Mowing control method, intelligent mowing robot, program product and storage medium

Abstract

The present disclosure provides a mowing control method, an intelligent mowing robot, a program product and a storage medium, belonging to the technical field of mowing machines, including that the distance between the machine body and the non-living obstacle or the boundary of the working area is less than or equal to a first preset threshold, the rotation speed of the mowing head is increased to a wire laying speed V1, and then falls back to a mowing rotation speed V2; the distance between the machine body and the living obstacle is less than or equal to a second preset threshold, the mowing head is controlled to reduce the rotation speed to below V3; the distance between the machine body and the living obstacle is greater than the second preset threshold, the rotation speed of the mowing head is accelerated from V3 to the mowing rotation speed V2, 0.5

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of lawn mowers, and in particular to a lawn mowing control method, an intelligent lawn mowing robot, a program product and a storage medium. BACKGROUND

[0002] When cutting the lawn, the traditional intelligent lawn mower can effectively cut the grass in the central area, but cannot cut the grass on the side of the body or between the obstacles such as corners, fences, steps and trees, which is mainly because the design of the traditional intelligent lawn mower has certain limitations.

[0003] In related technologies, an auxiliary mowing mechanism is provided on the intelligent lawn mower for cutting the grass on the side of the body, such as an edge trimming mechanism. The edge trimming mechanism, as an important external module of the intelligent lawn mower, is usually used to clean the grass in the boundary area. The edge trimming mechanism includes a grass trimming head, which has an automatic line releasing function, i.e., the line is automatically released each time the grass trimming head is started, so that autonomous edge trimming can be achieved. However, this design has some problems and shortcomings in actual use.

[0004] Firstly, the existing preliminary starting mode of the auxiliary mowing mechanism causes the instantaneous load to exceed the rated value by 250%-400% due to the delay in the response of the motor torque when the mowing line contacts the high-density vegetation on the edge, resulting in a high risk of mowing line stall.

[0005] Secondly, due to requirements such as safety regulations and obstacle avoidance, the intelligent lawn mower needs to frequently start and stop during operation. This causes the grass trimming head to also frequently start and stop, and thus the grass trimming head frequently releases the line. Frequent line releasing operation reduces the service life of the grass trimming head, because each line releasing operation can cause some wear and tear to the internal structure of the grass trimming head. At the same time, frequent line releasing also increases the frequency of line replacement for the user, which is inconvenient for the user and affects the user experience.

[0006] In addition, the existing grass trimming head lacks precision in line releasing control. Since the line is automatically released each time the grass trimming head is started, the line releasing timing cannot be flexibly controlled according to the actual mowing requirements and scenarios, which can cause the grass trimming head to release the line in some situations where it is not needed, resulting in unnecessary resource waste and increasing the risk of wear and tear of the grass trimming head.

[0007] Therefore, a technical solution is needed to solve the problem of frequent line releasing of the grass trimming head to improve the performance and user experience of the intelligent lawn mower. SUMMARY

[0008] To overcome the problems in related technologies, the present specification provides a lawn mowing control method, an intelligent lawn mowing robot, a program product and a storage medium, which can reduce the number of line releasing and the risk of jamming.

[0009] According to a first aspect of the present disclosure, a mowing control method is provided for an intelligent mowing robot, the intelligent mowing robot comprising a body and an auxiliary mowing mechanism, the auxiliary mowing mechanism comprising a mowing head provided with a mowing line, the mowing control method comprising:

[0010] when the distance between the body and a non-living obstacle or a working area boundary is less than or equal to a first preset threshold, starting the mowing head, increasing the rotation speed of the mowing head to a line release speed V1, and then falling back to a mowing rotation speed V2;

[0011] when the distance between the body and a living obstacle is less than or equal to a second preset threshold, controlling the rotation speed of the mowing head to be reduced to below V3 within a preset time;

[0012] when the distance between the body and the living obstacle is greater than the second preset threshold, controlling the rotation speed of the mowing head to be increased from V3 to the mowing rotation speed V2;

[0013] wherein 0.5 < V2 / V1 < 0.9 and V3 ≤ 1000 rpm.

[0014] The intelligent mowing robot provided by the present disclosure, when starting the auxiliary mowing mechanism, is pre-operated at a line release speed V1 to establish a rotational kinetic energy reserve, and a torque compensation window of 50-100 ms is formed when the mowing line contacts high-density vegetation at the boundary. The 50-100 ms window allows the mowing head to respond quickly and increase torque in the instant of contact with vegetation, ensuring that the mowing head does not stop due to sudden load. This starting method can solve the technical problem of traditional constant-speed starting methods, which cause the instantaneous load to exceed the rated value by 250-400% due to the delay in the response of the mowing head torque (usually > 200 ms), causing the mowing line to stall. The present disclosure can effectively overcome the stalling phenomenon that often occurs when the auxiliary mowing mechanism is initially started, and the success rate of edge work startup is increased to 99.8%.

[0015] The present disclosure realizes intelligent control of mowing line feeding and mowing operation. By monitoring the environmental information around the intelligent mowing robot in real time, such as the type and distance of obstacles, and controlling the start and stop of the mowing head according to these information, such as when the living obstacle is too close, the mowing head speed is controlled to reduce to below V3 within the preset time, thereby avoiding collision of the robot with the obstacle or over-border operation, effectively ensuring the safety of the living obstacle and enhancing the safety and reliability of the mowing operation. If the living obstacle is far away, the rotation speed of the mowing head is accelerated from V3 to the mowing speed V2, instead of releasing the line (mowing line feeding). Through this control method, the mowing head does not need to automatically release the line every time it starts. This setting avoids frequent release of the mowing head, reduces wear and tear on the mowing head due to unnecessary release operation, thereby prolonging the service life of the mowing head and reducing the maintenance cost of the user. At the same time, it reduces the waste of mowing line, improves resource utilization efficiency, and reduces the frequency of replacing the mowing line for the user.

[0016] In addition, the mowing control method provided by the present disclosure can flexibly switch the rotation speed of the mowing head according to the working mode required by the auxiliary mowing mechanism. Since V1 and V2 cannot effectively realize the mowing effect and control the wear of the mowing line, the rotation speed ratio range of 0.5

[0017] Experiments found that when V2 / V1=0.5 (V1=8000rpm, V2=4000rpm), the release speed is twice the mowing speed, causing unnecessary waste. Secondly, although a higher release speed can theoretically quickly release the mowing line, in actual operation, when V2 / V1=0.5, the speed difference between the two may be too large, causing the release length of the mowing line to drop to 3cm / second during the conversion between the mowing operation mode and the release mode, which is much lower than the target value of 10cm / second, resulting in accumulation and entanglement of the mowing line, long grass roots, and failure of the mowing function. This not only affects the mowing effect, but also may cause the mowing line to break or jam, further reducing the mowing efficiency.

[0018] When V2 / V1<0.5, the mowing speed (V2) is too low (usually <4000 rpm), resulting in a serious lack of cutting kinetic energy. Experimental data show that when the grass height is ≥8 cm, the cutting efficiency is <60%, and the grass roots are left too long (Comparative Examples 9, 10, and 11). At the same time, too high a line release speed (V1>10000 rpm) causes the centrifugal force to exceed the limit, with a line release rate of the mowing line ≥50% (target value ≤1%), a significant risk of flying line (Comparative Examples 10 and 11), and a serious safety hazard. In addition, when V2 is too low, it is impossible to maintain effective cutting torque, and the grass clippings accumulate and block the lawn mower head, requiring frequent shutdown for cleaning, resulting in a decrease in work efficiency of more than 50% (Comparative Example 9).

[0019] When 0.5<V2 / V1<0.9, the difference between the line release speed (V1) and the mowing speed (V2) is reasonably designed, taking into account the release of centrifugal force and cutting efficiency. Experiments show that when V2 / V1=0.6-0.85, in the mowing mode, the V2 speed (5000 rpm-8500 rpm) provides sufficient kinetic energy, the cutting efficiency is ≥95%, the grass root residual length meets the standard, and the grass clippings scattering coverage radius is ≥1.5 m (Example 4). In addition, this interval can avoid flying line and jamming, improve system stability, and prolong the service life of the lawn mower head. In summary, this interval achieves efficient, low-consumption, and safe work by scientifically matching the line release and cutting requirements.

[0020] When V2 / V1=0.9 (V1=8000 rpm, V2=7200 rpm), the frequency of line core jamming is ≥5 times / minute, the cutting efficiency decreases to 85% (target ≥95%), and the power consumption increases (overload operation) (Comparative Example 8).

[0021] When V2 / V1>0.9, the speed switching loses its significance (the line release and mowing modes overlap). The small difference between the line release speed (V1) and the mowing speed (V2) results in insufficient centrifugal force to drive the mowing line to be effectively released or to effectively complete the mowing operation. Experimental data show that the line release length decreases to ≤5 cm / minute (target ≥10 cm) or the line release appears to be jammed, flying, etc. The small difference between the mowing and line release speeds (ΔV≤1000 rpm) causes severe friction between the line core and the shell, resulting in a mechanical jamming frequency of ≥5 times / minute, and even causing the mowing line to wind and accumulate. In addition, the lawn mower head needs to run at a high load to maintain the V2 speed in the mowing mode, resulting in a significant increase in power consumption and a significantly increased risk of triggering the overheat protection. At the same time, the cutting efficiency may decrease to <85% (target ≥95%) due to the redundancy of the speed, and the grass clippings scattering coverage radius is <1 m, seriously affecting the work quality.

