Lawn mower and control method thereof

Abstract

The invention provides a mower capable of working on a slope surface and a control method of the mower. The mower comprises a frame; the cutting assembly comprises at least one cutting knife and a cutting knife driving source; a cutting knife surface is formed on the at least one cutting knife; the walking assembly comprises a plurality of walking wheels and a walking driving source, and the multiple walking wheels are provided with a height lifting mechanism in an independent mode or a grouping mode; the slope surface detection device is used for detecting the inclination angle of the slope surface; the wheel control device is used for controlling the height lifting mechanism to carry out height lifting adjustment on the corresponding walking wheel according to the detected inclination angle and based on the mowing mode; the cutting knife surface is parallel to the slope surface so as to cut the slope surface, or the cutting knife surface formed by the at least one cutting knife is parallel to the flat ground so as to cut the flat ground, so that the relatively flat and uniform mowing surfaces including the flat ground and the slope surface are ensured, and the flat ground and the slope surface are naturally transited; and the aesthetics of the mowing surface and the use experience of the user are improved.

Description

Technical Field

[0001] This disclosure relates to the field of lawnmower technology, and more particularly to a lawnmower suitable for operation on slopes and its control method. Background Technology

[0002] A lawnmower is a mechanical tool used to trim lawns, vegetation, etc. Generally, a lawnmower can be composed of a frame, wheels, a walking mechanism, a cutter head, cutters, and a cutter control mechanism. The cutters can rotate at high speed under the control of the cutter control mechanism to cut grass, saving the working time of lawnmower workers, reducing a lot of manpower, and improving work efficiency.

[0003] Traditional lawnmowers, primarily backpack mowers, handheld mowers, and push mowers, have low levels of automation and low work efficiency. To address this, the industry has introduced new products such as stand-up mowers and ride-on mowers, which offer longer battery life, more flexible operation, and higher work efficiency, making them well-suited for these working conditions. Please refer to [link / reference]. Figure 15 The image shown is a schematic diagram of a ride-on lawnmower in one embodiment of a related technology. Figure 15 As shown, the ride-on lawnmower 2 includes a frame 21, wheels 22, a drive mechanism, a cutter blade 23, and a cutter blade control mechanism. Generally, lawnmowers such as stand-up or ride-on mowers can be equipped with two, three, four, or more wheels. Taking four wheels as an example... Figure 15 As shown, the four wheels can be arranged in pairs facing each other, that is, two wheels in front and two wheels behind. The two wheels in front can be called the front wheels, and the two wheels behind can be called the rear wheels. In some embodiments of the first aspect, the two front wheels can be used for steering, and the two rear wheels can be used for driving. In some embodiments of the first aspect, all four wheels can be used as drive wheels.

[0004] Based on energy source, lawnmowers are currently mainly divided into two types: gasoline-powered and electric. Compared to gasoline-powered lawnmowers that use gasoline or diesel, electric lawnmowers that use batteries (e.g., lead-acid or lithium batteries) have significant advantages: all-weather zero emissions, zero fuel consumption, low noise, and simple maintenance (no gasoline, no engine oil, no air filter, no spark plugs, no fuel storage, etc.). Furthermore, gasoline-powered lawnmowers have a complex mechanical structure, requiring a differential gear for drive wheel control; while electric lawnmowers use electric motors instead of a gasoline engine, allowing for individual control of each drive wheel via the motor. This enables movement control such as straight-ahead, reverse, turning, and zero-steering, reducing the overall structural complexity and making the vehicle more flexible to control.

[0005] However, the height adjustment of multiple wheels on existing lawnmowers is generally integrated and adjustable in stages, allowing adjustment according to the required lawn height. This means the height of all wheels remains uniform. This design may present problems in practical applications: when mowing sloping lawns, such as on a golf course, the height adjustment is only achieved when all wheels are on the slope. Figure 16 As shown, the cutting blade of the lawnmower is parallel to the slope surface, thus ensuring that the cut lawn surface remains parallel to the slope. However, when not all wheels of the lawnmower travel on the slope surface, for example, as... Figure 17 As shown, the left front and rear wheels of the lawnmower travel on a slope while the right front and rear wheels travel on flat ground, or, as... Figure 18 As shown, the left front and rear wheels of the lawnmower travel on flat ground while the right front and rear wheels travel on a slope. The cutting blade is not parallel to either the flat ground or the slope. This will result in an uneven lawn after cutting, affecting the overall aesthetics and user experience, and may even cut surfaces such as... Figure 17 The exposed ground at an angle damaged the surface and the cutting blade, causing the cutting machine to malfunction. Summary of the Invention

[0006] In view of the lack of the above-mentioned related technologies, the purpose of this disclosure is to provide a lawnmower suitable for operation on slopes and its control method, so as to solve the problems in the related technologies.

[0007] The first aspect of this disclosure provides a lawnmower, comprising:

[0008] Frame;

[0009] A cutting assembly includes at least one cutter and a cutter drive source; the at least one cutter is formed with a cutting surface.

[0010] The walking assembly includes multiple walking wheels and a walking drive source, wherein the multiple walking wheels are configured with a height lifting mechanism in an independent manner or in groups;

[0011] The slope detection device is configured to detect the inclination angle of the slope to be cut and output the inclination angle information.

[0012] A wheel control device, connected to the slope detection device and the height lifting mechanism, is configured to control the height lifting mechanism to adjust the height of the corresponding walking wheel based on the tilt angle information output by the slope detection device and the selected mowing mode, so that the cutting surface formed by the at least one cutter is parallel to the slope or parallel to the flat ground, and the flat ground is in contact with the slope.

[0013] In some embodiments of the first aspect, the walking assembly includes four walking wheels, respectively located on the left and right sides of the front end and the left and right sides of the rear end of the frame, wherein each walking wheel is independently equipped with a height lifting mechanism.

[0014] In some embodiments of the first aspect, the walking assembly includes four walking wheels, respectively located on the left and right sides of the front end and the left and right sides of the rear end of the frame, wherein the front and rear walking wheels on the same side are configured as a group with a height lifting mechanism.

[0015] In some embodiments of the first aspect, the height lifting mechanism includes: a lead screw having a threaded section that is screwed to a corresponding traveling wheel; and a rotary motor connected to the lead screw for driving the lead screw to rotate in both directions.

[0016] In some embodiments of the first aspect, the slope detection device is a gyroscope sensor.

[0017] In some embodiments of the first aspect, the slope detection device is a tire pressure detection device, including a tire pressure sensor disposed in the tire of the driving wheel and a tire pressure controller connected to the tire pressure sensor.

[0018] In some embodiments of the first aspect, a filtering device is provided between the slope detection device and the wheel control device for conditionally filtering the tilt angle information output by the slope detection device.

[0019] In some embodiments of the first aspect, the lawnmower further includes a function operating device connected to the wheel control device; the function operating device is configured to perform selection operations for slope mowing operations and selection operations for flat mowing mode and slope mowing mode in slope mowing operations.

[0020] In some embodiments of the first aspect, the wheel control device controls the height adjustment mechanism to adjust the height of the corresponding walking wheels according to the tilt angle information output by the slope detection device, including: according to the tilt angle information output by the slope detection device, the selected mowing mode, and the traveling posture of the multiple walking wheels in the walking assembly, controlling the height adjustment mechanism to adjust the height of the corresponding walking wheels, so that the cutting surface formed by the at least one cutter is parallel to the slope to suit the slope mowing mode, or so that the cutting surface formed by the at least one cutter is parallel to the flat ground to suit the flat ground mowing mode; the traveling posture includes a first traveling posture in which the left walking wheel of the frame travels on the flat ground and the right walking wheel of the frame travels on the slope, and a second traveling posture in which the left walking wheel of the frame travels on the slope and the right walking wheel of the frame travels on the flat ground.

[0021] In some embodiments of the first aspect, the lawnmower includes a push lawnmower, a stand-up lawnmower, a ride-on lawnmower, or a self-propelled / smart lawnmower.

[0022] A second aspect of this disclosure provides a control method for a lawnmower, the lawnmower comprising: a frame; a cutting assembly including at least one blade and a blade drive source, the at least one blade having a cutting surface; a walking assembly including a plurality of wheels and a walking drive source, the plurality of wheels being configured with a height lifting mechanism in an independent or grouped manner; a slope detection assembly; and a wheel control device connected to the slope detection device and the height lifting mechanism; the control method for the lawnmower includes the following steps:

[0023] The slope detection device detects the inclination angle of the slope to be cut and outputs the inclination angle information; and

[0024] The wheel control device receives the tilt angle information from the slope detection device. Based on the tilt angle information from the slope detection device and the selected mowing mode, the height lifting mechanism controls the height adjustment of the corresponding walking wheel so that the cutting surface formed by the at least one cutter is parallel to the slope to cut the slope, or so that the cutting surface formed by the at least one cutter is parallel to the flat ground to cut the flat ground.

[0025] In some embodiments of the second aspect, the control method of the lawnmower further includes: receiving, before detection by the slope detection device, a control command by the wheel control device including selecting a slope mowing operation function and selecting between a flat mowing mode and a slope mowing mode of the slope mowing operation function; or, after detection by the slope detection device, receiving, the control command by the wheel control device including selecting a slope mowing operation function and selecting between a flat mowing mode and a slope mowing mode of the slope mowing operation function.

[0026] In some embodiments of the second aspect, the wheel control device controls the height adjustment mechanism to adjust the height of the corresponding walking wheels according to the tilt angle information of the slope detection device. This includes: controlling the height adjustment mechanism to adjust the height of the corresponding walking wheels according to the tilt angle information output by the slope detection device, the selected mowing mode, and the traveling posture of the multiple walking wheels in the walking assembly, so that the cutting surface formed by the at least one cutter is parallel to the slope to suit the slope mowing mode, or so that the cutting surface formed by the at least one cutter is parallel to the flat ground to suit the flat ground mowing mode; the traveling posture includes a first traveling posture in which the left walking wheel of the frame travels on the flat ground and the right walking wheel of the frame travels on the slope, and a second traveling posture in which the left walking wheel of the frame travels on the slope and the right walking wheel of the frame travels on the flat ground.

