Intelligent mower escape method and intelligent mower

Abstract

The invention discloses an intelligent mower escape method and an intelligent mower, and relates to the technical field of mowing equipment.The intelligent mower comprises a mower body, a driving wheel and a walking wheel, the driving wheel and the walking wheel are arranged in the advancing direction of the mower body, and a supporting structure is movably installed on the mower body and located between the driving wheel and the walking wheel; the supporting structure is in a supporting state of supporting the machine body and in a storage state of being separated from the ground. The intelligent mower escaping method comprises the following steps: determining that the intelligent mower is trapped; the intelligent mower is controlled to execute an auxiliary escape strategy, and the auxiliary escape strategy comprises the steps that the supporting structure is controlled to move to a supporting state, and a driving module drives the intelligent mower to move in the direction from a self-walking wheel to a driving wheel so as to assist the intelligent mower in escaping. The technical scheme provided by the invention can assist the intelligent mower in escaping.

Description

Technical Field

[0001] The present invention relates to the technical field of lawn mowing equipment, and in particular to a method for escaping an intelligent lawn mower and an intelligent lawn mower. Background Art

[0002] A smart lawn mower, also known as a weed cutter, lawn mower, or lawn trimmer, is a mechanical tool used to trim lawns and vegetation. When operating outdoors, a smart lawn mower may encounter various road conditions. When encountering uneven road conditions, such as partially raised or sunken areas, high and / or steep areas (partially stepped areas), or encountering tall obstacles, the smart lawn mower may be unable to directly cross them, causing them to become stuck. Summary of the Invention

[0003] The main purpose of the present invention is to provide a method for getting an intelligent lawn mower out of trouble and an intelligent lawn mower, which are intended to assist the intelligent lawn mower in getting out of trouble.

[0004] To achieve the above-mentioned purpose, the present invention proposes a method for getting a smart lawn mower out of trouble, which includes the following steps:

[0005] determining that the smart lawn mower is trapped;

[0006] The intelligent lawn mower is controlled to execute an assisted escape strategy, wherein the assisted escape strategy includes controlling the support structure to move to a supporting state, and controlling the drive module to drive the intelligent lawn mower to move in the direction from the self-propelled wheel to the active wheel, so as to assist the intelligent lawn mower to escape.

[0007] In one embodiment, the step of determining that the intelligent lawn mower is trapped includes:

[0008] Acquire driving information of the intelligent lawn mower, and determine that the intelligent lawn mower is trapped according to the driving information.

[0009] In one embodiment, the step of obtaining driving information of the smart lawn mower and determining that the smart lawn mower is trapped according to the driving information includes:

[0010] Acquire the driving speed of the intelligent lawn mower and the working state of the driving module; when the driving speed of the intelligent lawn mower is zero and the driving module is in the running state, determine that the intelligent lawn mower is trapped; or,

[0011] The displacement of the smart lawn mower within a first preset time period and the working state of the driving module are obtained; when the displacement of the smart lawn mower within the first preset time period is within a preset range and the driving module is in an operating state, it is determined that the smart lawn mower is trapped.

[0012] In one embodiment, the smart lawn mower further includes a distance sensor provided on the running wheel or on a side of the body close to the running wheel, and the step of determining that the smart lawn mower is trapped further includes:

[0013] obtaining, by the distance sensor, the distance between the distance sensor and the ground within a second preset time period;

[0014] When the distance between the distance sensor and the ground within a second preset time period is greater than or equal to a first preset distance, it is determined that the intelligent lawn mower is trapped.

[0015] In one embodiment, a plurality of touch sensors are provided on the surface of the body. Before the step of determining that the smart lawn mower is trapped, the method for escaping the smart lawn mower further includes the steps of:

[0016] Acquiring a contact state between a human body and the surface of the body through the touch sensor;

[0017] When it is determined that the body surface is in a state of no human contact, the step of determining that the intelligent lawn mower is trapped is performed.

[0018] The step of determining that the intelligent lawn mower is trapped is performed.

[0019] In one embodiment, after the step of determining that the smart lawn mower is trapped and before the step of the smart lawn mower executing an auxiliary escape strategy, the smart lawn mower escape method further includes the steps of:

[0020] Control the smart lawn mower to execute the escape strategy;

[0021] determining whether the smart lawn mower is trapped;

[0022] If the smart lawn mower is still trapped, the escape attempt strategy is executed again until the number of executions reaches a preset number, triggering the step of the smart lawn mower executing the auxiliary escape strategy.

[0023] In one embodiment, the step of controlling the intelligent lawn mower to execute an escape attempt strategy includes:

[0024] Controlling the driving module to drive the intelligent lawn mower to travel a second preset distance in the direction from the driving wheel to the traveling wheel;

[0025] The driving module is controlled to drive the intelligent lawn mower to travel from the walking wheel to the driving wheel at a preset speed.

[0026] In one embodiment, the intelligent lawn mower further includes a positioning module provided on the body, and the method for escaping the intelligent lawn mower further includes the steps of:

[0027] After determining that the intelligent lawn mower is trapped and before controlling the intelligent lawn mower to execute an assisted escape strategy, obtaining a first position of the intelligent lawn mower by the positioning module;

[0028] After the step of controlling the intelligent lawn mower to execute the assisted escape strategy, obtaining a second position of the intelligent lawn mower through the positioning module;

[0029] When the distance between the first position and the second position is greater than a third preset distance, determining that the intelligent lawn mower is in an escape state;

[0030] The support structure is controlled to move to a stowed state.

[0031] In one embodiment, the third preset distance is greater than or equal to half the length of the fuselage.

[0032] In addition, to achieve the above-mentioned purpose, the present application also proposes an intelligent lawn mower, which includes: a fuselage, driving wheels and running wheels arranged along the moving direction of the fuselage, a support structure movably installed on the fuselage, a memory, a processor and a computer program stored in the memory and executable on the processor, the support structure is located between the driving wheels and the running wheels, and the support structure supports the fuselage in a supporting state and a storage state away from the ground, and the computer program is configured to implement the steps of the intelligent lawn mower escape method as described above.

[0033] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium. A computer program is stored on the computer-readable storage medium. When the computer program is executed by the processor, the steps of the smart lawn mower escape method as described above are implemented.

