutting speed of the cutting device to drop to zero when the collision signal meets preset conditions.

[0025] Secondly, this application also provides a control method for a cutting device, the cutting device including a body and a cutting device, the cutting device being movably connected to the body to expand or retract relative to the body, and the cutting device also being used to perform cutting actions.

[0026] The methods include:

[0027] Obtain the position of the cutting device;

[0028] Based on the position of the cutting device, control the cutting device and / or the moving device to perform corresponding actions.

[0029] In some embodiments, the cutting device includes a reset assembly disposed between the body and the cutting device, the reset assembly being used to provide a force to reset the cutting device to a first preset unfolding range;

[0030] Based on the position of the cutting device, control the moving device to perform corresponding actions, including:

[0031] When the cutting device comes into contact with the target object, the direction of the target's movement is determined based on the position of the cutting device;

[0032] The control moving device drives the main body to move along the target travel direction, wherein the target travel direction is the direction that allows the cutting device to move to a second preset expansion range under pressure applied to the target object.

[0033] In some embodiments, the cutting device is controlled to perform corresponding actions based on its position, including:

[0034] When the cutting device retracts to the first position, the cutting speed of the cutting device is reduced.

[0035] In some embodiments, the position of the cutting device includes the extent of the cutting device's unfolding relative to the body;

[0036] Based on the position of the cutting device, control the cutting device to perform corresponding actions, including:

[0037] If the expansion range of the cutting device relative to the main body is less than a preset threshold, the cutting speed of the cutting device is reduced to zero.

[0038] In some implementations, obtaining the position of the cutting device includes:

[0039] The position of the cutting device is obtained by an angle sensor, which is used to detect the rotation angle of the cutting device relative to the body.

[0040] In some implementations, the method further includes:

[0041] Acquire collision signals from collision sensors, whereby the collision signals are used to indicate that the cutting device has retracted to its limit position, which is the position where the cutting device is in contact with the body.

[0042] If the collision signal meets the preset conditions, the cutting speed of the control cutting device will drop to zero.

[0043] Thirdly, this application also provides a cutting device, which includes at least a memory and a processor;

[0044] Memory, used to store computer programs;

[0045] A processor is configured to execute a computer program and, in executing the computer program, cause the cutting device to implement the control method as described in any embodiment of the second aspect.

[0046] Fourthly, this application also provides a computer storage medium storing a computer program, which, when executed by a processor, causes a cutting device equipped with a processor to implement the control method described in any embodiment of the second aspect.

[0047] This application provides a cutting device, a control method for the cutting device, and a computer storage medium. The cutting device includes a main body; a cutting device movably connected to the main body to expand or retract relative to the main body, and the cutting device is also used to perform cutting actions; a moving device for driving the main body to move; a sensing device for detecting the position of the cutting device; and a controller electrically connected to the sensing device, the cutting device, and the moving device, and used to: control the cutting device and / or the moving device to perform corresponding actions based on the position of the cutting device. This application improves the cutting effect of the cutting device on grass along the edges of obstacles (such as walls) by intelligently controlling the cutting and moving actions of the cutting device.

[0048] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit the disclosure of the embodiments of this application. Attached Figure Description

[0049] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0050] Figure 1 A modular structure block diagram of a cutting device provided in an embodiment of this application;

[0051] Figure 2This is a schematic diagram of the structure of a cutting device for a cutting apparatus provided in an embodiment of this application;

[0052] Figure 3 This is a schematic diagram of the structure of the cutting mechanism 22 of a cutting device 1 provided in an embodiment of this application;

[0053] Figure 4 A schematic diagram illustrating the unfolding and retraction of a cutting device in a cutting apparatus provided in an embodiment of this application;

[0054] Figure 5 A schematic diagram illustrating a scenario where the cutting device collides with the main body in a cutting apparatus, as provided in an embodiment of this application;

[0055] Figure 6 A flowchart illustrating a control method for a cutting device provided in an embodiment of this application;

[0056] Figure 7 A schematic block diagram of another cutting device provided in an embodiment of this application.