[0027] In some embodiments of the second aspect, the control method for the lawnmower further includes storing the tilt angle information detected by the slope detection device and the control parameters for the height adjustment mechanism to adjust the height of the corresponding walking wheels by the wheel control device.

[0028] As described above, this disclosure provides a lawnmower for slope operation and a control method thereof. The lawnmower includes: a frame; a cutting assembly including at least one cutter and a cutter drive source; the at least one cutter having a cutting surface; a walking assembly including multiple walking wheels and a walking drive source, wherein the multiple walking wheels are configured with a height lifting mechanism in an independent or grouped manner; a slope detection device configured to detect the inclination angle of the slope to be cut and output inclination angle information; and a wheel control device connected to the slope detection device and the height lifting mechanism, configured to control the height lifting mechanism to adjust the height of the corresponding walking wheels based on the inclination angle information output by the slope detection device and a selected mowing mode, such that the cutting surface formed by the at least one cutter is parallel to the slope or parallel to the flat ground. By equipping the lawnmower with a wheel height adjustment mechanism, a slope detection device, and a wheel control device, it can perform slope cutting and mowing operations when the area to be cut is a sloping area. Based on the detected slope inclination angle, the height adjustment mechanism adjusts the height of the corresponding wheels, so that the cutting surface formed by at least one cutter is parallel to the slope for cutting, or so that the cutting surface formed by at least one cutter is parallel to the flat ground for cutting, ensuring a relatively flat and uniform mowing surface, including both flat and sloping surfaces, with a natural transition between flat and sloping surfaces, improving the aesthetics of the mowing surface and the user experience. Attached Figure Description

[0029] Figure 1The diagram shown is a structural schematic of a lawnmower according to an embodiment of this disclosure.

[0030] Figure 2 The diagram shows the electrical connections of a lawnmower according to one embodiment of this disclosure.

[0031] Figure 3 The diagram shown is a structural schematic of a lawnmower in another embodiment of this disclosure.

[0032] Figure 4 This is a schematic diagram of the electrical connections of a lawnmower according to another embodiment of this disclosure.

[0033] Figure 5 Displayed as Figure 4 A schematic diagram of the communication connection between the vehicle controller and the control panel in one embodiment.

[0034] Figure 6 Displayed as Figure 4 A schematic diagram of the communication connection between the vehicle controller and the control panel in another embodiment.

[0035] Figure 7 The diagram shows a three-axis gyroscope.

[0036] Figure 8 The diagram shows a structural schematic of the communication connection between a gyroscope sensor and a vehicle controller in one embodiment.

[0037] Figure 9 The diagram shows a structural schematic of the communication connection between the tire pressure monitoring device and the vehicle controller in one embodiment.

[0038] Figures 10 to 13 The diagram illustrates how the vehicle controller adjusts the height of the corresponding wheels according to the selected mowing mode in different embodiments.

[0039] Figure 14 The diagram shown is a flowchart illustrating a control method for a lawnmower according to an embodiment of this disclosure.

[0040] Figure 15 The diagram shown is a structural schematic of a ride-on lawnmower in one embodiment of the related art.

[0041] Figure 16 This diagram shows a lawnmower with all its wheels traveling on a slope.

[0042] Figure 17 The diagram shows a lawnmower traveling on a slope on its left and on flat ground on its right.

[0043] Figure 18 The diagram shows a lawnmower traveling on flat ground on its left and on a slope on its right. Detailed Implementation

[0044] The following specific examples illustrate the implementation of this disclosure. Those skilled in the art can easily understand other advantages and effects of this disclosure from the information disclosed herein. This disclosure can also be implemented or applied through other different specific embodiments, and various details in this disclosure can be modified or changed according to different viewpoints and application circuits without departing from the spirit of this disclosure. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this disclosure can be combined with each other.

[0045] The embodiments of this disclosure will now be described in detail with reference to the accompanying drawings, so that those skilled in the art to which this disclosure pertains can readily implement it. This disclosure may be embodied in many different forms and is not limited to the embodiments described herein.

[0046] In this disclosure, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic represented in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. Furthermore, the specific features, structures, materials, or characteristics represented may be combined in any suitable manner in any one or a group of embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples represented in this disclosure, as well as the features of those different embodiments or examples.

[0047] Furthermore, the terms "first" and "second" are used for illustrative purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the representation of this disclosure, "a set" means two or more, unless otherwise explicitly specified.

[0048] For the purpose of clarity, devices unrelated to the description are omitted, and the same or similar components throughout the specification are given the same reference numerals.

[0049] Throughout this specification, when it is said that a device is "connected" to another device, this includes not only "direct connection" but also "indirect connection" by placing other components in between. Furthermore, when it is said that a device "comprises" a certain constituent element, unless otherwise stated otherwise, this does not exclude other constituent elements, but rather implies that other constituent elements may be included.

[0050] While the terms first, second, etc., are used in some examples herein to refer to various elements, these elements should not be limited by these terms. These terms are used only to distinguish one element from another. For example, first interface and second interface, etc., are used. Furthermore, as used herein, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context indicates otherwise. It should be further understood that the terms “comprising,” “including,” indicate the presence of the stated feature, step, operation, element, circuit, item, type, and / or group, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, circuits, items, types, and / or groups. The terms “or” and “and / or” as used herein are to be interpreted inclusively, or mean any one or any combination thereof. Thus, “A, B, or C” or “A, B, and / or C” means “any one of: A; B; C; A and B; A and C; B and C; A, B, and C.” Exceptions to this definition will only occur if the combination of elements, functions, steps, or operations is inherently mutually exclusive in some way.

[0051] The technical terms used herein are appropriate only for specific embodiments and are not intended to limit the scope of this disclosure. The singular form used herein includes the plural form unless the statement explicitly indicates otherwise. The word "comprising" as used in this specification means to specify a particular characteristic, region, integer, step, operation, element, and / or component, and does not exclude the presence or addition of other characteristics, regions, integers, steps, operations, elements, and / or components.

[0052] Although not explicitly defined, all terms, including technical and scientific terms used herein, shall have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains. Terms defined in commonly used dictionaries shall be further interpreted as having a meaning consistent with the relevant technical literature and the message of the present disclosure, and shall not be over-interpreted as having an ideal or overly formulaic meaning unless otherwise defined.

[0053] In related technologies, the height of all the wheels in a lawnmower is always uniform. However, in certain situations, such as when cleaning lawns on sloping surfaces, if the lawnmower is not traveling entirely on the slope (e.g., one side's front and rear wheels are on flat ground while the other side's are on a slope), the cutting blade is not parallel to either the flat or sloping surface. This results in uneven lawn after cutting, affecting the overall aesthetics and user experience. It may even cut into sharp angles, damaging the ground and the blade, causing the lawnmower to malfunction. Therefore, this disclosure provides a lawnmower suitable for sloping surface operation and its control method to solve the problems in related technologies.

[0054] This disclosure provides a lawnmower with multiple wheels in its walking assembly configured with height-lifting mechanisms either independently or in groups. It also includes a slope detection device and a wheel control device connected to the height-lifting mechanism and the slope detection device. When the area to be cut is a slope, it can perform slope-cutting and grass-cutting operations. Based on the detected slope inclination angle, the height-lifting mechanism adjusts the height of the corresponding wheels, ensuring that the cutting surface formed by at least one cutter is parallel to the slope for cutting, or that the cutting surface formed by at least one cutter is parallel to the flat ground for cutting. This ensures a relatively flat and uniform cutting surface, including both flat and slope surfaces, with a natural transition between flat and slope surfaces, improving the aesthetics of the cutting surface and the user experience.

[0055] It is worth noting that the lawnmower provided in this disclosure is applicable to various types of lawnmowers, including, for example, push-type, stand-up, or ride-on lawnmowers, as well as self-propelled / intelligent lawnmowers. The intelligent lawnmower can be a type of lawnmower equipped with intelligent technology, including but not limited to: intelligent sensing technology, intelligent recognition technology, and autonomous navigation technology. Furthermore, the lawnmower can be, for example, an electric lawnmower powered by batteries, which can control each drive wheel individually via motors, enabling the vehicle to perform straight-line, reverse, turning, and zero-steering movements, reducing the structural complexity of the vehicle and making its control more flexible.

[0056] For ease of description, the following description of embodiments will use a ride-on lawnmower as an example.

[0057] This disclosure provides a lawnmower, including: a frame; a cutting assembly including at least one cutter and a cutter drive source; the at least one cutter having a cutting surface; a walking assembly including multiple wheels and a walking drive source, wherein the multiple wheels are configured with a height lifting mechanism in an independent or grouped manner; a slope detection device configured to detect the inclination angle of the slope to be cut and output inclination angle information; and a wheel control device connected to the slope detection device and the height lifting mechanism, configured to control the height lifting mechanism to adjust the height of the corresponding wheels based on the inclination angle information output by the slope detection device and a selected mowing mode, such that the cutting surface formed by the at least one cutter is parallel to the slope or parallel to a flat ground, and the flat ground is in contact with the slope.

[0058] Please see Figure 1 The diagram shows a schematic representation of a lawnmower in one embodiment of this disclosure. Figure 2 The diagram shows the electrical connections of a lawnmower according to one embodiment of this disclosure.

[0059] like Figure 1 As shown, in the first embodiment of this disclosure, the lawnmower is a ride-on lawnmower, which can be ridden by a user to operate it for mowing lawns and other vegetation.

[0060] In this embodiment, the directions front, back, left, right, up, and down are described as follows: Figure 1 The directions shown are as follows. Specifically, when a user is riding a ride-on lawnmower on the ground, the direction the user is facing is defined as forward, the direction with their back to the ground is defined as backward, the direction to their left is defined as left, the direction to their right is defined as right, the direction facing the ground is defined as downward, and the direction with their back to the ground is defined as upward.

