A method and system for clearing a passageway of a lawn mower, an intelligent terminal and a storage medium

Abstract

The application relates to a method and system for unblocking a passage of a lawn mower, an intelligent terminal and a storage medium, and relates to the field of garden equipment. The method comprises the following steps: in response to a starting operation of the lawn mower, the lawn mower is started; a real-time signal of a micro switch is acquired, the micro switch is arranged at a grass discharging passage; a blockage state of the lawn mower is generated according to the real-time signal; in the case that the blockage state indicates that the lawn mower has been blocked, the grass blocking plug is started, the grass blocking plug reciprocates in the grass discharging passage, and the grass blocking plug is aligned with an outlet of the grass discharging passage; and when the number of movements of the grass blocking plug reaches a preset number, the grass blocking plug is stopped. The application has the effect of improving the unblocking efficiency of the lawn mower.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of garden equipment, in particular to a method and system for unblocking the passage of a lawn mower, an intelligent terminal and a storage medium. BACKGROUND

[0002] In the fields of garden maintenance, agricultural production and household yard management, lawn mowers play a crucial role. With the development of society and the improvement of people's requirements for living environment, the use scenarios of lawn mowers are increasingly widespread, not only indispensable in large-area lawn trimming, but also commonly used tools for household beautification of courtyards.

[0003] In related technologies, in order to determine whether the grass discharge passage of a lawn mower is blocked and solve the blocking problem, the following methods are usually adopted: first, the operator relies on experience to roughly determine whether it is blocked by observing the working state of the lawn mower, listening to the sound of the machine running, etc., and manually stops the machine for cleaning if it is felt to be blocked; second, a simple sensor is installed to issue an alarm when the pressure change in the grass discharge passage or the material accumulation reaches a certain degree, reminding the operator to stop the machine for processing.

[0004] For the related technologies in the above, relying on the experience of the operator to judge the blocking condition is not accurate enough, which may lead to misjudgment or omission, resulting in failure to discover the blocking problem in time, affecting the normal operation of the lawn mower and reducing the work efficiency. The simple sensor detection can only issue an alarm and cannot automatically unblock the blocked grass discharge passage, still requiring manual stop and cleaning, which is tedious and time-consuming. SUMMARY

[0005] In order to improve the unblocking efficiency of the lawn mower, the present application provides a method and system for unblocking the passage of a lawn mower, an intelligent terminal and a storage medium.

[0006] In a first aspect, the present application provides a method and system for unblocking the passage of a lawn mower, an intelligent terminal and a storage medium, which adopt the following technical solutions:

[0007] A method for unblocking the passage of a lawn mower, comprising:

[0008] In response to a start operation of the lawn mower, the lawn mower is started;

[0009] An real-time signal of a micro switch is acquired, the micro switch being arranged at the grass discharge passage;

[0010] A blocking state of the lawn mower is generated according to the real-time signal;

[0011] In the case where the blocking state indicates that the grass discharge passage is blocked, the grass blocking plug is started to reciprocate in the grass discharge passage, the grass blocking plug being aligned with the outlet of the grass discharge passage;

[0012] When the number of movements of the grass blocking plug reaches a preset number, the grass blocking plug is closed.

[0013] By using the above technical scheme, the microswitch arranged in the grass discharging channel is used to obtain signals in real time, so that whether the channel is blocked can be automatically identified. When it is determined that the channel is blocked, the grass blocking plug aligned with the outlet is controlled to move back and forth, so that the automatic dredging of the blockage is realized. The process does not require manual intervention, and the continuous smoothness of the grass discharging channel is effectively maintained, and the continuous and stable operation of the mower is ensured.

[0014] Optionally, real-time working parameters of the mower are obtained, and the real-time working parameters include at least one of a blade rotating speed, a blade type, a number of blades, and a cutting height.

[0015] A vibration frequency of the mower is obtained according to the real-time working parameters.

[0016] An escape speed of the mower is obtained according to the real-time working parameters.

[0017] A time window length is calculated according to the vibration frequency and the escape speed.

[0018] A continuous length of the opening signal is extracted from the real-time signal.

[0019] When the continuous length is greater than the time window length, the blockage state is set to be blocked.

[0020] When the continuous length is not greater than the time window length, the blockage state is set to be unblocked.