[0057] Figure label:

[0058] 1. Cutting equipment; 10. Body; 11. Preset part; 20. Cutting device; 21. Connecting mechanism; 211. Deflection component; 22. Cutting mechanism; 221. Cutting blade; 30. Moving device; 40. Sensing device; 50. Controller; 60. Reset component; 801. Processor; 802. Memory. Detailed Implementation

[0059] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0060] Lawn mowing is the most tedious and complex part of lawn maintenance. To reduce labor intensity and costs, cutting equipment, such as lawn mowing robots, has been developed. Currently, a significant number of lawn mowing robots are equipped with cutting blades to trim the lawn through the rotation of the blades. However, current lawn mowing robots are not very effective at mowing grass along the edges of obstacles (such as walls).

[0061] Based on this, this application provides a cutting device, a control method for the cutting device, and a computer storage medium, aiming to achieve intelligent control of the cutting action of the cutting device to improve the cutting effect of the cutting device on grass at the edge of obstacles (such as walls).

[0062] Please see Figure 1 and Figure 2 , Figure 1 This is a block diagram of the module structure of a cutting device 1 provided in an embodiment of this application. Figure 2 This is a schematic diagram of the structure of the cutting device 20 of a cutting device 1 provided in an embodiment of this application.

[0063] like Figure 1 and Figure 2 As shown, this application provides a cutting device 1, which includes a body 10, a cutting device 20, a moving device 30, a sensing device 40, and a controller 50. The various parts of the cutting device 1 will be described in detail below.

[0064] Specifically, the cutting device 20 is movably connected to the body 10 to expand or retract relative to the body 10, and the cutting device 20 is also used to perform cutting actions; the moving device 30 is connected to the body 10 and is used to drive the body 10 to move; the sensing device 40 is used to detect the position of the cutting device 20; the controller 50 is electrically connected to the sensing device 40, the cutting device 20 and the moving device 30, and is used to control the cutting device 20 and / or the moving device 30 to perform corresponding actions according to the position of the cutting device 20.

[0065] It should be noted that when the controller 50 controls the cutting device 20 to perform corresponding actions, the control of the cutting device 20 includes, but is not limited to, at least one of the following control operations: controlling the cutting device 20 to start or stop cutting, controlling the position of the cutting device 20 relative to the body 10, and controlling the intensity of the cutting action performed by the cutting device 20. For example, when the cutting device 20 includes a blade for cutting, the control device can adjust the movement speed of the blade (such as the rotation speed) to control the intensity of the cutting action performed by the cutting device 20.

[0066] On the other hand, when the controller 50 controls the moving device 30 to perform corresponding actions, the control of the cutting device 20 is, for example, controlling the moving device 30 to move the body 10 to the target position, or to move the target distance in the target direction, or to adjust the moving speed of the cutting device 1 through the moving device 30, thereby realizing the overall movement control of the cutting device 1.

[0067] For example, the cutting device 1 is a lawnmower or a lawnmower robot, and the target objects cut by the cutting device 1 and the cutting device 20 are objects such as grass stems, leaves, and branches. It should be noted that existing lawnmower robots are easily blocked by obstacles when traveling near them, and the cutting device 20 may be damaged due to excessive contact with the obstacle when cutting target objects at the edge of the obstacle.

[0068] Therefore, in the cutting device 1 provided in this application embodiment, based on the position detection of the cutting device 20 by the sensor 40 and the control of the cutting device 20 and / or the moving device 30 by the controller 50, intelligent control of the cutting action of the cutting device 1 is realized, which improves the cutting effect of the cutting device 1 on the grass at the edge of the obstacle (e.g., the wall), and can protect the cutting device 20 when the cutting device 1 is cutting the grass at the edge of the obstacle (e.g., the wall).

[0069] like Figure 2 As shown, in some embodiments, the cutting device 1 includes a reset assembly 60 disposed between the body 10 and the cutting device 20. The reset assembly 60 is used to provide a force to reset the cutting device 20 to a first preset unfolding range.

[0070] When the cutting device 20 comes into contact with the target object, the controller 50 controls the moving device 30 to move the body 10 along the target travel direction, so that the cutting device 20 moves to the second preset expansion range under the pressure applied by the target object and the force provided by the reset component 60.

