Channel dredging method and system of mower, intelligent terminal and storage medium

Abstract

The invention relates to a channel dredging method and system for a mower, an intelligent terminal and a storage medium, and relates to the field of garden equipment, and the method comprises the steps: responding to the starting operation of the mower, and starting the mower; acquiring a real-time signal of a micro switch, wherein the micro switch is arranged at a grass discharging channel; generating a blocking state of the mower according to the real-time signal; under the condition that the blocking state shows that the straw is blocked, the straw blocking plug is opened, so that the straw blocking plug does reciprocating motion in the straw discharging channel, and the straw blocking plug is aligned with an outlet of the straw discharging channel; and when the number of movement times of the grass blocking plug reaches the preset number of times, the grass blocking plug is closed. The mowing machine has the effect of improving the dredging efficiency of the mowing machine.

Description

Technical Field

[0001] This application relates to the field of garden equipment, and in particular to a method, system, smart terminal and storage medium for clearing the passage of a lawnmower. Background Technology

[0002] Lawn mowers play a vital role in garden maintenance, agricultural production, and home garden management. With societal development and rising expectations for living environments, the applications of lawn mowers are becoming increasingly widespread. They are not only indispensable for large-scale lawn mowing but have also become a common tool for beautifying home gardens.

[0003] In related technologies, the methods commonly used to determine whether the grass discharge channel of a lawnmower is blocked and to resolve the blockage problem are as follows: First, the operator relies on experience to roughly judge whether there is a blockage by observing the working status of the lawnmower and listening to the sound of the machine running. If a blockage is felt, the operator will manually stop the machine to clear it. Second, a simple sensor is installed to issue an alarm when it detects a change in pressure in the grass discharge channel or when the material accumulates to a certain extent, reminding the operator to stop the machine for handling.

[0004] Regarding the aforementioned technologies, relying on operator experience to judge blockages is not accurate enough, easily leading to misjudgments or missed detections. This results in the inability to detect blockages in a timely manner, affecting the normal operation of the lawnmower and reducing work efficiency. Simple sensor detection can only issue alarms and cannot automatically clear blocked grass discharge channels, still requiring manual shutdown and cleaning, which is cumbersome and time-consuming. Summary of the Invention

[0005] To improve the clearing efficiency of lawnmowers, this application provides a method, system, smart terminal, and storage medium for clearing lawnmower channels.

[0006] In a first aspect, this application provides a method, system, smart terminal, and storage medium for clearing the passage of a lawnmower, employing the following technical solution: A method for clearing the passageway of a lawnmower includes: In response to the start operation of the lawnmower, the lawnmower is turned on; The real-time signal of the micro switch is acquired, and the micro switch is located at the grass discharge channel; The blockage status of the lawnmower is generated based on the real-time signal; When the blockage state indicates that the blockage is complete, the weed plug is opened, causing the weed plug to reciprocate within the weed discharge channel, with the weed plug aligned with the outlet of the weed discharge channel; When the number of times the grass-blocking plug is moved reaches a preset number, the grass-blocking plug is closed.

[0007] By adopting the above technical solution, a microswitch installed in the grass discharge channel receives signals in real time, automatically identifying whether the channel is blocked. When a blockage is detected, the microswitch controls the grass plug aligned with the outlet to reciprocate, achieving automatic unblocking. This process requires no manual intervention, effectively maintaining the continuous unobstructed flow of the grass discharge channel and ensuring the continuous and stable operation of the lawnmower.

[0008] Optionally, the real-time operating parameters of the lawnmower are obtained, including at least one of blade rotation speed, blade type, number of blades, and cutting height; The vibration frequency of the lawnmower is obtained based on the real-time operating parameters. The escape velocity of the lawnmower is obtained based on the real-time operating parameters. Calculate the time window length based on the vibration frequency and the escape velocity; Extract the continuous length of the turn-on signal from the real-time signal; When the continuous length is greater than the time window length, the blockage state is set to blocked; When the continuous length is not greater than the time window length, the blockage state is set to unblocked.

[0009] By adopting the above technical solution, the vibration frequency and escape velocity are calculated by comprehensively analyzing the real-time operating parameters of the lawnmower, thereby obtaining an adaptive time window length. The continuous length of the micro-switch signal is compared with this time window to determine the blockage state. This ensures that blockage judgment not only depends on the switch signal but is also closely integrated with the actual operating state of the machine, significantly improving the accuracy and reliability of state generation.

[0010] Optionally, the vibration period can be calculated based on the vibration frequency; The product of the vibration period and the preset coefficient is calculated to obtain the length of the first time window; Obtain the length of the drainage channel; The length of the second time window is obtained by calculating the ratio of the channel length to the escape velocity. The larger of the first time window length and the second time window length is taken as the time window length.