[0021] By using the above technical scheme, the vibration frequency and the escape speed are calculated by comprehensively considering the real-time working parameters of the mower, and then the adaptive time window length is obtained. The continuous length of the microswitch signal is compared with the time window to determine the blockage state, so that the blockage determination not only depends on the switch signal, but also closely combines with the actual working state of the machine, and the accuracy and reliability of the state generation are significantly improved.

[0022] Optionally, a vibration period is calculated according to the vibration frequency.

[0023] A product of the vibration period and a preset coefficient is calculated to obtain a first time window length.

[0024] A channel length of the grass discharging channel is obtained.

[0025] A ratio of the channel length to the escape speed is calculated to obtain a second time window length.

[0026] The larger one of the first time window length and the second time window length is taken as the time window length.

[0027] By adopting the technical scheme, the first time window length based on the vibration period and the second time window length based on the channel length and the escape speed are calculated respectively, and the larger one is taken as the final time window length. The setting manner makes the time window consider the mechanical vibration characteristics and the grass clippings discharge process at the same time, is more scientific and reasonable, and ensures the fault tolerance and reliability of the blockage state judgment under different working conditions.

[0028] Optionally, the number of starts of the grass blockage plug and a start timestamp are acquired.

[0029] In a case where the number of starts reaches a preset number of times, a time difference value of adjacent start timestamps is calculated.

[0030] If the time difference value is less than a preset difference threshold value, the current power of the lawn mower is increased.

[0031] It is detected whether the grass blockage plug is started within a preset time length.

[0032] If yes, the grass blockage plug is controlled to perform obstacle removal processing, and an alarm signal is generated.

[0033] If no, the current power of the lawn mower is maintained.

[0034] By adopting the technical scheme, the number of starts and the timestamp are recorded, and the power is automatically increased to enhance the power when the grass blockage plug is frequently started. Meanwhile, it is detected whether the grass blockage plug is frequently started and triggers the obstacle removal processing and the alarm, so that intelligent management and active early warning of abnormal working conditions are realized. The method can not only cope with instantaneous blockage, but also can adjust the power and perform targeted processing on potential or continuous blockage problems, to prevent the problems from being worsened.

[0035] Optionally, the current power of the lawn mower is decreased to a first preset power.

[0036] The grass blockage plug is started, and the grass blockage plug is controlled to move in the grass discharge channel by a first preset distance, the first preset distance being a distance from the micro switch to a first end of the grass discharge channel.

[0037] The current power of the lawn mower is increased to a second preset power, the second preset power being greater than the first preset power.

[0038] The grass blockage plug is controlled to move in the grass discharge channel by a second preset distance.

[0039] The grass blockage plug is closed.

[0040] By adopting the technical scheme, the obstacle removal process adopts a cooperative control strategy of reducing power first and then increasing power, and the grass blocking plug is instructed to move a specific distance. This step-by-step and power-adjusting dredging method can specifically clean the area from the microswitch position to the end of the channel, and is particularly suitable for stubborn blockages or foreign matter jamming, thereby effectively improving the success rate of dredging.

[0041] Optionally, the real-time environment parameters of the mower are acquired, and the real-time environment parameters include at least one of lawn humidity, lawn type, and lawn height.

[0042] The real-time environment parameters are converted into a real-time environment parameter matrix.

[0043] The real-time working parameters are converted into a real-time working parameter matrix.

[0044] The real-time environment parameter matrix and the real-time working parameter matrix are spliced to obtain a comprehensive parameter matrix.

[0045] The comprehensive parameter matrix is subjected to linear mapping processing to obtain a comprehensive parameter score.

[0046] The escape speed is determined in a speed mapping table according to the comprehensive parameter score.

[0047] By adopting the technical scheme, the lawn humidity, type, and other real-time environment parameters are introduced, and are converted into a matrix together with the working parameters for fusion and linear mapping, and finally the escape speed is determined by table lookup. This method makes the acquisition of the escape speed no longer depend only on the state of the machine itself, but also fully considers the influence of the external working environment, so that the speed value is closer to the actual value, and provides more accurate input for subsequent calculation.

[0048] Optionally, historical working parameters of the mower are acquired.

[0049] The historical working parameters correspond to historical environment parameters.

[0050] A historical working coefficient is obtained according to the historical working parameters, and a historical environment coefficient is obtained according to the historical environment parameters.

[0051] A coefficient curve is generated based on the historical environment coefficient and the historical working coefficient.

[0052] A real-time working coefficient is obtained according to the real-time working parameters, and a real-time environment coefficient is obtained according to the real-time environment parameters.