[0071] First of all, it should be pointed out that, Figure 2 The structure shown in reference numeral 10 is only a part of the main body 10 (specifically, the mounting base connected to the cutting device 20), and not the complete structure of the main body 10.

[0072] Specifically, the cutting device 20 is movably connected to the body 10, meaning that the relative position of the cutting device 20 and the body 10 is adjustable, including: expanding or retracting the cutting device 20 relative to the body 10, or adjusting the expansion range of the cutting device 20 relative to the body 10.

[0073] The target travel direction is the direction that allows the cutting device 20 to move to the second preset expansion range under the pressure applied by the target object and the force provided by the reset component 60.

[0074] For example, if the current unfolding range of the cutting device 20 is less than the second preset unfolding range, the target direction of travel is to move the main body away from the obstacle; if the current unfolding range of the cutting device 20 is greater than the second preset unfolding range, the target direction of travel is to move the main body closer to the obstacle.

[0075] Regarding the reset component 60, it should be noted that: the reset component 60 is used to provide a force to reset the cutting device 20 to the first preset unfolding range, that is, only under the action of the reset component 60, the unfolding range of the cutting device 20 relative to the body 10 is the first preset range; on the other hand, when the cutting device 20 is compressed and retracted towards the body 10 by an external object, the force provided by the reset component 60 to the cutting device 20 is in the same direction as the unfolding direction of the cutting device 20.

[0076] It should also be noted that when the controller 50 determines that the cutting device 20 is in contact with the target object, the control moving device 30 drives the body 10 to move along the target travel direction. At the same time, under the pressure applied by the target object and the force provided by the reset component 60, the cutting device 20 moves to the second preset expansion range so that the travel direction of the cutting device 1 bypasses the target object or travels along the edge of the target object to perform a cutting action on the grass leaves at the edge of the target object.

[0077] The target object is an obstacle such as a wall or a stone.

[0078] In some implementations, the second preset expansion range is smaller than the first preset expansion range. Therefore, when the cutting device 20 comes into contact with the target object, the controller 50 can control the movement of the moving device 30 to make the cutting device 20 passively retract. Under the action of the force provided by the reset component 60, the cutting device 20 can press against the obstacle so that when the cutting device 1 travels along the edge of the obstacle, the cutting device 20 can cut close to the edge of the obstacle, thereby improving the cutting effect of the cutting device 1 on the grass and leaves at the edge of the obstacle.

[0079] For example, the reset assembly 60 includes a torsion spring connected between the body 10 and the cutting device 20, which provides a force to reset the cutting device 20 to a first preset unfolding range, and when the cutting device 20 is compressed and retracted towards the body 10 by an external object, the torsion spring generates an elastic deformation and applies a force to the cutting device 20 in the same direction as the unfolding direction based on the elastic deformation.

[0080] Please see Figure 3 , Figure 3 This is a schematic diagram of the structure of the cutting mechanism 22 of a cutting device 1 provided in an embodiment of this application.

[0081] like Figure 2 and Figure 3 As shown, in some embodiments, the cutting device 20 includes a connecting mechanism 21 and a cutting mechanism 22 for performing the cutting action. The cutting mechanism 22 is movably connected to the body 10 through the connecting mechanism 21, and the cutting mechanism 22 retracts towards the body 10 when blocked by an external object.

[0082] When the cutting mechanism 22 retracts to the first position towards the body 10, the controller 50 controls the cutting speed of the cutting device 20 to decrease.

[0083] Specifically, the cutting mechanism 22 is movably connected to the body 10 through the connecting mechanism 21, that is, the relative position of the cutting mechanism 22 and the body 10 can be adjusted, including: expanding or retracting the cutting mechanism 22 relative to the body 10, or adjusting the expansion range of the cutting mechanism 22 relative to the body 10.

[0084] It should be noted that the cutting mechanism 22 includes at least one cutting blade 221, for example in Figure 3 The cutting structure shown has two cutting blades 221. The cutting speed of the cutting device 20 is the movement speed of the cutting blades 221 of the cutting mechanism 22. The higher the movement speed of the cutting blades 221, the greater the cutting intensity; the lower the movement speed of the cutting blades 221, the smaller the cutting intensity. For example, the cutting device 20 cuts grass leaves by driving the cutting blades 221 to rotate or reciprocate.