[0022] The cutting efficiency represents the ratio of the effective cutting grass leaf area to the theoretical maximum cuttable area in unit time, usually quantified in percentage (%).

[0023] In some example embodiments of the present disclosure, the grass cutting control method further comprises:

[0024] When the distance between the body and the living obstacle is less than or equal to the second preset threshold, the intelligent grass cutting robot is controlled to run along a circular arc-shaped avoidance trajectory with the living obstacle as the center and the second preset threshold as the radius, forming an unworked sector region with the living obstacle as the center and the radius equal to the second preset threshold.

[0025] In some example embodiments of the present disclosure, the grass cutting control method further comprises:

[0026] After the intelligent grass cutting robot cuts the grass in the working area except the unworked sector region, it returns to the unworked sector region for grass cutting work.

[0027] In such embodiments, the intelligent grass cutting robot can run along a circular arc-shaped avoidance trajectory with the living obstacle as the center and the second preset threshold as the radius. This avoidance method ensures that the intelligent grass cutting robot maintains a safe distance when approaching the living obstacle, avoiding causing harm to the living obstacle. This dynamic obstacle avoidance mechanism significantly improves the safety of the intelligent grass cutting robot in complex environments, especially in areas with children, pets or other active objects.

[0028] Secondly, when avoiding the living obstacle, the intelligent grass cutting robot runs along a circular arc-shaped trajectory, avoiding complex turning, adjusting or long staying around the living obstacle, thereby reducing the time loss caused by obstacle avoidance. In addition, after completing the grass cutting task in the main working area, the intelligent grass cutting robot can intelligently return to the unworked sector region for further work. This efficient path planning significantly improves the cutting efficiency and reduces the downtime and repeated work of the intelligent grass cutting robot.

[0029] In some example embodiments of the present disclosure, the distance between the body and the non-living obstacle or the working area boundary is detected by a laser radar and / or a vision module, and the distance between the body and the living obstacle is detected.

[0030] In this embodiment, different intelligent grass cutting robots may be equipped with different devices to achieve ranging and positioning, such as some intelligent grass cutting robots using laser radar for ranging and positioning, some using vision modules for environmental perception, and some using a combination of laser radar and vision modules for environmental sensing.

[0031] In some example embodiments of the present disclosure, the shutdown trigger condition is that the second preset threshold is defined as S1, S1=v1xt1, v1 is the speed of the living obstacle approaching the machine body, and t1 is the time required for the grass cutting head to reduce the rotation speed from the grass cutting speed V2 to below V3.

[0032] In this embodiment, the intelligent mowing robot can dynamically adjust its response strategy according to the approaching speed of the living obstacle. When the living obstacle approaches quickly, the intelligent mowing robot can react faster and stop the grass cutting operation of the grass cutting head in advance, thereby improving safety. This dynamic shutdown trigger condition based on the approaching speed of the living obstacle can effectively reduce the potential collision risk between the intelligent mowing robot and the living obstacle. In particular, when the living obstacle (such as a child, a pet, etc.) approaches suddenly and quickly, the robot can quickly reduce the rotation speed to below V3, thereby avoiding harm to the living obstacle. In addition, through this dynamic shutdown trigger condition, the intelligent mowing robot can reduce unnecessary downtime of the auxiliary mowing mechanism as much as possible while ensuring safety. When the living obstacle approaches at a slower speed, the intelligent mowing robot can stop the grass cutting operation of the grass cutting head a little later, thereby maintaining a higher mowing efficiency.

[0033] In some example embodiments of the present disclosure, the shutdown trigger condition is that the second preset threshold is defined as S2, S2=v2xt2, v2 is the speed of the machine body walking, and t2 is the time required for the grass cutting head to reduce the rotation speed from the grass cutting speed V2 to below V3.

[0034] In this embodiment, the intelligent mowing robot can dynamically adjust its response strategy according to its walking speed. When the intelligent mowing robot walks at a higher speed, it can react earlier and stop the grass cutting operation of the grass cutting head in advance, thereby improving safety. When the intelligent mowing robot walks at a slower speed, it can stop the grass cutting operation of the grass cutting head a little later, thereby maintaining a higher mowing efficiency.

[0035] In some example embodiments of the present disclosure, the shutdown trigger condition is that the second preset threshold is 2.5 m.

[0036] In this embodiment, the distance of 2.5 m from the machine body is used as the shutdown trigger condition, which can make the grass cutting head stop in time to ensure the safety of the living obstacle, and can also avoid too long downtime and waste of resources.

[0037] In some example embodiments of the present disclosure, the grass cutting speed V2 is greater than or equal to 5000 rpm and less than or equal to 10000 rpm.

[0038] In this embodiment, the range of the mowing speed V2 is defined as greater than or equal to 5000 rpm and less than or equal to 10000 rpm. This range is set based on a comprehensive consideration of experimental data and actual application requirements. Within this speed range, the auxiliary mowing mechanism can achieve efficient and stable mowing operation. The lower speed limit (5000 rpm) ensures that the auxiliary mowing mechanism can maintain sufficient cutting force in complex terrain or high grass areas, effectively completing the mowing task. The higher speed limit (10000 rpm) allows the auxiliary mowing mechanism to work quickly in open areas or low grass areas, improving work efficiency. In addition, this speed range also takes into account the durability of mechanical components and energy consumption balance, avoiding excessive wear and tear of mechanical parts and energy waste caused by excessive speed.

[0039] In some exemplary embodiments of the present disclosure, the mowing speed V2 is 6500 rpm, 7500 rpm, or 8000 rpm.

[0040] In this embodiment, it is found in experiments that when V2 is 6500 rpm, the mowing robot performs well in medium grass height areas in terms of cutting efficiency and grass clippings distribution uniformity; when V2 is 7500 rpm, the robot has good passability in high grass areas and high cutting efficiency, and the grass root residual length meets the standard; and when V2 is 8000 rpm, the robot has the best stability on complex terrain while maintaining a low noise level. These specific speed values not only improve the adaptability and flexibility of the mowing robot, but also further optimize its performance, enabling it to maintain efficient and stable operation under different working conditions, while reducing the user's maintenance and use costs.

[0041] According to a second aspect of the present disclosure, an intelligent mowing robot is provided, comprising a body, an auxiliary mowing mechanism, a memory, a processor, and a computer program stored on the memory and executable on the processor;

[0042] The auxiliary mowing mechanism comprises a grass beating head provided with a mowing line.

[0043] The processor executes the computer program to implement the steps of the mowing control method according to the first aspect.

[0044] In some exemplary embodiments of the present disclosure, the auxiliary mowing mechanism further comprises a connecting portion.

[0045] The body is provided with a quick connection module, and the auxiliary mowing mechanism and the body are detachably connected through the connecting portion and the quick connection module.

[0046] In this embodiment, the detachable connection mode can realize quick disassembly and quick connection and plug-and-play between the auxiliary mowing mechanism and the intelligent mowing robot.

[0047] In some example embodiments of the present disclosure, the auxiliary mowing mechanism further comprises a driving component, the driving component driving the mowing head to rotate;

[0048] The driving component has an upper portion and a lower portion arranged opposite in the vertical direction, the connecting portion is connected to the upper portion of the driving component, and the mowing head is connected to the lower portion of the driving component;

[0049] The connecting portion comprises,

[0050] A connecting housing comprises a top wall, a bottom opening arranged opposite to the top wall in the vertical direction, and a side wall connected to the top wall;

[0051] A first connecting terminal is arranged in the connecting housing;

[0052] A plug is arranged in the side wall of the connecting housing, the plug extending in the vertical direction.

[0053] In this embodiment, the driving component has an upper portion and a lower portion arranged opposite in the vertical direction. The connecting portion is arranged at the upper portion of the driving component, and the mowing head is connected to the lower portion of the driving component. The connecting housing is designed to comprise a top wall and a bottom opening arranged opposite in the vertical direction, and the auxiliary mowing mechanism can be connected to the body through the bottom opening. This connection mode makes the auxiliary mowing mechanism more easily connected by its own gravity when connected to the body, and also facilitates the user to exert force to separate the auxiliary mowing mechanism from the body when disassembling, reducing the time and energy consumption of the user when installing and disassembling the auxiliary mowing mechanism.

[0054] Secondly, during the working process of the intelligent mowing robot, factors such as the vibration and impact of the machine itself, the centrifugal force generated when the cutter head rotates, etc. may affect the connection between the auxiliary mowing mechanism and the body. In the present disclosure, the plug extends in the vertical direction, and its extension direction is perpendicular to the running surface. In this layout, the influence of these external factors can be effectively resisted, and the connection between the auxiliary mowing mechanism and the body is prevented from loosening. This structural design significantly improves the reliability of the connection, ensures the stable operation of the mowing robot under various working conditions, and reduces the failure and maintenance cost caused by the loosening of the connection.

[0055] In addition, the provision of the first connection terminal provides a direct power connection for the auxiliary mowing mechanism. This means that there is no need to provide an additional power supply for the auxiliary mowing mechanism, simplifying the power management of the entire system. This integrated power connection not only improves the overall integrity and coordination of the intelligent mowing robot system, but also reduces potential risks caused by additional power lines, such as entanglement, damage, etc. At the same time, this design also makes the appearance of the entire intelligent mowing robot system more neat, further improving the user experience.