[0053] In a coordinate system corresponding to the coefficient curve, a real-time point corresponding to the real-time working coefficient and the real-time environment coefficient is determined.

[0054] calculating a minimum value of the real-time point to the coefficient curve;

[0055] in a case where the minimum value is greater than a preset curve distance threshold, updating the real-time working parameter according to the historical working parameter.

[0056] By adopting the technical solution, the coefficient curve representing the normal working condition is constructed through historical data, and the point formed by the real-time data is compared with the curve in distance. When the deviation is too large, the real-time parameter is updated according to the historical parameter, so that the self-calibration and optimization of the working parameter are realized. The method can adapt to the long-term change of the lawn condition or the machine performance, and maintain the effectiveness and adaptability of the blockage judgment model.

[0057] In a second aspect, the application provides a passageway dredging system of a lawn mower, which adopts the following technical solution:

[0058] A passageway dredging system of a lawn mower, comprising:

[0059] An acquisition module, configured to acquire a starting operation and a real-time signal;

[0060] A memory, configured to store a program of the passageway dredging method of the lawn mower;

[0061] A processor, the program in the memory can be loaded and executed by the processor, and the passageway dredging method of the lawn mower is implemented.

[0062] By adopting the technical solution, the microswitch arranged in the grass discharge passageway acquires the signal in real time, which can automatically identify whether the passageway is blocked. When it is determined that the passageway is blocked, the grass blockage plug aligned with the outlet is controlled to reciprocate, so that the automatic dredging of the blockage is realized. The process does not require manual intervention, effectively maintains the continuous smoothness of the grass discharge passageway, and ensures the continuous and stable work of the lawn mower.

[0063] In a third aspect, the application provides an intelligent terminal, which adopts the following technical solution:

[0064] An intelligent terminal, comprising a memory and a processor, and the memory stores a computer program capable of being loaded and executed by the processor to implement the method in any one of the above.

[0065] In a fourth aspect, the application provides a computer storage medium, which can store a corresponding program, has the characteristics of facilitating the improvement of the dredging efficiency of the lawn mower, and adopts the following technical solution:

[0066] A computer readable storage medium, storing a computer program capable of being loaded and executed by a processor to implement any one of the passageway dredging methods of the lawn mower.

[0067] In summary, the application has at least one of the following beneficial technical effects:

[0068] 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.

[0069] 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.

[0070] 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

[0071] Figure 1 This is a flowchart illustrating a method for clearing the passage of a lawnmower, as provided in an embodiment of this application.

[0072] Figure 2 This is a schematic diagram of a lawnmower provided in an embodiment of this application. Figure 1 .

[0073] Figure 3 This is a schematic diagram of a lawnmower provided in an embodiment of this application. Figure 2 .

[0074] Figure 4 This is a flowchart illustrating a method for generating a blocked state according to an embodiment of this application.

[0075] Figure 5 This is a flowchart illustrating a method for generating the length of a time window provided in an embodiment of this application.

[0076] Figure 6 This is a flowchart illustrating a method for detecting the channel of a lawnmower, as provided in an embodiment of this application.

[0077] 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.

[0078] Figure 8is a flowchart of a method for calculating an escape velocity according to an embodiment of the present application.

[0079] Figure 9 is a flowchart of a method for updating a working parameter according to an embodiment of the present application.

[0080] Figure 10 is a schematic diagram of a passage dredging system of a mower according to an embodiment of the present application. DETAILED DESCRIPTION

[0081] For the purpose of making the present application, technical solutions and advantages clearer, the following will combine the accompanying drawings and specific embodiments to further describe the present application in detail. It should be understood that the specific embodiments described herein are only used to explain the present application, and not used to limit the present application. Figure 1 to Figure 10 and embodiments, the present application will be further described in detail. It should be understood that the specific embodiments described herein are only used to explain the present application, and not used to limit the present application.

[0082] The embodiment of the present application discloses a method for dredging a passage of a mower. Referring to Figure 1 , the method comprises:

[0083] Step S101: in response to a starting operation of the mower, the mower is started.

[0084] The starting operation is used to start the mower. For example, a power switch and a mode button are arranged on the mower. After the power switch on the mower is triggered, the mower enters a standby state. After the mode button on the mower is triggered, the mower is started based on the working mode corresponding to the mode button. For example, the mode button comprises a low gear button, a middle gear button and a high gear button, and the output power of the mower increases in the order of the low gear button, the middle gear button and the high gear button.