[0085] In some embodiments, the cutting mechanism 22 further includes a drive assembly connected to the cutting blade 221, and the drive assembly is electrically connected to a controller and configured to drive the cutting blade 221 to rotate or reciprocate under the control of the controller to cut grass blades.

[0086] It should be noted that the first position is the preset unfolded position of the cutting mechanism 22 relative to the body 10. When the cutting mechanism 22 retracts to the body 10 to the first position, it can be determined that the cutting mechanism 22 comes into contact with an external object. Then the controller 50 controls the cutting speed of the cutting device 20 to reduce the cutting speed to avoid damage to the cutting mechanism 22 when it comes into excessive contact with the body 10, such as damage to the cutting blade. This protects the cutting mechanism 22. Furthermore, reducing the cutting speed of the cutting device 20 can effectively prevent accidental cutting of non-target objects (such as people or animals) to improve cutting safety.

[0087] In some embodiments, the controller 50 is also used to adjust the cutting speed of the cutting device 20 according to the unfolding range of the cutting device 20 relative to the body 10, so that the unfolding range of the cutting device 20 relative to the body 10 is proportional to the cutting speed of the cutting device 20. Thus, the larger the unfolding range of the cutting device 20 relative to the body 10, the larger the cutting speed of the cutting device 20, and the smaller the unfolding range of the cutting device 20 relative to the body 10, the smaller the cutting speed of the cutting device 20. Therefore, the cutting speed of the cutting device 20 can be adjusted gradually.

[0088] right Figure 3 To provide supplementary explanation, Figure 3 The structure shown for mobile device 30 is merely an example; the actual mobile device 30 can be as follows: Figure 3 As shown, movement is typically achieved by setting four movable wheels, but it can also be achieved by setting more or fewer movable wheels, or by using other forms of movable mechanisms.

[0089] Please see Figure 4 , Figure 4 This is a schematic diagram of the unfolding and retracting of the cutting device 20 in a cutting device 1 provided in an embodiment of this application.

[0090] like Figure 4 As shown in (a) and (b), in some embodiments, when the spread of the cutting device 20 relative to the body 10 is less than a preset spread threshold, the controller 50 controls the cutting speed of the cutting device 20 to decrease to zero, wherein the spread is determined by the positional relationship of the cutting device 20 relative to the body 10.

[0091] Specific examples Figure 4 As shown in (b), when the unfolding range of the cutting device 20 relative to the body 10 is less than the preset range threshold, it can be determined that the cutting device 20 has been fully retracted under the pressure of the external object. Then, the controller 50 controls the cutting speed of the cutting device 20 to drop to zero to avoid damage to the cutting mechanism 22, thereby protecting the cutting device 20, such as the cutting blade, and effectively avoiding accidental cutting of non-target objects (such as people or animals) to improve cutting safety.

[0092] like Figure 4 As shown, in some embodiments, the connecting mechanism 21 includes a deflection component 211 connected to the body 10 and the cutting mechanism 22 respectively, and the cutting mechanism 22 rotates with the body 10 through the deflection component 211 to expand or retract relative to the body 10.

[0093] The sensing device 40 is connected to at least one of the body 10, the deflection assembly 211 and the cutting mechanism 22 to detect the rotation angle of the cutting mechanism 22 relative to the body 10. The rotation angle is used to characterize the positional relationship between the cutting device 20 and the body 10.

[0094] Specifically, the cutting mechanism 22 rotates with the body 10 through the deflection component 211, and the expansion range of the cutting mechanism 22 relative to the body 10 can be adjusted by rotation. Specifically, the greater the angle of rotation of the cutting mechanism 22 to the outside of the body 10, the greater the expansion range of the cutting mechanism 22 relative to the body 10, and vice versa.

[0095] Based on this, the sensing device 40 can conveniently and accurately measure the unfolding range of the cutting mechanism 22 relative to the body 10 by measuring the rotation angle of the cutting mechanism 22 relative to the body 10.