[0034] The present invention provides a method for escaping an intelligent lawn mower. The intelligent lawn mower used in the method includes a body, and a driving wheel and a traveling wheel arranged along the travel direction of the body. A support structure is movably installed on the body and is located between the driving wheel and the traveling wheel. The support structure supports the body in a supported state and a stowed state off the ground, thereby determining that the intelligent lawn mower is trapped. The intelligent lawn mower is then controlled to execute an auxiliary escape strategy. The auxiliary escape strategy includes controlling the support structure to move to the supported state and controlling a drive module to drive the intelligent lawn mower in a direction from the traveling wheel to the driving wheel, so that the support structure can provide a support point for the intelligent lawn mower, improve the ground contact force of the body, thereby facilitating the driving wheel to apply force, so that the driving wheel can drive the body to move, thereby assisting the traveling wheel to get out of the concave ground or over an obstacle, thereby achieving the purpose of escaping or overcoming the obstacle. Therefore, no additional manpower is required to escape, saving manpower and material resources, reducing the possibility of the intelligent lawn mower being trapped, increasing the adaptability of the intelligent lawn mower, and improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0036] Figure 1 A flowchart of the first embodiment of the method for escaping a smart lawn mower according to the present application is provided;

[0037] Figure 2 A flow chart illustrating a second embodiment of the method for escaping a smart lawn mower according to the present application;

[0038] Figure 3 A schematic structural diagram of an intelligent lawn mower according to an embodiment of the present invention;

[0039] Figure 4 for Figure 1 A schematic diagram of the structure of the intelligent lawn mower in a trapped state;

[0040] Figure 5 A schematic structural diagram of an intelligent lawn mower in another embodiment of the present invention in a trapped state;

[0041] Figure 6 for Figure 3 Schematic diagram of the structure of the intelligent lawn mower in working state;

[0042] Figure 7 This is a structural schematic diagram of an intelligent lawn mower in another embodiment provided by the present invention in a trapped state.

[0043] Description of Figure Numbers:

[0044] 100. Smart lawn mower; 1. Body; 101. Driving wheel; 102. Travel wheel; 11. Support structure; 111. Lifting support rod; 112. Support wheel; 113. First support rod; 114. Second support rod; 115. Limiting support sleeve; 2. Ground; 21. Recessed area.

[0045] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0046] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0047] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0048] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of such features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0049] The main solution of the present application is to determine that the smart lawn mower 100 is trapped, and then control the smart lawn mower 100 to perform an auxiliary escape strategy, so as to achieve the purpose of the smart lawn mower 100 escaping from the trap on its own.

[0050] The smart lawn mower 100 is generally equipped with an obstacle avoidance device, which can at least detect obstacles in front of the body 1 and transmit obstacle information to the control module of the smart lawn mower 100, so that the smart lawn mower 100 can determine whether to directly cross the obstacle or bypass the obstacle based on the obstacle information, thereby enabling the smart lawn mower 100 to avoid the obstacle.

[0051] However, in some working scenarios, the smart lawn mower 100 may not be able to bypass obstacles, or the smart lawn mower 100 may encounter obstacles unexpectedly. For example, when the ground 2 has a large concave area 21 or a raised area (much larger than the size of the smart lawn mower 100 itself), and the concave area 21 or the raised area needs to be weeded. At this time, in order to escape or overcome obstacles, the driving wheel is usually in the front, so that the smart lawn mower 100 can rush out of the concave area 21 or climb to the raised area. However, if the height of the concave area 21 or the raised area is high and / or the concave area 21 or the raised area is steep, the rear wheels may not be able to pass smoothly, causing the smart lawn mower 100 to be trapped; or if it accidentally encounters a high obstacle, the rear wheels may not be able to pass, and it often has to rely on manpower to escape, which is time-consuming and labor-intensive.

[0052] In view of this, the present invention proposes a method for escaping a smart lawn mower 100. This application is used to accurately identify that the smart lawn mower 100 is trapped, and control the smart lawn mower 100 to execute multiple escape strategies according to the trapped state, thereby effectively escaping the smart lawn mower 100, thereby reducing the possibility of manual escape, saving manpower, and improving the user experience.

[0053] Reference Figures 3 to 7 The smart lawn mower 100 used in the method for escaping a smart lawn mower 100 includes a body 1, and a driving wheel 101 and a traveling wheel 102 arranged along the moving direction of the body 1; that is, the driving wheel 101 and the traveling wheel 102 are arranged along the front-to-back direction of the body 1, and the smart lawn mower 100 can be configured as a two-wheel drive (the traveling wheel 102 is a driven wheel) or a four-wheel drive (the traveling wheel 102 is also a driving wheel).

[0054] It is worth noting that the driving wheel 101 and the running wheel 102 are arranged along the direction of travel of the fuselage 1, and the driving wheel 101 can be located on the front side of the fuselage, or the running wheel 102 can be located on the front side of the fuselage. When the intelligent lawn mower 100 is a two-wheel drive, if the intelligent lawn mower is rear-wheel drive, that is, the driving wheel 101 is located on the rear side of the fuselage 1 and the running wheel 102 is located on the front side of the fuselage 1, when it is necessary to overcome an obstacle or escape from a predicament, the intelligent lawn mower 100 usually reverses to overcome the obstacle to facilitate escape. If the intelligent lawn mower 100 is front-wheel drive, that is, the driving wheel 101 is located on the front side of the fuselage 1 and the running wheel 102 is located on the rear side of the fuselage 1, when it is necessary to overcome an obstacle or escape from a predicament, the intelligent lawn mower 100 can directly drive forward to escape from a predicament. In other words, when actually escaping from a predicament, regardless of whether the intelligent lawn mower 100 is rear-wheel drive or front-wheel drive, the driving wheel 101 is the first to cross the higher ground 2 or obstacle. When the intelligent lawn mower 100 is dual-wheel driven, the running wheels 102 are often configured as universal wheels.