[0056] In some example embodiments of the present disclosure, the machine body is provided with a mounting slot, and the quick connection module is connected in the mounting slot. The quick connection module has a gap with part of the slot wall of the mounting slot, and the gap forms a slot matched with the insert piece.

[0057] The quick connection module includes a quick connection body and a second connection terminal arranged on the quick connection body, and the second connection terminal is matched with the first connection terminal.

[0058] In this embodiment, by detachably connecting the auxiliary mowing mechanism with the quick connection module on the machine body, quick connection and disconnection between the external module and the intelligent mowing robot body are achieved. Specifically, by arranging the insert piece and the corresponding slot, the insert piece extends in the vertical direction and is inserted into the slot, forming a stable mechanical connection. This structural design not only effectively prevents the auxiliary mowing mechanism from loosening due to vibration during work, but also ensures the firmness and stability of the connection with the intelligent mowing robot body, improving the reliability of the intelligent mowing robot in complex terrain and working environment.

[0059] In some example embodiments of the present disclosure, the number of insert pieces is two, and the two insert pieces are arranged in the forward direction and are axially symmetrically distributed about the first plane.

[0060] The first plane is perpendicular to the forward direction and passes through the rotation axis of the driving component.

[0061] The size of the insert piece in the forward direction is greater than or equal to 3mm and less than or equal to 8mm.

[0062] In this embodiment, the number of the inserts is two, and the two inserts are arranged along the forward direction and are symmetrically distributed about the first plane, which optimizes the balance and symmetry of the connection between the auxiliary mowing mechanism and the body. Since the first plane passes through the rotation axis of the driving component, this symmetrical layout enables the auxiliary mowing mechanism to maintain a good balance when it is installed on the body. Moreover, during the operation of the intelligent mowing robot, especially when driving on uneven terrain or when the cutterhead rotates at high speed, various forces and vibrations in different directions will be generated. The two inserts can better disperse these forces, prevent the connection from loosening or being damaged due to excessive force on a single point, and enhance the stability of the connection between the auxiliary mowing mechanism and the body.

[0063] It is worth noting that the disclosure limits the size of the insert in the forward direction (greater than or equal to 3 mm and less than or equal to 8 mm). Within this range, the insert can ensure good cooperation with the body and achieve reliable mechanical connection, and it will not increase unnecessary volume or weight due to excessive size, which helps to optimize the structural design of the entire intelligent mowing robot and improve its portability and operational flexibility.

[0064] In some example embodiments of the disclosure, the side wall of the connecting housing includes a first side wall and a second side wall arranged opposite to each other, and a third side wall connected to the same side of the first side wall and the second side wall, and the third side wall is connected with the driving component;

[0065] The insert is connected to the other side of the first side wall and the second side wall, and the insert, the top wall, and the side wall of the connecting housing form an open accommodating cavity to accommodate the quick connection module;

[0066] The distance between the insert and the third side wall is greater than or equal to 5 mm and less than or equal to 8 mm.

[0067] In this embodiment, the distance between the insert and the third side wall is limited (greater than or equal to 5 mm and less than or equal to 8 mm), which ensures that there is enough space inside the connecting housing to cooperate and connect with the body, avoiding problems such as difficulty in installation due to too small distance or unstable connection due to too large distance.

[0068] In some example embodiments of the disclosure, the driving component has an upper part and a lower part arranged opposite to each other in the vertical direction, the vertical direction being perpendicular to the running surface, the connecting part being connected to the upper part of the driving component, and the grass mowing head being connected to the lower part of the driving component;

[0069] The connecting part includes,

[0070] a connecting body having a slot, the slot extending along the height direction of the body;

[0071] A first connecting terminal is arranged on the connecting body.

[0072] In some example embodiments of the present disclosure, the quick-connection module comprises:

[0073] A quick-connection housing comprises a bottom wall, a top opening arranged opposite to the bottom wall in a vertical direction, and a side wall connected to the bottom wall;

[0074] A second connecting terminal is arranged in the quick-connection housing, and the second connecting terminal is matched with the first connecting terminal;

[0075] A plug-in piece is arranged in the side wall of the quick-connection housing and matched with the plug-in groove, and the plug-in piece extends in the vertical direction.

[0076] In some example embodiments of the present disclosure, the quick-connection housing is integrally formed with the body.

[0077] In some example embodiments of the present disclosure, the grass cutting head comprises:

[0078] An outer shell has a threading hole formed in a shell wall, and the cutting line is threaded in the threading hole;

[0079] A winding core is rotationally connected in the outer shell, and the cutting line can be wound on the winding core;

[0080] A locking mechanism is configured to be in a locked position when the auxiliary grass cutting mechanism is in the grass cutting operation mode, so that the winding core is locked in the outer shell; and is further configured to switch from the locked position to an unlocked position when the auxiliary grass cutting mechanism is increased from the grass cutting rotation speed V2 to the line releasing rotation speed V1, so that the outer shell releases the winding core, the winding core can rotate relative to the outer shell, and the cutting line wound on the winding core is released and pulled out by centrifugal force caused by rotation of the grass cutting head, thereby allowing feeding of the cutting line.

[0081] In this embodiment, when the auxiliary grass cutting mechanism is increased from the grass cutting rotation speed V2 to the line releasing rotation speed V1, the locking mechanism can switch from the locked position to the unlocked position, so that the outer shell releases the winding core. This design not only ensures the stability of the cutting line in the grass cutting operation mode, but also realizes automatic feeding of the cutting line, improves the grass cutting efficiency and user experience. Through the action of centrifugal force, the cutting line can be smoothly pulled out, thereby allowing the feeding of the cutting line. This automatic feeding mechanism reduces manual intervention and improves the degree of automation of the grass cutting operation.

[0082] In some example embodiments of the present disclosure, the locking mechanism includes a locking pin and an elastic member, the locking pin is at least partially located in the housing and is arranged on one side of the winding core in the vertical direction perpendicular to the running surface, one end of the locking pin is connected with the housing, and the other end is in abutment with the housing through the elastic member;

[0083] The locking pin is provided with a locking protrusion near one side surface of the winding core, and the winding core is provided with a ratchet tooth having a locking surface.

[0084] At the mowing speed V2, the locking protrusion and the locking surface of the ratchet tooth are pressed and engaged under the elastic force of the elastic member, so that the winding core is locked in the housing.

[0085] At the unwinding speed V1, the locking protrusion is separated from the locking surface of the ratchet tooth under the centrifugal force acting on the locking pin, so that the winding core is released from the housing, the winding core can rotate relative to the housing, and the mowing line wound on the winding core is released and pulled out by the centrifugal force caused by the rotation of the grass cutting head, thereby allowing the feeding of the mowing line.

[0086] In this embodiment, at the mowing speed V2, the locking protrusion on the locking pin and the locking surface of the ratchet tooth on the winding core are pressed and engaged under the elastic force of the elastic member, ensuring that the winding core is firmly locked. At the unwinding speed V1, the centrifugal force acting on the locking pin causes it to separate from the locking surface of the ratchet tooth, releasing the winding core. This locking and releasing mechanism based on centrifugal force and elastic force not only realizes the automatic feeding of the mowing line, but also ensures the stability and safety of the winding core at different speeds. By precisely controlling the balance of force between the locking pin and the elastic member, accidental breakage or loosening of the mowing line during high-speed rotation can be effectively avoided, prolonging the service life of the mowing line.

[0087] In some example embodiments of the present disclosure, at the mowing speed V2, the centrifugal force F acting on the locking pin and the elastic force f given by the elastic member to the locking pin satisfy 0.01

[0088] At the unwinding speed V1, the centrifugal force F acting on the locking pin and the elastic force f given by the elastic member to the locking pin satisfy 1

[0089] In some example embodiments of the present disclosure, the locking pin is provided with a long hole, so that the center of gravity of the locking pin shifts when the speed of the grass cutting head changes, thereby changing the contact state of the locking protrusion and the ratchet tooth.

[0090] In this embodiment, by opening a long slot hole on the locking pin, the locking pin can shift its center of gravity when the speed of the grass cutting head changes, thereby changing the contact state of the protrusion and the ratchet teeth. This design further improves the flexibility and adaptability of the locking mechanism, enabling the locking mechanism to respond more quickly to changes in speed, achieving timely feeding and locking of the grass cutting line.

[0091] According to a third aspect of the present disclosure, a computer program product is provided, comprising computer programs / instructions which, when executed by a processor, implement the steps of the grass cutting control method according to the first aspect.

[0092] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided, which stores a computer program, wherein the computer program, when executed by a processor, implements the steps of the grass cutting control method according to the first aspect.

[0093] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present specification. BRIEF DESCRIPTION OF DRAWINGS

[0094] The accompanying drawings, which are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present specification and, together with the specification, serve to explain the principles of the present specification.

[0095] Figure 1 is a schematic diagram of the structure of an intelligent grass cutting machine in an exemplary embodiment of the present disclosure.

[0096] Figure 2 is a schematic diagram of the structure of an auxiliary grass cutting mechanism in an exemplary embodiment of the present disclosure.

[0097] Figure 3 is another schematic diagram of the structure of an auxiliary grass cutting mechanism in an exemplary embodiment of the present disclosure.

[0098] Figure 4 is a right view of the auxiliary grass cutting mechanism in Figure 2

[0099] Figure 5 is a bottom view of the auxiliary grass cutting mechanism in Figure 2

[0100] Figure 6 is a schematic diagram of the structure of an intelligent grass cutting robot body and a quick connection module in an exemplary embodiment of the present disclosure.