[0011] By adopting the above technical solution, the length of the first time window based on the vibration period and the length of the second time window based on the channel length and the escape velocity are calculated separately, and the larger value is taken as the final time window length. This setting method allows the time window to simultaneously consider the mechanical vibration characteristics and the grass clipping discharge process, which is more scientific and reasonable, and ensures the fault tolerance and reliability of the blockage state judgment under different working conditions.

[0012] Optionally, the number of times the grass-blocking plug was activated and the activation timestamp can be obtained; If the number of startups reaches a preset number, calculate the time difference between adjacent startup timestamps; If the time difference is less than a preset difference threshold, the current power of the lawnmower is increased. Detect whether the weed plug is activated within a preset time period; If so, the system will control the grass blockage to perform a clearing process and generate an alarm signal; If not, maintain the current power of the lawnmower.

[0013] By adopting the above technical solution, and recording the number of starts and timestamps, the power is automatically increased to enhance performance during frequent starts. Simultaneously, it detects whether the blockage is constantly open and triggers clearing and alarm functions, achieving intelligent management and proactive early warning for abnormal operating conditions. This method can not only handle instantaneous blockages but also adjust power and address potential or persistent blockages, preventing the problem from worsening.

[0014] Optionally, the current power of the lawnmower can be reduced to a first preset power. Open the weed blockage plug and control the weed blockage plug to move a first preset distance in the weed discharge channel, the first preset distance being the distance from the micro switch to the first end of the weed discharge channel; The current power of the lawnmower is increased to a second preset power, which is greater than the first preset power; The grass-blocking plug is controlled to move a second preset distance within the grass discharge channel; Close the weed plug.

[0015] By adopting the above technical solution, the obstruction clearing process employs a coordinated control strategy of first reducing power and then increasing power, and instructs the blockage to move a specific distance. This step-by-step, power-adjusting clearing method can effectively and specifically clear the area from the microswitch position to the end of the channel, making it particularly suitable for handling stubborn blockages or foreign object obstructions, and effectively improving the success rate of clearing.

[0016] Optionally, the real-time environmental parameters of the lawnmower are obtained, including at least one of lawn humidity, lawn type, and lawn height. Convert the real-time environmental parameters into a real-time environmental parameter matrix; Convert the real-time operating parameters into a real-time operating parameter matrix; By concatenating the real-time environmental parameter matrix and the real-time working parameter matrix, a comprehensive parameter matrix is ​​obtained. The comprehensive parameter matrix is ​​linearly mapped to obtain the comprehensive parameter score; Based on the comprehensive parameter score, the escape velocity is determined in the velocity mapping table.

[0017] By adopting the above technical solution, real-time environmental parameters such as lawn humidity and type are introduced and converted into a matrix along with the working parameters for fusion and linear mapping. Finally, the escape velocity is determined by looking up a table. This method ensures that the acquisition of the escape velocity no longer depends solely on the machine's own state but also fully considers the influence of the external operating environment, thus making the velocity value closer to reality and providing more accurate input for subsequent calculations.

[0018] Optionally, the historical operating parameters of the lawnmower can be obtained; Obtain the historical environmental parameters corresponding to the historical working parameters; The historical operating coefficient is obtained based on the historical operating parameters, and the historical environmental coefficient is obtained based on the historical environmental parameters; Based on the historical environmental coefficient and the historical working coefficient, a coefficient curve is generated; The real-time operating coefficient is obtained based on the real-time operating parameters, and the real-time environmental coefficient is obtained based on the real-time environmental parameters; In the coordinate system corresponding to the coefficient curve, determine the real-time point location corresponding to the real-time working coefficient and the real-time environmental coefficient; Calculate the minimum value from the real-time location to the coefficient curve; If the minimum value is greater than the preset curve distance threshold, the real-time working parameters are updated according to the historical working parameters.

[0019] By employing the above technical solution, a coefficient curve representing normal operating conditions is constructed using historical data, and the distance between the points formed by real-time data and the curve is compared. When the deviation is too large, the real-time parameters are updated based on historical parameters, achieving self-calibration and optimization of operating parameters. This method enables the system to adapt to long-term changes in lawn conditions or machine performance, maintaining the effectiveness and adaptability of the blockage judgment model.

[0020] Secondly, this application provides a channel clearing system for a lawnmower, employing the following technical solution: A lawnmower passage clearing system includes: The acquisition module is used to acquire startup operations and real-time signals; A memory for storing the program for the lawnmower's channel clearing method; The processor and the program in the memory can be loaded and executed by the processor to implement the lawnmower's channel clearing method.

[0021] By adopting the above technical solution, a microswitch installed in the grass discharge channel receives signals in real time, automatically identifying whether the channel is blocked. When a blockage is detected, the microswitch controls the grass plug aligned with the outlet to reciprocate, achieving automatic unblocking. This process requires no manual intervention, effectively maintaining the continuous unobstructed flow of the grass discharge channel and ensuring the continuous and stable operation of the lawnmower.