[0055] When the smart lawn mower 100 is trapped, the driving wheel 101 is located in front of the running wheel 102, that is, the driving wheel 101 is the first to cross the higher ground 2 or the obstacle. However, the running wheel 102 may get stuck in the concave ground 2 or the running wheel 102 may not be able to cross the obstacle, causing the smart lawn mower 100 to be in an untrapped state. At this time, if the driving wheel 101 directly drives the body 1 to move, due to the terrain restrictions, the running wheel 102 may not provide sufficient grip during the untrapped process, resulting in the driving wheel 101 The force applied is limited, making it difficult for the smart lawn mower 100 to escape. Therefore, in order to assist the smart lawn mower 100 to escape, a support structure 11 is provided at the bottom of the body 1. In the untrapped state, the support structure 11 moves to a second position against the ground 2 to support the body 1, so that the driving wheel 101 can drive the body 1 to move, thereby assisting the running wheel 102 to get out of the concave ground 2 or cross the obstacle.

[0056] Generally, the intelligent lawn mower 100 has an escape state and a mowing state, and the support structure 11 has a support state corresponding to the escape state and a storage state other than the support state. In the escape state, the support structure 11 moves to the second position, so that the lower end of the support structure 11 abuts the ground 2 to support the body 1, thereby providing an additional support point for the intelligent lawn mower 100, improving the ground force of the body 1, thereby facilitating the driving wheel 101 to apply force, so that the driving wheel 101 can drive the body 1 to move, thereby assisting the running wheel 102 to climb out of the concave ground 2 or over obstacles, thereby achieving the purpose of escaping or overcoming obstacles.

[0057] The support structure 11 is located between the driving wheel 101 and the running wheel 102, that is, the support structure 11 is located on the side of the driving wheel 101 facing the running wheel 102, and is often spaced apart from the driving wheel 101. Therefore, when the support structure 11 supports the fuselage 1, it is mainly used to provide support for the vehicle body on the side where the running wheel 102 is located, thereby preventing the support structure 11 from supporting the side where the driving wheel 101 is located, thereby reducing the possibility that the support structure 11 accidentally reduces the grip of the driving wheel 101. In addition, generally, there is also a certain distance between the support structure 11 and the running wheel 102, so as to ensure that when supported, the support structure 11 can stably support the higher ground 2 (the ground 2 where the driving wheel 101 is located), thereby reducing the possibility of failure of the support structure 11.

[0058] In an embodiment of the invention, along the moving direction of the fuselage 1, the support point of the support structure 11 on the fuselage 1 and the support point of the driving wheel 101 on the fuselage 1 are respectively arranged on opposite sides of the center of gravity of the fuselage 1, that is, the support point of the support structure 11 on the fuselage and the running wheel 102 are both located on the same side of the center of gravity of the fuselage 1, so that the support structure 11 provides support for the fuselage 1 on the side where the running wheel 102 is located, thereby avoiding the support structure 11 being supported on the side where the driving wheel 101 is located.

[0059] It should be noted that because the weight of the body 1 of the smart lawn mower 100 is often unevenly distributed, the center of gravity of the body 1 is not equivalent to the center position of the body 1. Generally, the driving wheel 101 of the smart lawn mower 100 is the driving wheel, so the weight of the smart lawn mower 100 is often concentrated on the side where the driving wheel 101 is located. Therefore, the support point of the support structure 11 can be located on the side of the center of the body 1 close to the running wheel 102, or on the side of the center of the body 1, or even on the side of the center of the body 1 close to the driving wheel 101. Moreover, the support point of the support structure 11 is not necessarily different from the installation position of the support structure 11. When the support structure 11 is a vertical structure, the support point of the support structure 11 is equivalent to the installation position of the support structure 11; when the support structure 11 is tilted, the support point of the support structure 11 is not equivalent to the installation position of the support structure 11.

[0060] It is conceivable that the support structure 11 is generally driven by a drive motor, etc., thereby helping the smart lawn mower 100 to automatically escape from a jam without the need for human assistance. The drive structure can utilize some of the smart lawn mower 100's own drive structures, or an additional dedicated drive structure can be provided.

[0061] It should be noted that the execution entity of this embodiment can be the control module of the intelligent lawn mower 100, which can be a computing service device with data processing, network communication, and program execution functions. It serves as the master control module of the intelligent lawn mower 100, and is used to control the mowing hole to operate and escape. The following describes this embodiment and the following embodiments using the control module as the execution entity.

[0062] Based on this, the present application proposes a method for the smart lawn mower 100 to escape from trouble in the first embodiment, see Figure 1 The method for escaping the intelligent lawn mower 100 includes steps S10 to S20:

[0063] Step S10, determining that the intelligent lawn mower 100 is trapped;

[0064] Step S10 may specifically include: obtaining driving information of the smart lawn mower 100 , and determining that the smart lawn mower 100 is trapped according to the driving information.

[0065] It should be noted that the driving information of the smart lawn mower 100 is also the driving status information of the smart lawn mower 100, which can be the driving speed of the smart lawn mower 100, the displacement of the smart lawn mower 100 in a specific time period, the working status of relevant components of the smart lawn mower 100, or even the posture information of the smart lawn mower 100, and some external environment information of the smart lawn mower 100.

[0066] It is precisely because of step S10 that the control module can obtain at least one item of driving information of the smart lawn mower 100 and judge the driving information, thereby accurately determining that the smart lawn mower 100 is trapped, thereby improving the control module's monitoring accuracy of the state of the smart lawn mower 100.

[0067] In a feasible implementation, step S10 may include step A11:

[0068] Step A11, obtaining the driving speed of the intelligent lawn mower 100 and the working state of the driving module; when the driving speed of the intelligent lawn mower 100 is zero and the driving module is in the running state, determining that the intelligent lawn mower 100 is trapped;

[0069] It is understood that the speed of the intelligent lawn mower 100 can be detected by a positioning module located in the body 1, such as a GPS (Global Positioning System) or RTK (Real-Time Kinematic) system. The control module can directly communicate with the drive module to obtain the operating status of the drive module. Alternatively, a sensor can be provided in the body 1 to monitor the operating status of the drive module in real time, such as by monitoring the current changes of the drive module. The drive module can be a drive motor.