[0101] Figure 7 is a schematic diagram of the structure of a quick connection module in an exemplary embodiment of the present disclosure.

[0102] Figure 8 ​​is a schematic view of a grass cutting head structure in an exemplary embodiment of the present disclosure.

[0103] Figure 9 is a schematic view of a grass cutting head explosion in an exemplary embodiment of the present disclosure.

[0104] Figure 10 is a schematic view of a locking mechanism structure in an exemplary embodiment of the present disclosure.

[0105] Figure 11 is a schematic view of a locking mechanism and a winding core structure in an exemplary embodiment of the present disclosure.

[0106] Figure 12 is a schematic view of a winding core structure in an exemplary embodiment of the present disclosure.

[0107] Figure 13 is a flowchart of a grass cutting control method in an exemplary embodiment of the present disclosure.

[0108] Figure 14 is a flowchart of a grass cutting control method in another exemplary embodiment of the present disclosure.

[0109] BRIEF DESCRIPTION OF DRAWINGS

[0110] 110 - protective cover; 120 - grass cutting head; 121 - housing; 1211 - upper housing; 11a - connecting shaft; 11b - threading hole; 1212 - lower housing; 130 - grass cutting line; 122 - winding core; 1221 - inner ratchet tooth; 21a - locking surface; 1222 - outer ratchet tooth; 22a - arc surface; 123 - locking mechanism; 1231 - elastic member; 1232 - locking pin; 32a - locking protrusion; 32b - long strip through hole; 200 - driving part; Z - vertical direction; Y - forward direction; 300 - connecting part; 310 - connecting housing; 311 - top wall; 312 - first side wall; 313 - second side wall; 314 - third side wall; 320 - first connecting terminal; 330 - insertion piece; 331 - first insertion piece; 332 - second insertion piece; 400 - machine body; 410 - mounting groove; 411 - insertion groove; 412 - first groove wall; 413 - second groove wall; 414 - third groove wall; 415 - groove bottom; 500 - quick connection module; 510 - quick connection main body; 520 - second connecting terminal. DETAILED DESCRIPTION

[0111] Example implementations will now be described more fully with reference to the accompanying drawings. Example implementations can be implemented in any

[0112] Although relative terms such as "upper", "lower", etc. are used herein to describe one component's relationship to another component of the icon, these terms are used herein for convenience only and are not necessarily limiting. It is to be understood that if the icon were turned over, such that the upper component became the lower component, the terminology would not change. A component can be described as being "on" another component even though, in actual fact, the component is not directly on the other component. For example, a component can be described as being "on" another component if the component is formed in the same piece as the other component, or if the component is "directly" on the other component, or if the component is "indirectly" on the other component by being on another component.

[0113] The terms "a", "an", "the" and "at least one" are used to mean one or more elements / components / etc.; the terms "comprises", "comprising", "includes", "including" and the like are used to mean including, but not limited to; the term "consisting of" is used to mean including, and the only components / elements listed after the term; and the term "consisting essentially of" is used to mean including at least the recited components / elements, but excluding others not specifically recited.

[0114] In the present disclosure, the words "vertical", "equal", etc. refer to vertical and equal within a process error range, not absolute vertical and equal. The process error can be within ±10% or within ±5%. For example, the fuselage height direction is vertical to the forward direction, which can be understood as the included angle between the fuselage height direction and the forward direction being 90°±5°.

[0115] In the related art, the grass in the boundary area is cut by equipping the intelligent mower with an edge cutting mechanism. The edge cutting mechanism includes a grass cutting head, which cuts the grass in the boundary area by releasing a cutting line to rotate at a certain speed. Such a grass cutting head has an automatic line releasing function, i.e., it automatically releases the line each time it is started. This design of frequent line releasing can cause line releasing redundancy in some scenarios, increase the frequency of replacing the cutting line for the user, and affect the user experience. Moreover, frequent line releasing also wears the grass cutting head, reducing the service life of the grass cutting head.

[0116] Based on this, as Figure 1 and Figure 8 、 Figure 13As shown, the present disclosure provides a mowing control method, which can be used in an intelligent mowing robot, including a body 400 and an auxiliary mowing mechanism. The intelligent mowing robot can walk along the advancing direction Y on the advancing surface, which can be the ground, but is not limited thereto. The auxiliary mowing mechanism includes a mowing head 120 capable of cutting grass in the side area. The mowing head 120 can adapt to different scene requirements, and does not need to be wired, reducing the number of times of wiring the mowing head 120 and improving the service life and user experience of the mowing head 120.

[0117] The mowing control method provided by the present disclosure will be described in detail below with reference to the accompanying drawings:

[0118] As shown in Figure 1 and Figure 8 、 Figure 13 The intelligent mowing robot (hereinafter referred to as a mowing robot) includes a body 400 and an auxiliary mowing mechanism, and the auxiliary mowing mechanism includes a mowing head 120 provided with a mowing line 130.

[0119] The mowing control method includes:

[0120] Step S100, the distance between the body 400 and the non-living obstacle or the working area boundary is less than or equal to the first preset threshold, the rotation speed of the mowing head 120 is increased to the wiring speed V1, and then falls back to the mowing rotation speed V2.

[0121] Step S200, the distance between the body 400 and the living obstacle is less than or equal to the second preset threshold, and the rotation speed of the mowing head 120 is controlled to be reduced to below V3 within a preset time.

[0122] Step S300, the distance between the body 400 and the living obstacle is greater than the second preset threshold, and the rotation speed of the mowing head 120 is controlled to be increased from V3 to the mowing rotation speed V2.

[0123] The mowing robot provided by the present disclosure is pre-operated at the wiring speed V1 when the auxiliary mowing mechanism is started, a rotational kinetic energy reserve is established, and a torque compensation window of 50ms-100ms is formed when the mowing line 130 contacts the boundary high-density vegetation. The 50ms-100ms window allows the mowing head 120 to respond quickly and increase torque in the instant of contacting the vegetation, ensuring that the mowing head 120 will not stop due to sudden load. This starting method can solve the technical problem that the traditional constant-speed starting method causes the instantaneous load to exceed the rated value by 250%-400% due to the torque response delay (usually >200ms) of the mowing head 1220, causing the mowing line 130 to stall. The present disclosure can effectively overcome the stalling phenomenon that occurs easily when the auxiliary mowing mechanism is initially started, and the success rate of edge operation startup is improved to 99.8%.

[0124] The present disclosure realizes intelligent control of the mowing line 130 feeding and mowing operation. By monitoring the environmental information around the intelligent mowing robot in real time, such as the type and distance of obstacles, and controlling the start and stop of the mowing head 120 according to these information, such as when the living obstacle is too close, the mowing head 120 speed is reduced to below V3 within the preset time, thereby avoiding collision between the robot and the obstacle or out-of-bound operation, effectively ensuring the safety of the living obstacle and enhancing the safety and reliability of the mowing operation. If the living obstacle is far away, the rotation speed of the mowing head 120 is increased from V3 to the mowing speed V2 instead of laying the line (feeding the mowing line). Through this control method, the mowing head 120 does not need to automatically lay the line every time it starts. This setting avoids frequent laying of the mowing head 120, reduces wear and tear on the mowing head 120 due to unnecessary line laying operations, thereby prolonging the service life of the mowing head 120 and reducing the user's maintenance cost. At the same time, it reduces the waste of the mowing line 130, improves resource utilization efficiency, and reduces the frequency of replacing the mowing line 130 for the user.

[0125] In addition, the mowing control method provided by the present disclosure can flexibly switch the rotation speed of the mowing head 120 according to the working mode required by the auxiliary mowing mechanism. Since V1 and V2 cannot effectively achieve the mowing effect and control the wear of the mowing line, the speed ratio range of 0.5 < V2 / V1 < 0.9 is dynamically controlled, further optimizing the feeding of the mowing line 130 and the performance of the mowing operation, ensuring the stability of the mowing line 130 when feeding, and ensuring the efficiency of the mowing operation, achieving a good balance between the two. Specifically, a higher line laying speed V1 ensures that the mowing line 130 can be smoothly fed, avoiding poor feeding of the mowing line 130 due to too low a speed; and a lower mowing speed V2 improves the mowing efficiency, enabling the robot to quickly complete the mowing task.

[0126] In the present disclosure, the relative positional relationship between the body 400 and the obstacle or the working area boundary can be detected by a laser radar and / or a vision module, which can specifically include distance, angle, and other information between the obstacle and the working area boundary. The obstacle can include living obstacles and non-living obstacles. The non-living obstacles can include walls, fences, trees, flowerpots, steps, stones, vehicles, water pipes, garbage cans, etc., but are not limited thereto. The living obstacles can include pets, children, adults, poultry, etc., but are not limited thereto.

[0127] The working area refers to the area where the mower needs to complete the mowing operation. When the laser radar and / or the vision module identify that the distance between the body 400 and the non-living obstacle or the working area reaches the first preset threshold, a start signal is output to the auxiliary mowing mechanism to increase the rotation speed of the mowing head 120 to the line laying speed V1 and then fall back to the mowing speed V2 for mowing operation.

[0128] When the laser radar and / or the vision module identifies that the distance between the fuselage 400 and the living obstacle reaches the second preset threshold, the rotation speed of the grass head 120 is controlled to reduce to below V3 within a preset time. The preset time can be set according to the structure of the grass head 120, etc., and can be 2s, 3s, 4s, etc., but is not limited thereto.

