Walking control method and system for hand-push type mower

Abstract

The invention discloses a walking control method and system for a hand-push type mower, belongs to the technical field of intelligent control of mowing equipment, and aims at solving the problem that walking of the hand-push type mower is out of control. The method comprises the steps that when a touch switch signal is received, a self-locking motor stop instruction is generated to lock the direction of a universal wheel; when the universal wheels are locked and a starting switch signal is received, a starting instruction of the driving unit is generated, so that the walking unit moves linearly; when a left steering switch signal or a right steering switch signal is received, a self-locking motor starting instruction is generated to unlock the universal wheels; a corresponding differential motion instruction is generated according to the left steering switch signal or the right steering switch signal to enable the walking unit to steer left or right; and when the steering angle reaches 180 degrees and a contact switch signal is received, a differential operation stopping instruction and a self-locking motor stopping instruction are generated, so that the universal wheels going straight after steering are continuously locked. According to the invention, steering out-of-control or walking out-of-control can be adaptively avoided.

Description

Technical Field

[0001] The invention relates to a walking control method and system for a hand-push lawn mower, belonging to the technical field of excavator testing. Background Art

[0002] Hand-push lawn mowers are common tools for trimming lawns. Traditional hand-push lawn mowers are mostly powered by fuel engines. With the popularization of green energy, more and more lawn mowers now use motors as power components. Traditional lawn mowers are mostly pushed forward by manpower. Some lawn mowers with self-propelled functions can assist the machine to move by driving the drive wheel through the power component, reducing the labor of the user.

[0003] However, existing machines mostly use a fixed speed to move forward or backward during assisted walking, and the speed at which the user pushes the machine to walk is also fixed. When faced with complex grass conditions, the flexibility of machine control is poor. In order to solve these problems, some machines set the front wheels of the lawn mower as universal wheels, which can improve the flexibility of the machine when turning. However, since the rotation direction of the front wheels is a universal wheel is not fixed, it is easy to cause the machine to lose control of steering, especially when it is necessary to walk a straight route. It is difficult for the user to control the machine to walk along a straight route. Therefore, in the process of traversing mowing, uneven mowing and increased repetitive workload are likely to occur due to loss of steering control or loss of walking control. Summary of the invention

[0004] The purpose of the present invention is to provide a walking control method and system for a hand-push lawn mower, which are linked with a universal wheel control method during steering and walking to achieve automatic limiting and releasing of the walking direction, avoid the occurrence of steering out of control or walking out of control, and enable users to save more effort when using the lawn mower and obtain a better user experience.

[0005] In order to solve the above technical problems, the present invention is implemented by adopting the following technical solutions.

[0006] In a first aspect, the present invention provides a walking control method for a push lawn mower, comprising: When the walking unit moves in a straight line, the self-locking motor is started and the contact switch signal is received According to the contact switch signal, a self-locking motor stop command is generated to control the self-locking device to lock the direction of the universal wheel of the travel unit; When the universal wheel is locked and a start switch signal is received, a start instruction of the drive unit is generated according to the start switch signal, and the drive unit is controlled to start, so that the walking unit moves in a straight line; When a left turn switch signal or a right turn switch signal is received, a self-locking motor start instruction is generated to control the self-locking device to release the lock on the universal wheel of the travel unit; Generate corresponding differential motion instructions according to the left turn switch signal or the right turn switch signal, control the drive unit to drive the travel unit to turn left or right, and receive the steering angle and contact switch signal; When the steering angle reaches 180 degrees and the contact switch signal is received, a differential operation termination command and a self-locking motor stop command are generated, so that the travel unit switches from differential motion to linear motion, and at the same time restores the locking of the universal wheel of the travel unit.

[0007] Optionally, generating a corresponding differential motion instruction according to a left turn switch signal or a right turn switch signal to control the drive unit to drive the walking unit to turn left or right includes: generating a right differential motion command of the drive unit according to a left steering switch signal; According to the right differential motion instruction, the left driving wheel of the walking unit is controlled to rotate at a speed lower than the right wheel; generating a left differential motion command of the drive unit according to a right steering switch signal; According to the left differential motion instruction, the left driving wheel of the walking unit is controlled to rotate faster than the right wheel.