[0085] Step S102: a real-time signal of a micro switch is acquired, and the micro switch is arranged at the grass discharging passage.

[0086] For example, referring to Figure 2 , a grass clippings accumulation arm 22 is arranged in the grass discharging passage 21 of the mower, a first end of the grass clippings accumulation arm 22 is rotatably connected at an outlet of the grass discharging passage 21, and the first end of the grass clippings accumulation arm 22 is further connected with a micro switch 23. When a certain amount of grass clippings 25 exists on a second end of the grass clippings accumulation arm 22, the second end of the grass clippings accumulation arm 22 is pressed down, and the first end rises, which makes the micro switch 23 be triggered and turned on. When there is no or less grass clippings on the second end of the grass clippings accumulation arm 22, the second end of the grass clippings accumulation arm 22 keeps rising, and the first end keeps being pressed down, which makes the micro switch 23 be in an off state. Therefore, Figure 2 the structure shown in the figure can judge whether the grass clippings 21 exist in the grass discharging passage 21 and whether the grass discharging passage 21 is blocked by judging the opening and closing of the micro switch 23.

[0087] The real-time signal is used to represent the opening and closing state of the micro switch, and includes an opening signal and a closing signal. The opening signal indicates that the micro switch is in an open state, and the closing signal indicates that the micro switch is in a closed state.

[0088] Step S103: generating a blockage state of the mower according to the real-time signal.

[0089] The blockage state is used to indicate whether the grass discharge channel of the mower is blocked. For example, the blockage state includes two states: blocked and unblocked.

[0090] In an optional embodiment, when the real-time signal indicates that the micro switch is closed, the blockage state is set to unblocked; and when the real-time signal indicates that the micro switch is open, the blockage state is set to blocked.

[0091] Step S104: when the blockage state indicates that the grass discharge channel is blocked, opening the grass blockage plug to reciprocate the grass blockage plug in the grass discharge channel, and aligning the grass blockage plug with the outlet of the grass discharge channel.

[0092] For example, please refer to Figure 3 When the grass discharge channel 21 is blocked, the grass blockage plug 24 is controlled to reciprocate in the grass discharge channel 21, so that the accumulated grass clippings in the grass discharge channel 21 become loose under the action of the grass blockage plug 24, and are more easily discharged.

[0093] When the blockage state indicates that the grass discharge channel is unblocked, the grass blockage plug is kept closed.

[0094] Step S105: closing the grass blockage plug when the number of movements of the grass blockage plug reaches a preset number.

[0095] The preset number is a preset empirical value. For example, the preset number is 3 or 5.

[0096] By using the above technical solution, the real-time signal obtained by the micro switch arranged in the grass discharge channel can automatically identify whether the channel is blocked. When it is determined that the channel is blocked, the grass blockage plug aligned with the outlet is controlled to reciprocate, thereby realizing automatic unblocking of the blockage. This process does not require manual intervention, effectively maintains the continuous smoothness of the grass discharge channel, and ensures the continuous and stable operation of the mower.

[0097] In actual scenarios, the micro switch itself is relatively sensitive and is easily triggered by external environment. On the one hand, the mower blade of the mower brings a relatively large vibration to the mower when working, and the vibration may cause the micro switch to be closed accidentally. On the other hand, when the grass cut by the mower is relatively wet, the cut grass clippings are easy to form grass clumps, and the grass clumps will also trigger the micro switch when passing through the grass discharge channel, causing the micro switch to be closed accidentally. To solve the accidental closing of the micro switch as described above, an embodiment of the present application discloses a method for generating a blockage state. Referring to Figure 4 , the method comprises:

[0098] Step S401: obtaining real-time working parameters of the mower, the real-time working parameters comprising at least one of blade rotation speed, blade type, blade quantity and cutting height.

[0099] The blade rotation speed refers to the number of revolutions per minute of the mower blade. The blade type refers to the type of blade used by the mower blade. The blade quantity refers to the number of blades in the mower blade. The cutting height refers to the height of the grass stems left after the mower cuts the grass, which can also be considered as the height of the mower blade from the ground.

[0100] Step S402: obtaining the vibration frequency of the mower according to the real-time working parameters.

[0101] Optionally, a frequency reference table is pre-set, the frequency reference table being used to record the corresponding relationship between the working parameters and the vibration frequency. The vibration frequency corresponding to the real-time working parameters is determined in the frequency reference table.

[0102] In some other embodiments, if a frequency sensor is provided in the mower, the vibration frequency can be directly obtained by the frequency sensor.