[0022] Thirdly, this application provides a smart terminal, which adopts the following technical solution: A smart terminal includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute the method described in any one of the above.

[0023] Fourthly, this application provides a computer storage medium capable of storing corresponding programs, which facilitates improving the clearing efficiency of lawnmowers, and adopts the following technical solution: A computer-readable storage medium storing a computer program that can be loaded by a processor and executed for any of the above-described lawnmower channel clearing methods.

[0024] In summary, this application includes at least one of the following beneficial technical effects: 1. By acquiring signals in real time through a microswitch installed in the grass discharge channel, the system can automatically identify whether the channel is blocked. When a blockage is detected, the system controls the grass plug aligned with the outlet to reciprocate, thus automatically clearing the blockage. This process requires no manual intervention, effectively maintaining the continuous unobstructed flow of the grass discharge channel and ensuring the continuous and stable operation of the lawnmower. 2. By comprehensively analyzing the real-time operating parameters of the lawnmower, the vibration frequency and escape velocity are calculated, thereby obtaining the adaptive time window length. The continuous length of the micro-switch signal is compared with this time window to determine the blockage status. This makes the blockage judgment not only dependent on the switch signal but also closely integrated with the actual working state of the machine, significantly improving the accuracy and reliability of status generation. 3. By calculating the length of the first time window based on the vibration period and the length of the second time window based on the channel length and the escape velocity, and taking the larger value as the final time window length, the time window can simultaneously consider the mechanical vibration characteristics and the grass clipping discharge process, which is more scientific and reasonable, and ensures the fault tolerance and reliability of the blockage state judgment under different working conditions. Attached Figure Description

[0025] Figure 1 This is a flowchart illustrating a method for clearing the passage of a lawnmower, as provided in an embodiment of this application.

[0026] Figure 2 This is a schematic diagram of a lawnmower provided in an embodiment of this application. Figure 1 .

[0027] Figure 3 This is a schematic diagram of a lawnmower provided in an embodiment of this application. Figure 2 .

[0028] Figure 4 This is a flowchart illustrating a method for generating a blocked state according to an embodiment of this application.

[0029] Figure 5 This is a flowchart illustrating a method for generating the length of a time window provided in an embodiment of this application.

[0030] Figure 6 This is a flowchart illustrating a method for detecting the channel of a lawnmower provided in an embodiment of this application.

[0031] Figure 7 This is a flowchart illustrating a second method for detecting the channel of a lawnmower, as provided in an embodiment of this application.

[0032] Figure 8 This is a flowchart illustrating a method for calculating the escape velocity provided in an embodiment of this application.

[0033] Figure 9 This is a flowchart illustrating a method for updating working parameters provided in an embodiment of this application.

[0034] Figure 10 This is a schematic diagram of a lawnmower channel clearing system provided in an embodiment of this application. Detailed Implementation

[0035] To make the purpose, technical solution, and advantages of this application clearer, the following description is provided in conjunction with the appendix. Figure 1 To be continued Figure 10 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the application.

[0036] This application discloses a method for clearing the passageway of a lawnmower. (Refer to...) Figure 1 The method includes: Step S101: In response to the start operation of the lawnmower, turn on the lawnmower.

[0037] The start-up operation is used to turn on the lawnmower. For example, the lawnmower has a power switch and a mode button. After the power switch on the lawnmower is triggered, the lawnmower enters standby mode. After the mode button on the lawnmower is triggered, the lawnmower starts according to the operating mode corresponding to the mode button. For example, the mode buttons include a low speed button, a medium speed button, and a high speed button, with the lawnmower's output power increasing in that order.

[0038] Step S102: Obtain the real-time signal of the micro switch, which is set at the grass discharge channel.

[0039] For example, please refer to Figure 2 A grass clipping arm 22 is installed inside the grass discharge channel 21 of the lawnmower. The first end of the grass clipping arm 22 is rotatably connected to the outlet of the grass discharge channel 21, and is also connected to a micro switch 23. When there is a certain amount of grass clipping 25 on the second end of the grass clipping arm 22, the second end is pressed down, and the first end rises, triggering the micro switch 23 and opening it. When there is no grass clipping or very little grass clipping on the second end of the grass clipping arm 22, the second end remains raised, and the first end remains pressed down, keeping the micro switch 23 closed. Therefore, Figure 2 The structure shown can determine whether there is an accumulation of grass clippings 21 in the grass discharge channel 21 by opening and closing the micro switch 23, and thus determine whether the grass discharge channel 21 is blocked.