[0008] Optionally, when the steering angle reaches 180 degrees and a contact switch signal is received, a differential operation termination instruction and a self-locking motor stop instruction are generated, further comprising: When the machine turns at an angle of 180 degrees, the parallel movement distance before and after the machine turns is less than the rotation diameter of the mowing disc.

[0009] In a second aspect, the present invention provides a walking control system for a push-type lawn mower, comprising: an input unit, a control unit, a driving unit, a walking unit and a self-locking unit; Wherein, the input unit generates a corresponding switch signal after interacting with the user; The control unit is electrically connected to the input unit, the self-locking unit and the driving unit respectively, and is used to execute the steps of the above method; The driving unit is connected to the walking unit and is used to convert electrical energy into mechanical energy and transmit it to the walking unit to control the speed and steering angle of the walking unit; The walking unit is used to perform linear motion or steering motion under the drive of the driving unit; The self-locking unit is installed at the walking unit and is used to limit the direction when the walking unit moves linearly.

[0010] Optionally, the walking unit includes a driving wheel set and a universal wheel set; wherein the driving wheel set is a left driving wheel and a right driving wheel symmetrically arranged at the rear of the lawn mower; and the universal wheel set is a left universal wheel and a right universal wheel symmetrically arranged at the front of the lawn mower; The support frames of the left universal wheel and the right universal wheel are both provided with limiting holes.

[0011] Optionally, the self-locking unit includes a self-locking motor, a rotating member installed at the transmission end of the self-locking motor, a slide groove provided on the rotating member, and a limit shaft sleeved in the slide groove; A spring is provided at the top end of the limit shaft, and the spring is connected to the outer cover of the self-locking unit; The rotating member rotates under the drive of the self-locking motor and passes through a first limit position and a second limit position in sequence.

[0012] Optionally, the opening of the slide groove is a special-shaped opening, two ends of the special-shaped opening are respectively provided with two stop parts, and a slope section is connected between the two stop parts; A through hole adapted to the limit shaft is provided at the bottom of the slideway and at the lower limit position of the slope section; The limit shaft is connected with a sliding rod in contact with the opening of the slide slot, and is used for the sliding rod to slide between the upper height limit and the lower height limit of the slope section during the movement of the slide slot, so that the limit shaft moves up and down; When the rotating member rotates to the first limit position, it contacts the contact switch, causing the contact switch to output an electrical signal and causing the slide slot to drive the lower limit movement of the limit axial slope section, until the limit shaft is inserted from the through hole at the lower limit position to the limit hole under the action of the spring potential energy, and finally the universal wheel is self-locked in direction, so that the universal wheel remains in the straight forward direction; When the rotating member rotates to the second extreme position, the slide groove drives the upper limit movement of the limiting axial slope section, so that the limiting shaft is disengaged from the limiting hole, and finally the self-locking of the universal wheel is released, so that the universal wheel is easy to turn.

[0013] Optionally, the input unit is a plurality of operating switches, a shift paddle and an angle sensor provided on the lawn mower; Among them, the various operating switches include a start-stop switch, a left turn switch, a right turn switch and a contact switch; the start-stop switch, the left turn switch and the right turn switch are arranged on the handle of the lawn mower, and the contact switch is arranged at the self-locking unit; The shift paddles are symmetrically mounted on the handle of the lawn mower.

[0014] Optionally, the styles of the start-stop switch, the left turn switch and the right turn switch are not limited to any one style or a combination of multiple styles of rotary, button and touch-sensitive types.

[0015] Optionally, the input unit further comprises two shift paddles symmetrically arranged on the lawn mower for manual shifting to adjust the travel speed of the lawn mower.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. During the steering and walking process, it is linked with the universal wheel control method to realize automatic limiting and releasing of the walking direction, avoiding the occurrence of steering out of control or walking out of control, which can make users save more effort when using the lawn mower and obtain a better user experience.