[0070] When it is detected that the driving speed of the smart lawn mower 100 is zero and the driving module is in the running state, that is, the smart lawn mower 100 is in the driving state, but the smart lawn mower 100 does not actually move, it can be determined that the smart lawn mower 100 is trapped, thereby ensuring that the control module accurately determines that the smart lawn mower 100 is trapped.

[0071] The detected running speed of the smart lawn mower 100 is zero, that is, the average speed of the smart lawn mower 100 in the first preset time period is zero, not the instantaneous speed of the smart lawn mower 100 is zero.

[0072] In another feasible implementation, step S10 may include step A12:

[0073] Step A12, obtaining the displacement of the smart lawn mower 100 within a first preset time period and the working status of the drive module; when the displacement of the smart lawn mower 100 within the first preset time period is within a preset range and the drive module is in an operating state, determining that the smart lawn mower 100 is trapped.

[0074] Compared with step A11, step A12 determines that the smart lawn mower 100 has basically not moved by detecting the displacement of the smart lawn mower 100 within the first preset time period through the positioning module, that is, the smart lawn mower 100 is in a driving state, but the smart lawn mower 100 has not actually moved, so that it can be determined that the smart lawn mower 100 is trapped, thereby ensuring that the control module accurately determines that the smart lawn mower 100 is trapped.

[0075] It is understood that when the smart lawn mower 100 is trapped, in an attempt to escape, the drive module will drive the driving wheel 101 to rotate. As a result, the driving wheel 101 causes the smart lawn mower 100 to continuously vibrate in the trapped position, but it cannot escape. Therefore, during the first preset time period, the smart lawn mower 100 will not remain completely stationary. Therefore, as long as the position of the smart lawn mower 100 during the first preset time period is within the preset range, it can be determined that the smart lawn mower 100 has escaped.

[0076] In another feasible embodiment, the intelligent lawn mower 100 further includes a distance sensor provided on the running wheel 102 or on a side of the body 1 close to the running wheel 102 , so step S10 may further include step A13:

[0077] Step A13, obtaining the distance between the distance sensor and the ground 2 within a second preset time period through the distance sensor;

[0078] When the distance between the distance sensor and the ground within the second preset time period is greater than or equal to the first preset distance, it is determined that the smart lawn mower 100 is trapped.

[0079] It should be noted that the distance sensor can measure the distance between it and the ground 2 and transmit the measured data to the distance sensor in real time. When the distance sensor is located on a side of the chassis 1 near the running wheel 102, the distance sensor can measure the distance from that point of the chassis 1 to the ground 2. Therefore, to ensure accuracy, the distance sensor is preferably located at the bottom of the chassis 1 (in this case, the first preset distance is also the maximum distance between the bottom of the smart lawn mower 100 and the ground 2), and should be located as close to the running wheel 102 as possible, so as to ensure that the distance sensor is directly opposite the ground 2 at the lower ground 2 (the recessed area 21) in the trapped state, thereby ensuring measurement accuracy. In this case, when the smart lawn mower 100 is in motion, the maximum distance measured by the distance sensor often does not exceed the maximum distance from the chassis to the ground 2, and this maximum distance is often an instantaneous distance, that is, within the second preset time period, the distance measured by the distance sensor continues to fluctuate within the maximum height range of the chassis. If the smart lawn mower 100 is trapped, since the running wheel 102 often just touches the ground 2 or is even suspended in the air, the maximum distance measured by the sensor often exceeds the maximum distance from the chassis to the ground 2 and remains in a continuous state. Therefore, if the control module obtains that the distance within the second preset time period is continuously greater than or equal to the first preset distance, it can be determined that the smart lawn mower 100 is trapped.

[0080] When the distance sensor is located on the running wheel 102, the data detected by the distance sensor is often a certain value (in this case, the first preset distance is often less than the height of the bottom of the vehicle body). If the smart lawn mower 100 is trapped, since the running wheel 102 is often suspended at this time, the maximum distance measured by the sensor will often exceed the preset distance, thereby determining that the smart lawn mower 100 is trapped. Therefore, the first preset distance is not a specific value and can be adjusted accordingly based on the size and model of the smart lawn mower 100, the size of the running wheel 102, and the location of the distance sensor. For example, when the chassis height of the smart lawn mower 100 is 55 cm in a stationary state and the height of the running wheel 102 can be raised or lowered by 20 cm, the chassis height of the smart lawn mower 100 fluctuates between 55 and 75 cm during driving. Therefore, the first preset distance can be 75 cm. During the second preset time period, if the chassis height of the smart lawn mower 100 is continuously greater than or equal to 75 cm, it can be determined that the smart lawn mower 100 is trapped.

[0081] It is precisely because of step A13 that the control module can obtain the distance between the distance sensor and the ground 2, thereby determining whether the body 1 is trapped. To improve accuracy, step S10 can include steps A11 and A13 simultaneously, or steps A12 and A13, so as to determine whether the intelligent lawn mower 100 is trapped from multiple aspects, thereby improving accuracy.

[0082] The above are only several feasible implementations of step S10 provided in this embodiment, and this embodiment does not specifically limit the specific implementation of step S10.

[0083] Step S20, controlling the intelligent lawn mower 100 to execute an assisted escape strategy;

[0084] Among them, reference Figure 4 、 Figure 5 and Figure 7 The auxiliary escape strategy includes controlling the support structure 11 to move to a supporting state, and the driving module drives the smart lawn mower 100 to move in the direction from the self-propelled wheel 102 to the active wheel 101 to assist the smart lawn mower 100 to escape.

[0085] It should be noted that the support structure 11 can be moved to the supported state by lifting, extending, or folding. In the supported state, at least the lower end of the support structure 11 is lowered, so that the lower end of the support structure 11 contacts the ground 2 to support the body 1, thereby providing an additional support point for the intelligent lawn mower 100 and improving the grounding force of the body 1. In general, the support structure 11 is often driven by a drive motor, so the control module can control the lifting structure to move to the supported state by controlling the drive motor.