[0129] When the laser radar and / or the vision module identifies that the distance between the fuselage 400 and the living obstacle is greater than the second preset threshold, the rotation speed of the grass head 120 is controlled to accelerate from V3 to the mowing speed V2 to perform mowing work.

[0130] Optionally, different mowers can be equipped with different laser radars and / or vision modules, such as some mowers that realize ranging and positioning through laser radars, some that realize environmental perception through vision modules, and some that realize environmental sensing through the combination of laser radars and vision modules.

[0131] Specifically, the laser radar can generally realize accurate identification of the lawn boundary and obstacles such as flowerpots, trees, and pets by emitting infrared light pulses to scan and construct a spatial model of the obstacle in real time. The mower can start the auxiliary mowing mechanism to perform edge cutting when the laser radar senses that the fuselage 400 approaches a non-living obstacle or the working area boundary to reach the first preset threshold. When the laser radar senses that the fuselage 400 approaches a living obstacle to be less than or equal to the second preset threshold, the rotation speed of the grass head 120 is reduced to below V3. When the laser radar senses that the distance between the fuselage 400 and the living obstacle is greater than the second preset threshold, the rotation speed of the grass head 120 is restored to the mowing speed V2 to continue mowing work.

[0132] The vision module can generally include an image sensor to identify the shape of the obstacle, such as the color and texture features of the lawn, to distinguish the lawn from non-lawn areas such as flowerpots, gravel roads, and the height of the human body to distinguish adults from children, etc. The vision module can also capture moving obstacles such as pets, children, or low objects such as toys and water pipes through a camera. The mower can start the auxiliary mowing mechanism to perform edge cutting when the vision module senses that the fuselage 400 approaches a non-living obstacle or the working area boundary to be less than or equal to the first preset threshold. When the vision module senses that the fuselage 400 approaches a living obstacle to be less than or equal to the second preset threshold, the rotation speed of the grass head 120 is reduced to below V3. When the vision module senses that the distance between the fuselage 400 and the living obstacle is greater than the second preset threshold, the rotation speed of the grass head 120 is restored to the mowing speed V2 to continue mowing work.

[0133] In some lawn mowers, the visual module can also be used in combination with the laser radar to enhance the perception robustness of dynamic environment and improve the environmental adaptability of the lawn mower under light changes such as tree shade blocking or weather conditions such as morning mist.

[0134] In some embodiments of the present disclosure, the first preset threshold value can be adjusted according to the width of the machine body 400, the category of non-living obstacles, and the situation of the working area boundary, to ensure the mowing effect near the non-living obstacles and near the working area boundary. The first preset threshold value can be set to any value or value range within 100mm-200mm, for example, 110mm, 120mm, 130mm, 140mm, 150mm, 160mm, 170mm, 180mm, 190mm, 200mm, and any two of the above value ranges.

[0135] In some embodiments of the present disclosure, the second preset threshold value S1 is defined as S1=v1xt1, where v1 is the speed of the living obstacle approaching the machine body 400, and t1 is the time required for the grass cutting head 120 to reduce the rotation speed from the mowing speed V2 to below V3.

[0136] When the laser radar and / or the visual module detects that a living obstacle such as a human body or an animal enters a cylindrical monitoring area with the center of the machine body 400 as the origin and the second preset threshold value as the radius, the rotation speed of the grass cutting head 120 is immediately reduced to below V3, where the human body includes an adult or a child in an upright state with a height ≥50cm, and the animal includes a pet dog, a cat, and a small and medium-sized wild animal with a body length ≥30cm, but does not include insects with a body length <10cm; when the living obstacle exits the monitoring area, the rotation speed of the grass cutting head 120 is controlled to increase from V3 to the mowing speed V2.

[0137] For example, when a person approaches the machine body 400 at a speed of 1m / s, and the time required for the grass cutting head 120 to reduce the rotation speed from the mowing speed V2 to below V3 is 2s, the second preset threshold value is 2m.

[0138] In other embodiments of the present disclosure, the second preset threshold value S2 is defined as S2=v2xt2, where v2 is the speed of the machine body 400, and t2 is the time required for the grass cutting head 120 to reduce the rotation speed from the mowing speed V2 to below V3.

[0139] For example, the walking speed of the intelligent lawn mower is 0.1m / s, and the time required for the grass cutting head 120 to reduce the rotation speed from the mowing speed V2 to below V3 is 2s, and the second preset threshold value is 20cm; or the walking speed of the intelligent lawn mower is 1m / s, and the time required for the grass cutting head 120 to reduce the rotation speed from the mowing speed V2 to below V3 is 2s, and the second preset threshold value is 2m.

[0140] In some embodiments of the present disclosure, the second preset threshold is 2.5 m. For example, when the laser radar and / or vision module senses that the living obstacle is 2 m away from the machine body 400, the control system controls the rotation speed of the grass cutting head 120 to be reduced to below V3; or when the laser radar and / or vision module senses that the living obstacle is 1.5 m away from the machine body 400, the control system controls the rotation speed of the grass cutting head 120 to be reduced to below V3; or when the laser radar and / or vision module senses that the living obstacle is 50 cm away from the machine body 400, the control system controls the rotation speed of the grass cutting head 120 to be reduced to below V3.

[0141] Further, the auxiliary grass cutting mechanism can include a driving component 200 for driving the rotation of the grass cutting head 120.

[0142] In some embodiments of the present disclosure, the step S100 can include receiving signals from the laser radar and / or vision module (e.g., laser radar, vision module, etc.), which contain the relative position information (e.g., distance, etc.) of the obstacle (e.g., human body, animal, fence, etc.) and the machine body 400. The input environmental sensing signal is compared with the first preset threshold, and when the input signal is less than or equal to the first preset threshold, a high-level signal is output. The high-level signal is received, and based on this, a start signal is output, and a rotation speed control signal is also output according to the preset rotation speed control logic. The start signal can control the power supply of the driving component 200 to be turned on through a relay or MOSFET, so as to start the auxiliary grass cutting mechanism, and the rotation speed control signal is used to control the rotation speed of the grass cutting head 120. For example, at the initial stage of starting, the rotation speed of the grass cutting head 120 can be controlled to instantaneously increase to the pay-off speed V1, so as to overcome the resistance that can be encountered at the initial stage of starting, and then fall back to the grass cutting speed V2 for stable grass cutting operation.

[0143] In some embodiments of the present disclosure, the step S200 can include receiving signals from the laser radar and / or vision module (e.g., laser radar, vision module, etc.), which contain the relative position information (e.g., distance, etc.) of the obstacle (e.g., human body, animal, fence, etc.) and the machine body 400. The input environmental sensing signal is compared with the second preset threshold, and when the input signal is less than or equal to the second preset threshold, a high-level signal is output. The output signal is received, and based on the preset control logic, complex logic control and signal processing are implemented, and then the driving component 200 is controlled to reduce the rotation speed of the grass cutting head 120 to below V3.

[0144] Step S300 can include: receiving signals from the laser radar and / or vision module (such as a laser radar, a vision module, etc.), which contain relative position information (such as distance, etc.) of obstacles (such as human bodies, animals, fences, etc.) and the fuselage 400. Compare the input environment perception signal with the second preset threshold value, and output a low-level signal when the input signal is greater than the second preset threshold value. Receive the output signal and process it according to the preset control logic to realize complex logic control and signal processing, and then control the driving component 200 to speed up the rotation speed of the grass hitting head 120 from V3 to the mowing speed V2.

[0145] As shown in FIG. 1, in some embodiments of the present disclosure, the mowing control method further includes: Figure 14

[0146] Step S400, the distance between the fuselage 400 and the living obstacle is less than or equal to the second preset threshold value, and the intelligent mowing robot is controlled to run along an arc-shaped avoidance trajectory with the living obstacle as the center and the second preset threshold value as the radius, forming an unworked sector region with the living obstacle as the center and the radius equal to the second preset threshold value.

[0147] Step S500, after the intelligent mowing robot mows the grass in the working area except the unworked sector region, it returns to the unworked sector region for mowing work.

[0148] Specifically, step S400 includes: the laser radar and / or vision module detects that the distance between the fuselage 400 and the living obstacle is less than or equal to the second preset threshold value, and outputs the detection information. Receive the detection information, calculate the arc-shaped avoidance trajectory with the living obstacle as the center and the second preset threshold value as the radius according to the preset obstacle avoidance algorithm. Output a control signal to control the running direction and speed of the mowing machine, so that the mowing machine runs along the calculated arc-shaped trajectory, thereby forming an unworked sector region with the living obstacle as the center.

[0149] In some embodiments of the present disclosure, the mowing control method further includes:

[0150] Step S600, the intelligent mowing robot makes the grass hitting head 120 feed the mowing line at the wire laying speed V1 after walking a preset distance during the mowing work of the grass hitting head 120, and defines 0.5

[0151] Step S700, the grass hitting head 120 switches the rotation speed of the grass hitting head 120 to the mowing speed V2 for mowing work after a preset time of mowing line feeding.

[0152] ​In some embodiments of the present disclosure, step S600 can include that the intelligent mowing robot outputs a wire laying signal after the mowing head 120 walks a preset distance during the mowing operation. The wire laying signal is received, and a wire laying speed V1 is selected and output. The wire laying speed V1 is received, and a duty cycle adjustable drive signal is generated according to the signal to drive the mowing head to lay the mowing wire at the wire laying speed V1.