[0017] 2. Automatic control and zero-turn control of the lawn mower can be achieved through interaction with the handle, which can save users effort when using the lawn mower and provide a better user experience, while avoiding uneven mowing during the machine's movement.

[0018] 3. After turning around, the translation distance should not be greater than the mowing width of the machine, so that there is no missed cutting area between the two paths, which is convenient for users to traverse and mow the grass. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 Shown is a flow chart of a walking control method for a hand-push lawn mower according to the present invention; Figure 2 The figure shows the walking path diagram of the walking control of the hand-push lawn mower of the present invention. Figure 3 The figure shows an embodiment of the walking control system of a push-type lawn mower according to the present invention. Figure 1 ; Figure 4 Shown Figure 3 A magnified detail of the center point A; Figure 5 The figure shows an embodiment of the walking control system of a push-type lawn mower according to the present invention. Figure 2 ; Figure 6 Shown Figure 5 A magnified view of the detail at B in the middle; Figure 7 The present invention is shown in the embodiment of the handle of the push lawn mower Figure 1 ; Figure 8 The present invention is shown in the embodiment of the handle of the push lawn mower Figure 2 ; Fig. 9 The present invention is shown in the embodiment of the handle of the push lawn mower Figure 3 .

[0020] In the figure: 100 start switch, 201 right turn switch, 202 left turn switch, 300 drive wheel, 400 mowing disc, 500 universal wheel, 600 self-locking unit, 601 self-locking motor, 602 rotating part, 603 limit shaft, 604 spring, 605 universal wheel support frame, 606 limit hole, 607 contact switch, 700 shift paddle. DETAILED DESCRIPTION

[0021] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention. Example

[0022] This embodiment provides a walking control method for a push-type lawn mower. Figure 1 Shown include: Step 1: When the walking unit moves in a straight line, a signal from the contact switch 607 is received, wherein the walking unit moves in a straight line including: the walking unit turns to an angle of 180 degrees or the two driving wheels 300 of the walking unit move at the same speed, and the self-locking motor 601 is started; Step 2: Generate a stop command for the self-locking motor 601 according to the signal of the contact switch 607, and control the self-locking device to lock the direction of the universal wheel 500 of the walking unit; Step 3: When the universal wheel 500 is locked and receives a signal from the start switch 100, a start instruction of the drive unit is generated according to the signal from the start switch 100, and the drive unit is controlled to start, so that the walking unit moves in a straight line; Step 4: When receiving the left turn switch 202 signal or the right turn switch 201 signal, a self-locking motor 601 start instruction is generated to control the self-locking device to release the lock of the universal wheel 500 of the travel unit; Step 5: Generate a corresponding differential motion instruction according to the left turn switch 202 signal or the right turn switch 201 signal, control the drive unit to drive the walking unit to turn left or right, and receive the steering angle and the contact switch 607 signal; Step 6: When the steering angle reaches 180 degrees and the contact switch 607 signal is received, a differential operation termination instruction and a self-locking motor 601 stop instruction are generated to switch the walking unit from differential motion to linear motion, and at the same time restore the locking of the universal wheel 500 of the walking unit.

[0023] Optionally, in step 4, generating a corresponding differential motion instruction according to the left turn switch 202 signal or the right turn switch 201 signal to control the drive unit to drive the walking unit to turn left or right includes: Generate a right differential motion command of the drive unit according to the left steering switch 202 signal; According to the right differential motion instruction, the left driving wheel 300 of the walking unit is controlled to rotate at a speed lower than the right wheel; Generate a left differential motion command of the drive unit according to the right steering switch 201 signal; According to the left differential motion instruction, the left driving wheel 300 of the walking unit is controlled to rotate faster than the right wheel.

[0024] In this embodiment, different speeds are applied to the two driving wheels 300 to achieve the turning of the rear half of the lawn mower. There is no need for the user to fight against the power of the machine itself, which increases the flexibility of steering control. After turning to a preset angle, the two driving wheels 300 move forward at the same speed, achieving adaptive switching between straight-line walking and steering.

