Method for getting out of trouble for intelligent mower and intelligent mower

Abstract

The application discloses a kind of intelligent mower escape methods and intelligent mower, it is related to mowing equipment technical field, wherein the intelligent mower includes body, and along the advancing direction of the body arrangement driving wheel and walking wheel, support structure is movably installed in body, and between the driving wheel and the walking wheel, and the support structure supports the support state of the body and the storage state of the ground separation, the intelligent mower escape method includes steps: determining that the intelligent mower is trapped;Control the intelligent mower executes auxiliary escape strategy, and the auxiliary escape strategy includes controlling the support structure movement to support state, and driving module drives the intelligent mower to the direction of self walking wheel to driving wheel movement, to assist the intelligent mower to escape.The technical scheme provided by the application can assist intelligent mower to escape.

Description

Technical Field

[0001] This invention relates to the field of lawn mowing equipment technology, and in particular to a method for an intelligent lawn mower to get out of trouble and an intelligent lawn mower. Background Technology

[0002] A smart lawnmower, also known as a lawn mower, lawn trimmer, or lawn trimmer, is a mechanical tool used for trimming lawns, vegetation, etc. When working outdoors, a smart lawnmower may encounter various road conditions. When encountering uneven road conditions, such as local bumps or depressions in the ground, and if the bumps or depressions are high and / or steep (the ground is partially stepped), or when encountering high obstacles, the smart lawnmower may not be able to cross them directly, causing it to get stuck. Summary of the Invention

[0003] The main objective of this invention is to propose a method for intelligent lawnmowers to get out of trouble and to provide an intelligent lawnmower, which aims to assist intelligent lawnmowers in getting out of trouble.

[0004] To achieve the above objectives, the present invention proposes a method for intelligent lawnmowers to escape entanglement, the method comprising the following steps:

[0005] It was determined that the intelligent lawnmower was trapped;

[0006] The intelligent lawnmower is controlled to execute an auxiliary escape strategy, which includes controlling the support structure to move to a supported state and controlling the drive module to drive the intelligent lawnmower to move in the direction from the self-propelled wheels to the drive wheels, so as to assist the intelligent lawnmower in escaping trouble.

[0007] In one embodiment, the step of determining that the smart lawnmower is stuck includes:

[0008] The driving information of the intelligent lawnmower is obtained, and the intelligent lawnmower is determined to be trapped based on the driving information.

[0009] In one embodiment, the step of obtaining the driving information of the smart lawnmower and determining that the smart lawnmower is stuck based on the driving information includes:

[0010] The system acquires the travel speed of the intelligent lawnmower and the operating status of the drive module; when the travel speed of the intelligent lawnmower is zero and the drive module is in operation, it determines that the intelligent lawnmower is trapped; or,

[0011] The displacement of the intelligent lawnmower and the working status of the drive module are obtained within a first preset time period; when the displacement of the intelligent lawnmower within the first preset time period is within a preset range and the drive module is in operation, it is determined that the intelligent lawnmower is trapped.

[0012] In one embodiment, the intelligent lawnmower further includes a distance sensor disposed on the wheels or on the side of the body near the wheels, and the step of determining that the intelligent lawnmower is stuck further includes:

[0013] The distance between the distance sensor and the ground is obtained through the distance sensor within a second preset time period;

[0014] When the distance between the distance sensor and the ground is greater than or equal to the first preset distance during the second preset time period, it is determined that the smart lawnmower is trapped.

[0015] In one embodiment, the surface of the machine body is provided with a plurality of touch sensors, and before the step of determining that the smart lawnmower is stuck, the smart lawnmower escape method further includes the step of:

[0016] The contact state between the human body and the surface of the device is obtained through the touch sensor;

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

[0018] Perform the step of determining that the smart lawnmower is stuck.

[0019] In one embodiment, after the step of determining that the smart lawnmower is stuck, and before the step of the smart lawnmower implementing an auxiliary escape strategy, the smart lawnmower escape method further includes the step of:

[0020] Control the intelligent lawnmower to execute an attempt to escape a difficult situation;

[0021] Determine whether the smart lawnmower is trapped;

[0022] If the smart lawnmower is still stuck, the attempt to escape strategy is executed again until the preset number of executions is reached, at which point the smart lawnmower is triggered to execute the auxiliary escape strategy.

[0023] In one embodiment, the step of controlling the smart lawnmower to execute an attempt to escape a difficult situation includes:

[0024] The drive module is controlled to drive the intelligent lawnmower a second preset distance in the direction from the drive wheel to the walking wheel;

[0025] The drive module controls the intelligent lawnmower to travel at a preset speed from the walking wheels to the drive wheels.

[0026] In one embodiment, the intelligent lawnmower further includes a positioning module disposed on the machine body, and the intelligent lawnmower escaping obstacle method further includes the following steps:

[0027] After determining that the smart lawnmower is stuck, and before controlling the smart lawnmower to execute an auxiliary escape strategy, the first position of the smart lawnmower is obtained through the positioning module;

[0028] After controlling the smart lawnmower to execute the assisted escape strategy, the second position of the smart lawnmower is obtained through the positioning module;

[0029] When the distance between the first position and the second position is greater than the third preset distance, it is determined that the intelligent lawnmower is in an unstuck state;

[0030] Control the movement of the support structure to the retracted state.

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

[0032] Furthermore, to achieve the above objectives, this application also proposes an intelligent lawnmower, which includes: a body, a drive wheel and a travel wheel arranged along the travel direction 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 drive wheel and the travel wheel, and the support structure supports the body in both a supported state and a retracted state off the ground. The computer program is configured to implement the steps of the intelligent lawnmower escape method described above.