[0153] In some embodiments of the present disclosure, the wire laying signal can be received by a multiplexer and a wire laying speed V1 output is selected accordingly. The wire laying speed V1 is received by a PWM modulation module, and a duty cycle adjustable drive signal is generated according to the signal. The specific drive signal can be output to the driving component 200 to realize the switching of the auxiliary mowing mechanism from the mowing operation of the mowing wire 130 to the feeding of the mowing wire 130.

[0154] Specifically, when the auxiliary mowing mechanism needs to feed the mowing wire 130, the multiplexer receives this signal and selects the wire laying speed V1 and transmits it to the PWM modulation module. The PWM modulation module generates a duty cycle adjustable drive signal according to the value of V1, and outputs the signal to the driving component 200. The duty cycle adjustable drive signal can control the driving component 200 to operate at a high speed, thereby ensuring that the mowing wire 130 can be smoothly and smoothly fed, and avoiding the mowing wire 130 from being fed due to the low speed.

[0155] In some embodiments of the present disclosure, step S700 can include that the mowing head 120 outputs a mowing signal after feeding the mowing wire 130 for a second preset time. The mowing signal is received, and a mowing speed V2 is selected and output. The mowing speed V2 is received, and a duty cycle adjustable drive signal is generated according to the signal to drive the mowing head to perform the mowing operation at the mowing speed V2.

[0156] In some embodiments of the present disclosure, the mowing signal can be received by a multiplexer and a mowing speed V2 output is selected accordingly. The mowing speed V2 is received by a PWM modulation module, and a duty cycle adjustable drive signal is generated according to the signal. The specific drive signal can be output to the driving component 200 to realize the switching of the auxiliary mowing mechanism from the feeding of the mowing wire 130 to the mowing operation of the mowing wire 130.

[0157] Specifically, when the auxiliary mowing mechanism needs to perform the mowing operation, the multiplexer receives this signal and selects the mowing speed V2 and transmits it to the PWM modulation module. The PWM modulation module adjusts the duty cycle of the drive signal according to the value of V2, so that the driving component 200 operates at a low speed, thereby improving the mowing efficiency and enabling the mower to quickly complete the mowing task.

[0158] The multiplexer can switch the signal path in nanoseconds, combined with the dynamic adjustment capability of PWM, to realize a speed switching delay of <0.1 second. This means that in actual operation, the auxiliary mowing mechanism can switch from one working mode to another in a very short time without obvious pause or transition delay. This fast switching capability greatly improves the working efficiency and response speed of the mower, making it more flexible to cope with different mowing scenarios and needs. For example, when the mowing line 130 needs to be fed, the mower can quickly switch from the mowing operation mode to the mowing line 130 feeding mode to adjust the length of the mowing line 130 to ensure the mowing effect; and after the mowing line 130 feeding is completed, it can immediately return to the mowing operation mode to continue efficient mowing operation.

[0159] The specific structure of the auxiliary mowing mechanism will be described in detail below in conjunction with the accompanying drawings:

[0160] As shown in Figures 2 to 8 , the auxiliary mowing mechanism includes a mowing head 120, and the mowing head 120 is provided with a mowing line 130. The auxiliary mowing mechanism further includes a driving component 200, which can include a motor, and the mowing head 120 is connected to the output shaft of the motor, and the output shaft of the motor extends along the height direction of the body 400. The motor can give the mowing head 120 a driving force to drive the mowing head 120 to rotate.

[0161] In some embodiments of the present disclosure, as shown in Figures 2 to 7 , the auxiliary mowing mechanism further includes a connecting part 300; the body 400 is provided with a quick connection module 500, and the auxiliary mowing mechanism and the body 400 are detachably connected through the connecting part 300 and the quick connection module 500.

[0162] The auxiliary mowing mechanism can be connected to the main body of the mower through the connecting part 300 and the quick connection module 500 to establish a communication connection and an electrical connection between the auxiliary mowing mechanism and the main body of the mower. The driving component 200 can obtain power and control signals from the main body of the mower in order to start or stop. The auxiliary mowing mechanism can realize quick assembly and disassembly, plug and play with the main body of the mower.

[0163] The driving component 200 has an upper part and a lower part arranged opposite in the height direction Z of the body 400, the height direction Z of the body 400 is perpendicular to the advancing surface, the connecting part 300 is connected to the upper part of the driving component 200, and the mowing head 120 is connected to the lower part of the driving component 200.

[0164] In some embodiments of the present disclosure, as shown in Figure 2 and Figure 3As shown, the connecting part 300 comprises a connecting housing 310, a first connecting terminal 320 and a tab 330. The connecting housing 310 comprises a top wall 311, a bottom opening opposite to the top wall 311 in the height direction Z of the machine body 400, and a side wall connected to the top wall 311. The connecting housing 310 is a hollow structure having at least the bottom opening. The connecting housing 310 can be a cuboid structure.

[0165] The first connecting terminal 320 is arranged in the connecting housing 310. The first connecting terminal 320 is used to complete communication connection or / and electrical connection with the main body of the intelligent mower. Optionally, the first connecting terminal 320 is arranged in the top wall 311. The first connecting terminal 320 can include a power interface, a communication interface and a fault communication interface. The number of different kinds of interfaces can be multiple, such as 2 power interfaces, 2 communication interfaces and 1 fault communication interface, and the present disclosure is not limited thereto.

[0166] The tab 330 is arranged in the side wall of the connecting housing 310, and the tab 330 extends along the height direction Z of the machine body 400. The tab 330 can be a substantially rectangular strip.

[0167] As shown in Figure 6 and Figure 7 , the machine body 400 is provided with a mounting groove 410, and the quick connection module 500 is connected in the mounting groove 410. The quick connection module 500 has a gap with part of the groove wall of the mounting groove 410, and the gap forms a slot 411 matched with the tab 330. The quick connection module 500 comprises a quick connection main body 510 and a second connecting terminal 520 arranged on the quick connection main body 510, and the second connecting terminal 520 is matched with the first connecting terminal 320.

[0168] Specifically, the number of the tab 330 is two, and the two tabs 330 are arranged along the advancing direction Y, and the advancing direction Y is parallel to the advancing plane, and the two tabs 330 are distributed in axial symmetry about the first plane.

[0169] The first plane is perpendicular to the advancing direction Y and passes through the rotation axis of the driving component 200. As shown in Figure 4 , the size D1 of the tab 330 in the advancing direction Y is greater than or equal to 3mm and less than or equal to 8mm. Specifically, the size D1 of the tab 330 in the advancing direction Y can be 3mm, 3.5mm, 4mm, 4.5mm, 5mm, 5.5mm, 6mm, 6.5mm, 7mm, 7.5mm or 8mm, but is not limited thereto. It should be noted that the sizes of different parts of the tab 330 in the advancing direction Y can be the same or different, but all need to be within the range of 3mm to 8mm.

[0170] In some embodiments of the present disclosure, as shown in Figure 2 and Figure 3As shown, the side wall of the connecting housing 310 includes a first side wall 312 and a second side wall 313 arranged oppositely, and a third side wall 314 connected to the same side of the first side wall 312 and the second side wall 313, the third side wall 314 being connected to the driving component 200, i.e. the connecting portion 300 is connected to the driving component 200 through the third side wall 314. Alternatively, the connecting portion 300 can be connected to the side wall of the driving component 200 near the upper portion. The top wall 311 of the connecting portion 300 can be flush with the upper end surface of the driving component 200.

[0171] Further, the connecting housing 310 also has a side opening. The number of the inserts 330 is two, i.e. a first insert 331 and a second insert 332, the first insert 331 and the second insert 332 being connected to the other side of the first side wall 312 and the second side wall 313 respectively, i.e. both the first insert 331 and the second insert 332 are arranged oppositely to the third side wall 314. The first insert 331 and the second insert 332 have a spacing therebetween, the spacing between the first insert 331 and the second insert 332 forming the side opening of the connecting housing 310. In this way, the first insert 331, the second insert 332, the first side wall 312, the second side wall 313, the third side wall 314 and the top wall 311 enclose an open accommodating cavity, which can be used to accommodate the quick-connection module 500 to complete the detachable connection between the auxiliary mowing mechanism and the main body of the mower.

[0172] Alternatively, the inserts 330 are integrally formed with the connecting housing 310. The first connecting terminal 320 is connected to the connecting portion of the top wall 311 and the third side wall 314. The top wall 311 protrudes from the side edge of the first insert 331 and the second insert 332 away from the third side wall 314.

[0173] In some embodiments of the present disclosure, as shown in Figure 5 The distance D2 between the insert 330 and the third side wall 314 is greater than or equal to 5 mm and less than or equal to 10 mm. Specifically, the distance therebetween can be 5 mm, 5.5 mm, 6 mm, 6.5 mm, 7 mm, 7.5 mm, 8 mm, 8.5 mm, 9 mm, 9.5 mm or 10 mm, but is not limited thereto. It should be noted that the distances between different parts of the insert 330 and the third side wall 314 can be equal or unequal, but all need to be within the range of 5 mm to 10 mm.

[0174] In another embodiment of the present disclosure, the connecting portion includes a connecting body and a first connecting terminal, the connecting body being provided with a slot (not shown in the figure) extending along the height direction of the machine body. The first connecting terminal is arranged on the connecting body.