[0040] Real-time signals are used to indicate the on / off state of a microswitch. These signals include an on signal and an off signal. The on signal indicates that the microswitch is in the on state, and the off signal indicates that the microswitch is in the off state.

[0041] Step S103: Generate the blockage status of the lawnmower based on the real-time signal.

[0042] The blockage status indicates whether the lawnmower's discharge channel is blocked. For example, the blockage status includes two options: blocked and not blocked.

[0043] In one alternative implementation, the blocking state is set to unblocked when the real-time signal indicates that the microswitch is closed; and the blocking state is set to blocked when the real-time signal indicates that the microswitch is open.

[0044] Step S104: When the blockage status indicates that the blockage is complete, open the weed plug and make the weed plug reciprocate within the weed discharge channel, with the weed plug aligned with the outlet of the weed discharge channel.

[0045] For example, please refer to Figure 3 When the grass discharge channel 21 is blocked, the grass plug 24 is controlled to move back and forth in the grass discharge channel 21, so that the grass debris accumulated in the grass discharge channel 21 becomes loose under the action of the grass plug 24 and is easier to be discharged.

[0046] If the blockage status indicates that the plant is not blocked, keep the weed plug closed.

[0047] Step S105: When the number of times the grass plug is moved reaches the preset number, close the grass plug.

[0048] The preset number of attempts is a preset empirical value. For example, the preset number of attempts is 3 or 5.

[0049] By adopting the above technical solution, a microswitch installed in the grass discharge channel receives signals in real time, automatically identifying whether the channel is blocked. When a blockage is detected, the microswitch controls the grass plug aligned with the outlet to reciprocate, achieving automatic unblocking. This process requires no manual intervention, effectively maintaining the continuous unobstructed flow of the grass discharge channel and ensuring the continuous and stable operation of the lawnmower.

[0050] In real-world scenarios, microswitches are inherently sensitive and easily triggered by external environmental factors. On one hand, the lawnmower's blades generate significant vibrations during operation, which can cause the microswitch to unexpectedly close. On the other hand, when the grass is damp, the cut grass clippings easily form clumps, which can trigger the microswitch as they pass through the discharge channel, leading to unexpected closure. To address this issue of unexpected microswitch closure, this application discloses a method for generating a blocked state. (Refer to...) Figure 4 The method includes: Step S401: Obtain the real-time operating parameters of the lawnmower, including at least one of the following: blade speed, blade type, number of blades, and cutting height.

[0051] Blade speed refers to the number of revolutions per minute of the cutting disc on the lawnmower. Blade type refers to the type of blades used in the cutting disc. Number of blades refers to the number of blades in the cutting disc. Cutting height refers to the height of the grass stalks left after the lawnmower has cut the grass; it can also be considered as the height of the cutting disc from the ground.

[0052] Step S402: Obtain the vibration frequency of the lawnmower based on the real-time operating parameters.

[0053] Optionally, a frequency lookup table can be pre-set to record the correspondence between operating parameters and vibration frequencies. The vibration frequency corresponding to the real-time operating parameters can be determined from the frequency lookup table.

[0054] In some other embodiments, if a frequency sensor is installed inside the lawnmower, the vibration frequency can be directly obtained through the frequency sensor.

[0055] Step S403: Obtain the exit speed of the lawnmower based on the real-time operating parameters.

[0056] Escape velocity refers to the speed at which grass clippings or clumps move through the grass discharge channel. This application provides a method for calculating escape velocity, details of which can be found in [reference needed]. Figure 8 The embodiments shown are not described in detail here.

[0057] Step S404: Calculate the length of the time window based on the vibration frequency and the escape velocity.

[0058] The time window length is used to determine whether the opening of the microswitch was accidental. The calculation method for the time window length can be found in [reference needed]. Figure 5 The embodiments shown are not described in detail here.

[0059] Step S405: Extract the continuous length of the turn-on signal from the real-time signal.

[0060] The continuous length refers to the duration of consecutive occurrences of the on signal in the real-time signal. For example, the real-time signal is a binary signal, containing both 0 and 1 values. When the real-time signal has a value of 0, it represents a off signal; when it has a value of 1, it represents an on signal. Therefore, the continuous length can be obtained by counting the lengths of consecutive on signals with a value of 1 in the real-time signal.

[0061] Step S406: When the continuous length is greater than the time window length, set the blockage status to blocked.

[0062] When the continuous length is greater than the time window length, it indicates that the micro switch has been in a closed state for a relatively long time. This prolonged closure is not an accidental closure, which means that the grass discharge channel is indeed blocked.

[0063] Step S407: When the continuous length is not greater than the time window length, set the blocking status to unblocked.

[0064] When the continuous length is no greater than the time window length, it indicates that the microswitch only produced a short-term closure. This closure was caused by the vibration of the lawnmower itself or by the grass clumps passing through the discharge channel, and not by a blockage in the discharge channel. Therefore, the blockage state is set to unblocked.