[0061] The lawnmower 1 provided in this embodiment includes: a frame 11; a cutting assembly 12, a walking assembly 13, a slope detection device, and a wheel control device (not shown in the figure) connected to the frame 11.

[0062] The frame 11 forms the main body of the lawnmower 1 and is used to mount other components. The frame 11 has a frame surface.

[0063] At least a portion of the frame 11 extends parallel to the front-rear direction, and a support mechanism may be provided on the frame 11. The support mechanism is used to support the operator of the lawnmower 1 and may include at least one of a seat 111 or a standing platform. Figure 1 The illustration only shows an example of the supporting mechanism including a seat 111. The seat 111 is for the worker to sit on, allowing the lawnmower 1 to operate in a riding position. Of course, in other embodiments, the supporting mechanism may include a standing platform for the worker to stand on, i.e., the lawnmower can operate in a standing position. Furthermore, in some embodiments, the structures of the seat 111 and the standing platform can be flexibly switched, meaning the lawnmower 1 can flexibly switch between riding and standing positions according to the actual needs of the user. In some optional embodiments, a handheld control component (not shown in the illustration) may also be provided on the frame 11, which may include, for example, a push rod. Based on the handheld control component, the lawnmower 1 can also provide a push-operated position.

[0064] The cutting assembly 12 is disposed on the frame 11. The cutting assembly 12 includes at least one cutter 121 and a cutter drive mechanism. The at least one cutter 121 is used for mowing. The cutter drive mechanism may include a cutter drive motor 122 and a cutter drive motor controller 123. The cutter drive motor 122 serves as the cutter drive source and can drive the at least one cutter 121 to rotate at a certain height. The cutter drive motor controller 123 is used to control the operation of the cutter drive motor 122. The cutter drive motor controller 123 may include a control chip, such as a microcontroller unit (MCU), an embedded processing chip (such as ARM or other types of SoC), etc. In some embodiments, each cutter is controlled by a corresponding cutter drive motor. In some embodiments, multiple cutters can be controlled by one cutter drive motor.

[0065] At least one cutter has a cutting surface, which may be parallel to the frame surface of the frame 11. In some embodiments, the cutting assembly 12 may include a cutter disc, which may be disposed at the bottom of the frame 11 and may be a non-serrated disc structure or a serrated disc structure. One or more cutters may be disposed on the cutter disc. If there are multiple cutters, the multiple cutters may be evenly distributed along the cutter disc, and the one or more cutters in the cutter disc may form a cutting surface after being driven. Too few cutters on the cutter disc will affect the mowing effect, while too many cutters will increase production costs. Generally, the number of cutters disposed on the cutter disc may be, for example, three, and these three cutters may be evenly distributed at, for example, a 120° angle. The number of cutter discs may be one or more. Taking a single cutter disc as an example, in some embodiments, the cutter disc may be disposed in the central area of ​​the bottom of the frame 11. In some embodiments, the cutter disc may be disposed on the left or right side of the bottom of the frame 11. Taking two cutter discs as an example, in some embodiments, the two cutter discs can be arranged side-by-side at the bottom of the frame 11, and a certain gap is generally reserved horizontally between the two cutter discs arranged side-by-side so that the rotation of one cutter disc will not interfere with the rotation of the other cutter disc. Each cutter disc contains a cutting blade that forms a cutting surface, and the two cutting surfaces formed by the cutting blades in the two cutter discs are parallel side-by-side. In some embodiments, the two cutter discs can be arranged side-by-side overlapping at the bottom of the frame 11, and a certain gap is reserved vertically between the two cutter discs. Each cutter disc contains a cutting blade that forms a cutting surface, and the two cutting surfaces formed by the cutting blades in the two cutter discs are parallel up-down. In some embodiments, the two cutter discs are arranged front-to-back staggered at the bottom of the frame 11. Each cutter disc contains a cutting blade that forms a cutting surface, and the two cutting surfaces formed by the cutting blades in the two cutter discs are parallel front-to-back. When the cutting assembly includes a cutter head and cutters are disposed on the cutter head, in some embodiments, each cutter head and its cutters are controlled by a corresponding cutter drive motor, the cutter drive motor being connected to the cutter head via a rotating shaft. In some embodiments, multiple cutter heads and their cutters can be controlled by a single cutter drive motor.

[0066] In addition, to prevent the cutter head and the cutter blades on the cutter head from being exposed, the cutting assembly 12 may also include a cutter head protective cover for covering the cutter head.

[0067] The walking component 13 is used to drive the lawnmower 100 to move, for example in a landscape setting such as a lawn, garden, fence, green, or other scene.

[0068] The walking assembly 13 includes multiple walking wheels 130 and a walking drive source (not shown in the diagram).

[0069] In some embodiments, the running gear includes one running wheel located at the center of the front end of the frame and two running wheels located opposite each other at the rear end of the frame. In some embodiments, the running gear includes one running wheel located at the center of the rear end of the frame and two running wheels located opposite each other at the front end of the frame. In some embodiments, the running gear includes two front wheels located opposite each other at the front end of the frame and two rear wheels located opposite each other at the rear end of the frame. Of course, in other embodiments, the running gear 13 may include five or more running wheels.

[0070] like Figure 1 As shown, the walking assembly 13 includes two front wheels located at the front end of the frame 11 and two rear wheels located at the rear end of the frame 11 and opposite to each other. The two front wheels may be, for example, unpowered guide wheels, and the two rear wheels may be, for example, drive wheels equipped with a walking drive source.

[0071] In some alternative embodiments, such as Figure 2 As shown, the walking assembly 13 includes a left drive assembly 131 and a right drive assembly 132 that are respectively connected to the left and right sides of the frame 11.

[0072] Both the left drive assembly 131 and the right drive assembly 132 include a drive motor and a drive wheel connected to the drive motor. The drive motor, as the driving source, transmits power to the connected drive wheel, thereby driving the drive wheel to rotate and thus moving the lawnmower 1. Specifically, the left drive assembly 131 includes a left drive motor 1311 and a left drive wheel 1312, and the right drive assembly 132 includes a right drive motor 1321 and a right drive wheel 1322. When the drive motors in the left drive assembly 131 and the right drive assembly 132 drive the corresponding drive wheels at different power levels, a speed difference is generated between the left and right drive wheels 1312 and 1322, causing the lawnmower 100 to turn. The left drive assembly 131 may also include a left drive controller 1313 for the left drive motor 1311, and the right drive assembly 132 may also include a right drive controller 1323 for the right drive motor 1321.

[0073] When the lawnmower 100 is a type of vehicle that requires user control (such as a push lawnmower, stand-up lawnmower, or ride-on lawnmower), a control mechanism 14 may be included. The control mechanism 14 is coupled to the walking assembly 13 and is used to control the operating state of the walking assembly 13 to adjust the driving state of the lawnmower 100. In some alternative embodiments, such as... Figure 2As exemplified, corresponding to the left drive component 131 and the right drive component 132 in the walking component 13, the control mechanism 14 is configured to include a left control component 141 and a right control component 142. The left control component 141 and the right control component 142 are respectively coupled to the left drive component 131 and the right drive component 132 to control the operating state of the left drive component 131 and the right drive component 132 respectively.

[0074] exist Figure 1 The image shows that the left control component 141 and the right control component 142 respectively include a left control handle 1411 and a right control handle 1421. Figure 2 The diagram shows that each control handle is also equipped with a rotation detection circuit and a control controller. The rotation detection circuit is configured to detect the rotation direction and angle of the corresponding control handle and generate rotation angle information accordingly. The control controller is configured to control the direction and speed of the drive motor in the corresponding drive assembly based on the rotation angle information. As an example, the left control handle 1411 is equipped with a left rotation detection circuit 1412 and a left control controller 1413, and the right control handle 1421 is equipped with a right rotation detection circuit 1422 and a right control controller 1423.

[0075] Generally, in some embodiments, the left control handle 1411 and the right control handle 1421 are configured to rotate in a controlled manner between at least one forward position, an intermediate position, and at least one reverse position. During rotation, when the control handle approaches the front end of the frame 11, it rotates forward and is in the forward position; the maximum forward position that the control handle can reach is the forward limit position. When the control handle approaches the rear end of the frame 11, it rotates backward and is in the reverse position; the maximum backward position that the control handle can reach is the reverse limit position. When the control handle maintains a perpendicular or substantially perpendicular positional relationship with the frame 11, it is in the intermediate position. In some optional embodiments, the control handle may have more than one forward position and more than one reverse position, which may correspond to different drive powers.

[0076] It should be noted that, Figure 1 The structure of the control mechanism 14, which includes a left control component 141 and a right control component 142, is only an example. In other embodiments, it can be replaced by, for example, a steering wheel, and is not limited to the control handle operation of the left control component 141 and the right control component 142.

[0077] Optionally, the steering wheel may include a display screen and some control buttons.

[0078] It should be noted that if the lawnmower 1 is a type of vehicle that can be operated without user control (such as a self-propelled / intelligent lawnmower), then the lawnmower 1 may not include a control mechanism 14.

[0079] In some embodiments, the lawnmower 1 also includes a vehicle controller 16, coupled to the controllers in the cutting assembly 12, the walking assembly 13, and the control mechanism 14. The vehicle controller 16 includes a main control chip and a memory. The main control chip includes a microcontroller unit (MCU) or a system-on-chip (SoC), and the memory includes a cache or RAM, ROM, Flash, etc. The memory may store program instructions, which the processor uses to execute to perform corresponding control actions.

[0080] The wheel control device included in the lawnmower described in this embodiment may include a control chip, such as a microcontroller unit (MCU), an embedded processing chip (such as ARM or other types of SoC), etc. Exemplarily, the wheel control device may be a standalone device connected to the vehicle controller. Exemplarily, the wheel control device and the vehicle controller are the same device.