[0175] The quick-connection module comprises a quick-connection housing and a plug. The quick-connection housing comprises a bottom wall, a top opening arranged opposite to the bottom wall in the vertical direction, and a side wall connected to the bottom wall. The quick-connection housing can be integrally formed with the machine body. A second connecting terminal is arranged in the quick-connection housing and is matched with the first connecting terminal. The plug is arranged in the side wall of the quick-connection housing and is matched with the plug groove, and the plug extends along the vertical direction Z.

[0176] As shown in the drawings, Figure 8 In some embodiments of the present disclosure, the auxiliary mowing mechanism further comprises a protective cover 110 arranged on the mowing head 120.

[0177] As shown in the drawings, Figure 9 The mowing head 120 comprises a housing 121, a winding core 122 and a locking mechanism 123. The housing wall of the housing 121 is provided with a threading hole 11b, and the mowing line 130 is threaded in the threading hole 11b. The winding core 122 is rotatably connected in the housing 121, and the mowing line 130 can be wound on the winding core 122. The locking mechanism 123 is configured to be in a locked position when the auxiliary mowing mechanism is in the mowing operation mode, so that the winding core 122 is locked in the housing 121 and the winding core 122 cannot rotate relative to the housing 121; and is further configured to switch from the locked position to an unlocked position when the auxiliary mowing mechanism is increased from the mowing speed V2 to the line releasing speed V1, so that the housing 121 releases the winding core 122, the winding core 122 can rotate relative to the housing 121, and the mowing line 130 wound on the winding core 122 is released and pulled out by the centrifugal force caused by the rotation of the mowing head 120, thereby allowing the feeding of the mowing line 130.

[0178] The housing 121 can comprise an upper housing 1211 and a lower housing 1212 connected to each other. The upper housing 1211 and the lower housing 1212 can be detachably connected by clamping, threading or the like, to facilitate replacement of the winding core 122. The housing 121 can be connected to the output shaft of the driving component 200. When the driving component 200, such as a motor, is working, the driving component 200 can drive the housing 121 to rotate. When the locking mechanism 123 is in the locked state, the winding core 122 is locked in the housing 121 and cannot rotate relative to the housing 121. At this time, when the driving component 200 works, it drives the housing 121 and the winding core 122 to rotate synchronously, thereby driving the mowing line 130 extending out of the housing 121 to rotate and complete the mowing operation. When the locking mechanism 123 is in the unlocked state, the housing 121 releases the winding core 122, the winding core 122 can rotate relative to the housing 121, and the mowing line 130 wound on the winding core 122 is released and pulled out by the centrifugal force caused by the rotation of the mowing head 120, thereby allowing the feeding of the mowing line 130.

[0179] In some embodiments of the present disclosure, the locking mechanism 123 comprises a locking pin 1232 and an elastic member 1231, the locking pin 1232 is at least partially located in the housing 121 and is arranged on one side of the winding core 122 in the height direction Z of the machine body 400, one end of the locking pin 1232 is connected with the housing 121, and the other end is in abutment with the housing 121 through the elastic member 1231. Optionally, a through hole is formed on the housing 121, and one end of the locking pin 1232 is arranged in the through hole, and the locking pin 1232 can be disassembled from the housing 121 by pressing the end of the locking pin 1232.

[0180] As shown in Figures 10 to 12 , the locking pin 1232 is provided with a locking protrusion 32a close to one side surface of the winding core 122, and the winding core 122 is provided with a ratchet tooth having a locking surface 21a. At the mowing speed V2, the locking protrusion 32a is pressed and engaged with the locking surface 21a of the ratchet tooth under the elastic force of the elastic member 1231, so as to lock the winding core 122 in the housing 121. At the unwinding speed V1, the locking protrusion 32a is separated from the locking surface 21a of the ratchet tooth under the centrifugal force of the locking pin 1232, so as to release the winding core 122 from the housing 121, and the winding core 122 can rotate relative to the housing 121, and the mowing line 130 wound on the winding core 122 is released and pulled out by the centrifugal force caused by the rotation of the grass cutting head 120, thereby allowing the feeding of the mowing line 130.

[0181] Further, as shown in Figure 11 , at the mowing speed V2, the centrifugal force F of the locking pin 1232 and the elastic force f of the elastic member 1231 applied to the locking pin 1232 satisfy 0.01

[0182] The locking pin 1232 is provided with an elongated through hole 32b, so that the center of gravity of the locking pin 1232 is shifted when the speed of the grass cutting head 120 changes, thereby changing the contact state of the locking protrusion 32a and the ratchet tooth. The upper housing 1211 is provided with a connecting shaft 11a coaxially arranged with the rotating shaft of the driving member 200. The connecting shaft 11a is arranged in the elongated through hole 32b.

[0183] Specifically, the ratchet teeth include outer ratchet teeth 1222 and inner ratchet teeth 1221. At the mowing speed V2, the locking convex 32a is in press-fit engagement with the locking surface 21a of the inner ratchet teeth 1221 under the elastic force of the elastic member 1231, so as to lock the winding core 122 in the outer shell 121. At the line releasing speed V1, the locking convex 32a is in contact with the arc surface 22a of the outer ratchet teeth 1222 after being separated from the locking surface 21a of the inner ratchet teeth 1221 under the centrifugal force of the locking pin 1232, so as to release the winding core 122 from the outer shell 121, and the winding core 122 can rotate relative to the outer shell 121, and the mowing line 130 wound on the winding core 122 is released and pulled out by the centrifugal force caused by the rotation of the grass cutting head 120, thereby allowing the feeding of the mowing line 130.

[0184] In the present disclosure, the mowing speed V2 and the line releasing speed V1 satisfy 0.5 < V2 / V1 < 0.9. The present disclosure conducts experiments at different mowing speeds and line releasing speeds, and the experimental data of the examples are shown in Table 1, and the experimental data of the comparative examples are shown in Table 2:

[0185] Table 1

[0186]

[0187] Table 2

[0188]

[0189] It is found through experiments that when V2 / V1 = 0.5 (V1 = 8000 rpm, V2 = 4000 rpm), the line releasing speed is twice as high as the mowing speed, which causes unnecessary waste. Secondly, although a higher line releasing speed can theoretically release the mowing line quickly, in actual operation, when V2 / V1 = 0.5, the speed difference between the two may be too large, and in the conversion between the mowing mode and the line releasing mode, the release length of the mowing line suddenly decreases to 3 cm / time, which is much lower than the target value of 10 cm / time, resulting in the accumulation and entanglement of the mowing line, the overlong residual grass roots, and the failure of the mowing function. This not only affects the mowing effect, but also may cause the breakage or jamming of the mowing line, further reducing the mowing efficiency.

[0190] When V2 / V1<0.5, the mowing speed (V2) is too low (usually <4000 rpm), resulting in a serious lack of cutting kinetic energy. Experimental data show that when the grass height is ≥8 cm, the cutting efficiency is <60%, and the grass roots are left too long (Comparative Examples 9, 10, and 11). At the same time, too high a winding speed (V1>10000 rpm) causes the centrifugal force to exceed the limit, with a wire-off rate of the mowing wire ≥50% (target value ≤1%), a significant risk of flying wire (Comparative Examples 10 and 11), and a serious safety hazard. In addition, the driving component cannot maintain effective cutting torque when V2 is too low, and the grass clippings accumulate and block the grass mowing head, requiring frequent shutdown for cleaning, with a work efficiency decrease of more than 50% (Comparative Example 9).

[0191] When 0.5<V2 / V1<0.9, the difference between the winding speed (V1) and the mowing speed (V2) is reasonably designed, taking into account the release of centrifugal force and cutting efficiency. Experiments show that when V2 / V1=0.6-0.85, in the mowing mode, the V2 speed (5000 rpm-8500 rpm) provides sufficient kinetic energy, with a cutting efficiency of ≥95%, the grass root residual length meeting the standard, and the grass clippings throwing and covering a radius of ≥1.5 m (Example 4). In addition, this interval can avoid flying wire and jamming, improve system stability, and prolong the life of the grass mowing head. Overall, this interval achieves an efficient, low-consumption, and safe work closed loop by scientifically matching the winding and cutting requirements.

[0192] When V2 / V1=0.9 (V1=8000 rpm, V2=7200 rpm), the wire winding core jamming frequency is ≥5 times / minute, the cutting efficiency decreases to 85% (target ≥95%), and the driving component power consumption increases (overload operation) (Comparative Example 8).

[0193] When V2 / V1>0.9, the speed switching loses its significance (the winding and mowing modes overlap). The small difference between the winding speed (V1) and the mowing speed (V2) results in insufficient centrifugal force to drive the mowing wire to be effectively released or to effectively complete the mowing operation. Experimental data show that the wire length decreases sharply to ≤5 cm / minute (target ≥10 cm) or the wire appears to be jammed, flying, etc. The small difference between the mowing and winding speeds (ΔV≤1000 rpm) causes severe friction between the wire winding core and the shell, resulting in a mechanical jamming frequency of ≥5 times / minute, and even causing the mowing wire to wind and accumulate. In addition, the driving component needs to run at a high load to maintain the V2 speed in the mowing mode, resulting in a significant increase in power consumption and a significantly increased risk of triggering the overheat protection. At the same time, the cutting efficiency may decrease to <85% (target ≥95%) due to the speed redundancy, and the grass clippings throwing and covering a radius of <1 m, seriously affecting the work quality.