[0065] By adopting the above technical solution, the vibration frequency and escape velocity are calculated by comprehensively analyzing the real-time operating parameters of the lawnmower, thereby obtaining an adaptive time window length. The continuous length of the micro-switch signal is compared with this time window to determine the blockage state. This ensures that blockage judgment not only depends on the switch signal but is also closely integrated with the actual operating state of the machine, significantly improving the accuracy and reliability of state generation.

[0066] This application discloses a method for generating the length of a time window. (Refer to...) Figure 5 The method includes: Step S501: Calculate the vibration period based on the vibration frequency.

[0067] For example, the reciprocal of the vibration frequency is calculated to obtain the vibration period.

[0068] Step S502: Calculate the product of the vibration period and the preset coefficient to obtain the length of the first time window.

[0069] The preset coefficient is a pre-defined empirical value, and technicians can adjust the specific value of the preset coefficient according to actual needs. For example, the preset coefficient can be 2 or 3.

[0070] The first time window length is used to determine whether the closing of the micro switch is caused by the vibration of the lawnmower.

[0071] Step S503: Obtain the length of the grass drainage channel.

[0072] The channel length refers to the total length or a portion of the length of the weed discharge channel. The channel length can be pre-stored in memory.

[0073] Step S504: Calculate the ratio of channel length to escape velocity to obtain the second time window length.

[0074] The second time window length is used to determine whether the closing of the micro switch is caused by the grass clump passing through the grass discharge channel.

[0075] Step S505: Take the larger of the first time window length and the second time window length as the time window length.

[0076] Since the first time window length is used to determine whether the closing of the micro switch is caused by the vibration of the lawnmower, and the second time window length is used to determine whether the closing of the micro switch is caused by the grass clump passing through the grass discharge channel, the time window length needs to be long enough to ensure the accuracy of the judgment and avoid misjudgment.

[0077] By adopting the above technical solution, the length of the first time window based on the vibration period and the length of the second time window based on the channel length and the escape velocity are calculated separately, and the larger value is taken as the final time window length. This setting method allows the time window to simultaneously consider the mechanical vibration characteristics and the grass clipping discharge process, which is more scientific and reasonable, and ensures the fault tolerance and reliability of the blockage state judgment under different working conditions.

[0078] In real-world scenarios, larger clumps of grass in the mower channel will continuously pass through the microswitch, causing the microswitch to remain in a closed state for a period of time. However, this is not because grass clippings are blocking the channel, but rather because the lawnmower's power is insufficient, resulting in the cut grass not being completely broken up and forming clumps of a certain size. Therefore, this application discloses a method for detecting the channel of a lawnmower. (Refer to...) Figure 6 The method includes: Step S601: Obtain the number of times the grass plug is started and the start timestamp.

[0079] The number of times the weed plug is activated is the number of times it is opened within a given time period.

[0080] The start timestamp is used to indicate the time when the weed plug is started each time.

[0081] Step S602: If the number of startups reaches the preset number, calculate the time difference between adjacent startup timestamps.

[0082] The preset number of attempts is a pre-defined empirical value. Technicians can adjust the specific value of the preset number of attempts according to actual needs. For example, the preset number of attempts is 3.

[0083] The time difference is used to represent the time interval between two consecutive starts of the weed plug. For example, the difference between adjacent start timestamps is calculated to obtain a time difference set. The mean of each element in the time difference set is then calculated to obtain the time difference value.

[0084] Step S603: If the time difference is less than the preset difference threshold, then increase the current power of the lawnmower.

[0085] The preset difference threshold is a pre-defined empirical value, and technicians can adjust the specific value of the preset difference threshold according to actual needs. For example, the preset difference threshold is 2 seconds.

[0086] For example, the adjusted power is obtained by multiplying the current power by the increase ratio. If the adjusted power is greater than the lawnmower's power limit, the lawnmower's current power is adjusted to the aforementioned power limit. If the adjusted power is not greater than the lawnmower's power limit, the lawnmower's current power is adjusted to the aforementioned adjusted power. The increase ratio can be 15%.

[0087] Step S604: Detect whether the weed plug is activated within the preset time.

[0088] If the weed blockage starts within the preset time, then proceed to step S605; If the grass plug does not start within the preset time, proceed to step S606.

[0089] Step S605: If so, control the grass blockage to perform a clearing process and generate an alarm signal.

[0090] If the weed plug activates within the preset time, it indicates that there is indeed a blockage in the weed discharge channel after the current power of the mower has been increased. Furthermore, since the weed plug has activated repeatedly without clearing the blockage, the blockage in the discharge channel is considered quite severe. Therefore, it is necessary to clear the blockage in the discharge channel.