[0033] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the intelligent lawnmower escaping method described above.

[0034] This invention provides a method for an intelligent lawnmower to escape from obstacles. The intelligent lawnmower includes a body and drive wheels and traveling wheels arranged along the direction of travel of the body. A support structure is movably installed on the body and located between the drive wheels and the traveling wheels. The support structure supports the body in both a supported state and a retracted state off the ground, thus determining that the intelligent lawnmower is stuck. The invention then controls the intelligent lawnmower to execute an auxiliary escape strategy. This strategy includes controlling the support structure to move to a supported state and controlling the drive module to drive the intelligent lawnmower in the direction from the traveling wheels to the drive wheels. This allows the support structure to provide a support point for the intelligent lawnmower, increasing the body's ground contact force. This facilitates the drive wheels applying force, enabling them to drive the body, thereby assisting the traveling wheels in overcoming depressions in the ground or obstacles, achieving the purpose of escaping or overcoming obstacles. This eliminates the need for additional human intervention, saving manpower and resources, reducing the possibility of the intelligent lawnmower getting stuck, increasing the adaptability of the intelligent lawnmower to different scenarios, and improving the user experience. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0036] Figure 1 This is a flowchart illustrating an embodiment of the intelligent lawnmower tackling method of this application.

[0037] Figure 2 This is a flowchart illustrating Embodiment 2 of the intelligent lawnmower tackling method of this application;

[0038] Figure 3 A schematic diagram of the structure of an intelligent lawnmower in one embodiment of the present invention;

[0039] Figure 4 for Figure 1 A schematic diagram of a smart lawnmower in a trapped state;

[0040] Figure 5 A schematic diagram of a smart lawnmower in a trapped state, provided in another embodiment of the present invention;

[0041] Figure 6 for Figure 3 A schematic diagram of the intelligent lawnmower in working condition;

[0042] Figure 7 A schematic diagram of the structure of a smart lawnmower in a trapped state in another embodiment of the present invention.

[0043] Explanation of icon numbers:

[0044] 100. Intelligent lawnmower; 1. Body; 101. Drive wheel; 102. Walking 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 realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0046] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are 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 positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0048] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0049] The main solution of this application is: by determining that the intelligent lawnmower 100 is trapped, the intelligent lawnmower 100 is controlled to carry out an auxiliary escape strategy so as to achieve the purpose of the intelligent lawnmower 100 escaping the trap on its own.

[0050] Intelligent lawnmowers 100 are generally equipped with obstacle avoidance devices. These devices can detect obstacles in front of the machine body 1 and transmit the obstacle information to the control module of the intelligent lawnmower 100. This allows the intelligent lawnmower 100 to determine whether to directly pass over the obstacle or go around it based on the obstacle information, thus enabling the intelligent lawnmower 100 to avoid obstacles.

[0051] However, in some work scenarios, the intelligent lawnmower 100 may be unable to bypass obstacles, or it may encounter obstacles unexpectedly. For example, if the ground 2 has a large recessed area 21 or raised area (much larger than the size of the intelligent lawnmower 100 itself), and this recessed area 21 or raised area needs to be mowed, the drive wheel is usually in front to allow the intelligent lawnmower 100 to rush out of the recessed area 21 or climb to the raised area. However, if the recessed area 21 or raised area is high and / or steep, the rear wheels may not be able to pass smoothly, causing the intelligent lawnmower 100 to get stuck; or if it encounters a high obstacle, the rear wheels may also be unable to pass, often requiring manual extrication, which is time-consuming and laborious.

[0052] In view of this, the present invention proposes a method for getting a smart lawnmower 100 out of trouble. This application is used to accurately identify when the smart lawnmower 100 is stuck, and to control the smart lawnmower 100 to execute a variety of get-out-of-trouble strategies according to the stuck state, thereby effectively getting the smart lawnmower 100 out of trouble, thereby reducing the possibility of manual get-out, saving manpower, and improving the user experience.

[0053] Reference Figures 3 to 7 The intelligent lawnmower 100 escape method applies to an intelligent lawnmower 100 including a body 1 and drive wheels 101 and travel wheels 102 arranged along the travel direction of the body 1; that is, the drive wheels 101 and travel wheels 102 are arranged along the front and rear direction of the body 1, and the intelligent lawnmower 100 can be configured as a two-wheel drive (the travel wheels 102 are driven wheels) or a four-wheel drive (the travel wheels 102 are also drive wheels).

[0054] It is worth noting that the drive wheel 101 and the running wheel 102 are arranged along the direction of travel of the machine body 1. Either the drive wheel 101 or the running wheel 102 can be located at the front of the machine body. Furthermore, when the intelligent lawnmower 100 is dual-wheel drive, if it is rear-wheel drive (i.e., the drive wheel 101 is located at the rear of the machine body 1 and the running wheel 102 is located at the front), the intelligent lawnmower 100 typically reverses to overcome obstacles or get out of trouble. If it is front-wheel drive (i.e., the drive wheel 101 is located at the front of the machine body 1 and the running wheel 102 is located at the rear), the intelligent lawnmower 100 can directly travel forward to overcome obstacles or get out of trouble. In other words, in actual extrication, regardless of whether the intelligent lawnmower 100 is rear-wheel drive or front-wheel drive, the drive wheel 101 always crosses the higher ground 2 or obstacle first. Furthermore, when the intelligent lawnmower 100 is a dual-wheel drive, the walking wheel 102 is often configured as a swivel wheel.