[0194] The cutting efficiency represents the ratio of the effective cutting grass leaf area to the theoretical maximum cuttable area in unit time, usually quantified in percentage (%). The theoretical maximum cuttable area refers to the theoretical cuttable area of all grasses in the cutting line coverage area.

[0195] The more detailed data test of Example 3, Comparative Example 1 and Comparative Example 9 is shown in Table 3:

[0196] Table 3

[0197]

[0198] In some embodiments of the present disclosure, the mowing speed V2 is greater than or equal to 5000 rpm and less than or equal to 10000 rpm. The mowing speed V2 can be specifically 5000 rpm, 5500 rpm, 6000 rpm, 6500 rpm, 7000 rpm, 7500 rpm, 8000 rpm, 8500 rpm, 9000 rpm, 9500 rpm or 10000 rpm, but is not limited thereto. Further, the mowing speed V2 is 6500 rpm, 7500 rpm or 8000 rpm. At this speed, the cutting efficiency is high and the cutting uniformity is high when mowing, and the mowing effect is good.

[0199] The present disclosure also provides an intelligent mowing robot, which comprises a body 400, an auxiliary mowing mechanism, a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the mowing control method according to any one of the above embodiments when executing the computer program. The specific structure of the body 400 and the auxiliary mowing mechanism can refer to the above description, and will not be described in detail here.

[0200] The present disclosure also provides a computer-readable storage medium, which comprises a stored program, wherein the program executes the steps in any one of the above method embodiments when running.

[0201] In an exemplary embodiment, the above computer-readable storage medium can include, but is not limited to, a U disk, a ROM, a RAM, a mobile hard disk, a magnetic disk or an optical disk and various media that can store computer programs.

[0202] The present disclosure provides a computer program product, which comprises computer programs / instructions containing program codes for executing the method shown in the flow chart. In such embodiments, the computer program can be downloaded and installed from the network through the communication part, and / or installed from the detachable medium. When the computer program is executed by the central processing unit, various functions provided by the embodiments of the present disclosure are executed. The above sequence numbers of the embodiments of the present disclosure only serve for description, and do not represent the advantages and disadvantages of the embodiments.

[0203] It is noted that, although the various steps of the method of forming the structures of the present disclosure are described in a particular order in the drawings, this is not required or implied as to the order in which the steps must be performed, or that all of the steps shown must be performed to achieve the desired result. Additionally or alternatively, certain steps can be omitted, multiple steps can be combined into one step, one step can be broken into multiple steps, etc.

[0204] Other embodiments of the present disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the features disclosed herein. It is intended that the present disclosure cover any and all variations of the present disclosure including those variations that are now known or become known in the future that follow, in general, the principles of the present disclosure and include common general knowledge or custom in the art not known or disclosed in the present disclosure. The specification and examples are to be considered exemplary only, with the true scope and spirit of the present disclosure indicated by the appended claims.

Claims

1. A mowing control method for an intelligent mowing robot, the intelligent mowing robot comprising a body and an auxiliary mowing mechanism, the auxiliary mowing mechanism comprising a mowing head, the mowing head being provided with a mowing line, characterized in that, The auxiliary mowing mechanism further comprises a connecting portion; the machine body is provided with a quick-connection module, and the auxiliary mowing mechanism and the machine body are detachably connected through the connecting portion and the quick-connection module; The auxiliary mowing mechanism further comprises a driving component, which drives the mowing head to rotate; The driving component has an upper portion and a lower portion which are oppositely arranged in the vertical direction, the connecting portion is connected to the upper portion of the driving component, and the mowing head is connected to the lower portion of the driving component; The connecting portion comprises, a connecting housing comprising a top wall, a bottom opening oppositely arranged with the top wall in the vertical direction, and a side wall connected to the top wall; a first connecting terminal arranged in the connecting housing; a plug arranged in the side wall of the connecting housing, which extends in the vertical direction; The machine body is provided with a mounting groove, the quick-connection module is connected in the mounting groove, and the quick-connection module has a gap with part of the groove wall, which forms a plug groove matched with the plug; The quick-connection module comprises a quick-connection main body and a second connecting terminal arranged on the quick-connection main body, and the second connecting terminal is matched with the first connecting terminal; The mowing control method comprises: When the distance between the machine body and a non-living obstacle or the boundary of a working area is less than or equal to a first preset threshold, the mowing head is started, the rotation speed of the mowing head is increased to a pay-out speed V1, and then falls back to a mowing speed V2; When the distance between the machine body and a living obstacle is less than or equal to a second preset threshold, the speed of the mowing head is controlled to be reduced to below V3 within a preset time; When the distance between the machine body and the living obstacle is greater than the second preset threshold, the rotation speed of the mowing head is controlled to be increased from V3 to the mowing speed V2; Wherein, 0.5 2. The mowing control method according to claim 1, characterized by, The mowing control method further comprises: When the distance between the machine body and the living obstacle is less than or equal to the second preset threshold, the intelligent mowing robot is controlled to run along a circular arc-shaped avoidance track with the living obstacle as the center and the second preset threshold as the radius, forming an unworked sector region with the living obstacle as the center and the second preset threshold as the radius.

3. The mowing control method according to claim 2, characterized by, The mowing control method further comprises: After the intelligent mowing robot finishes mowing the grass in the working area except the unworked sector region, it returns to the unworked sector region for mowing work.

4. The mowing control method according to claim 1, characterized by, The distance between the machine body and the non-living obstacle or the boundary of the working area, and the distance between the machine body and the living obstacle are detected by a laser radar and / or a vision module.

5. The grass-cutting control method according to claim 1, characterized by The second preset threshold is defined as S1, S1=v1×t1, v1 is the speed of the living obstacle approaching the machine body, and t1 is the time required for the mowing head to be reduced from the mowing speed V2 to below V3.

6. The grass-cutting control method according to claim 1, characterized by The second preset threshold is defined as S2, S2=v2×t2, v2 is the speed of the machine body, and t2 is the time required for the mowing head to be reduced from the mowing speed V2 to below V3.

7. The grass-cutting control method according to claim 1, characterized by The second preset threshold is 2.5 m.

8. The grass-cutting control method according to claim 1, characterized by The mowing speed V2 is greater than or equal to 5000 rpm and less than or equal to 10000 rpm.

9. The grass-cutting control method according to claim 1, characterized by The mowing speed V2 is 6500 rpm, 7500 rpm or 8000 rpm.

10. An intelligent mowing robot capable of walking in a forward direction on a travel surface, characterized in that, The mowing machine comprises a machine body, an auxiliary mowing mechanism, a memory, a processor, and a computer program stored in the memory and executable on the processor; The auxiliary mowing mechanism comprises a mowing head provided with a mowing line; The processor executes the computer program to implement the steps of the mowing control method according to any one of claims 1 to 9.

11. The intelligent mowing robot of claim 10, wherein, The number of the inserts is two, the two inserts are arranged along the advancing direction, and the two inserts are distributed in axial symmetry about a first plane; The first plane is perpendicular to the advancing direction and passes through the rotation axis of the driving component; The size of the insert in the advancing direction is greater than or equal to 3 mm and less than or equal to 8 mm.

12. The intelligent mowing robot of claim 10, wherein, The side wall of the connecting shell comprises a first side wall and a second side wall arranged oppositely, and a third side wall connected to the same side of the first side wall and the second side wall, the third side wall being connected to the driving component; The insert is connected to the other side of the first side wall and the second side wall, and the insert, the top wall and the side wall of the connecting shell form an open accommodating cavity to accommodate the quick connection module; The distance between the insert and the third side wall is greater than or equal to 5 mm and less than or equal to 8 mm.

13. The intelligent mowing robot of claim 10, wherein, The driving component has an upper part and a lower part arranged oppositely in the vertical direction, the connecting part is connected to the upper part of the driving component, and the mowing head is connected to the lower part of the driving component; The connecting part comprises, A connecting body is provided with a slot, the slot extending along the height direction of the machine body; A first connecting terminal is arranged on the connecting body.

14. The intelligent mowing robot of claim 13, wherein, The quick connection module comprises: A quick connection shell comprises a bottom wall, a top opening arranged oppositely to the bottom wall in the vertical direction, and a side wall connected to the bottom wall; A second connecting terminal is arranged in the quick connection shell, and the second connecting terminal is matched with the first connecting terminal; An insert is arranged in the side wall of the quick connection shell and matched with the slot, and the insert extends in the vertical direction.

15. The intelligent mowing robot of claim 10, wherein, The mowing head comprises: An outer shell is provided with a threading hole in the shell wall, and the mowing line is arranged in the threading hole; A winding core is rotatably connected in the outer shell, and the mowing line can be wound on the winding core; The locking mechanism is configured to be in a locked position when the auxiliary mowing mechanism is in a mowing operation mode, so that the winding core is locked in the outer shell; and is further configured to switch from the locked position to an unlocked position when the auxiliary mowing mechanism is increased from the mowing speed V2 to the pay-off speed V1, so that the outer shell releases the winding core, the winding core can rotate relative to the outer shell, and the mowing line wound on the winding core is released and pulled out by the centrifugal force caused by the rotation of the mowing head, thereby allowing the feeding of the mowing line.

16. A computer program product comprising computer programs / instructions, characterized in that, The computer program / instructions are executed by the processor to implement the steps of the mowing control method according to any one of claims 1 to 9.

17. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is executed by the processor to implement the steps of the mowing control method in any one of claims 1 to 9.

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