[0103] Step S403: obtaining the escape speed of the mower according to the real-time working parameters.

[0104] The escape speed refers to the moving speed of the grass clippings or grass clumps in the grass discharge channel. The present application provides a method for calculating the escape speed, the specific content of which can be referred to the embodiment shown in Figure 8 , which will not be described here again.

[0105] Step S404: calculating the time window length according to the vibration frequency and the escape speed.

[0106] The time window length is used to measure whether the opening of the micro switch is accidental. The calculation method of the time window length can be referred to the embodiment shown in Figure 5 , which will not be described here again.

[0107] Step S405: extracting the continuous length of the opening signal from the real-time signal.

[0108] The continuous length refers to a continuous duration of the opening signal in the real-time signal. For example, the real-time signal is a binary signal including 0 and 1, the real-time signal represents the closing signal when the value of the real-time signal is 0, and the real-time signal represents the opening signal when the value of the real-time signal is 1. Therefore, the continuous length of the opening signal with a continuous value of 1 in the real-time signal can be calculated to obtain the continuous length.

[0109] In step S406, when the continuous length is greater than the length of the time window, the clogging state is set to clogged.

[0110] When the continuous length is greater than the length of the time window, it indicates that the micro switch is in a closed state for a long time. The long-time closure is not accidental closure, and it indicates that the grass discharge channel is indeed clogged.

[0111] In step S407, when the continuous length is not greater than the length of the time window, the clogging state is set to unclogged.

[0112] When the continuous length is not greater than the length of the time window, it indicates that the micro switch only produces a short-time closure. The closure is caused by the vibration of the mower or the grass passing through the grass discharge channel, and is not caused by the clogging of the grass discharge channel. Therefore, the clogging state is set to unclogged.

[0113] By using the above technical solution, the vibration frequency and the escape speed are calculated by comprehensively considering the real-time working parameters of the mower, and then the adaptive length of the time window is obtained. The continuous length of the micro switch signal is compared with the length of the time window to determine the clogging state, so that the clogging determination depends not only on the switch signal but also on the actual working state of the machine, and the accuracy and reliability of the state generation are significantly improved.

[0114] The embodiment of the application discloses a method for generating the length of a time window. Figure 5 The method comprises the following steps.

[0115] In step S501, a vibration period is calculated according to a vibration frequency.

[0116] For example, the reciprocal of the vibration frequency is calculated to obtain the vibration period.

[0117] In step S502, a product of the vibration period and a preset coefficient is calculated to obtain a first length of a time window.

[0118] The preset coefficient is a preset empirical value, and a technician can adjust the specific value of the preset coefficient according to actual needs. For example, the preset coefficient is 2 or 3.

[0119] The first length of the time window is used to determine whether the closure of the micro switch is caused by the vibration of the mower.

[0120] Step S503: Obtain the channel length of the grass discharging channel.

[0121] The channel length refers to the total length or partial length of the grass discharging channel. The channel length can be pre-stored in the memory.

[0122] Step S504: Calculate the ratio of the channel length to the escape speed to obtain the second time window length.

[0123] The second time window length is used to determine whether the closing of the micro switch is caused by the grass clumps passing through the grass discharging channel.

[0124] Step S505: Take the larger value between the first time window length and the second time window length as the time window length.

[0125] Since the first time window length is used to determine whether the closing of the micro switch is caused by the vibration of the mower, and the second time window length is used to determine whether the closing of the micro switch is caused by the grass clumps passing through the grass discharging channel, in order to ensure the accuracy of the judgment, the time window length needs to be long enough to avoid misjudgment.

[0126] By using the above technical solution, the first time window length based on the vibration period and the second time window length based on the channel length and the escape speed are calculated respectively, and the larger value is taken as the final time window length. This setting method enables the time window to consider both the mechanical vibration characteristics and the grass clippings discharging process, making it more scientific and reasonable, and ensuring the fault tolerance and reliability of the blockage state judgment under different working conditions.

[0127] In actual scenarios, larger grass clumps in the grass discharging channel will continuously pass through the micro switch, causing the micro switch to be continuously closed for a period of time. However, this situation is not that the grass clippings block the grass discharging channel, but that the power of the mower is insufficient, causing the cut grass to not be completely broken, forming a certain size of grass clumps. Therefore, the present application discloses a channel detection method for a mower. Referring to Figure 6 , the method comprises:

[0128] Step S601: Obtain the number of times the grass blockage plug is started and the start time stamp.