[0081] In some embodiments, the control mechanism 14 of the lawnmower 1 may further include a control panel 18, which provides one or more of the following: a gear operation section (e.g., forward and reverse gears) for operating the vehicle's 100 gears, a function operation section, and a parameter setting section (e.g., for setting mowing speed and travel speed). In some embodiments, the gear operation section and the start / stop operation section may be implemented as operation keys. In one example, the operation keys may be physical keys. In another example, the control panel 18 may also include a display screen 181 (e.g., a touch screen), and the keys may be virtual keys on the display screen 181, or a combination of physical keys and virtual keys. In some embodiments, such as Figure 1 As shown, the display screen 181 can be located below and in front of the seat 111, facing the seat 111. Optionally, the control panel 18 and its display screen 181 can be located on the user's right side, for ease of operation. The control panel 18 includes a control panel chip and a memory. The control panel chip includes a microcontroller (MCU) or a system-on-chip (SoC), and the memory includes a cache or memory (RAM, ROM, Flash, etc.).

[0082] It should be noted that the display screen 181 and the display screen in the steering wheel can be implemented selectively. In embodiments where the control mechanism 14 includes left and right control components, the display screen 181 can be used in conjunction with it. In embodiments where the control mechanism 14 includes a steering wheel, the display can be provided solely through the display screen in the steering wheel. Alternatively, in other embodiments, the display screen 181 can be retained and coexist with the display screen. The two display screens can display the same or different content to provide a better user experience.

[0083] In some embodiments, the size of display screen 181 may be larger than that of the display screen in the steering wheel. Display screen 181 can display a human-machine interface with more, larger, or more complex graphical content, such as reversing images, route planning, and virtual control buttons for controlling vehicle functions (such as the start / stop of the cutter in the cutting assembly), to facilitate user reference and accurate operation. The display screen in the steering wheel may contain a human-machine interface with relatively less, smaller, or simpler graphical content. For example, it may display content that the user expects to observe or operate when operating the steering wheel, such as some vehicle operating status parameters, such as vehicle speed, battery level, and drive motor speed; or multimedia content being played, virtual control buttons, etc. It should be noted that the content displayed on the two displays may at least partially overlap, and the presentation format may be different. For example, the start / stop button of the cutter in the cutting assembly may be displayed as a graphical control occupying a larger area on display screen 181, or in the form of graphics or animation, while it may be displayed as a graphical control occupying a smaller area on the display screen in the steering wheel.

[0084] The lawnmower 1 also includes a power system 17, which supplies power to the cutting assembly 12, the walking assembly 13, the control mechanism 14, and the vehicle controller 16.

[0085] In some alternative embodiments, the power system 17 may be disposed on the frame 11 ( Figure 1 It is detachably connected to the frame 11. Figure 1 The diagram shows that the power system 17 is located in the battery compartment 112 at the rear end of the frame 11, which may be at least partially located under the seat 111. Alternatively, in other embodiments, the battery compartment may also be located at the front end of the frame 11, and is not limited to the illustration.

[0086] The power system 17 includes multiple battery cells 171. Figure 1 The illustration exemplarily shows the structure of the plurality of battery cells 171 exposed when the housing of the power system 17 is opened. In practical applications, the battery cells 171 may be one or more combinations of lead-acid batteries, lithium iron phosphate cells, ternary lithium cells, and graphene cells.

[0087] like Figure 3The diagram shown is a structural schematic of a lawnmower in another embodiment of this disclosure.

[0088] In the lawnmower 1, the walking assembly includes a plurality of wheels 130 and a driving source (not shown in the figures). Exemplarily, the walking assembly includes two front wheels located opposite each other at the front end of the frame and two rear wheels located opposite each other at the rear end of the frame.

[0089] The driving source includes multiple battery units, which can be housed within a battery compartment. Exemplarily, the battery compartment 112b can be located at the front of the vehicle body 11b, with an openable battery compartment cover on top. A battery pack is housed inside the battery compartment 112b. In this embodiment, the lawnmower uses a steering wheel 140b instead of a joystick. A display screen 181b can be positioned on the steering wheel 140b, as shown in the front view of the steering wheel 140b on the left side of the figure. The steering wheel 140b is located in front of the seat 111b on the frame 11b, and its upper surface can be tilted at a certain angle towards the seat 111b to facilitate user operation and to allow the user to view the display screen 181b.

[0090] The lawnmower 1 is equipped with a cutting component. Exemplarily, the cutting component may be mounted on the chassis of the lawnmower 1.

[0091] Generally, the cutting surface formed by the blades mounted on the frame or the cutting disc surface formed by the blades mounted on the frame is parallel to the frame surface. At the same time, the travel surface formed by each of the wheels in the lawnmower is parallel to the frame surface. Therefore, when the corresponding travel wheels are driven by the travel drive source to travel on a flat lawn surface and perform lawnmowing operations, the cutting surface of the frame is basically consistent with the lawn surface. That is, the frame surface of the frame is roughly parallel to the lawn surface, and the lawn surface after mowing is basically uniform and flat. When mowing lawns on sloping surfaces, if not all wheels of the lawnmower are on the slope—for example, one side's front and rear wheels are on flat ground while the other side's are on a slope—the cutting blade will not be parallel to either the flat or sloping surface. This will result in uneven cuts, affecting the overall aesthetics and user experience. It may even cut into sharp angles, damaging the ground and the blade, causing the mower to malfunction. Some lawnmowers have fixed wheels, lacking height adjustment. Others have adjustable wheels with different settings to suit different lawn heights; however, all wheels are controlled uniformly—either no adjustment is needed, or all wheels are adjusted simultaneously, and height adjustments are made according to the set setting. Therefore, this still doesn't solve the problems encountered when mowing sloping surfaces.

[0092] In the embodiments of this disclosure, in the lawnmower, for the walking component, the plurality of walking wheels are equipped with a height lifting mechanism, which can drive the corresponding walking wheels to adjust their height, that is, change the distance between the walking wheels and the frame.

[0093] In some embodiments, the multiple wheels in the walking assembly are independently equipped with height-adjusting mechanisms; that is, each wheel is equipped with a height-adjusting mechanism, and the height of each wheel is adjusted under the control of its corresponding height-adjusting mechanism. For example, the walking assembly includes four wheels, respectively located on the left and right sides of the front end and the left and right sides of the rear end of the frame, i.e., two front wheels and two rear wheels, each wheel being independently equipped with a height-adjusting mechanism.

[0094] In some embodiments, the multiple wheels in the wheel assembly are configured with height-adjusting mechanisms in groups. That is, the multiple wheels in the wheel assembly are configured with a height-adjusting mechanism in groups of one or more wheels, and the height-adjusting mechanism controls one or more wheels in the corresponding group to jointly adjust the height. For example, the wheel assembly includes four wheels, respectively located on the left and right sides of the front end and the left and right sides of the rear end of the frame. The front and rear wheels on the same side are configured with a height-adjusting mechanism as a group. Specifically, the front and rear wheels on the left side (i.e., the left front wheel and the left rear wheel) are configured with a height-adjusting mechanism as a group, and the front and rear wheels on the right side (i.e., the right front wheel and the right rear wheel) are configured with a height-adjusting mechanism as a group.

[0095] It should be noted that the above description of adjusting the height of the wheels via a height-lifting mechanism is merely for ease of understanding and does not represent an adjustment of the absolute height of the wheels. More strictly speaking, the height adjustment is achieved by adjusting the distance between the wheels and the frame to adjust the height of the frame. For example: using a height-lifting mechanism to raise the height of the wheels, i.e., extending the distance between the wheels and the frame, effectively increases the height of the frame; or, using a height-lifting mechanism to lower the height of the wheels, i.e., shortening the distance between the wheels and the frame, effectively decreases the height of the frame.

[0096] In some embodiments, the height adjustment mechanism includes a lead screw and a rotary motor, the rotary motor being connected to the lead screw and used to drive the lead screw to rotate in both directions. For example, the drive motor may be mounted on the vehicle frame.

[0097] For example, when each traveling wheel is independently equipped with a height-lifting mechanism, the lead screw in the height-lifting mechanism has a threaded section, and the threaded section of the lead screw is screwed to the corresponding traveling wheel. The rotary motor drives the lead screw to rotate in both directions. For example, the drive motor drives the lead screw to rotate in the forward direction, and the forward-rotating lead screw screws into the traveling wheel, shortening the distance between the traveling wheel and the frame, that is, raising the height of the traveling wheel; the drive motor drives the lead screw to rotate in the reverse direction, and the reverse-rotating lead screw screws out of the traveling wheel, lengthening the distance between the traveling wheel and the frame, that is, lowering the height of the traveling wheel. Alternatively, for example, the drive motor drives the lead screw to rotate in the reverse direction, and the reverse-rotating lead screw screws into the traveling wheel, shortening the distance between the traveling wheel and the frame, that is, raising the height of the traveling wheel; the drive motor drives the lead screw to rotate in the forward direction, and the forward-rotating lead screw screw screws out of the traveling wheel, lengthening the distance between the traveling wheel and the frame, that is, lowering the height of the traveling wheel.

[0098] For example, when multiple wheels are grouped together to form a height-lifting mechanism, taking two wheels as a group to form one height-lifting mechanism as an example, the lead screw in the height-lifting mechanism has a threaded section. The threaded section of the lead screw can be screwed to a common mounting component that connects the two wheels. The common mounting component can be, for example, a common mounting bracket or a common mounting plate. The drive motor drives the lead screw to rotate in both directions. For example, the drive motor drives the lead screw to rotate in the forward direction, and the forward-rotating lead screw screws into the wheel, shortening the distance between the wheel and the frame, that is, raising the height of the wheel; the drive motor drives the lead screw to rotate in the reverse direction, and the reverse-rotating lead screw screws out of the wheel, lengthening the distance between the wheel and the frame, that is, lowering the height of the wheel. Alternatively, exemplarily, the drive motor drives the lead screw to rotate in the opposite direction, causing the lead screw to screw into the traveling wheel, shortening the distance between the traveling wheel and the frame, i.e., raising the height of the traveling wheel; conversely, the drive motor drives the lead screw to rotate in the forward direction, causing the lead screw to screw out of the traveling wheel, lengthening the distance between the traveling wheel and the frame, i.e., lowering the height of the traveling wheel. Of course, regarding the height lifting mechanism, the number of lead screws and rotating motors in the height lifting mechanism can be one or more. When there are multiple lead screws and rotating motors, control commands can be issued through the wheel control device to synchronously control each rotating motor.