[0086] The support structure 11 is located between the driving wheel 101 and the running wheel 102, that is, the support structure 11 is located on the side of the driving wheel 101 facing the running wheel 102, and is often spaced apart from the driving wheel 101. Therefore, when the support structure 11 supports the fuselage 1, it is mainly used to provide support for the fuselage 1 on the side where the running wheel 102 is located, thereby preventing the support structure 11 from supporting the side where the driving wheel 101 is located, thereby reducing the possibility that the support structure 11 accidentally reduces the grip of the driving wheel 101. In general, there is also often a certain distance between the support structure 11 and the running wheel 102, so as to ensure that when supported, the support structure 11 can stably support the higher ground 2 (the ground 2 where the driving wheel 101 is located), thereby reducing the possibility of failure of the support structure 11.

[0087] The driving module is used to drive the driving wheel 101 of the smart lawn mower 100 to rotate, thereby driving the wheels to move. Therefore, the control module can also control the smart lawn mower 100 to move forward by controlling the operation of the driving module. Moreover, because the outside provides a support point for the smart lawn mower 100, the ground force of the fuselage 1 is improved, which makes it easier for the driving wheel 101 to apply force, so that the driving wheel 101 can drive the fuselage 1 to move, thereby assisting the walking wheel 102 to get out of the concave ground 2 or over obstacles, thereby achieving the purpose of getting out of trouble or overcoming obstacles.

[0088] It is precisely because of step S20 that the control module can assist the body 1 to escape from the trap by controlling the movement of the support structure 11, thereby eliminating the need for additional manpower to escape from the trap, saving manpower and material resources, and reducing the possibility of the smart lawn mower 100 being trapped, increasing the adaptability of the smart lawn mower 100 and improving the user experience.

[0089] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the first embodiment can be referred to the above description and will not be repeated hereafter. On this basis, the body 1 is provided with a plurality of touch sensors. Before step S10, the method for getting out of trouble of the smart lawn mower 100 further includes step S01:

[0090] Step S01, obtaining the contact state between the human body and the surface of the body 1 through the touch sensor;

[0091] When it is determined that the surface of the body 1 is in a state of no human contact, the step of determining that the intelligent lawn mower 100 is trapped is performed.

[0092] Specifically, the body 1 is provided with several touch sensors that can detect whether a human body is touching the surface of the body 1, thereby preventing the support structure 11 from accidentally moving to the supported state when the body 1 is manually lifted. For example, if the intelligent lawn mower 100 determines in step S10 that the intelligent lawn mower 100 is trapped only through step A13, and the distance measured by the distance sensor at its running wheel 102 exceeds the preset value, it may be caused by human lifting, not by being trapped. If the control module mistakenly determines that the intelligent lawn mower 100 is trapped, it is likely to proceed to the next step S20, causing program disruption. Therefore, the touch sensors are provided to prevent this situation.

[0093] The touch sensor may be an inductive sensor, a pressure sensor, an ultrasonic sensor, etc. Preferably, a plurality of touch sensors may be arranged at intervals along the circumference of the body 1 .

[0094] It is precisely because of step S01 that the control module can eliminate the possibility of the intelligent lawn mower 100 being lifted by manpower and causing the escape strategy to be accidentally executed before executing step S10, thereby improving the judgment accuracy of the control module.

[0095] Based on the first embodiment of the present application, in the third embodiment of the present application, the same or similar contents as those in the first embodiment can be referred to the above introduction and will not be repeated hereafter. On this basis, after step S10 and before step S20, the method for getting out of trouble for the smart lawn mower 100 further includes step S02:

[0096] Step S02, controlling the intelligent lawn mower 100 to execute an escape attempt strategy;

[0097] That is, the intelligent lawn mower 100 is controlled to try to escape. In a feasible implementation, step S02 may include step B11:

[0098] Step B11, controlling the driving module to drive the intelligent lawn mower 100 to travel a second preset distance in the direction from the driving wheel 101 to the traveling wheel 102;

[0099] The driving module is controlled to drive the intelligent lawn mower 100 to travel from the walking wheel 102 to the driving wheel 101 at a preset speed.

[0100] That is, the control driving module drives the smart lawn mower 100 to move backward first, that is, the drive wheel moves into the recessed area 21, so that the smart lawn mower 100 is completely placed in the recessed area 21. Then, the control driving module moves forward at a preset speed, thereby attempting to use the inertia of the smart lawn mower 100 to rush out of the area, thereby eliminating the need for additional support structure 11 to escape. This also provides another escape strategy for the smart lawn mower 100, allowing the smart lawn mower 100 to choose a more appropriate escape method according to needs.

[0101] In a feasible implementation, step S02 may include step B12:

[0102] Step B12, controlling the steering module to drive the driving wheel 101 to steer, and controlling the driving module to drive the driving wheel 101 to rotate, that is, changing the direction of travel of the intelligent lawn mower 100, and then changing the positional relationship between the driving wheel 101 and the ground 2, trying to enhance the grip of the driving wheel 101 on one side of the fuselage 1, and thus trying to use the driving wheel 101 to first pull out the driven wheel on one side of the fuselage 1 to get out of trouble, and then pull out the driven wheel on the other side to achieve the purpose of getting out of trouble.

[0103] In one feasible embodiment, the body 1 is provided with an environmental detection module capable of detecting obstacles around the intelligent lawn mower 100. The control module obtains the surrounding obstacle information and selects the most suitable route for escaping based on the surrounding obstacle information, thereby helping the intelligent lawn mower 100 escape. The above are only a few feasible implementations of step S02 provided in this embodiment, and this embodiment does not specifically limit the specific implementation of step S02.

[0104] After step S02, step S10 is executed again, and then step S02 and step S10 are executed in a loop until the number of executions reaches the preset number, and then step S20 is triggered. That is, when it is first determined that the smart lawn mower 100 is in a trapped state, an attempt to escape strategy can be performed, and then it is determined again whether the smart lawn mower 100 is out of trouble. If it is detected that the smart lawn mower 100 is in an escape state, there is no need to execute the auxiliary escape strategy, and thus there is no need to additionally control the support structure 11 to assist in the escape; if it is detected that the smart lawn mower 100 is still in a trapped state, if the preset number of executions is 1, the auxiliary escape strategy is directly executed. If the preset number of executions is 2, the attempt to escape strategy is still executed, and the above operations are looped. Generally, the preset number of times is generally 3. Of course, the preset number of times can also be 1 or 2, or 4 or more.