[0091] Alarm signals can be delivered to the lawnmower operator in the form of sound and light. Furthermore, alarm signals can also be sent to the administrator's terminal.

[0092] Step S606: If not, maintain the current power of the lawnmower.

[0093] If the grass blockage does not activate within the preset time, it means that the blockage in the grass discharge channel has been eliminated after the current power of the lawnmower is increased. Therefore, it indicates that the previous blockage in the grass discharge channel was caused by insufficient power of the lawnmower. Therefore, the current power of the lawnmower should be maintained to ensure the normal operation of the lawnmower.

[0094] In some other embodiments, if the grass blockage is activated within a preset time period, but the activation time is less than the time difference, the current power of the lawnmower is further increased, and step S604 is repeated to determine whether the increase in the current power of the lawnmower is insufficient.

[0095] By adopting the above technical solution, and recording the number of starts and timestamps, the power is automatically increased to enhance performance during frequent starts. Simultaneously, it detects whether the blockage is constantly open and triggers clearing and alarm functions, achieving intelligent management and proactive early warning for abnormal operating conditions. This method can not only handle instantaneous blockages but also adjust power and address potential or persistent blockages, preventing the problem from worsening.

[0096] In the following embodiments, an execution process for obstacle clearing will be disclosed. This application discloses a second method for detecting the path of a lawnmower. (Refer to...) Figure 7 The method includes: Step S701: Reduce the current power of the lawnmower to the first preset power.

[0097] The first preset power is a preset empirical value. Optionally, the first preset power is the minimum operating power of the lawnmower.

[0098] Step S702: Open the weed plug and control the weed plug to move a first preset distance in the weed discharge channel. The first preset distance is the distance from the micro switch to the first end of the weed discharge channel.

[0099] Since this embodiment requires clearing obstructions, this step needs to control the grass blockage to move a sufficient distance within the grass discharge channel, allowing the clogged grass clumps to return to the cutting disc along the discharge channel, where the cutting disc will then perform a secondary cut on the grass clumps. Simultaneously, reducing the mower's current power to a first preset power can reduce the amount of grass clippings generated by the cutting disc.

[0100] Step S703: Increase the current power of the lawnmower to the second preset power, which is greater than the first preset power.

[0101] The second preset power is a preset empirical value. Optionally, the second preset power is the maximum operating power of the lawnmower.

[0102] Step S704: Control the weed blockage plug to move a second preset distance within the weed discharge channel.

[0103] The second preset distance is a pre-set empirical value, which technicians can adjust according to actual needs. For example, the second preset distance is set to 10cm.

[0104] Step S705: Close the weed plug.

[0105] Optionally, the weed plug can be controlled to leave the weed discharge channel.

[0106] By adopting the above technical solution, the obstruction clearing process employs a coordinated control strategy of first reducing power and then increasing power, and instructs the blockage to move a specific distance. This step-by-step, power-adjusting clearing method can effectively and specifically clear the area from the microswitch position to the end of the channel, making it particularly suitable for handling stubborn blockages or foreign object obstructions, and effectively improving the success rate of clearing.

[0107] This application discloses a method for calculating the escape velocity. (Refer to...) Figure 8 The method includes: Step S801: Obtain the real-time environmental parameters of the lawnmower, including at least one of lawn humidity, lawn type, and lawn height.

[0108] Lawn humidity refers to the ambient humidity of the lawn where the lawnmower is located. Lawn type describes the type of grass in the lawn. Lawn height refers to the height of the grass in the lawn.

[0109] Optionally, real-time environmental parameters can be manually entered by technicians.

[0110] Step S802: Convert the real-time environmental parameters into a real-time environmental parameter matrix.

[0111] The real-time environmental parameter matrix is ​​a matrix used to reflect environmental information. Optionally, the real-time environmental parameters are normalized and arranged in a preset order to form the real-time environmental parameter matrix.

[0112] Step S803: Convert the real-time operating parameters into a real-time operating parameter matrix.

[0113] The real-time operating parameter matrix is ​​a matrix used to reflect the internal working status of the lawnmower. Optionally, the real-time operating parameters are normalized and arranged in a preset order to form the real-time operating parameter matrix.

[0114] Step S804: Combine the real-time environmental parameter matrix and the real-time working parameter matrix to obtain the comprehensive parameter matrix.

[0115] Optionally, the real-time environmental parameter matrix and the real-time operating parameter matrix can be connected horizontally to form a comprehensive parameter matrix.

[0116] Step S805: Perform linear mapping on the comprehensive parameter matrix to obtain the comprehensive parameter score.

[0117] Linear mapping is used to fuse features in the composite parameter matrix into a single score.

[0118] Step S806: Determine the escape velocity in the velocity mapping table based on the comprehensive parameter score.