[0096] In some embodiments, the connecting mechanism 21 further includes a torsion unit connected between the body 10 and the cutting mechanism 22. When the cutting mechanism 22 rotates relative to the body 10, the torsion unit undergoes torsional deformation.

[0097] The sensing device 40 is also used to detect the degree of torsion of the torsion unit to determine the rotation angle of the cutting mechanism 22 relative to the body 10.

[0098] Specifically, the greater the torsion degree of the torsion unit, the greater the expansion range of the cutting mechanism 22 relative to the body 10; conversely, the smaller the expansion range of the cutting mechanism 22 relative to the body 10, the smaller the expansion range. The controller 50 can determine the positional relationship between the cutting device 20 and the body 10 based on the torsion degree of the torsion unit, and then determine the working state of the cutting equipment 1 based on the positional relationship between the cutting device 20 and the body 10, such as determining whether the cutting device 20 is in contact with the target object, and determining the retracted position of the cutting device 20 or the cutting mechanism 22.

[0099] For example, the connecting mechanism 21 also includes a torsion spring connected between the body 10 and the cutting mechanism 22. The sensing device 40 includes a force sensor connected to the torsion spring and can be used to detect the elastic force output by the torsion spring to detect the degree of torsion of the torsion unit, thereby determining the rotation angle of the cutting mechanism 22 relative to the body 10 based on the degree of torsion of the torsion unit.

[0100] In some embodiments, the connecting mechanism 21 includes a telescopic component connected to the body 10 and the cutting mechanism 22, and the telescopic component is used to adjust the distance of the cutting mechanism 22 relative to the body 10.

[0101] The sensing device 40 is connected to at least one of the body 10, the telescopic component, and the cutting mechanism 22 to detect the moving distance of the cutting mechanism 22 relative to the body 10. The moving distance is used to characterize the positional relationship between the cutting device 20 and the body 10.

[0102] Specifically, the telescopic component is connected between the main body 10 and the cutting mechanism 22, and the telescopic component can extend and retract to adjust the distance between the cutting mechanism 22 and the main body 10: when the telescopic component extends, the cutting device 20 unfolds and the distance between the cutting mechanism 22 and the main body 10 increases; when the telescopic component compresses, the cutting device 20 retracts and the distance between the cutting mechanism 22 and the main body 10 decreases.

[0103] Correspondingly, the sensing device 40 can be used to detect the moving distance of the cutting mechanism 22 relative to the body 10. The controller 50 can determine the positional relationship between the cutting device 20 and the body 10 based on the moving distance, and then determine the working state of the cutting equipment 1 based on the positional relationship between the cutting device 20 and the body 10, such as determining whether the cutting device 20 is in contact with the target object, or determining the retraction position of the cutting device 20 or the cutting mechanism 22.

[0104] Please see Figure 5 , Figure 5 This is a schematic diagram illustrating a scenario where the cutting device collides with the main body in a cutting device 1 provided in an embodiment of this application.

[0105] like Figure 5As shown, in some embodiments, the sensing device 40 includes a collision sensor disposed on a preset part 11 of the body 10 and electrically connected to the controller 50, wherein the preset part 11 is the part on the body 10 that contacts the cutting device 20 when the cutting device 20 is retracted to the limit position.

[0106] The collision sensor is configured to output a collision signal matching the collision intensity when it collides with the cutting device 20. The controller 50 is used to control the cutting speed of the cutting device 20 to drop to zero when the collision signal meets a preset condition.

[0107] Specifically, the signal characteristics of the collision signal output by the collision sensor are matched with the collision intensity. For example, the signal characteristics are the signal strength of the collision signal; that is, the greater the collision intensity, the higher the signal strength of the collision signal; conversely, the lower the collision intensity, the lower the signal strength of the collision signal. Accordingly, the controller 50 can determine the collision intensity between the cutting device 20 and the body 10 based on the signal characteristics of the collision signal.