[0129] The number of starts is the number of times the grass blockage plug is started within a period of time.

[0130] The start time stamp is used to indicate the time of each start of the grass blockage plug.

[0131] Step S602: Calculate the time difference between adjacent start time stamps when the number of starts reaches a preset number.

[0132] The preset number of times is a preset empirical value, and a technician can adjust the specific value of the preset number of times according to actual needs. For example, the preset number of times is 3.

[0133] The time difference value is used to represent the time interval between two adjacent startings of the grass plug. For example, the difference between the adjacent starting time stamps is calculated to obtain a time difference set. The mean value of each element in the time difference set is calculated to obtain the time difference value.

[0134] Step S603: If the time difference value is less than the preset difference threshold, the current power of the mower is increased.

[0135] The preset difference threshold is a preset empirical value, and a technician can adjust the specific value of the preset difference threshold according to actual needs. For example, the preset difference threshold is 2 seconds.

[0136] For example, the product of the current power and the promotion ratio is calculated to obtain an adjusted power. If the adjusted power is greater than the upper limit of the power of the mower, the current power of the mower is adjusted to the aforementioned upper limit of the power. If the adjusted power is not greater than the upper limit of the power of the mower, the current power of the mower is adjusted to the aforementioned adjusted power. The promotion ratio can be 15%.

[0137] Step S604: Whether the grass plug is started within a preset time length is detected.

[0138] If the grass plug is started within the preset time length, step S605 is performed.

[0139] If the grass plug is not started within the preset time length, step S606 is performed.

[0140] Step S605: If yes, the grass plug is controlled to perform the obstacle removal process, and an alarm signal is generated.

[0141] If the grass plug is started within the preset time length, it indicates that after the current power of the mower is increased, there is indeed a blockage in the grass discharge channel, and because the grass plug has been started many times in succession, but the blockage in the grass discharge channel has not been removed, it can be judged that the blockage in the grass discharge channel is more serious. Therefore, the blockage in the grass discharge channel needs to be removed through the obstacle removal process.

[0142] The alarm signal can be in the form of sound and light to remind the operator of the mower. Further, the alarm signal can also be sent to the administrator terminal.

[0143] Step S606: If no, the current power of the mower is maintained.

[0144] If the clogging plug is not started within the preset time length, it indicates that the clogging in the grass discharge channel has been eliminated after the current power of the mower is increased, and thus it is indicated that the previous clogging in the grass discharge channel is caused by insufficient power of the mower, and thus the current power of the mower is maintained to ensure normal operation of the mower.

[0145] In some other embodiments, if the clogging plug is started within the preset time length, but the starting time length is less than the time difference value, the current power of the mower is continuously increased, and step S604 is further repeatedly executed to determine whether the increased amount of the current power of the mower is insufficient.

[0146] By adopting the technical solution, the starting time and the timestamp are recorded, the power is automatically increased to enhance the power in the case of frequent starting. Meanwhile, whether the clogging plug is always open or not is detected, and the obstacle removal process and the alarm are triggered, so that intelligent management and active early warning of abnormal working conditions are realized. The method can not only cope with instantaneous clogging, but also adjust the power and perform targeted processing on potential or continuous clogging problems to prevent the problems from worsening.

[0147] In the following embodiments, an execution process of the obstacle removal process will be disclosed. Embodiments of the application disclose a channel detection method two of a mower. Referring to Figure 7 , the method comprises:

[0148] Step S701: The current power of the mower is decreased to a first preset power.

[0149] The first preset power is a preset empirical value. Optionally, the first preset power is the minimum working power of the mower.

[0150] Step S702: The clogging plug is started, and the clogging plug is controlled to move in the grass discharge channel by a first preset distance, and the first preset distance is the distance from the micro switch to the first end of the grass discharge channel.

[0151] Since the obstacle removal process needs to be performed in this embodiment, the clogging plug needs to be controlled to move in the grass discharge channel for a long enough distance, so that the grass clumps causing the clogging return to the mower cutterhead along the grass discharge channel, and the mower cutterhead performs secondary cutting on the grass clumps. Meanwhile, the current power of the mower is decreased to the first preset power, so that the amount of grass clippings generated by the mower cutterhead is reduced.

[0152] Step S703: The current power of the mower is increased to a second preset power, and the second preset power is greater than the first preset power.

[0153] The second preset power is a preset empirical value. Optionally, the second preset power is the maximum working power of the mower.