[0025] Generally, users use the traversal mowing method when mowing. When the user needs to turn 180 degrees at the end of the mowing route, the steering switch can be used to directly achieve a 180-degree turn, that is, the mower can turn around at the end of the two paths after turning. The design purpose and path demonstration of each steering angle of the mower are as follows. Figure 2 As shown, in step 5, when the steering angle reaches 180 degrees and the contact switch 607 signal is received, a differential operation termination instruction and a self-locking motor 601 stop instruction are generated, and the following further includes: When the machine steering angle reaches 180 degrees, the parallel movement distance before and after the machine steering is less than the rotation diameter of the mowing disc 400, wherein the rotation diameter of the mowing disc 400 is the machine mowing width, so that after the user operates the lawn mower to turn, there is no missed mowing area between the two paths. Example

[0026] This embodiment provides a walking control system for a push-type lawn mower, including: an input unit, a control unit, a driving unit, a walking unit and a self-locking unit 600; Wherein, the input unit generates a corresponding switch signal after interacting with the user; The control unit is electrically connected to the input unit, the self-locking unit 600 and the driving unit respectively, and is used to execute the steps of the above method; The driving unit is connected to the walking unit and is used to convert electrical energy into mechanical energy and transmit it to the walking unit to control the speed and steering angle of the walking unit; The walking unit is used to perform linear motion or steering motion under the drive of the driving unit; The self-locking unit 600 is installed at the walking unit and is used to limit the direction when the walking unit moves linearly.

[0027] Optional, such as Figure 3 and Figure 5 The walking unit includes a driving wheel group 300 and a universal wheel group 500; wherein the driving wheel group 300 is a left driving wheel 300 and a right driving wheel 300 symmetrically arranged at the rear of the lawn mower; the universal wheel group 500 is a left universal wheel 500 and a right universal wheel 500 symmetrically arranged at the front of the lawn mower; The support frames 605 of the left universal wheel 500 and the right universal wheel 500 are both provided with limiting holes 606 .

[0028] Optionally, the self-locking unit 600 includes a self-locking motor 601, a rotating member 602, a slide groove and a limiting shaft 603, wherein the self-locking motor 601 is installed above the support frame 605 of the universal wheel 500 group, and a limiting hole 606 is provided on the support frame 605 of the left universal wheel 500 and the right universal wheel 500, the rotating member 602 is installed at the transmission end of the self-locking motor 601, the slide groove is provided on the rotating member 602, and the limiting shaft 603 is sleeved in the slide groove; A spring 604 is provided at the top of the limiting shaft 603, and the spring 604 is connected to the outer cover of the self-locking unit 600; therefore, the limiting shaft 603 is fixed to the outer cover by the spring 604 and does not move laterally with the rotating member 602. At the same time, the spring 604 always provides downward potential energy for the limiting shaft 603.

[0029] The rotating member 602 rotates under the drive of the self-locking motor 601 and passes through a first limit position and a second limit position in sequence.

[0030] Optionally, the opening of the slide groove is a special-shaped opening, two ends of the special-shaped opening are respectively provided with two stop parts, and a slope section is connected between the two stop parts; A through hole adapted to the limit shaft 603 is provided at the bottom of the slideway and at the lower limit position of the slope section; The limit shaft 603 is connected with a slide rod in contact with the opening of the slide slot, and is used for the slide rod to slide between the upper limit and the lower limit of the height of the slope section during the movement of the slide slot, and the travel of the slide rod is limited by two stoppers, so that the limit shaft 603 maintains a fixed sliding distance and up and down movement travel; When the rotating member 602 rotates to the first limit position, it contacts the contact switch 607, causing the contact switch 607 to output an electrical signal and causing the slide slot to drive the limit shaft 603 to move toward the lower limit position of the slope section, until the limit shaft 603 is inserted from the through hole at the lower limit position into the limit hole 606 under the action of the potential energy of the spring 604, and finally the direction of the universal wheel 500 is self-locked, so that the universal wheel 500 remains in the straight forward direction; When the rotating member 602 rotates toward the second extreme position, the slide groove drives the limiting shaft 603 to move toward the upper limit of the slope section, so that the limiting shaft 603 is disengaged from the limiting hole 606, and finally the self-locking of the universal wheel 500 is released, so that the universal wheel 500 is easy to turn.