[0055] When the intelligent lawnmower 100 is stuck, the drive wheel 101 is positioned in front of the walking wheels 102, meaning the drive wheel 101 is the first to cross the higher ground 2 or obstacles. However, the walking wheels 102 may get stuck in the recessed ground 2 or be unable to cross obstacles, causing the intelligent lawnmower 100 to be in a state of extrication. At this time, if the drive wheel 101 directly drives the body 1 to move, due to terrain limitations, the walking wheels 102 may not be able to provide sufficient traction during the extrication process, thus limiting the force exerted by the drive wheel 101 and making it difficult for the intelligent lawnmower 100 to escape. Therefore, to assist the intelligent lawnmower 100 in escaping, a support structure 11 is provided at the bottom of the body 1. In the state of extrication, the support structure 11 moves to a second position abutting the ground 2 to support the body 1, enabling the drive wheel 101 to drive the body 1 to move, thereby assisting the walking wheels 102 in crossing the recessed ground 2 or obstacles.

[0056] Generally, the intelligent lawnmower 100 has an escape state and a mowing state. 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 against the ground 2 to support the body 1, thereby providing an additional support point for the intelligent lawnmower 100, improving the ground contact force of the body 1, thus facilitating the application of force by the drive wheel 101, enabling the drive wheel 101 to drive the body 1 to move, thereby assisting the walking wheel 102 to cross the recessed ground 2 or overcome obstacles, achieving the purpose of escape or obstacle crossing.

[0057] The support structure 11 is located between the drive wheel 101 and the traveling wheel 102, that is, the support structure 11 is located on the side of the drive wheel 101 facing the traveling wheel 102, and is often spaced apart from the drive wheel 101. This allows the support structure 11 to primarily provide support for the side of the vehicle body where the traveling wheel 102 is located when supporting the fuselage 1, thus avoiding the support structure 11 supporting the side where the drive wheel 101 is located, thereby reducing the possibility of the support structure 11 accidentally reducing the grip of the drive wheel 101. Furthermore, there is generally a certain distance between the support structure 11 and the traveling wheel 102, ensuring that the support structure 11 can be stably supported at a higher ground level 2 (the ground level 2 where the drive wheel 101 is located) when supported, thereby reducing the possibility of support structure 11 failure.

[0058] In the embodiments of the invention, along the traveling direction of the fuselage 1, the support point of the support structure 11 to the fuselage 1 and the support point of the drive wheel 101 to the fuselage 1 are respectively located on opposite sides of the center of gravity of the fuselage 1. That is, the support point of the support structure 11 to the fuselage and the drive 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 drive wheel 102 is located, thereby avoiding the support structure 11 being supported on the side where the drive wheel 101 is located.

[0059] It should be noted that because the weight of the body 1 of the intelligent lawnmower 100 is often unevenly distributed, the center of gravity of the body 1 is not the same as the center of the body 1. Generally, the drive wheel 101 of the intelligent lawnmower 100 is the drive wheel, so the weight of the intelligent lawnmower 100 is often concentrated on the side where the drive wheel 101 is located. Therefore, the support point of the support structure 11 can be located on the side of the body 1 near the drive wheel 102, or at the center of the body 1, or even on the side of the body 1 near the drive wheel 101. Furthermore, the support point of the support structure 11 is not necessarily the same as its installation position. When the support structure 11 is a vertical structure, the support point is the same as its installation position; when the support structure 11 is tilted, the support point is not the same as its installation position.

[0060] It is conceivable that the support structure 11 is typically driven by a drive motor or similar device, thereby facilitating the automatic extrication of the intelligent lawnmower 100 from difficult situations without human assistance. This drive structure can utilize some of the intelligent lawnmower 100's own drive mechanisms, or it can be driven by an additional dedicated drive structure.

[0061] It should be noted that the execution entity in this embodiment can be the control module of the intelligent lawnmower 100, which can be a computing service device with data processing, network communication, and program execution functions. As the main control module of the intelligent lawnmower 100, it is used to control the mowing hole to work and get out of trouble. The following uses the control module as the execution entity to describe this embodiment and the following embodiments.

[0062] Based on this, this application proposes a method for the intelligent lawnmower 100 to get out of trouble according to the first embodiment, see [link to relevant documentation]. Figure 1 The method for the intelligent lawnmower 100 to get out of trouble includes steps S10 to S20:

[0063] Step S10: Determine that the intelligent lawnmower 100 is trapped;

[0064] Step S10 can specifically be: by obtaining the driving information of the intelligent lawnmower 100, it is determined that the intelligent lawnmower 100 is trapped based on the driving information.

[0065] It should be noted that the driving information of the intelligent lawnmower 100, that is, the driving status information of the intelligent lawnmower 100, can be the driving speed of the intelligent lawnmower 100, the displacement of the intelligent lawnmower 100 within a specific time period, the working status of related components of the intelligent lawnmower 100, or even the attitude information of the intelligent lawnmower 100 and some external environmental information of the intelligent lawnmower 100.

[0066] It is precisely because of step S10 that the control module is able to acquire at least one piece of driving information of the smart lawnmower 100 and judge the driving information, thereby accurately determining that the smart lawnmower 100 is trapped, thereby improving the accuracy of the control module's monitoring of the condition of the smart lawnmower 100.

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

[0068] Step A11: Obtain the driving speed of the intelligent lawnmower 100 and the working status of the drive module; when the driving speed of the intelligent lawnmower 100 is zero and the drive module is in operation, determine that the intelligent lawnmower 100 is trapped.