[0108] Furthermore, the controller 50 controls the cutting speed of the cutting device 20 to decrease to zero when the collision signal meets a preset condition. It should be noted that when the collision signal meets the preset condition, it indicates that the collision intensity between the cutting device 20 and the body 10 is greater than the designed target value. At this time, the cutting device 1 may collide with an external object, causing the cutting device 20 to quickly retract and collide with the body 10. Therefore, the controller 50 controls the cutting speed of the cutting device 20 to decrease to zero when the collision signal meets the preset condition, which can effectively prevent damage to the cutting mechanism 22, thereby protecting the cutting device 20, such as the cutting blade, and improving the adaptability of the cutting device 20 to cut grass leaves at the edge of obstacles.

[0109] Please see Figure 6 , Figure 6 This is a flowchart illustrating a control method for a cutting device provided in an embodiment of this application.

[0110] like Figures 1 to 6 As shown, this application also provides a control method for a cutting device 1, wherein the cutting device 1 includes a body 10 and a cutting device 20, the cutting device 20 is movably connected to the body 10 to expand or retract relative to the body 10, and the cutting device 20 is also used to perform cutting actions.

[0111] Specifically, the control method for cutting device 1 includes steps S801 to S802:

[0112] Step S801: Obtain the position of the cutting device 20;

[0113] Step S802: Control the cutting device 20 and / or the moving device 30 to perform corresponding actions according to the position of the cutting device 20.

[0114] It should be noted that the control method for the cutting device 1 provided in this application can be applied to any of the cutting devices 1 provided in the embodiments of this application or Figures 1 to 5 The cutting device 1 shown is not limited to this. To clearly illustrate the control method of the cutting device 1, this specification incorporates the cutting device 1 as provided in any of the embodiments of this application, and... Figures 1 to 5 The structure of the cutting device 1 shown in the figure will be described in detail below:

[0115] like Figure 2 and Figure 4 As shown, in some embodiments, the cutting device 1 includes a reset assembly 60 disposed between the body 10 and the cutting device 20. The reset assembly 60 is used to provide a force to reset the cutting device 20 to a first preset unfolding range. Correspondingly, in step S802, the moving device 30 is controlled to perform corresponding actions according to the position of the cutting device 20, including:

[0116] When the cutting device 20 comes into contact with the target object, the target's direction of travel is determined based on the position of the cutting device 20.

[0117] The control moving device 30 drives the body 10 to move along the target travel direction, wherein the target travel direction is the direction that allows the cutting device 20 to retract to a second preset expansion range under pressure applied to the target object.

[0118] It should be noted that the target travel direction is the direction that allows the cutting device 20 to move to the second preset expansion range under the pressure applied by the target object and the force provided by the reset component 60.

[0119] like Figure 2 and Figure 4 As shown, in some embodiments, step S802 involves controlling the cutting device 20 to perform corresponding actions based on its position, including:

[0120] When the cutting device 20 retracts to the first position towards the body 10, the cutting speed of the cutting device 20 is reduced.

[0121] like Figure 2 and Figure 4 As shown, in some embodiments, the position of the cutting device 20 includes the unfolding range of the cutting device 20 relative to the body 10; correspondingly, in step S802, the cutting device 20 is controlled to perform corresponding actions based on its position, including:

[0122] When the expansion range of the cutting device 20 relative to the main body 10 is less than a preset range threshold, the cutting speed of the cutting device 20 is reduced to zero.

[0123] In some embodiments, obtaining the position of the cutting device 20 in step S801 includes:

[0124] The position of the cutting device 20 is obtained by an angle sensor, wherein the angle sensor is used to detect the rotation angle of the cutting device 20 relative to the body 10.

[0125] like Figure 5 As shown, in some embodiments, the control method for the cutting device 1 provided in this application further includes:

[0126] The collision signal from the collision sensor is acquired, wherein the collision signal is used to indicate that the cutting device 20 has retracted to the limit position, which is the position of the cutting device 20 when it comes into contact with the body 10.

[0127] If the collision signal meets the preset conditions, the cutting speed of the control cutting device 20 will drop to zero.

[0128] It should be noted that in the various embodiments of the control method of the cutting device 1 proposed above, the control method of the cutting device 20 is the same as that of the cutting device 20 described above, and will not be repeated here.

[0129] Please see Figure 7 , Figure 7 This is a schematic block diagram of another cutting device 1 provided in an embodiment of this application.