[0031] Optionally, the input unit is a variety of operating switches, a shift paddle 700 and an angle sensor provided on the lawn mower; like Figure 7 The various operating switches shown include a start-stop switch, a left turn switch 202, a right turn switch 201 and a contact switch 607; the start-stop switch, the left turn switch 202 and the right turn switch 201 are arranged on the handle of the lawn mower, and the contact switch 607 is arranged at the self-locking unit 600; There are two shift paddles 700, which are symmetrically installed on the handle of the lawn mower. The two drive wheel motors are electrically connected to the two shift paddles 700 for manual shifting to adjust the speed of the drive wheel motor on the lawn mower, thereby manually adjusting the walking speed of the lawn mower. At the same time, in this example, the shift paddles 700 can also be designed to be electrically connected to the mowing motor to adjust the rotation speed of the mowing blade.

[0032] Optionally, the styles of the start-stop switch, the left turn switch 202 and the right turn switch 201 are not limited to any one style or a combination of multiple styles of rotary, button and touch-sensitive types.

[0033] Optionally, the input unit further comprises two shift paddles 700 symmetrically arranged on the lawn mower for manual shifting to adjust the engine speed of the lawn mower.

[0034] Optional, such as Figures 7 to 9 The lawn mower handle shown is any one of an armrest type, a steering wheel type and a steering wheel type, but is not limited to these three styles.

[0035] In summary, the present invention is linked with the control method of the universal wheel 500 during the steering and walking process to realize automatic limiting and releasing of the walking direction, avoid the occurrence of steering out of control or walking out of control, and enable users to save more effort when using the lawn mower and obtain a better user experience. Secondly, the automatic control and zero-turn control of the lawn mower are realized through interaction with the handle, which enables users to save more effort when using the lawn mower and obtain a better user experience, while avoiding uneven mowing during the walking process of the machine. In addition, the translation distance after turning around is not greater than the mowing width of the machine, so that there is no missed mowing area between the two paths, which is convenient for users to traverse and mow.

[0036] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0037] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0038] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0039] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0040] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which all fall within the protection of the present invention.

Claims

1. A walking control method for a push lawn mower, characterized in that: include: When the travel unit moves in a straight line, the self-locking motor is started and the contact switch signal is received; According to the contact switch signal, a self-locking motor stop command is generated to control the self-locking device to lock the direction of the universal wheel of the travel unit; When the universal wheel is locked and a start switch signal is received, a start instruction of the drive unit is generated according to the start switch signal, and the drive unit is controlled to start, so that the walking unit moves in a straight line; When a left turn switch signal or a right turn switch signal is received, a self-locking motor start instruction is generated to control the self-locking device to release the lock on the universal wheel of the travel unit; Generate corresponding differential motion instructions according to the left turn switch signal or the right turn switch signal, control the drive unit to drive the travel unit to turn left or right, and receive the steering angle and contact switch signal; When the steering angle reaches 180 degrees and the contact switch signal is received, a differential operation termination command and a self-locking motor stop command are generated, so that the travel unit switches from differential motion to linear motion, and at the same time restores the locking of the universal wheel of the travel unit.

2. The walking control method of a push lawn mower according to claim 1, characterized in that: Generate corresponding differential motion instructions according to the left turn switch signal or the right turn switch signal, and control the drive unit to drive the travel unit to turn left or right, including: generating a right differential motion command of the drive unit according to a left steering switch signal; According to the right differential motion instruction, the left driving wheel of the walking unit is controlled to rotate at a speed lower than the right wheel; generating a left differential motion command of the drive unit according to a right steering switch signal; According to the left differential motion instruction, the left driving wheel of the walking unit is controlled to rotate faster than the right wheel.