[0069] Understandably, the speed of the intelligent lawnmower 100 can be detected by a positioning module located on the body 1, such as GPS (Global Positioning System) or RTK (Real-Time Kinematic). The control module can communicate directly with the drive module to obtain its operating status, or it can monitor the drive module's operating status in real time by installing sensors on the body 1, such as by monitoring changes in the drive module's current. This drive module can be a drive motor.

[0070] When the driving speed of the intelligent lawnmower 100 is detected to be zero and the drive module is in operation, that is, the intelligent lawnmower 100 is in a driving state, but the intelligent lawnmower 100 has not actually moved, it can be determined that the intelligent lawnmower 100 is trapped, thereby ensuring that the control module accurately determines that the intelligent lawnmower 100 is trapped.

[0071] Among them, the detection showed that the driving speed of the intelligent lawnmower 100 was zero, that is, the average speed of the intelligent lawnmower 100 within the first preset time period was zero, not that the instantaneous speed of the intelligent lawnmower 100 was zero.

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

[0073] Step A12: Obtain the displacement of the intelligent lawnmower 100 within a first preset time period and the working status of the drive module; when the displacement of the intelligent lawnmower 100 within the first preset time period is within a preset range and the drive module is in operation, determine that the intelligent lawnmower 100 is trapped.

[0074] Compared to step A11, step A12 uses the positioning module to detect the displacement of the smart lawnmower 100 within a first preset time period to determine that the smart lawnmower 100 has basically not moved, that is, the smart lawnmower 100 is in a driving state, but the smart lawnmower 100 has not actually moved, thus determining that the smart lawnmower 100 is trapped, thereby ensuring that the control module accurately determines that the smart lawnmower 100 is trapped.

[0075] Understandably, when the smart lawnmower 100 becomes stuck, in an attempt to escape, the drive module will drive the drive wheel 101 to rotate. Under the action of the drive wheel 101, the smart lawnmower 100 will continuously vibrate at the stuck position, but will not be able to escape. Therefore, during the first preset time period, the smart lawnmower 100 will not remain completely stationary. Thus, as long as the position of the smart lawnmower 100 during the first preset time period is less than a preset range, it can be determined that the smart lawnmower 100 has escaped the stuck situation.

[0076] In another feasible embodiment, the intelligent lawnmower 100 further includes a distance sensor disposed on the wheel 102 or on the side of the body 1 near the wheel 102, therefore step S10 may also include step A13:

[0077] Step A13: Obtain the distance between the distance sensor and the ground 2 within a second preset time period using the distance sensor;

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

[0079] It should be noted that this distance sensor can measure its distance from the ground 2 and transmit the measured data to the distance sensor in real time. When the distance sensor is located on the side of the body 1 near the walking wheel 102, the distance sensor can measure the distance from that point on the body 1 to the ground 2. Therefore, to ensure accuracy, the distance sensor is preferably located at the bottom of the body 1 (at this time, the first preset distance is also the maximum distance between the bottom of the smart lawnmower 100 and the ground 2), and should be set as close as possible to the walking wheel 102, so as to ensure that the distance sensor is directly facing the ground 2 (recessed area 21) when the machine is stuck, thus ensuring the accuracy of the measurement. At this time, when the smart lawnmower 100 is in motion, the maximum value of the distance measured by the distance sensor will often 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 fluctuates continuously within the maximum height range of the chassis. If the smart lawnmower 100 is stuck, since the walking wheel 102 often just touches the ground 2 or is even suspended in the air, the maximum value of the distance measured by the sensor will often exceed the maximum distance from the chassis to the ground 2, and this will be a continuous state. Therefore, if the control module obtains that the distance is continuously greater than or equal to the first preset distance within the second preset time period, it can be determined that the smart lawnmower 100 is trapped.

[0080] When the distance sensor is located on the wheel 102, the data detected by the distance sensor is often a fixed value (at this time, the first preset distance is often less than the height of the bottom of the vehicle). If the smart lawnmower 100 is stuck, since the wheel 102 is often suspended in the air, the maximum value of the distance measured by the sensor will often exceed the preset distance, thus determining that the smart lawnmower 100 is stuck. Therefore, the first preset distance is not a specific value; it can be adjusted according to the size and model of the smart lawnmower 100, the size of the wheel 102, and the setting position of the distance sensor. Taking a chassis height of 55cm in a stationary state and a height adjustment capability of 20cm for the wheel 102 as an example, the chassis height of the smart lawnmower 100 fluctuates between 55-75cm during operation. Therefore, the first preset distance can be 75cm. If the chassis height of the smart lawnmower 100 is consistently greater than or equal to 75cm during a second preset time period, it can be determined that the smart lawnmower 100 is stuck.

[0081] It is precisely because of step A13 that the control module is able to obtain the distance between the distance sensor and the ground 2, thereby determining whether the machine body 1 is trapped. Furthermore, to improve accuracy, step S10 may include both steps A11 and A13, or both steps A12 and A13, thus combining multiple factors to determine whether the intelligent lawnmower 100 is trapped, thereby improving accuracy.

[0082] The above are just a few possible implementations of step S10 provided in this embodiment. This embodiment does not specifically limit the specific implementation of step S10.

[0083] Step S20: Control the intelligent lawnmower 100 to execute an auxiliary escape strategy;

[0084] Among them, reference Figure 4 , Figure 5 and Figure 7 The assistive escape strategy includes controlling the support structure 11 to move to a support state, and driving the intelligent lawnmower 100 to move in the direction from the self-propelled wheel 102 to the drive wheel 101, so as to assist the intelligent lawnmower 100 in getting out of trouble.