[0099] Back Figure 1In this embodiment, the lawnmower 1 further includes a function operation device connected to the wheel control device. Specifically, the function operation device is configured to select a slope mowing operation function. The lawnmower 1 can perform different mowing functions, such as providing ordinary flat ground mowing, slope mowing, and undulating ground mowing functions, to adapt to different mowing surfaces and meet different customer needs. Therefore, when driving the lawnmower 1 to mow a slope area, the slope mowing function can be selected through the function operation device. After selecting the slope mowing function, the slope detection device and wheel control device can be activated. Furthermore, in the slope mowing operation function, the slope involves both the slope and the flat ground adjacent to the slope. Therefore, the function operation device can also be configured to perform the selection operation of the flat ground mowing mode and the slope mowing mode in the slope mowing operation. That is, after performing the selection operation of the slope mowing operation function, it further includes the selection operation of the flat ground mowing mode and the slope mowing mode in the slope mowing operation function.

[0100] Therefore, when driving the lawnmower 1 to perform lawn mowing operations on a sloping area, the slope mowing operation function can be selected through the function operation device. Under the selected slope mowing operation function, the flat mowing mode or slope mowing mode can be selected through the function operation device. The wheel control device can then take corresponding control strategies based on the slope angle information detected by the slope detection device and the selected mowing mode (flat mowing mode or slope mowing mode), and control the height lifting mechanism to adjust the height of the corresponding walking wheels to perform lawn mowing operations in the selected mowing mode.

[0101] In practical applications, the functional operating device can be associated with or integrated into the control mechanism 14.

[0102] For example, the functional operation device may provide function operation keys for multiple mowing functions, including a slope mowing function, and mode operation keys for each mowing function on the left operating handle 1411 of the left operating component 141 of the control mechanism 14 or on the left operating handle 1421 of the left operating component 142 of the control mechanism 14. For example, the slope mowing function can be selected from various mowing functions using the function operation keys, and further, the flat mowing mode or the slope mowing mode can be selected within the slope mowing function using the mode operation keys. The function operation keys and the mode operation keys may be, for example, buttons, toggle switches, or knobs. The function operation keys and the mode operation keys may be shared, or they may be independent, for example.

[0103] For example, the function operation device may provide function operation keys for multiple mowing functions, including slope mowing operation function, and mode operation keys for the mowing operation functions on the control panel 18 of the control mechanism 14. The function operation keys and the mode operation keys may be, for example, buttons, toggle switches, or knobs. The function operation keys and the mode operation keys may be shared, or they may be independent, for example.

[0104] For example, the function operation device may provide function operation keys for multiple mowing operation functions, including the slope mowing operation function, and mode operation keys under the mowing operation function on the display screen of the control panel 18 of the control mechanism 14. The operation keys may be virtual keys on the display screen 181, or a combination of physical keys and virtual keys.

[0105] Please see Figure 4 The diagram shows the electrical connections of a lawnmower in another embodiment of this disclosure.

[0106] In some alternative embodiments, the walking assembly includes two front wheels located opposite each other at the front end of the frame and two rear wheels located opposite each other at the rear end of the frame. Both the two front wheels and the two rear wheels are drive wheels equipped with a walking drive source, which may be, for example, a drive motor.

[0107] like Figure 4 As shown, the walking assembly includes a left front drive assembly 231, a left rear drive assembly 232, a right front drive assembly 233, and a right rear drive assembly 234.

[0108] The left front drive assembly 231 may include a left front drive wheel 2311, a left front drive motor 2312, and a left front drive controller 2313. The left front drive motor serves as a driving source and can transmit power to the connected left front drive wheel to drive the left front drive wheel to rotate. The left front drive controller 2313 can be used to control the left front drive motor 2312 and can be controlled by the vehicle controller 26.

[0109] The left rear drive assembly 232 may include a left rear drive wheel 2321, a left rear drive motor 2322, and a left rear drive controller 2323. The left rear drive motor serves as a driving source and can transmit power to the connected left rear drive wheel to drive the left rear drive wheel to rotate. The left rear drive controller 2323 can be used to control the left rear drive motor 2322 and can be controlled by the vehicle controller 26.

[0110] The right front drive assembly 233 may include a right front drive wheel 2331, a right front drive motor 2332, and a right front drive controller 2333. The right front drive motor serves as a driving source and can transmit power to the connected right front drive wheel to drive the right front drive wheel to rotate. The right front drive controller 2333 can be used to control the right front drive motor 2332 and can be controlled by the vehicle controller 26.

[0111] The right rear drive assembly 234 may include a right rear drive wheel 2341, a right rear drive motor 2342, and a right rear drive controller 2343. The right rear drive motor serves as a driving source and can transmit power to the connected right rear drive wheel to drive the right rear drive wheel to rotate. The right rear drive controller 2343 can be used to control the right rear drive motor 2342 and can be controlled by the vehicle controller 26.

[0112] The lawnmower may include a vehicle controller 26, which includes a main vehicle control chip and a memory. The main vehicle control chip may be a microcontroller unit (MCU) or a system-on-chip (SoC), and the memory may include a cache or RAM, ROM, Flash, etc. The memory may store program instructions, and the processor is used to run the program instructions to perform corresponding control actions. In some embodiments, the vehicle controller 26 may serve as a wheel control device.

[0113] The lawnmower may also include a control panel 28, which provides one or more of the following: a gear operation section (e.g., forward and reverse gears) for operating vehicle gears, a parameter setting section (e.g., setting the mowing speed and driving speed), and a function operation section (e.g., different mowing operation functions and their mowing modes).

[0114] In some embodiments, the gear shifting unit, parameter setting unit, or function operation unit can be implemented as operation keys. In one example, the operation keys can be physical keys. In another example, the control panel 28 can also include a display screen (such as a touch screen), and the keys can be virtual keys on the display screen, or a combination of physical keys and virtual keys. For example, taking the function operation unit as an example, the display screen of the control panel 28 can display function operation keys for multiple mowing operation functions, including the slope mowing operation function. After selecting the corresponding mowing operation function through the function operation keys, the display screen will further display the mode operation keys under the mowing operation function.

[0115] like Figure 4As shown, the control panel 28 can communicate with the vehicle controller 26 to transmit information. The information to be transmitted includes, but is not limited to, function option operations, slope angle calculations, completions, markings, and storage. For example, the control panel 28 sends user operation commands to the vehicle controller 26, which then executes the corresponding controls based on the commands and, in some cases, receives and displays the control results from the vehicle controller 26.

[0116] The control panel 28 includes a control panel chip and a memory. The control panel chip includes a microcontroller (MCU) or a system on chip (SoC), and the memory includes a cache or memory (RAM, ROM, Flash), etc.

[0117] Please see Figure 5 Displayed as Figure 4 A schematic diagram illustrating the communication connection between the vehicle controller and the control panel in one embodiment. (See diagram below.) Figure 5 As shown, the vehicle main control chip of the vehicle controller 26 can be used as a master, and the control panel chip of the control panel 28 can be used as a slave. The vehicle main control chip of the vehicle controller 26 and the control panel chip of the control panel 28 are connected by wired communication.

[0118] In some embodiments, the vehicle main control chip of the vehicle controller 26 and the control panel chip of the control panel 28 can be connected via wired communication through serial communication, SPI communication, IIC communication, or CAN communication.

[0119] Taking a commonly used serial communication scheme as an example, the main control chip of the vehicle controller 26 and the control panel chip of the control panel 28 are connected via wired communication terminals P3 and P4. The connection terminals P3 and P4 can be designed as slots at the connection point or as external connection terminals. Once the connection terminals P3 and P4 are connected via a communication cable, the main control chip of the vehicle controller 26 and the control panel chip of the control panel 28 can send and receive data.

[0120] Wired communication uses electrical connections via connectors, which is not only inconvenient to operate but also poses safety risks. Wireless communication can effectively solve these problems.

[0121] Please see Figure 6 Displayed as Figure 4 A schematic diagram illustrating the communication connection between the vehicle controller and the control panel in another embodiment. (See diagram below.) Figure 6As shown, the vehicle controller 26's main control chip can act as a host, and the control panel chip of the control panel 28 can act as a slave. The vehicle controller 26's main control chip and the control panel chip of the control panel 28 are connected wirelessly.

[0122] In some embodiments, the main control chip of the vehicle controller 26 and the control panel chip of the control panel 28 can be wirelessly connected via Bluetooth module, Zigbee module, WiFi module, infrared communication module, etc.

[0123] The lawnmower also includes a slope detection device and a wheel control device.

[0124] The slope detection device is configured to detect the inclination angle of the slope to be cut and output the inclination angle information.

[0125] In some embodiments, the slope detection device may employ a gyroscope sensor.

[0126] A gyroscope sensor is a device used to measure angular velocity or angle.

[0127] Taking a three-axis gyroscope sensor as an example, such as Figure 7 As shown, the three-axis gyroscope can simultaneously detect the angles of the X, Y, and Z axes. When the three-axis gyroscope is installed on the vehicle frame or the vehicle controller, assuming the angle of the slope is fixed, and using the Y-axis as the slope angle, whenever the lawnmower travels on the slope and the angle of the lawnmower frame changes, since the lawnmower is rigid, the three-axis gyroscope will tilt along with the lawnmower frame. The tilt angle of the slope can be obtained by detecting the angle of the Y-axis.