3. The walking control method of a push lawn mower according to claim 1, characterized in that: When the steering angle reaches 180 degrees and the contact switch signal is received, a differential operation termination command and a self-locking motor stop command are generated, which also includes: When the machine turns at an angle of 180 degrees, the parallel movement distance before and after the machine turns is less than the rotation diameter of the mowing disc.

4. A walking control system for a push-type lawn mower, characterized in that: include: Input unit, control unit, drive unit, travel unit and self-locking unit; Wherein, the input unit generates a corresponding switch signal after interacting with the user; The control unit is electrically connected to the input unit, the self-locking unit and the driving unit respectively, and is used to perform the steps of the method according to any one of claims 1 to 3; The driving unit is connected to the walking unit and is used to convert electrical energy into mechanical energy and transmit it to the walking unit to control the speed and steering angle of the walking unit; The walking unit is used to perform linear motion or steering motion under the drive of the driving unit; The self-locking unit is installed at the traveling unit, and is used for limiting the direction when the traveling unit moves linearly and releasing the direction limit when turning.

5. The walking control system of a push lawn mower according to claim 4, characterized in that: The walking unit includes a driving wheel set and a universal wheel set; wherein the driving wheel set is a left driving wheel and a right driving wheel symmetrically arranged at the rear of the lawn mower; the universal wheel set is a left universal wheel and a right universal wheel symmetrically arranged at the front of the lawn mower; The support frames of the left universal wheel and the right universal wheel are both provided with limiting holes.

6. The walking control system of a push lawn mower according to claim 4, characterized in that: The self-locking unit comprises a self-locking motor, a rotating member installed at the transmission end of the self-locking motor, a slide groove provided on the rotating member, and a limit shaft sleeved in the slide groove; A spring is provided at the top end of the limit shaft, and the spring is connected to the outer cover of the self-locking unit; The rotating member rotates under the drive of the self-locking motor and passes through a first limit position and a second limit position in sequence.

7. The walking control system of the push lawn mower according to claim 6, characterized in that: The opening of the slideway is a special-shaped opening, and two stoppers are respectively provided at both ends of the special-shaped opening, and a slope section is connected between the two stoppers; A through hole adapted to the limit shaft is provided at the bottom of the slideway and at the lower limit position of the slope section; The limit shaft is connected with a sliding rod in contact with the opening of the slide slot, and is used for the sliding rod to slide between the upper height limit and the lower height limit of the slope section during the movement of the slide slot, so that the limit shaft moves up and down; When the rotating member rotates to the first limit position, it contacts the contact switch, causing the contact switch to output an electrical signal and causing the slide slot to drive the lower limit movement of the limit axial slope section, until the limit shaft is inserted from the through hole at the lower limit position to the limit hole under the action of the spring potential energy, and finally the universal wheel is self-locked in direction, so that the universal wheel remains in the straight forward direction; When the rotating member rotates to the second extreme position, the slide groove drives the upper limit movement of the limiting axial slope section, so that the limiting shaft is disengaged from the limiting hole, and finally the self-locking of the universal wheel is released, so that the universal wheel is easy to turn.

8. The walking control system of a push lawn mower according to claim 4, characterized in that: The input unit is a variety of operating switches, shift paddles and angle sensors provided on the lawn mower; Among them, the various operating switches include a start-stop switch, a left turn switch, a right turn switch and a contact switch; the start-stop switch, the left turn switch and the right turn switch are arranged on the handle of the lawn mower, and the contact switch is arranged at the self-locking unit; The shift paddles are symmetrically mounted on the handle of the lawn mower.

9. The walking control system of a push lawn mower according to claim 5, characterized in that: The styles of the start-stop switch, the left turn switch and the right turn switch are not limited to any one style or a combination of multiple styles of rotary, push-button and touch-sensitive types.

10. The walking control system of a push lawn mower according to claim 4, characterized in that: The input unit also includes two shift paddles symmetrically arranged on the lawn mower for manually adjusting the engine speed of the lawn mower.

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