[0105] Please refer to Figure 2 Based on the first embodiment of the present application, in the fourth embodiment of the present application, the same or similar contents as those in the first embodiment can be referred to above and will not be described in detail. On this basis, after step S10 and before step S20, the method for getting out of trouble for the smart lawn mower 100 further includes step S03:

[0106] Step S03, obtaining a first position of the intelligent lawn mower 100 through the positioning module;

[0107] After step S20, the method for getting the smart lawn mower 100 out of trouble further includes steps S04 to S06:

[0108] Step S04, obtaining a second position of the intelligent lawn mower 100 through the positioning module;

[0109] Step S05: When the distance between the first position and the second position is greater than a third preset distance, it is determined that the intelligent lawn mower 100 is in an escape state;

[0110] Step S06: controlling the support structure 11 to move to a storage state.

[0111] That is, the position of the smart lawn mower 100 in the trapped state is recorded by the positioning module and set as the first position. After the smart lawn mower 100 is freed from the trap, the position of the smart lawn mower 100 is continuously recorded by the positioning module and set as the second position, and the control module continuously processes the positional relationship between the first position and the second position. When the distance between the first position and the second position is greater than the third preset distance, it can be determined that the walking wheel 102 has completely crossed the obstacle or is free from the trap, thereby determining that the smart lawn mower 100 is in the freed state, and then controlling the support structure 11 to be retracted.

[0112] Therefore, preferably, the third preset distance is greater than or equal to half the length of the body 1. That is, when the control module detects that the distance the smart lawn mower 100 moves forward while executing step S20 is greater than half the length of the body 1, it can control the support structure 11 to retract, thereby facilitating timely retraction of the support structure 11 and reducing the impact of the support structure 11 on the normal operation of the smart lawn mower 100. The third preset distance can be set based on the size of the smart lawn mower 100. In this embodiment, the length of the body 1 of the smart lawn mower 100 is 66 cm, so the third preset distance can be 30 cm, 31 cm, 32 cm, 33 cm, 34 cm, and 35 cm, etc.

[0113] The present application provides an intelligent lawn mower 100, which includes: a body 1, driving wheels 101 and running wheels 102 arranged along the travel direction of the body 1, a support structure 11 movably mounted on the body 1, at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method for getting the intelligent lawn mower 100 out of trouble in the above-mentioned embodiment 1.

[0114] In particular, according to the embodiments disclosed herein, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, the embodiments disclosed herein include a computer program product comprising a computer program embodied on a computer-readable medium, the computer program including program code for executing the methods shown in the flowcharts.

[0115] The smart lawn mower 100 provided in this application, which uses the smart lawn mower 100 in the above-mentioned embodiment to escape from a jam, can solve the technical problem of the smart lawn mower 100 being trapped. Compared with the prior art, the beneficial effects of the smart lawn mower 100 provided in this application are the same as the beneficial effects of the method for escaping a smart lawn mower 100 provided in the above-mentioned embodiment, and the other technical features of the smart lawn mower 100 are the same as those disclosed in the above-mentioned embodiment, and will not be described in detail here.

[0116] In the examples of this application, refer to Figures 5 to 7 In the escape state, the support structure 11 can also provide forward thrust for the fuselage 1; for example, the support structure 11 is tilted, and the distance between the support structure 11 and the driving wheel 101 decreases in the upward direction, that is, the lower end of the support structure 11 is offset in the direction close to the running wheel 102, that is, the support structure 11 is tilted backward as a whole. This allows the support structure 11 to apply an oblique downward pressure to the ground 2 (inclined in the direction of the running wheel 102) in the supporting state. This pressure has a component in the opposite direction of the direction of travel of the intelligent lawn mower 100, and the ground 2 gives the support rod an oblique upward thrust, and this thrust has the same component as the direction of travel of the intelligent lawn mower 100, so that the ground 2 can push the fuselage 1 forward through the support rod, further assisting the intelligent lawn mower 100 in escaping. Of course, in other embodiments, the support structure 11 can also be set vertically.

[0117] In one embodiment, referring to Figure 4, the support structure 11 is configured as a lifting support rod 111, which has a retracted position in the mowing state and an extended position in the escape state. Specifically, the lifting support rod 111 is movably mounted on the body 1 and can be raised and lowered relative to the body 1. In the mowing state, the lifting support rod 111 is retracted, so that the lifting support rod 111 is lifted off the ground to ensure the normal operation of the intelligent lawn mower 100. At this time, the lifting support rod 111 is at least partially stored in the body 1; in the escape state, the lifting support rod 111 is extended, so that the lifting support rod 111 descends until its lower end contacts the ground 2 to support the body 1, thereby assisting the intelligent lawn mower 100 in escaping from distress. This type of rod structure has a simple structure and occupies a small space, which helps save space inside the body 1 and is easy to repair and replace.

[0118] In this embodiment, the lifting support rod 111 switches between the first position and the second position by contracting or expanding itself, thereby reducing the internal space of the fuselage 1. Of course, in other embodiments, the lifting support rod 111 can also be raised and lowered by rotating, so that the lifting support rod 111 is driven by a drive motor to rotate, thereby achieving the lifting and lowering movement of the lifting support rod 111; the lifting support rod 111 can also be slidably mounted on the fuselage 1, so that the lifting structure can be raised and lowered directly by sliding up and down.

[0119] When the support structure 11 is configured as a lifting support rod 111, and when the lifting support rod 111 assists the fuselage 1 to escape from the trap, the fuselage 1 will often drive the lifting support rod 111 to move forward a certain distance to ensure that the fuselage is completely freed from the trap. At this time, the lifting support rod 111 and the ground 2 are in sliding friction, and the friction force is relatively large. In order to reduce friction, in another embodiment of the present invention, refer to Figure 3 and Figure 4 The support structure 11 includes a lifting support rod 111 and a support wheel 112 rotatably installed on the end of the lifting support rod 111 away from the fuselage 1, and the lifting support rod 111 is slidably installed on the fuselage 1; in the escape state, the lifting support rod 111 drives the support wheel 112 to descend to jointly support the fuselage 1, that is, a support wheel 112 is added to the lower end of the lifting support rod 111, so that when the fuselage 1 drives the lifting support rod 111 to move, the lifting support rod 111 and the ground 2 become rolling friction, thereby further reducing friction, making it easier for the intelligent lawn mower 100 to escape.