[0085] It should be noted that the support structure 11 can move to the supported state through lifting and lowering, or through its own extension or folding motion. In the supported state, at least the lower end of the support structure 11 is lowered, allowing the lower end of the support structure 11 to contact the ground 2 to support the machine body 1, thus providing an additional support point for the intelligent lawnmower 100 and improving the ground contact force of the machine body 1. Furthermore, the support structure 11 is typically driven by a drive motor; therefore, the control module can control the lifting and lowering structure to move to the supported state by controlling the drive motor.

[0086] Furthermore, the support structure 11 is located between the drive wheel 101 and the traveling wheel 102, that is, the support structure 11 is located on the side of the drive wheel 101 facing the traveling wheel 102, and is often spaced apart from the drive wheel 101. This allows the support structure 11 to primarily provide support for the side of the fuselage 1 where the traveling wheel 102 is located when supporting the fuselage 1, thus avoiding the support structure 11 supporting the side where the drive wheel 101 is located, thereby reducing the possibility of the support structure 11 accidentally reducing the grip of the drive wheel 101. Generally, the support structure 11 also has a certain distance from the traveling wheel 102, ensuring that in the supported state, the support structure 11 can be stably supported at a higher ground level 2 (the ground level 2 where the drive wheel 101 is located), thereby reducing the possibility of support structure 11 failure.

[0087] The drive module is used to drive the drive wheel 101 of the intelligent lawnmower 100 to rotate, thereby driving the wheels to move. Therefore, the control module can also control the intelligent lawnmower 100 to move forward by controlling the operation of the drive module. It is precisely because the external support provides a support point for the intelligent lawnmower 100 and improves the ground contact force of the body 1, that the drive wheel 101 can apply force, so that the drive wheel 101 can drive the body 1 to move, thereby assisting the walking wheel 102 to get out of the depression 2 or over obstacles, so as to achieve 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 machine body 1 in getting out of trouble by controlling the movement of the support structure 11, thereby eliminating the need for additional human intervention, saving manpower and resources, reducing the possibility of the smart lawnmower 100 getting stuck, increasing the adaptability of the smart lawnmower 100 to various scenarios, and improving the user experience.

[0089] Based on the first embodiment of this application, in the second embodiment of this application, the content that is the same as or similar to that in the first embodiment described above can be referred to the above description and will not be repeated hereafter. On this basis, the body 1 is provided with several touch sensors. Before step S10, the method for the intelligent lawnmower 100 to escape from obstacles further includes step S01:

[0090] Step S01: The contact state between the human body and the surface of the body 1 is obtained through the touch sensor;

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

[0092] Specifically, the body 1 is equipped with several touch sensors that can detect whether there is human contact on the surface of the body 1, thereby preventing the support structure 11 from accidentally moving to the supported state when the body 1 is lifted manually. For example, if step S10 of the intelligent lawnmower 100 determines that the intelligent lawnmower 100 is trapped only through step A13, and the distance between its wheels 102 and the sensor exceeds a preset value, it may be due to being lifted manually rather than being trapped. If the control module misjudges that the intelligent lawnmower 100 is trapped at this time, it may proceed to the next step S20, causing program malfunction. Therefore, touch sensors are provided to eliminate this possibility.

[0093] The touch sensor can be an inductive sensor, a pressure sensor, or an ultrasonic sensor, etc. Preferably, a plurality of touch sensors can 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 that the intelligent lawnmower 100 might be lifted by human force and unexpectedly execute an escape strategy before executing step S10, thereby improving the accuracy of the control module's judgment.

[0095] Based on the first embodiment of this application, in the third embodiment of this application, the content that is the same as or similar to that in the first embodiment described above can be referred to the above description and will not be repeated hereafter. Based on this, after step S10 and before step S20, the method for the intelligent lawnmower 100 to escape from trouble further includes step S02:

[0096] Step S02: Control the intelligent lawnmower 100 to execute an attempt to escape the predicament;

[0097] That is, controlling the intelligent lawnmower 100 to attempt to get out of trouble. In one feasible implementation, step S02 may include step B11:

[0098] Step B11: Control the drive module to drive the intelligent lawnmower 100 to travel a second preset distance in the direction from the drive wheel 101 to the walking wheel 102;

[0099] The drive module controls the intelligent lawnmower 100 to travel at a preset speed from the walking wheel 102 to the drive wheel 101.

[0100] In other words, the control drive module drives the smart lawnmower 100 to move backward first, that is, the drive wheels move into the recessed area 21, so that the smart lawnmower 100 is completely placed in the recessed area 21. Then, the control drive module moves forward at a preset speed, thereby attempting to use the inertia of the smart lawnmower 100 to break out of the area, thus eliminating the need for additional support structure 11 to get out of trouble. This also provides the smart lawnmower 100 with another escape strategy, allowing the smart lawnmower 100 to choose a more suitable escape method according to its needs.

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

[0102] Step B12: Control the steering module to drive the drive wheel 101 to turn, and control the drive module to drive the drive wheel 101 to rotate, that is, change the direction of travel of the intelligent lawnmower 100, thereby changing the positional relationship between the drive wheel 101 and the ground 2, attempting to enhance the grip of the drive wheel 101 on one side of the machine body 1, and thus attempting to use the drive wheel 101 to pull out the driven wheel on one side of the machine body 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 implementation, the machine body 1 is equipped with an environmental detection module. This module can detect information about obstacles around the intelligent lawnmower 100. The control module acquires the surrounding obstacle information and selects the easiest route to get out of trouble based on the surrounding obstacle information, thereby helping the intelligent lawnmower 100 to get out of trouble. The above are only a few feasible implementations of step S02 provided in this embodiment. This embodiment does not specifically limit the specific implementation of step S02.