[0119] A velocity mapping table is a pre-defined lookup table based on experimental, simulation, or empirical data. It establishes a correspondence between the range of comprehensive parameter scores and recommended values ​​for escape velocities.

[0120] By adopting the above technical solution, real-time environmental parameters such as lawn humidity and type are introduced and converted into a matrix along with the working parameters for fusion and linear mapping. Finally, the escape velocity is determined by looking up a table. This method ensures that the acquisition of the escape velocity no longer depends solely on the machine's own state but also fully considers the influence of the external operating environment, thus making the velocity value closer to reality and providing more accurate input for subsequent calculations.

[0121] This application discloses a method for updating operating parameters. (Refer to...) Figure 9 The method includes: Step S901: Obtain the historical operating parameters of the lawnmower.

[0122] Historical operating parameters are the operating parameters recorded by the lawnmower during a historical period. Optionally, historical operating parameters are recorded in memory.

[0123] Step S902: Obtain the historical environmental parameters corresponding to the historical working parameters.

[0124] Historical environmental parameters are the environmental parameters of the lawnmower during a historical period. Optionally, historical environmental parameters are recorded in memory.

[0125] Step S903: Obtain the historical working coefficient based on the historical working parameters, and obtain the historical environmental coefficient based on the historical environmental parameters.

[0126] Optionally, the historical work parameters can be normalized to obtain normalized historical work parameters. The mean of the normalized historical work parameters can then be calculated to obtain the historical work coefficient.

[0127] Optionally, the historical environmental parameters are normalized to obtain normalized historical environmental parameters. The mean of the normalized historical environmental parameters is then calculated to obtain the historical environmental coefficient.

[0128] Step S904: Generate coefficient curves based on historical environmental coefficients and historical working coefficients.

[0129] Optionally, a coefficient curve can be generated with the historical environmental coefficient as the horizontal axis and the historical working coefficient as the vertical axis.

[0130] Step S905: Obtain the real-time operating coefficient based on the real-time operating parameters, and obtain the real-time environmental coefficient based on the real-time environmental parameters.

[0131] Optionally, the real-time operating parameters are normalized to obtain real-time operating normalized parameters. The mean of the real-time operating normalized parameters is calculated to obtain the real-time operating coefficient.

[0132] Optionally, the real-time environmental parameters are normalized to obtain normalized real-time environmental parameters. The mean of the normalized real-time environmental parameters is then calculated to obtain the real-time environmental coefficients.

[0133] Step S906: In the coordinate system corresponding to the coefficient curve, determine the real-time points corresponding to the real-time working coefficient and the real-time environmental coefficient.

[0134] The horizontal axis of the real-time location represents the real-time environmental coefficient, and the vertical axis represents the real-time operational coefficient.

[0135] Step S907: Calculate the minimum value of the coefficient curve from the real-time location.

[0136] Step S908: If the minimum value is greater than the preset curve distance threshold, update the real-time working parameters according to the historical working parameters.

[0137] The curve distance threshold is a preset empirical value, which can be adjusted by technicians according to actual needs.

[0138] By employing the above technical solution, a coefficient curve representing normal operating conditions is constructed using historical data, and the distance between the points formed by real-time data and the curve is compared. When the deviation is too large, the real-time parameters are updated based on historical parameters, achieving self-calibration and optimization of operating parameters. This method enables the system to adapt to long-term changes in lawn conditions or machine performance, maintaining the effectiveness and adaptability of the blockage judgment model.

[0139] Based on the same inventive concept, this application provides a lawnmower channel clearing system, please refer to... Figure 10 The system includes: Acquisition module 1001 is used to acquire startup operations and real-time signals; The memory 1002 is used to store the program for the above-mentioned method of clearing the passage of the lawnmower; The processor 1003 can load and execute the program in the memory to implement the above-mentioned lawnmower channel clearing method.

[0140] By adopting the above technical solution, a microswitch installed in the grass discharge channel receives signals in real time, automatically identifying whether the channel is blocked. When a blockage is detected, the microswitch controls the grass plug aligned with the outlet to reciprocate, achieving automatic unblocking. This process requires no manual intervention, effectively maintaining the continuous unobstructed flow of the grass discharge channel and ensuring the continuous and stable operation of the lawnmower.

[0141] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0142] This application provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed as a lawnmower's channel clearing method.

[0143] Computer storage media include, for example, USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media that can store program code.

[0144] Based on the same inventive concept, this application provides a smart terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as a lawnmower channel clearing method.

[0145] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0146] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features unless specifically stated otherwise. That is, unless specifically stated otherwise, each feature is only one example of a series of equivalent or similar features.