[0120] In order to facilitate the storage of the support structure 11 and reduce the space occupied by the support structure 11 , the size of the support wheel 112 is often smaller, at least smaller than the size of the driving wheel 101 and the walking wheel 102 .

[0121] Furthermore, the support structure 11 includes a drive motor that can rotate the support wheels 112. In other words, the support wheels 112 are also configured as driving wheels, thereby providing forward thrust for the body 1. As a result, the support structure 11 can not only support the body 1 to increase its grounding force, but also work together with the driving wheels 101 to drive the body, thereby further facilitating the intelligent lawn mower 100 to escape from trouble.

[0122] In one embodiment, the support structure 11 is configured as a support swing arm, which includes a first end rotatably connected to the body 1 and a second end opposite the first end. In the escape state, the second end swings out relative to the body 1 and abuts the ground to support the body 1. Specifically, the first section of the support swing arm is rotatably mounted to the body 1. In the mowing state, the lifting support rod 111 is at least partially retracted within the body 1. In the escape state, the lifting support rod 111 swings downward, and the second end swings out relative to the body 1 and abuts the ground to support the body 1, thereby assisting the intelligent lawn mower 100 in escaping. In other words, the support structure 11 is raised and lowered by the swinging motion. Of course, in other embodiments, the second end of the support swing arm can also be connected to the support wheel 112.

[0123] See also Figure 7In an embodiment of the invention, the support structure 11 includes a first support rod 113 telescopically mounted on the fuselage 1, a second support rod 114 rotatably connected to the lower end of the first support rod 113, and a limiting support sleeve sleeved on the first support rod 113 and the second support rod 114;

[0124] In the escape state, and before the side of the body 1 close to the running wheel 102 is lifted, the second support rod 114 partially extends out of the limiting support sleeve 115 and abuts against the lower edge of the limiting support sleeve 115 .

[0125] Specifically, the first support rod 113 is retractably mounted on the fuselage 1, and the second support rod 114 is arranged at the lower end of the first support rod 113, and the second support rod 114 is rotatably connected to the first support rod 113, and the first support rod 113 can drive the second support rod 114 to rise and fall, that is, when the support structure 11 needs to support the fuselage 1, the first support rod 113 first drives the second support rod 114 to fall to the position where the second support rod 114 contacts the ground 2. As the support structure 11 further descends, the second support rod 114 will rotate and bend relative to the first support rod 113. When it rotates to a preset angle between the two, the second support rod 114 abuts against the lower edge of the limiting support sleeve 115, so that the support structure 11 stably supports the fuselage, thereby providing support force to the side of the fuselage 1 close to the walking wheel 102, making it easier for the smart lawn mower to get out of trouble.

[0126] See also Figure 5 In the escape state, and before the side of the body 1 near the running wheel 102 is lifted, that is, when the support structure 11 begins to support the body 1, the first support rod 113 and the second support rod 114 can have a first preset angle. This first preset angle is generally less than 180 degrees, so that the support structure 11 is partially tilted. When supporting, the second support rod 114 can generate an oblique upward thrust on the first support rod 113, and this thrust has the same component as the direction of travel of the intelligent lawn mower 100, so that the ground 2 can push the body 1 forward through the support rod, further assisting the intelligent lawn mower 100 in escaping. The limiting support sleeve 115 can limit the first support rod 113 and the second support rod 114 to remain stably at the first preset angle, thereby ensuring that the first support rod 113 and the second support rod 114 stably support the body. Optionally, the first support rod 113 and the second support rod 114 are hinged.

[0127] In this embodiment, the first support rod 113 switches between the first position and the second position by contracting or expanding itself, thereby reducing the internal space of the fuselage 1. Of course, in other embodiments, the first support rod 113 can also be raised and lowered by rotating, so that the first support rod 113 is driven by a drive motor to rotate, thereby achieving the lifting movement of the first support rod 113; the first support rod 113 can also be slidably mounted on the fuselage 1, so that the lifting structure can be raised and lowered directly by sliding up and down.

[0128] For further information, see Figure 5 In the escape state, and before the side of the fuselage 1 close to the running wheel 102 is lifted, the connection between the first support rod 113 and the second support rod 114 abuts against the side of the position-limiting support sleeve 115 facing the driving wheel 101. That is, in the support state, the second support rod 114 and the position-limiting support sleeve 115 have the same inclination direction, and the inclination of the second support rod 114 is greater than the inclination of the position-limiting support sleeve 115, so that the connection between the first support rod 113 and the second support rod 114 abuts against the side of the position-limiting support sleeve 115 facing the driving wheel 101. At this time, the entire support structure 11 is tilted and supported on the fuselage; alternatively, the position-limiting support sleeve 115 is set vertically and the second support rod 114 is tilted, so that the connection between the first support rod 113 and the second support rod 114 abuts against the side of the position-limiting support sleeve 115 facing the driving wheel 101. At this time, the entire support structure 11 is tilted and supported on the fuselage. And because the connection between the first support rod 113 and the second support rod 114 abuts against the side of the limiting support sleeve 115 facing the active wheel 101, the second support rod 114 can generate an oblique upward thrust on the limiting support rod, and the thrust has the same component as the driving direction of the smart lawn mower 100, so that the ground 2 can push the fuselage 1 forward through the support rod, further assisting the smart lawn mower 100 to escape.

[0129] Because the second support rod 114 and the position-limiting support sleeve 115 have different degrees of inclination, when the position-limiting structure needs to be stored, the second support rod 114 and the position-limiting support sleeve 115 may become stuck. Therefore, in one embodiment, the upper end of the position-limiting support sleeve 115 is swingably mounted on the fuselage 1, and the fuselage 1 is further provided with a locking structure; in the unstuck state, the locking structure fixes the position-limiting support sleeve 115. Specifically, in the supporting state, the locking structure locks, thereby fixing the position-limiting support sleeve 115, so that the support structure 11 can stably support the fuselage 1. When it is necessary to switch to the storage state, the locking structure is unlocked, allowing the position-limiting support sleeve 115 to swing, thereby making the inclination of the position-limiting support platform adjustable to adapt to the inclination angle of the second support rod 114, facilitating the storage of the support structure 11.