[0104] After step S02, step S10 is executed again, and then steps S02 and S10 are executed repeatedly until the preset number of executions is reached, at which point step S20 is triggered. That is, when it is initially determined that the smart lawnmower 100 is trapped, an attempt to escape is made. Then, it is determined again whether the smart lawnmower 100 is trapped. If it is detected that the smart lawnmower 100 is trapped, no auxiliary escape strategy is needed, thus eliminating the need for additional control of the support structure 11 to assist in escaping. If it is detected that the smart lawnmower 100 is still trapped, if the preset number of executions is 1, the auxiliary escape strategy is executed directly; if the preset number of executions is 2, the attempt to escape strategy is still executed, and the above operation is repeated. Generally, the preset number of executions is 3, but it can also be 1, 2, or 4 or more.

[0105] Please refer to Figure 2 Based on the first embodiment of this application, in the fourth embodiment of this application, the content that is the same as or similar to that in the first embodiment described above can be referred to the above description and will not be repeated hereafter. Based on this, after step S10 and before step S20, the method for the intelligent lawnmower 100 to escape from trouble further includes step S03:

[0106] Step S03: Obtain the first position of the intelligent lawnmower 100 through the positioning module;

[0107] Following step S20, the method for the intelligent lawnmower 100 to escape from trouble further includes steps S04 to S06:

[0108] Step S04: Obtain the second position of the intelligent lawnmower 100 through the positioning module;

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

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

[0111] That is, the positioning module records the position of the smart lawnmower 100 when it is stuck and sets it as the first position. After the smart lawnmower 100 gets out of trouble, the positioning module continuously records the position of the smart lawnmower 100 and sets it as the second position. 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 a third preset distance, it can be determined that the walking wheel 102 has completely crossed the obstacle or gotten out of trouble, thereby determining that the smart lawnmower 100 is in a state of getting out of trouble, and then controlling the support structure 11 to retract.

[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 intelligent lawnmower 100 has moved forward a distance greater than half the length of the body 1 while executing step S20, the support structure 11 can be retracted, thus facilitating timely retraction and reducing the impact of the support structure 11 on the normal operation of the intelligent lawnmower 100. The third preset distance can be set according to the size of the intelligent lawnmower 100 itself. In this solution, the length of the body 1 of the intelligent lawnmower 100 is 66cm, so the third preset distance can be 30cm, 31cm, 32cm, 33cm, 34cm, and 35cm, etc.

[0113] This application provides an intelligent lawnmower 100, which includes: a body 1, a drive wheel 101 and a walking wheel 102 arranged along the traveling 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 that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the intelligent lawnmower 100 escape method in the first embodiment described above.

[0114] In particular, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts.

[0115] The intelligent lawnmower 100 provided in this application, employing the intelligent lawnmower 100 escape method described in the above embodiments, can solve the technical problem of the intelligent lawnmower 100 getting stuck. Compared with the prior art, the beneficial effects of the intelligent lawnmower 100 provided in this application are the same as the beneficial effects of the intelligent lawnmower 100 escape method provided in the above embodiments, and other technical features of the intelligent lawnmower 100 are the same as those disclosed in the method of the previous embodiment, and will not be repeated here.

[0116] In the embodiments of this application, reference is made to Figures 5 to 7 In the unstuck state, the support structure 11 can also provide forward thrust to the machine body 1. If the support structure 11 is tilted and the distance between the support structure 11 and the drive wheel 101 decreases in the upward direction, that is, the lower end of the support structure 11 is offset towards the walking wheel 102, meaning the support structure 11 is tilted backward as a whole, the support structure 11 can exert a downward pressure on the ground 2 (tilted towards the direction of the walking wheel 102) in the supported state. This pressure has a component opposite to the direction of travel of the intelligent lawnmower 100. Correspondingly, the ground 2 exerts an upward thrust on the support rod, and this thrust has a component in the same direction as the direction of travel of the intelligent lawnmower 100. This allows the ground 2 to push the machine body 1 forward via the support rod, further assisting the intelligent lawnmower 100 in unstuck situations. Of course, in other embodiments, the support structure 11 can also be vertically arranged.

[0117] In one embodiment, referring to 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 machine body 1 and can be raised and lowered relative to the machine body 1. In the mowing state, the lifting support rod 111 retracts, thereby lifting the lifting support rod 111 off the ground to ensure the normal operation of the intelligent lawnmower 100. At this time, the lifting support rod 111 is at least partially retracted into the machine body 1; in the escape state, the lifting support rod 111 extends, thereby lowering the lifting support rod 111 until its lower end abuts against the ground 2 to support the machine body 1, thereby assisting the intelligent lawnmower 100 in escaping obstacles. This rod structure is simple in structure, occupies little space, helps to save internal space of the machine body 1, and is convenient for maintenance and replacement.

[0118] In this design, the lifting support rod 111 switches between the first and second positions by retracting or expanding, thereby reducing the internal space of the machine body 1. Alternatively, in other embodiments, the lifting support rod 111 can also be raised or lowered by rotation, driven by a drive motor; the lifting support rod 111 can also be slidably mounted on the machine body 1, allowing the lifting structure to directly raise or lower 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 body 1 in escaping trouble, the body 1 often drives the lifting support rod 111 forward a certain distance to ensure the body is completely freed. At this time, the lifting support rod 111 and the ground 2 experience sliding friction, resulting in a large frictional force. To reduce friction, in another embodiment of the present invention, see [reference needed]. Figure 3 and Figure 4 The support structure 11 includes a lifting support rod 111 and a support wheel 112 rotatably mounted on the end of the lifting support rod 111 away from the machine body 1. The lifting support rod 111 is slidably mounted on the machine body 1. In the state of being out of trouble, the lifting support rod 111 drives the support wheel 112 to descend, so as to jointly support the machine body 1. That is, a support wheel 112 is added to the lower end of the lifting support rod 111. So when the machine body 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 and facilitating the intelligent lawnmower 100 to get out of trouble.