[0128] In some embodiments, the gyroscope sensor can be directly mounted on the vehicle controller and establish a communication connection with the main vehicle control chip in the vehicle controller to achieve information transmission. The information to be transmitted includes, but is not limited to, the obtained tilt angle information of the slope surface. The communication connection can be achieved via wired communication such as serial communication, SPI communication, IIC communication, or CAN communication. For example, taking IIC communication as an example, the connection method between the gyroscope sensor 31 and the vehicle controller 26 can be as follows: Figure 8 As shown, SCL is the IIC communication clock line and SDA is the IIC communication data line.

[0129] When the lawnmower travels on a slope, the vehicle controller receives the slope's tilt angle information from the gyroscope sensor and stores this information in memory (e.g., Flash) through configuration registers (command register, address register, data register, etc.). The memory's storage space is configurable, allowing the storage of multiple slope tilt angle information entries for user selection. Furthermore, the tilt angle information stored in memory is not erased when the vehicle controller is powered off and then restarted; the previously stored tilt angle information can still be selected and used.

[0130] In some embodiments, the slope detection device may be a tire pressure monitoring device.

[0131] The tire pressure monitoring device is configured to determine the inclination angle of the slope and its changes by detecting changes in the tire pressure of each wheel.

[0132] In some embodiments, the tire pressure detection device includes a tire pressure sensor located inside the tire of the driving wheel and a tire pressure controller connected to the tire pressure sensor. The tire pressure sensor detects tire pressure and temperature in real time and transmits the data to the vehicle controller via wired / wireless communication. That is, the tire pressure detection device processes the detected tire pressure value and sends it to the vehicle controller in real time or non-real time, allowing the vehicle controller to estimate the slope angle based on the changes in tire pressure.

[0133] The tire pressure sensor needs to be installed at the tire and cannot be directly installed in the vehicle controller, so it needs to communicate with the tire pressure controller chip. This communication connection can be achieved via wired communication such as serial communication, SPI communication, IIC communication, or CAN communication. For example, taking IIC communication as an example, the connection method between the tire pressure sensor 321 and the tire pressure controller chip 32 can be as follows: Figure 9 As shown, SCL is the IIC communication clock line, SDA is the IIC communication data line, and the tire pressure controller chip 32 and the vehicle controller 26 can achieve wireless communication connection through Bluetooth module, Zigbee module, WiFi module, infrared communication module, etc.

[0134] When the lawnmower is driving in such Figure 16 When the lawnmower is traveling on the slope shown, the vehicle controller obtains the left and right tire pressure values ​​and their changes detected by the tire pressure detection device and stores them in memory (e.g., Flash). Figure 17 When the slope shown is in the figure, at this time, relative to Figure 16In a scenario where the left tire pressure is low and the right tire pressure is high, the vehicle controller receives the left and right tire pressure values ​​and their changes detected by the tire pressure detection device, estimates the inclination angle of the slope, and stores the left and right tire pressure values, their changes, and the corresponding inclination angle in a memory (e.g., Flash). When the lawnmower is traveling on a slope... Figure 18 When the slope shown is in the figure, at this time, relative to Figure 16 Similarly, when the left tire pressure decreases and the right tire pressure increases, the vehicle controller obtains the left and right tire pressure values ​​and their changes detected by the tire pressure detection device, estimates the inclination angle of the slope, and stores the left and right tire pressure values, their changes, and the corresponding inclination angle in a memory (e.g., Flash). The memory (e.g., Flash) has a configurable storage space and can store multiple data entries for user selection. Furthermore, the tire pressure information (tire pressure values ​​and their changes) and inclination angle information stored in the memory are not erased when the vehicle controller is powered off and then powered on again, allowing the continued selection and use of previously stored inclination angle information.

[0135] Furthermore, in some embodiments, a filtering device is provided between the slope detection device and the wheel control device. This filtering device performs conditional filtering on the tilt angle information output by the slope detection device to avoid unnecessary interference from certain tilt angle values ​​to the wheel control device. For example, when the slope detection device is a gyroscope sensor, the filtering device is set with a tilt angle threshold. When the Y-axis change value output by the gyroscope sensor is within the preset tilt angle threshold, the tilt angle value may not be sent to the wheel control device or may be directly deleted. Only when the Y-axis change value output by the gyroscope sensor exceeds the preset tilt angle threshold is the tilt angle value sent to the wheel control device. For example, when the slope detection device is a tire pressure sensor, the filtering device is set with a tire pressure change threshold. When the tire pressure change value output by the tire pressure sensor is within the preset tire pressure change threshold, the tire pressure change value may not be sent to the wheel control device or may be directly deleted. Only when the tire pressure change value output by the gyroscope sensor exceeds the preset tire pressure change threshold will the tire pressure change value be sent to the wheel control device.

[0136] The wheel control device is connected to the slope detection device and the height adjustment mechanism, and is configured to control the height adjustment mechanism to adjust the height of the corresponding wheels based on the tilt angle information output by the slope detection device and a selected mowing mode, so that the cutting surface formed by at least one cutter is parallel to the slope or parallel to flat ground. The mowing mode may include at least a flat ground mowing mode and a slope mowing mode. The wheel control device may include a control chip, such as a microcontroller unit (MCU), an embedded processing chip (such as ARM or other types of SoC), etc. Exemplarily, the wheel control device may be a standalone device connected to the vehicle controller. Exemplarily, the wheel control device and the vehicle controller may be the same device.

[0137] In some embodiments, the wheel control device controls the height adjustment mechanism to adjust the height of the corresponding walking wheels based on the tilt angle information output by the slope detection device. This includes: adjusting the height of the corresponding walking wheels based on the tilt angle information output by the slope detection device, the selected mowing mode, and the travel posture of the multiple walking wheels in the walking assembly, so that the cutting surface formed by the at least one cutter is parallel to the slope to suit the slope mowing mode, or so that the cutting surface formed by the at least one cutter is parallel to the flat ground to suit the flat ground mowing mode; the travel posture includes a first travel posture where the left-side walking wheel of the frame travels on flat ground and the right-side walking wheel of the frame travels on a slope, and a second travel posture where the left-side walking wheel of the frame travels on a slope and the right-side walking wheel of the frame travels on flat ground.

[0138] When the lawnmower in this embodiment performs slope mowing, the vehicle controller receives a slope cutting command. The slope cutting command includes selecting a slope mowing operation function and selecting either a flat mowing mode or a slope mowing mode within the slope mowing operation function. The slope detection device detects the inclination angle of the slope to be cut and outputs the inclination angle information. During detection, the lawnmower travels entirely on the slope, that is, all the wheels of the lawnmower are on the slope. The vehicle controller controls the height adjustment mechanism to adjust the height of the corresponding wheels based on the inclination angle information output by the slope detection device, the selected mowing mode, and the travel posture of the multiple wheels in the walking assembly.

[0139] like Figure 10As shown, the lawnmower travels on a slope, wherein the front and rear wheels on the left side of the lawnmower travel on the slope and the front and rear wheels on the right side travel on flat ground at a higher elevation. The vehicle controller has obtained the slope inclination angle information. The slope inclination angle information can be obtained by the slope detection device on-site, or it can be obtained by the slope detection device in advance and stored in the storage of the vehicle controller.

[0140] If the selected mowing mode is flat ground mowing mode, the vehicle controller adjusts the height of the corresponding wheels by controlling the height adjustment mechanism. For example, the left-side height adjustment mechanism raises the left front and rear wheels on the slope, extending the distance between the left front and rear wheels and the frame by a height of ΔH1. This ensures the mower's mowing surface is parallel to the flat ground, enabling mowing operations on flat surfaces. The method of raising the left front and rear wheels on the slope via the left-side height adjustment mechanism can vary depending on whether the wheels are configured with independent or grouped height adjustment mechanisms. For example, if the wheels have independent height adjustment mechanisms, the left front wheel is raised by the left front wheel height adjustment mechanism, and the left rear wheel is raised by the left rear wheel height adjustment mechanism. If the left front and left rear wheels share a common height adjustment mechanism, both wheels are raised simultaneously by this shared mechanism.

[0141] If the selected mowing mode is the slope mowing mode, the vehicle controller adjusts the height of the corresponding wheels by controlling the height adjustment mechanism. For example, the right-side front and rear wheels on flat ground are raised by the height adjustment mechanism located on the right side, that is, the distance between the right-side front and rear wheels and the frame is extended, and the height increase is ΔH2, so that the mower's mowing surface is parallel to the slope surface after adjustment, enabling mowing operations on the slope. The method of raising the right-side front and rear wheels on flat ground by the height adjustment mechanism located on the right side can vary depending on whether the wheels are configured with independent or grouped height adjustment mechanisms. For example, if the wheels are configured with independent height adjustment mechanisms, the right front wheel is raised by the height adjustment mechanism of the right front wheel and the right rear wheel is raised by the height adjustment mechanism of the right rear wheel. If the right front and right rear wheels are configured with a common height adjustment mechanism, both the right front and right rear wheels are raised simultaneously by the common height adjustment mechanism.

[0142] On Figure 10 In the illustrated embodiment, the vehicle controller controls the height adjustment mechanism to adjust the height of the corresponding walking wheels based on the selected mowing mode and the walking posture of the multiple walking wheels in the walking assembly. This is mainly achieved by raising one side of the walking wheels to adjust the cutter surface to correspond to the selected mowing mode.

[0143] like Figure 11 As shown, the lawnmower travels on a slope, wherein the front and rear wheels on the left side of the lawnmower travel on the slope and the front and rear wheels on the right side travel on flat ground at a higher elevation. The vehicle controller has obtained the slope inclination angle information. The slope inclination angle information can be obtained by the slope detection device on-site, or it can be obtained by the slope detection device in advance and stored in the storage of the vehicle controller.