[0130] like Figure 7 As shown, this application embodiment also provides another cutting device 1, which includes at least a processor 701 and a memory 702. The processor 701 and the memory 702 are connected by a bus 703, such as an I2C (Inter-integrated Circuit) bus.

[0131] Specifically, processor 701 provides computing and control capabilities to support the operation of the entire cutting equipment 1. Processor 701 can be a Central Processing Unit (CPU), or it can be 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. The general-purpose processor 701 can be a microprocessor 701, or it can be any conventional processor 701.

[0132] Specifically, the memory 702202 can be a Flash chip, a read-only memory 702 (ROM), a disk, an optical disk, a USB flash drive, or a portable hard drive, etc.

[0133] Those skilled in the art will understand that Figure 7 The structure shown in the figure is merely a block diagram of a portion of the structure related to the embodiments of this application, and does not constitute a limitation on the cutting device 1 to which the embodiments of this application are applied. Specifically, the cutting device 1 may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0134] The processor 701 is used to run a computer program stored in the memory 702, and implements any of the control methods of the cutting device 1 provided in the embodiments of this application when executing the computer program.

[0135] This application also provides a computer storage medium for computer-readable storage, which stores one or more programs that can be executed by one or more processors 701 to implement the steps of any of the control methods of the cutting device 1 provided in the embodiments of this application.

[0136] The computer storage medium can be an internal storage unit of the cutting device 1 described in the aforementioned embodiments, such as a hard disk or memory of the cutting device 1. Alternatively, the storage medium can be an external storage device of the cutting device 1, such as a plug-in hard disk, a smart media card (SMC), a secure digital card (SD), or a flash card.

[0137] In summary, this application provides a cutting device 1, a control method for the cutting device 1, and a computer storage medium. The cutting device 1 includes a body 10; a cutting device 20 movably connected to the body 10 to expand or retract relative to the body 10, and the cutting device 20 is also used to perform cutting actions; a moving device 30 for moving the body 10; a sensing device 40 for detecting the position of the cutting device 20; and a controller 50 electrically connected to the sensing device 40, the cutting device 20, and the moving device 30, and used to: control the cutting device 20 and / or the moving device 30 to perform corresponding actions based on the position of the cutting device 20. This application improves the cutting effect of the cutting device 1 on the edges of obstacles (such as walls) by intelligently controlling the cutting and moving actions of the cutting device 1.

[0138] It should be understood that the modular structure diagrams shown in the accompanying drawings are merely illustrative and do not necessarily include all the connections between structures. In the description of this application, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linkage" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0139] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise. Moreover, in this specification and the appended claims, unless the context clearly indicates otherwise, “a plurality” means at least two.

[0140] 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.

[0141] It should also be understood that the term "and / or" as used in this specification and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes such combinations. It should be noted that, herein, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0142] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The above descriptions are merely specific implementations of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A cutting device, characterized in that, The cutting equipment includes: ontology; A cutting device is movably connected to the body to expand or retract relative to the body, and the cutting device is also used to perform a cutting action; A mobile device for moving the main body; A sensing device is used to detect the position of the cutting device; A reset component is disposed between the body and the cutting device, and the reset component is used to provide a force to reset the cutting device to a first preset unfolding range; The controller is electrically connected to the sensing device, the cutting device, and the moving device, and is used for: Based on the position of the cutting device, control the cutting device and / or the moving device to perform corresponding actions; When the cutting device comes into contact with the target object, the controller controls the moving device to move the body along the target travel direction, so that the cutting device moves to a second preset expansion range under the pressure applied by the target object and the force provided by the reset component. The second preset expansion range is smaller than the first preset expansion range.

2. The cutting equipment as described in claim 1, characterized in that, The cutting device includes a connecting mechanism and a cutting mechanism for performing the cutting action. The cutting mechanism is movably connected to the main body through the connecting mechanism, and the cutting mechanism retracts towards the main body when blocked by an external object. When the cutting mechanism retracts to the first position towards the body, the controller controls the cutting speed of the cutting device to decrease.