[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 small, at least smaller than the size of the drive wheel 101 and the walking wheel 102.

[0121] Furthermore, the support structure 11 also includes a drive motor, which can drive the support wheel 112 to rotate. That is, the support wheel 112 is also configured as a drive wheel, thereby providing forward thrust to the body 1. Thus, the support structure 11 can not only support the body 1 to increase the ground force of the body 1, but also drive the body movement together with the drive wheel 101, thereby further facilitating the intelligent lawnmower 100 to get out of 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 to the first end. In the unstuck state, the second end swings out relative to the body 1 and abuts against 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 into the body 1. In the unstuck state, the lifting support rod 111 swings downward, and the second end swings out relative to the body 1 and abuts against the ground to support the body 1, thereby assisting the intelligent lawnmower 100 in unstuck situations. That is, the support structure 11 is raised and lowered through swinging motion. Of course, in other embodiments, the second end of the support swing arm can also be connected to a support wheel 112.

[0123] Please see Figure 7In an embodiment of the invention, the support structure 11 includes a first support rod 113 that is telescopically mounted on the body 1, a second support rod 114 that is rotatably connected to the lower end of the first support rod 113, and a limiting support sleeve fitted on the first support rod 113 and the second support rod 114.

[0124] In the state of being out of trouble, and before the side of the body 1 closest to the walking wheel 102 is lifted, the second support rod 114 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 telescopically mounted on the machine body 1, and the second support rod 114 is located at the lower end of the first support rod 113. The second support rod 114 and the first support rod 113 are rotatably connected. 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 machine body 1, the first support rod 113 first drives the second support rod 114 to descend to the position where the second support rod 114 contacts the ground 2. As the support structure 11 descends further, the second support rod 114 will rotate relative to the first support rod 113 and bend. When it rotates to the preset angle between the two, the second support rod 114 abuts against the lower edge of the limiting support sleeve 115, thereby making the support structure 11 stably support the machine body, thus providing support force to the side of the machine body 1 near the walking wheel 102, which facilitates the intelligent lawnmower to get out of trouble.

[0126] See Figure 5 In the unstuck state, and before the side of the machine body 1 closest to the walking wheel 102 is lifted, that is, when the support structure 11 just begins to support the machine body 1, the first support rod 113 and the second support rod 114 can have a first preset angle, which is generally less than 180°. This causes the support structure 11 to be partially tilted, and also allows the second support rod 114 to generate an upward thrust on the first support rod 113 during support. This thrust has a component in the same direction as the intelligent lawnmower 100's travel, allowing the ground 2 to push the machine body 1 forward via the support rods, further assisting the intelligent lawnmower 100 in getting out of trouble. Furthermore, the limiting support sleeve 115 can keep the first support rod 113 and the second support rod 114 stably at the first preset angle, thereby ensuring that the first support rod 113 and the second support rod 114 stably support the machine body. Optionally, the first support rod 113 and the second support rod 114 are hinged.

[0127] In this design, the first support rod 113 switches between a first position and a second position by retracting or expanding, thereby reducing the internal space of the body 1. Alternatively, in other embodiments, the first support rod 113 can also be raised or lowered by rotation, driven by a motor to achieve this movement. The first support rod 113 can also be slidably mounted on the body 1, allowing the lifting structure to directly lift or lower via vertical sliding.

[0128] Further, see Figure 5 In the unstuck state, and before the side of the fuselage 1 closest to the walking wheel 102 is lifted, the connection point of the first support rod 113 and the second support rod 114 abuts against the side of the limiting support sleeve 115 facing the drive wheel 101. That is, in the supported state, the second support rod 114 and the limiting support sleeve 115 have the same tilt direction, and the tilt angle of the second support rod 114 is greater than that of the limiting support sleeve 115, thus causing the connection point of the first support rod 113 and the second support rod 114 to abut against the side of the limiting support sleeve 115 facing the drive wheel 101. At this time, the support structure 11 is tilted and supported on the fuselage; or, the limiting support sleeve 115 is vertically positioned, and the second support rod 114 is tilted, causing the connection point of the first support rod 113 and the second support rod 114 to abut against the side of the limiting support sleeve 115 facing the drive wheel 101. At this time, the support structure 11 is partially tilted and supported on the fuselage. Furthermore, since 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 drive wheel 101, the second support rod 114 can generate an upward thrust on the limiting support rod, and this thrust has a component in the same direction as the intelligent lawnmower 100, thereby enabling the ground 2 to push the body 1 forward through the support rod, further assisting the intelligent lawnmower 100 in getting out of trouble.

[0129] Furthermore, because the second support rod 114 and the limiting support sleeve 115 have different inclinations, they may jam when the limiting structure needs to be stored. Therefore, in one embodiment, the upper end of the limiting support sleeve 115 is sway-mounted on the body 1, and the body 1 is also provided with a locking structure; in the unstuck state, the locking structure fixes the limiting support sleeve 115. Specifically, in the supporting state, the locking structure locks, thereby fixing the limiting support sleeve 115, so that the supporting structure 11 can stably support the body 1. When it needs to be switched to the storage state, the locking structure unlocks, so that the limiting support sleeve 115 can swing, thereby making the inclination of the limiting support platform adjustable to adapt to the inclination angle of the second support rod 114, which facilitates the storage of the supporting structure 11.