Claims

1. A method of clearing a passageway of a lawnmower, characterised in that, The method comprises the following steps: in response to the starting operation of the mower, the mower is started; a real-time signal of a micro switch is obtained, the micro switch being arranged at a grass discharge passage; a clogging state of the mower is generated according to the real-time signal; in the case that the clogging state indicates that the grass discharge passage is clogged, a grass clogging plug is started to reciprocate in the grass discharge passage, the grass clogging plug being aligned with an outlet of the grass discharge passage; in the case that the number of reciprocations of the grass clogging plug reaches a preset number, the grass clogging plug is stopped.

2. The method of claim 1, wherein, The method of generating the clogging state of the mower according to the real-time signal comprises the following steps: real-time working parameters of the mower are obtained, the real-time working parameters comprising at least one of a blade rotating speed, a blade type, a number of blades and a cutting height; a vibration frequency of the mower is obtained according to the real-time working parameters; an escape speed of the mower is obtained according to the real-time working parameters; a time window length is calculated according to the vibration frequency and the escape speed; a continuous length of an opening signal is extracted from the real-time signal; in the case that the continuous length is greater than the time window length, the clogging state is set to be clogged; in the case that the continuous length is not greater than the time window length, the clogging state is set to be not clogged.

3. The passageway unclogging method of the lawn mower according to claim 2, characterized by, The method of calculating the time window length according to the vibration frequency and the escape speed comprises the following steps: a vibration period is calculated according to the vibration frequency; a first time window length is obtained by calculating a product of the vibration period and a preset coefficient; a passage length of the grass discharge passage is obtained; a second time window length is obtained by calculating a ratio of the passage length and the escape speed; the larger one of the first time window length and the second time window length is taken as the time window length.

4. The passageway unclogging method of the lawn mower according to claim 3, characterized by, After the number of reciprocations of the grass clogging plug reaches the preset number, the grass clogging plug is stopped, and the method further comprises the following steps: a starting number of the grass clogging plug and a starting time stamp are obtained; in the case that the starting number reaches a preset number, a time difference value of adjacent starting time stamps is calculated; if the time difference value is less than a preset difference threshold, the current power of the mower is increased; it is detected whether the grass clogging plug is started within a preset time length; if yes, the grass clogging plug is controlled to perform an obstacle clearing process, and an alarm signal is generated; if no, the current power of the mower is maintained.

5. The passageway unblocking method of the lawn mower according to claim 4, characterized by, The method of controlling the grass clogging plug to perform the obstacle clearing process comprises the following steps: the current power of the mower is decreased to a first preset power; the grass clogging plug is started, and the grass clogging plug is controlled to move a first preset distance in the grass discharge passage, the first preset distance being a distance from the micro switch to a first end of the grass discharge passage; the current power of the mower is increased to a second preset power, the second preset power being greater than the first preset power; the grass clogging plug is controlled to move a second preset distance in the grass discharge passage; the grass clogging plug is stopped.

6. The passageway unclogging method of the lawn mower according to claim 2, characterized by, The method of obtaining the escape speed of the mower according to the real-time working parameters comprises the following steps: real-time environmental parameters of the mower are obtained, the real-time environmental parameters comprising at least one of a lawn humidity, a lawn type and a lawn height; the real-time environmental parameters are converted into a real-time environmental parameter matrix; convert the real-time working parameters into a real-time working parameter matrix; splice the real-time environment parameter matrix and the real-time working parameter matrix to obtain a comprehensive parameter matrix; perform linear mapping processing on the comprehensive parameter matrix to obtain a comprehensive parameter score; determine the escape speed in a speed mapping table according to the comprehensive parameter score.

7. The passageway unblocking method of the lawnmower according to claim 6, characterized by, The method further comprises: obtain historical working parameters of the mower; obtain historical environment parameters corresponding to the historical working parameters; obtain a historical working coefficient according to the historical working parameters and a historical environment coefficient according to the historical environment parameters; generate a coefficient curve based on the historical environment coefficient and the historical working coefficient; obtain a real-time working coefficient according to the real-time working parameters and a real-time environment coefficient according to the real-time environment parameters; determine a real-time point corresponding to the real-time working coefficient and the real-time environment coefficient in a coordinate system corresponding to the coefficient curve; calculate a minimum value of the real-time point to the coefficient curve; if the minimum value is greater than a preset curve distance threshold, update the real-time working parameters according to the historical working parameters.

8. A passageway clearing system for a lawnmower, characterised in that, The system is used to execute the method for clearing the passageway of the mower according to any one of claims 1 to 7, comprising: an acquisition module for acquiring a starting operation and a real-time signal; a memory for storing a program of the method for clearing the passageway of the mower; a processor, the program in the memory can be loaded and executed by the processor and implement the method for clearing the passageway of the mower.

9. A smart terminal, characterized by comprise a memory and a processor, the memory has a computer program loaded and executed by the processor, the computer program can execute the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, store a computer program loaded and executed by the processor, the computer program can execute the method according to any one of claims 1 to 7.

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