[0154] Step S704: The clogging plug is controlled to move in the grass discharge channel by a second preset distance.

[0155] The second preset distance is a preset empirical value, and a technician can adjust the specific value of the second preset distance according to actual needs. For example, the value of the second preset distance is 10 cm.

[0156] Step S705: closing the grass blocking plug.

[0157] Optionally, the grass blocking plug is controlled to move away from the grass discharging channel.

[0158] By adopting the above technical solution, the obstacle clearing process adopts a cooperative control strategy of first reducing power and then increasing power, and instructs the grass blocking plug to move a specific distance. This step-by-step and power-adjusted dredging method can specifically clean the area from the microswitch position to the end of the channel, and is particularly suitable for processing stubborn blockages or foreign matter jamming, effectively improving the success rate of dredging.

[0159] Embodiments of the present application disclose a method for calculating an escape speed. Referring to Figure 8 The method comprises:

[0160] Step S801: acquiring real-time environment parameters of the lawn mower, the real-time environment parameters comprising at least one of lawn humidity, lawn type, and lawn height.

[0161] The lawn humidity refers to the environmental humidity of the lawn where the lawn mower is located. The lawn type is used to describe the type of grass in the lawn. The lawn height refers to the height of the grass in the lawn.

[0162] Optionally, the real-time environment parameters can be manually input by a technician.

[0163] Step S802: converting the real-time environment parameters into a real-time environment parameter matrix.

[0164] The real-time environment parameter matrix is a matrix for reflecting environmental information. Optionally, the real-time environment parameters are normalized and arranged in a preset order to form the real-time environment parameter matrix.

[0165] Step S803: converting real-time working parameters into a real-time working parameter matrix.

[0166] The real-time working parameter matrix is a matrix for reflecting the internal working state of the lawn mower. Optionally, the real-time working parameters are normalized and arranged in a preset order to form the real-time working parameter matrix.

[0167] Step S804: splicing the real-time environment parameter matrix and the real-time working parameter matrix to obtain a comprehensive parameter matrix.

[0168] Optionally, the real-time environment parameter matrix and the real-time working parameter matrix are connected in the horizontal direction to form the comprehensive parameter matrix.

[0169] Step S805: Linear mapping processing is performed on the comprehensive parameter matrix to obtain a comprehensive parameter score.

[0170] The linear mapping processing is used to fuse the features in the comprehensive parameter matrix into a single score.

[0171] Step S806: According to the comprehensive parameter score, an escape speed is determined in a speed mapping table.

[0172] The speed mapping table is a query table that is prepared in advance through experiments, simulations, or empirical data. It establishes a correspondence between the range of the comprehensive parameter score and the recommended value of the escape speed.

[0173] By adopting the above technical solution, by introducing real-time environmental parameters such as lawn humidity and type, and converting them into a matrix together with the working parameters for fusion and linear mapping, the escape speed is finally determined by looking up the table. This method makes the acquisition of the escape speed no longer rely on the machine's own state, but also fully considers the influence of the external working environment, so that the speed value is closer to the actual situation, providing more accurate input for subsequent calculation.

[0174] The embodiment of the application discloses a working parameter updating method. Referring to Figure 9 , the method comprises:

[0175] Step S901: Obtain historical working parameters of the lawn mower.

[0176] The historical working parameters are the working parameters recorded by the lawn mower in a historical period. Optionally, the historical working parameters are recorded in a storage.

[0177] Step S902: Obtain historical environmental parameters corresponding to the historical working parameters.

[0178] The historical environmental parameters are the environmental parameters when the lawn mower works in the historical period. Optionally, the historical environmental parameters are recorded in the storage.

[0179] Step S903: Obtain a historical working coefficient according to the historical working parameters, and obtain a historical environmental coefficient according to the historical environmental parameters.

[0180] Optionally, the historical working parameters are normalized to obtain historical working normalized parameters. The mean value of the historical working normalized parameters is calculated to obtain the historical working coefficient.

[0181] Optionally, the historical environmental parameters are normalized to obtain historical environmental normalized parameters. The mean value of the historical environmental normalized parameters is calculated to obtain the historical environmental coefficient.

[0182] Step S904: Generate a coefficient curve based on the historical environmental coefficient and the historical working coefficient.

[0183] Optionally, a coefficient curve is generated with the historical environment coefficient as the horizontal axis and the historical work coefficient as the vertical axis.

[0184] Step S905: Obtain a real-time work coefficient according to a real-time work parameter, and obtain a real-time environment coefficient according to a real-time environment parameter.