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

[0131] This application also provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the intelligent lawnmower 100 escape method in the above embodiments.

[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, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing 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 suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0133] The aforementioned computer-readable storage medium may be included in the smart lawnmower 100; or it may exist independently and not assembled into the smart lawnmower 100.

[0134] The aforementioned computer-readable storage medium carries one or more programs that, when executed by the intelligent lawnmower 100, cause the intelligent lawnmower 100 device to: determine that the intelligent lawnmower 100 is trapped;

[0135] The intelligent lawnmower 100 is controlled to execute an auxiliary escape strategy, which includes controlling the support structure 11 to move to a support state and controlling the drive module to drive the intelligent lawnmower 100 to move in the direction from the self-propelled wheel 102 to the drive wheel 101, so as to assist the intelligent lawnmower 100 in escaping trouble.

[0136] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0137] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of 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 transformations made using the contents of the present invention specification and drawings under the technical concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A method for an intelligent lawnmower to get out of trouble, characterized in that, The intelligent lawnmower includes a body, and drive wheels and travel wheels arranged along the traveling direction of the body. A support structure is movably installed on the body and located between the drive wheels and the travel wheels. The support structure has a supported state supporting the body and a retracted state detached from the ground. The intelligent lawnmower's escape method includes the following steps: It was determined that the intelligent lawnmower was trapped; The intelligent lawnmower is controlled to execute an auxiliary escape strategy, which includes controlling the support structure to move to a supported state and controlling the drive module to drive the intelligent lawnmower to move in the direction from the self-propelled wheels to the drive wheels, so as to assist the intelligent lawnmower in escaping trouble. The intelligent lawnmower also includes a distance sensor located on the wheels or on the side of the body near the wheels. The step of determining that the intelligent lawnmower is stuck includes: The distance between the distance sensor and the ground is obtained through the distance sensor within a second preset time period; When the distance between the distance sensor and the ground is greater than or equal to the first preset distance during the second preset time period, it is determined that the smart lawnmower is trapped. The machine body is equipped with several touch sensors. Before the step of determining that the smart lawnmower is stuck, the smart lawnmower escape method also includes the following steps: The contact state between the human body and the surface of the device is obtained through the touch sensor; When it is determined that the surface of the machine body is in a state of no human contact, the step of determining that the intelligent lawnmower is trapped is executed.

2. The method for getting a smart lawnmower out of trouble as described in claim 1, characterized in that, The step of determining that the smart lawnmower is stuck also includes: The driving information of the intelligent lawnmower is obtained, and the intelligent lawnmower is determined to be trapped based on the driving information.

3. The method for getting a smart lawnmower out of trouble as described in claim 2, characterized in that, The step of obtaining the driving information of the intelligent lawnmower and determining that the intelligent lawnmower is stuck based on the driving information includes: The system acquires the travel speed of the intelligent lawnmower and the operating status of the drive module; when the travel speed of the intelligent lawnmower is zero and the drive module is in operation, it determines that the intelligent lawnmower is trapped; or, The displacement of the intelligent lawnmower and the working status of the drive module are obtained within a first preset time period; when the displacement of the intelligent lawnmower within the first preset time period is within a preset range and the drive module is in operation, it is determined that the intelligent lawnmower is trapped.

4. The method for getting a smart lawnmower out of trouble as described in claim 1, characterized in that, After the step of determining that the smart lawnmower is stuck, and before the step of the smart lawnmower implementing an auxiliary escape strategy, the smart lawnmower escape method further includes the step of: Control the intelligent lawnmower to execute an attempt to escape a difficult situation; Determine whether the smart lawnmower is trapped; If the smart lawnmower is still stuck, the attempt to escape strategy is executed again until the preset number of executions is reached, at which point the smart lawnmower is triggered to execute the auxiliary escape strategy.

5. The method for getting a smart lawnmower out of trouble as described in claim 4, characterized in that, The steps of controlling the intelligent lawnmower to execute an attempt to escape a difficult situation include: The drive module is controlled to drive the intelligent lawnmower a second preset distance in the direction from the drive wheel to the walking wheel; The drive module controls the intelligent lawnmower to travel at a preset speed from the walking wheels to the drive wheels.

6. The method for getting a smart lawnmower out of trouble as described in claim 1, characterized in that, The intelligent lawnmower also includes a positioning module located on the machine body, and the intelligent lawnmower's escape method further includes the following steps: After determining that the smart lawnmower is stuck, and before controlling the smart lawnmower to execute an auxiliary escape strategy, the first position of the smart lawnmower is obtained through the positioning module; After controlling the smart lawnmower to execute the assisted escape strategy, the second position of the smart lawnmower is obtained through the positioning module; When the distance between the first position and the second position is greater than the third preset distance, it is determined that the intelligent lawnmower is completely freed from its predicament. Control the movement of the support structure to the retracted state.

7. The method for getting a smart lawnmower out of trouble as described in claim 6, characterized in that, The third preset distance is greater than or equal to half the length of the fuselage.

8. A smart lawnmower, characterized in that, The intelligent lawnmower includes a body, drive wheels and travel wheels arranged along the travel direction 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 drive wheels and the travel wheels, and the support structure has a supported state supporting the body and a retracted state detached from the ground. The computer program is configured to implement the steps of the intelligent lawnmower escape method as described in any one of claims 1 to 7.

Images