[0144] If the selected mowing mode is flat ground mowing mode, the vehicle controller adjusts the height of the corresponding wheels by controlling the height adjustment mechanism. For example, the right-side height adjustment mechanism lowers the front and rear right wheels on the flat ground, shortening the distance between the right-side front and rear wheels and the frame. The reduction height is Δh2, making the mower's mowing surface parallel to the flat ground, enabling mowing operations on flat surfaces. The method of lowering the right-side front and rear wheels on the flat ground using the right-side height adjustment mechanism can vary depending on whether the wheels are configured with independent or grouped height adjustment mechanisms. For example, if the wheels have independent height adjustment mechanisms, the right front wheel is lowered by the right front wheel height adjustment mechanism, and the right rear wheel is lowered by the right rear wheel height adjustment mechanism. If the right front and right rear wheels share a common height adjustment mechanism, both wheels are lowered simultaneously by the common mechanism.

[0145] If the selected mowing mode is the slope mowing mode, the vehicle controller adjusts the height of the corresponding wheels by controlling the height adjustment mechanism. For example, the left-side height adjustment mechanism lowers the left front and rear wheels on the slope, shortening the distance between the left front and rear wheels and the frame. The reduction height is Δh1, making the mower's mowing surface parallel to the slope, enabling mowing operations on the slope. The method of lowering the left front and rear wheels on the slope using the left-side height adjustment mechanism can vary depending on whether the wheels are configured with independent or grouped height adjustment mechanisms. For example, if the wheels have independent height adjustment mechanisms, the left front wheel is lowered by the left front wheel height adjustment mechanism, and the left rear wheel is lowered by the left rear wheel height adjustment mechanism. If the left front and left rear wheels share a common height adjustment mechanism, both wheels are lowered simultaneously by the common mechanism.

[0146] On Figure 11In the illustrated embodiment, the vehicle controller controls the height adjustment mechanism to adjust the height of the corresponding walking wheels based on the selected mowing mode and the walking posture of the multiple walking wheels in the walking assembly. This is mainly achieved by adjusting the cutter surface to correspond to the selected mowing mode by lowering one side of the walking wheels.

[0147] However, this is not the limitation. In other embodiments, the vehicle controller controls the height adjustment mechanism to adjust the height of the corresponding walking wheels according to the selected mowing mode and the walking posture of the multiple walking wheels in the walking assembly. The cutter surface can be adjusted to correspond to the selected mowing mode by a combination of lowering one walking wheel and raising the other walking wheel.

[0148] like Figure 12 As shown, the lawnmower travels on a slope, wherein the front and rear wheels on the left side of the lawnmower travel on flat ground and the front and rear wheels on the right side travel on the slope, and the flat ground is located at a low point. The vehicle controller has obtained the slope inclination angle information. The slope inclination angle information can be obtained by the slope detection device on-site, or the slope inclination angle information can be obtained by the slope detection device in advance and stored in the storage of the vehicle controller.

[0149] If the selected mowing mode is flat ground mowing mode, the vehicle controller adjusts the height of the corresponding wheels by controlling the height adjustment mechanism. For example, the left-side height adjustment mechanism raises the left front and rear wheels on the flat ground, that is, it extends the distance between the left front and rear wheels and the frame, raising them by a height of ΔH1', so that the mower's mowing surface is parallel to the flat ground after adjustment, enabling mowing operations on flat ground. The method of raising the left front and rear wheels on the flat ground via the left-side height adjustment mechanism can vary depending on whether the wheels are configured with independent or grouped height adjustment mechanisms. For example, if the wheels have independent height adjustment mechanisms, the left front wheel is raised by the left front wheel height adjustment mechanism and the left rear wheel is raised by the left rear wheel height adjustment mechanism. If the left front and left rear wheels share a common height adjustment mechanism, both the left front and left rear wheels are raised simultaneously by the common height adjustment mechanism.

[0150] If the selected mowing mode is the slope mowing mode, the vehicle controller adjusts the height of the corresponding wheels by controlling the height adjustment mechanism. For example, the right-side front and rear wheels on the slope are raised by the height adjustment mechanism located on the right side, that is, the distance between the right-side front and rear wheels and the frame is extended, and the height increase is ΔH2', so that the mower's mowing surface is parallel to the slope after adjustment, enabling mowing operations on the slope. The method of raising the right-side front and rear wheels on the slope by the height adjustment mechanism located on the right side can vary depending on whether the wheels are configured with independent or grouped height adjustment mechanisms. For example, if the wheels have independent height adjustment mechanisms, the right front wheel is raised by the height adjustment mechanism of the right front wheel and the right rear wheel is raised by the height adjustment mechanism of the right rear wheel. If the right front and right rear wheels share a common height adjustment mechanism, both the right front and right rear wheels are raised simultaneously by the common height adjustment mechanism.

[0151] On Figure 12 In the illustrated embodiment, the vehicle controller controls the height adjustment mechanism to adjust the height of the corresponding walking wheels based on the selected mowing mode and the walking posture of the multiple walking wheels in the walking assembly. This is mainly achieved by raising one side of the walking wheels to adjust the cutter surface to correspond to the selected mowing mode.

[0152] like Figure 13 As shown, the lawnmower travels on a slope, wherein the front and rear wheels on the left side of the lawnmower travel on flat ground and the front and rear wheels on the right side travel on the slope, and the flat ground is located at a low point. The vehicle controller has obtained the slope inclination angle information. The slope inclination angle information can be obtained by the slope detection device on-site, or the slope inclination angle information can be obtained by the slope detection device in advance and stored in the storage of the vehicle controller.

[0153] If the selected mowing mode is flat ground mowing mode, the vehicle controller adjusts the height of the corresponding wheels by controlling the height adjustment mechanism. For example, the height adjustment mechanism on the right side lowers the front and rear wheels on the right side of the slope, shortening the distance between the front and rear wheels on the right side and the frame. The height reduction is Δh2', making the mower's mowing surface parallel to the flat ground, enabling mowing operations on flat surfaces. The method of lowering the front and rear wheels on the right side of the slope using the height adjustment mechanism can vary depending on whether the wheels are configured with independent or grouped height adjustment mechanisms. For example, if the wheels have independent height adjustment mechanisms, the right front wheel is lowered by the height adjustment mechanism for the right front wheel, and the right rear wheel is lowered by the height adjustment mechanism for the right rear wheel. If the right front and right rear wheels share a common height adjustment mechanism, both wheels are lowered simultaneously by the shared mechanism.

[0154] If the selected mowing mode is a slope mowing mode, the vehicle controller adjusts the height of the corresponding wheels by controlling the height adjustment mechanism. For example, the left-side height adjustment mechanism lowers the left front and rear wheels on flat ground, shortening the distance between the left front and rear wheels and the frame by a height reduction of Δh1'. This ensures the mower's mowing surface is parallel to the slope, enabling mowing operations on the slope. The method of lowering the left front and rear wheels on flat ground using the left-side height adjustment mechanism can vary depending on whether the wheels are configured with independent or grouped height adjustment mechanisms. For example, if the wheels have independent height adjustment mechanisms, the left front wheel is lowered by the left front wheel height adjustment mechanism, and the left rear wheel is lowered by the left rear wheel height adjustment mechanism. If the left front and left rear wheels share a common height adjustment mechanism, both wheels are lowered simultaneously by this shared mechanism.

[0155] On Figure 13 In the illustrated embodiment, the vehicle controller controls the height adjustment mechanism to adjust the height of the corresponding walking wheels based on the selected mowing mode and the walking posture of the multiple walking wheels in the walking assembly. This is mainly achieved by adjusting the cutter surface to correspond to the selected mowing mode by lowering one side of the walking wheels.

[0156] However, this is not the limitation. In other embodiments, the vehicle controller controls the height adjustment mechanism to adjust the height of the corresponding walking wheels according to the selected mowing mode and the walking posture of the multiple walking wheels in the walking assembly. The cutter surface can be adjusted to correspond to the selected mowing mode by a combination of lowering one walking wheel and raising the other walking wheel.

[0157] In this embodiment of the disclosure, the process of using the slope detection device to detect the inclination angle information of the slope and using the wheel control device to control the height lifting mechanism to adjust the height of at least one side of the walking wheel is a closed-loop adjustment process.

[0158] This embodiment of the lawnmower provides a vehicle frame; a cutting assembly including at least one cutter and a cutter drive source; the at least one cutter having a cutting surface; a walking assembly including multiple wheels and a walking drive source, wherein the multiple wheels are configured with a height lifting mechanism in an independent or grouped manner; a slope detection device configured to detect the inclination angle of the slope to be cut and output inclination angle information; and a wheel control device connected to the slope detection device and the height lifting mechanism, configured to control the height lifting mechanism to adjust the height of the corresponding wheels based on the inclination angle information output by the slope detection device and a selected mowing mode, such that the cutting surface formed by the at least one cutter is parallel to the slope or parallel to the flat ground. By equipping the lawnmower with a wheel height adjustment mechanism, a slope detection device, and a wheel control device, it can perform slope cutting and mowing operations when the area to be cut is a sloping area. Based on the detected slope inclination angle, the height adjustment mechanism adjusts the height of the corresponding wheels, so that the cutting surface formed by at least one cutter is parallel to the slope for cutting, or so that the cutting surface formed by at least one cutter is parallel to the flat ground for cutting, ensuring a relatively flat and uniform mowing surface, including both flat and sloping surfaces, with a natural transition between flat and sloping surfaces, improving the aesthetics of the mowing surface and the user experience.

[0159] This disclosure also provides a control method for a lawnmower, wherein the lawnmower includes: a frame; a cutting assembly including at least one cutter and a cutter drive source; the at least one cutter having a cutting surface; a walking assembly including multiple walking wheels and a walking drive source, wherein the multiple walking wheels are configured with a height lifting mechanism in an independent or grouped manner; a slope detection device configured to detect the inclination angle of the slope to be cut and output inclination angle information; and a wheel control device connected to the slope detection device and the height lifting mechanism.