[0185] Optionally, the real-time work parameter is normalized to obtain a real-time work normalized parameter. The mean of the real-time work normalized parameter is calculated to obtain the real-time work coefficient.

[0186] Optionally, the real-time environment parameter is normalized to obtain a real-time environment normalized parameter. The mean of the real-time environment normalized parameter is calculated to obtain the real-time environment coefficient.

[0187] Step S906: In the coordinate system corresponding to the coefficient curve, a real-time point corresponding to the real-time work coefficient and the real-time environment coefficient is determined.

[0188] The horizontal coordinate of the real-time point is the real-time environment coefficient, and the vertical coordinate is the real-time work coefficient.

[0189] Step S907: Calculate the minimum value of the real-time point to the coefficient curve.

[0190] Step S908: In the case where the minimum value is greater than a preset curve distance threshold, update the real-time work parameter according to the historical work parameter.

[0191] The curve distance threshold is a preset empirical value, which can be adjusted by the technician according to the actual demand.

[0192] By adopting the above technical solution, the coefficient curve representing the normal working condition is constructed through historical data, and the point formed by the real-time data is compared with the curve in distance. When the deviation is too large, the real-time parameter is updated according to the historical parameter, so that the self-calibration and optimization of the work parameter are realized. The method can adapt to the long-term changes of the lawn condition or the machine performance, and maintain the effectiveness and adaptability of the blockage judgment model.

[0193] Based on the same inventive concept, the embodiment of the present application provides a passageway dredging system of a lawn mower, please refer to Figure 10 The system comprises:

[0194] The acquisition module 1001 is configured to acquire a starting operation and a real-time signal.

[0195] The storage 1002 is configured to store the program of the passageway dredging method of the lawn mower.

[0196] The processor 1003 is configured to load and execute the program in the storage, and implement the passageway dredging method of the lawn mower.

[0197] By adopting the technical scheme, the microswitch arranged in the grass discharging channel is used to acquire signals in real time, so that whether the channel is blocked can be automatically identified. When it is determined that the channel is blocked, the reciprocating movement of the grass blocking plug is controlled, so that the automatic dredging of the blockage is realized. The process does not need manual intervention, and the continuous smoothness of the grass discharging channel is effectively maintained, and the continuous and stable work of the mower is ensured.

[0198] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional modules is taken as an example, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is 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 refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0199] The embodiment of the present application provides a computer readable storage medium, which stores a computer program capable of being loaded by a processor and executing a channel dredging method of a mower.

[0200] The computer storage medium includes, for example, a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media capable of storing program codes.

[0201] Based on the same inventive concept, the embodiment of the present application provides an intelligent terminal, which comprises a memory and a processor, and the memory stores a computer program capable of being loaded by the processor and executing a channel dredging method of a mower.

[0202] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional modules is taken as an example, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is 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 refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0203] The above are preferred embodiments of the present application, and do not limit the protection scope of the present application, any feature disclosed in the specification (including the abstract and the drawings) can be replaced by other equivalent or similar features unless specifically described. That is, each feature is only an example of a series of equivalent or similar features unless specifically described.

Claims

1. A method of clearing a passageway of a lawnmower, characterised in that, include: 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 road is blocked, 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; When the number of times the weed plug is moved reaches a preset number, the weed plug is closed. The step of generating the blockage status of the lawnmower based on the real-time signal includes: 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.

2. The passageway unclogging method of the lawn mower according to claim 1, characterized by, The step of calculating the time window length based on the vibration frequency and the escape velocity includes: Calculate the vibration period 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.

3. The passageway unclogging method of the lawn mower according to claim 2, characterized by, When the number of times the weed plug is moved reaches a preset number, after closing the weed plug, the process further includes: Get the number of startups and the startup timestamp; 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.

4. The passageway unclogging method of the lawn mower according to claim 3, characterized by, The control of the weed blockage to perform the obstacle removal process includes: Reduce the current power of the lawnmower to the 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.

5. The passageway unclogging method of the lawn mower according to claim 1, characterized by, The step of obtaining the exit velocity of the lawnmower based on the real-time operating parameters includes: 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 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.

6. The passageway unblocking method of the lawnmower according to claim 5, 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.

7. 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 6, 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.

8. 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 6.

9. A computer-readable storage medium, characterized in that, a computer program loaded and executed by the processor, the computer program can execute the method according to any one of claims 1 to 6.

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