[0130] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

[0131] The present application also provides a computer-readable storage medium having computer-readable program instructions (ie, a computer program) stored thereon, the computer-readable program instructions being used to execute the method for getting the smart lawn mower 100 out of trouble in the above-mentioned embodiment.

[0132] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0133] The computer-readable storage medium may be included in the intelligent lawn mower 100 , or may exist independently without being assembled into the intelligent lawn mower 100 .

[0134] The computer-readable storage medium carries one or more programs, which, when executed by the smart lawn mower 100, causes the smart lawn mower 100 to: determine that the smart lawn mower 100 is trapped;

[0135] The smart lawn mower 100 is controlled to execute an assisted escape strategy, which includes controlling the support structure 11 to move to a supporting state, and controlling the drive module to drive the smart lawn mower 100 to move in the direction from the self-propelled wheel 102 to the active wheel 101 to assist the smart lawn mower 100 to escape.

[0136] Computer program code for performing the operations of the present application may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages such as Java, Smalltalk, C++, and conventional procedural programming languages such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on the remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0137] The modules described in the embodiments of the present application may be implemented in software or hardware, wherein the name of a module does not necessarily limit the unit itself.

[0138] The above description is merely an exemplary embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformation made by utilizing the contents of the present invention's description and drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. A method for getting an intelligent lawn mower out of trouble, characterized in that: The intelligent lawn mower includes a body, and driving wheels and running wheels arranged along the travel direction of the body. A support structure is movably mounted on the body and located between the driving wheels and the running wheels. The support structure has a supporting state for supporting the body and a storage state for being detached from the ground. The method for escaping the intelligent lawn mower includes the following steps: determining that the smart lawn mower is trapped; The intelligent lawn mower is controlled to execute an assisted escape strategy, wherein the assisted escape strategy includes controlling the support structure to move to a supporting state, and controlling the drive module to drive the intelligent lawn mower to move in the direction from the self-propelled wheel to the active wheel, so as to assist the intelligent lawn mower to escape.

2. The method for escaping an intelligent lawn mower according to claim 1, wherein: The step of determining that the intelligent lawn mower is trapped includes: Acquire driving information of the intelligent lawn mower, and determine that the intelligent lawn mower is trapped according to the driving information.

3. The method for escaping an intelligent lawn mower according to claim 2, wherein: The step of obtaining the driving information of the intelligent lawn mower and determining that the intelligent lawn mower is trapped according to the driving information includes: Acquire the driving speed of the intelligent lawn mower and the working state of the driving module; when the driving speed of the intelligent lawn mower is zero and the driving module is in the running state, determine that the intelligent lawn mower is trapped; or, The displacement of the smart lawn mower within a first preset time period and the working state of the driving module are obtained; when the displacement of the smart lawn mower within the first preset time period is within a preset range and the driving module is in an operating state, it is determined that the smart lawn mower is trapped.

4. The method for escaping an intelligent lawn mower according to claim 2 or 3, wherein: The smart lawn mower further includes a distance sensor provided on the running wheel or on a side of the body close to the running wheel, and the step of determining that the smart lawn mower is trapped further includes: obtaining, by the distance sensor, the distance between the distance sensor and the ground within a second preset time period; When the distance between the distance sensor and the ground within a second preset time period is greater than or equal to a first preset distance, it is determined that the intelligent lawn mower is trapped.

5. The method for escaping an intelligent lawn mower according to claim 1, wherein: The body is provided with a plurality of touch sensors. Before the step of determining that the smart lawn mower is trapped, the method for escaping the smart lawn mower further comprises the steps of: Acquiring a contact state between a human body and the surface of the body through the touch sensor; When it is determined that the body surface is in a state of no human contact, the step of determining that the intelligent lawn mower is trapped is performed.

6. The method for escaping an intelligent lawn mower according to claim 1, wherein: After the step of determining that the intelligent lawn mower is trapped and before the step of the intelligent lawn mower executing an auxiliary escape strategy, the intelligent lawn mower escape method further includes the steps of: Control the smart lawn mower to execute the escape strategy; determining whether the smart lawn mower is trapped; If the smart lawn mower is still trapped, the escape attempt strategy is executed again until the number of executions reaches a preset number, triggering the step of the smart lawn mower executing the auxiliary escape strategy.

7. The method for escaping an intelligent lawn mower according to claim 6, wherein: The step of controlling the intelligent lawn mower to execute the escape attempt strategy includes: Controlling the driving module to drive the intelligent lawn mower to travel a second preset distance in the direction from the driving wheel to the traveling wheel; The driving module is controlled to drive the intelligent lawn mower to travel from the walking wheel to the driving wheel at a preset speed.

8. The method for escaping an intelligent lawn mower according to claim 1, wherein: The intelligent lawn mower further includes a positioning module provided on the body of the lawn mower, and the method for escaping the intelligent lawn mower further includes the steps of: After determining that the intelligent lawn mower is trapped and before controlling the intelligent lawn mower to execute an assisted escape strategy, obtaining a first position of the intelligent lawn mower by the positioning module; After the step of controlling the intelligent lawn mower to execute the assisted escape strategy, obtaining a second position of the intelligent lawn mower through the positioning module; When the distance between the first position and the second position is greater than a third preset distance, determining that the smart lawn mower is completely out of trouble; The support structure is controlled to move to a stowed state.

9. The method for escaping an intelligent lawn mower according to claim 8, wherein: The third preset distance is greater than or equal to half of the length of the fuselage.

10. An intelligent lawn mower, characterized in that: The intelligent lawn mower includes a body, driving wheels and running wheels arranged along the direction of travel of the body, a support structure movably mounted on the body, a memory, a processor, and a computer program stored in the memory and executable on the processor. The support structure is located between the driving wheels and the running wheels, and the support structure has a supporting state for supporting the body and a storage state for being detached from the ground. The computer program is configured to implement the steps of the method for escaping an intelligent lawn mower as described in any one of claims 1 to 9.

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