3. The cutting equipment as described in claim 1, characterized in that, When the spread of the cutting device relative to the body is less than a preset spread threshold, the controller controls the cutting speed of the cutting device to decrease to zero, wherein the spread is determined by the positional relationship of the cutting device relative to the body.

4. The cutting equipment as described in claim 2, characterized in that, The connecting mechanism includes a deflection component that is respectively connected to the body and the cutting mechanism, and the cutting mechanism rotates with the body through the deflection component to expand or retract relative to the body. The sensing device is connected to at least one of the body, the deflection component, and the cutting mechanism to detect the rotation angle of the cutting mechanism relative to the body, the rotation angle being used to characterize the positional relationship between the cutting device and the body.

5. The cutting equipment as described in claim 4, characterized in that, The connecting mechanism further includes a torsion unit connected between the body and the cutting mechanism. When the cutting mechanism rotates relative to the body, the torsion unit undergoes torsional deformation. The sensing device is also used to detect the degree of torsion of the torsion unit to determine the rotation angle of the cutting mechanism relative to the body.

6. The cutting equipment as described in claim 2, characterized in that, The connecting mechanism includes a telescopic component connected to the body and the cutting mechanism, and the telescopic component is used to adjust the distance of the cutting mechanism relative to the body; The sensing device is connected to at least one of the body, the telescopic component, and the cutting mechanism to detect the moving distance of the cutting mechanism relative to the body, the moving distance being used to characterize the positional relationship between the cutting device and the body.

7. The cutting equipment as described in claim 1, characterized in that, The sensing device includes a collision sensor disposed at a preset part of the body and electrically connected to the controller, wherein the preset part is the part of the body that contacts the cutting device when the cutting device is retracted to its limit position; The collision sensor is configured to output a collision signal matching the collision intensity when it collides with the cutting device, and the controller is used to control the cutting speed of the cutting device to drop to zero when the collision signal meets a preset condition.

8. A control method for a cutting device, characterized in that, The cutting device includes a body, a reset component, a moving device, and a cutting device. The cutting device is movably connected to the body to expand or retract relative to the body. The cutting device is also used to perform a cutting action. The reset component is disposed between the body and the cutting device and is used to provide a force to reset the cutting device to a first preset expansion range. The method includes: Obtain the position of the cutting device; Based on the position of the cutting device, control the cutting device and / or the moving device to perform corresponding actions; Specifically, when the cutting device comes into contact with the target object, the moving device is controlled to move the body along the target travel direction, so that the cutting device moves to a second preset expansion range under the pressure applied by the target object and the force provided by the reset component, the second preset expansion range being smaller than the first preset expansion range.

9. The control method as described in claim 8, characterized in that, Based on the position of the cutting device, control the cutting device to perform corresponding actions, including: When the cutting device retracts to the body to the first position, the cutting speed of the cutting device is controlled to decrease.

10. The control method as described in claim 8, characterized in that, The position of the cutting device includes the extent of its unfolding relative to the body; Based on the position of the cutting device, control the cutting device to perform corresponding actions, including: When the expansion range of the cutting device relative to the body is less than a preset range threshold, the cutting speed of the cutting device is controlled to decrease to zero.

11. The control method as described in claim 8, characterized in that, The step of obtaining the position of the cutting device includes: The position of the cutting device is obtained by an angle sensor, wherein the angle sensor is used to detect the rotation angle of the cutting device relative to the body.

12. The control method as described in claim 8, characterized in that, The method further includes: Acquire collision signals from collision sensors, wherein the collision signals are used to indicate that the cutting device has retracted to its limit position, the limit position being the position where the cutting device is in contact with the body; If the collision signal meets the preset conditions, the cutting speed of the cutting device is controlled to decrease to zero.

13. A cutting device, characterized in that, The cutting device includes at least a memory and a processor; The memory is used to store computer programs; The processor is configured to execute the computer program and, in executing the computer program, cause the cutting device to implement the control method as described in any one of claims 8 to 12.

14. A computer storage medium, characterized in that, The computer storage medium stores a computer program, which, when executed by a processor, causes the cutting device on which the processor is installed to implement the control method as described in any one of claims 8 to 12.

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