[0160] For the structure of the lawnmower and its various components, please refer to the previous description, which will not be repeated here.

[0161] Please see Figure 14 The diagram shows a flowchart of a lawnmower control method according to an embodiment of this disclosure.

[0162] like Figure 14 As shown, the control method for a lawnmower in one embodiment of this disclosure specifically includes the following steps:

[0163] Step S1401: The slope detection device detects the inclination angle of the slope to be cut and outputs the inclination angle information.

[0164] In some embodiments, prior to step S1401, the wheel control device receives control commands including selecting a slope mowing operation function and selecting between the flat mowing mode and the slope mowing mode of the slope mowing operation function.

[0165] In some embodiments, after step S1401, the wheel control device receives a control command including selecting the slope mowing operation function and selecting between the flat mowing mode and the slope mowing mode of the slope mowing operation function.

[0166] For example, the control panel of the lawnmower displays function operation keys for multiple mowing functions, including the slope mowing function. After the user selects the corresponding mowing function through the function operation keys, the display screen will further display mode operation keys under the mowing function. The mowing mode under the slope mowing function may include flat mowing mode and slope mowing mode.

[0167] In step S1403, the wheel control device receives the tilt angle information from the slope detection device, and based on the selected mowing mode, controls the height lifting mechanism to adjust the height of the corresponding walking wheels.

[0168] In some embodiments, the wheel control device controls the height adjustment mechanism to adjust the height of the corresponding walking wheels based on the tilt angle information of the slope detection device. This includes: controlling the height adjustment mechanism to adjust the height of the corresponding walking wheels based on the tilt angle information output by the slope detection device, the selected flat mowing mode, and the traveling posture of the multiple walking wheels in the walking assembly, so that the cutting surface formed by the at least one cutter is parallel to the flat ground to suit the selected flat mowing mode.

[0169] In some embodiments, the wheel control device controls the height adjustment mechanism to adjust the height of the corresponding walking wheels based on the tilt angle information of the slope detection device. This includes: controlling the height adjustment mechanism to adjust the height of the corresponding walking wheels based on the tilt angle information output by the slope detection device, the selected slope mowing mode, and the traveling posture of the multiple walking wheels in the walking assembly, so that the cutting surface formed by the at least one cutter is parallel to the slope surface to suit the selected slope mowing mode.

[0170] For example, the vehicle controller controls the height adjustment mechanism to adjust the height of the corresponding walking wheels according to the selected mowing mode and the walking posture of the multiple walking wheels in the walking assembly. This adjustment can be performed by a single-sided lifting adjustment method or a double-sided lifting adjustment method.

[0171] In the single-sided lifting adjustment method, the height of only one side of the traveling wheel is adjusted. Specifically, only one side of the traveling wheel is raised, or only one side of the traveling wheel is lowered.

[0172] In the dual-sided lifting adjustment method, the walking wheels on one side are lowered while the walking wheels on the other side are raised.

[0173] The above steps S1401 and S1403 constitute a closed-loop adjustment process, which can be cyclically operated to ensure that the mower's mowing surface is always in dynamic equilibrium with a tendency to be parallel to the mowing surface.

[0174] This disclosure provides a control method for a lawnmower. During the operation of the lawnmower, a slope detection device is used to detect the inclination angle information of the slope surface in real time during the slope cutting operation. Based on the inclination angle information output by the slope detection device and the selected mowing mode, a wheel control device controls the height lifting mechanism to adjust the height of the corresponding wheels. This adjusts the frame surface (i.e., the cutting blade surface) to be consistent with the mowing surface (e.g., a slope or a flat surface), ensuring a relatively flat and uniform mowing surface, improving the aesthetics of the mowing surface and the user experience.

[0175] The above embodiments are merely illustrative of the principles and effects of this disclosure and are not intended to limit this disclosure. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this disclosure. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this disclosure should still be covered by the protection scope of this disclosure.

Claims

1. A lawnmower characterised in that, The lawn mower comprises: a frame; a cutting assembly comprising at least one cutting blade and a cutting blade driving source, wherein the at least one cutting blade is formed with a cutting blade surface; a walking assembly comprising a plurality of walking wheels and a walking driving source, wherein the plurality of walking wheels are independently or in groups provided with height lifting mechanisms; a slope surface detection device configured to detect an inclination angle of a slope surface to be cut and output inclination angle information; and a wheel control device connected with the slope surface detection device and the height lifting mechanisms, configured to control the height lifting mechanisms to adjust the height of the corresponding walking wheels based on the inclination angle information output by the slope surface detection device and a selected mowing mode, so that the cutting blade surface formed by the at least one cutting blade is parallel to the slope surface or parallel to a flat ground surface connected with the slope surface.

2. The lawnmower as claimed in claim 1, characterized in that The walking assembly comprises four walking wheels respectively arranged on the left and right sides of the front end and the left and right sides of the rear end of the frame, wherein each walking wheel is independently provided with a height lifting mechanism.

3. The lawnmower as claimed in claim 1, characterized in that The walking assembly comprises four walking wheels respectively arranged on the left and right sides of the front end and the left and right sides of the rear end of the frame, wherein the front and rear walking wheels on the same side are configured as a group and provided with a height lifting mechanism.

4. The lawnmower of claim 2 or 3, characterized in that The height lifting mechanism comprises: a lead screw having a threaded segment, wherein the threaded segment is screwed with the corresponding walking wheel; and a rotating motor connected with the lead screw, configured to drive the lead screw to rotate in the forward and reverse directions.

5. The mower of claim 1, wherein, The slope surface detection device is a gyroscope sensor.

6. The mower of claim 1, wherein, The slope surface detection device is a tire pressure detection device comprising a tire pressure sensor arranged in a tire of the walking wheel and a tire pressure controller connected with the tire pressure sensor.

7. The mower of claim 1, wherein, A filter device is arranged between the slope surface detection device and the wheel control device, configured to perform conditional filtering processing on the inclination angle information output by the slope surface detection device.

8. The mower of claim 1, wherein, The lawn mower further comprises a function operation device connected with the wheel control device, wherein the function operation device is configured to realize selection operation of the slope surface mowing function and selection operation of the flat ground mowing mode and the slope mowing mode in the slope surface mowing operation.

9. The lawnmower as claimed in claim 8, characterized in that The wheel control device controls the height lifting mechanisms to adjust the height of the corresponding walking wheels based on the inclination angle information output by the slope surface detection device and the selected mowing mode, comprising: based on the inclination angle information output by the slope surface detection device, the selected mowing mode, and the traveling posture of the plurality of walking wheels in the walking assembly, the height lifting mechanisms are controlled to adjust the height of the corresponding walking wheels, so that the cutting blade surface formed by the at least one cutting blade is parallel to the slope surface to adapt to the slope mowing mode, or the cutting blade surface formed by the at least one cutting blade is parallel to the flat ground surface to adapt to the flat ground mowing mode; the traveling posture comprises a first traveling posture in which the walking wheels on the left side of the frame travel on the flat ground surface and the walking wheels on the right side of the frame travel on the slope surface, and a second traveling posture in which the walking wheels on the left side of the frame travel on the slope surface and the walking wheels on the right side of the frame travel on the flat ground surface.

10. The lawnmower as claimed in claim 1, characterized in that, The lawn mower comprises a hand-push lawn mower, a standing lawn mower, a riding lawn mower, or a self-walking / intelligent lawn mower.

11. A control method of a mower, characterized by, The mower comprises a frame, a cutting assembly comprising at least one cutting blade formed with a cutting blade surface and a cutting blade driving source, a traveling assembly comprising a plurality of traveling wheels and a traveling driving source, the plurality of traveling wheels being configured with height lifting mechanisms in an independent manner or in a grouped manner, a slope surface detecting assembly, a wheel control device connected with the slope surface detecting assembly and the height lifting mechanisms, and a control method of the mower comprising the following steps: detecting an inclination angle of a slope surface to be cut by the slope surface detecting assembly and outputting inclination angle information; and receiving the inclination angle information of the slope surface detecting assembly by the wheel control device, controlling the height lifting mechanisms to perform height lifting adjustment for corresponding traveling wheels based on a selected mowing mode according to the inclination angle information of the slope surface detecting assembly, so that the cutting blade surface formed by the at least one cutting blade is parallel to the slope surface to cut the slope surface or parallel to a flat ground surface to cut the flat ground surface.

12. The control method of the mower according to claim 11, characterized by Further comprising: receiving, by the wheel control device, a control instruction including selecting a slope surface mowing operation function and selecting an operation of selecting a flat ground mowing mode and a slope mowing mode of the slope surface mowing operation function before being detected by the slope surface detecting assembly, or receiving the control instruction including selecting the slope surface mowing operation function and selecting the operation of selecting the flat ground mowing mode and the slope mowing mode of the slope surface mowing operation function after being detected by the slope surface detecting assembly.

13. The control method of the mower according to claim 12, characterized by, controlling, by the wheel control device, the height lifting mechanisms to perform height lifting adjustment for corresponding traveling wheels according to the inclination angle information of the slope surface detecting assembly, comprising: controlling the height lifting mechanisms to perform height lifting adjustment for corresponding traveling wheels according to the inclination angle information output by the slope surface detecting assembly, the selected mowing mode, and a traveling posture of the plurality of traveling wheels in the traveling assembly, so that the cutting blade surface formed by the at least one cutting blade is parallel to the slope surface to adapt to the slope mowing mode, or the cutting blade surface formed by the at least one cutting blade is parallel to the flat ground surface to adapt to the flat ground mowing mode; the traveling posture comprises a first traveling posture in which traveling wheels on the left side of the frame travel on a flat ground surface and traveling wheels on the right side of the frame travel on a slope surface, and a second traveling posture in which the traveling wheels on the left side of the frame travel on the slope surface and the traveling wheels on the right side of the frame travel on the flat ground surface.

14. The control method of the mower according to claim 11, characterized by, Further comprising: storing the inclination angle information detected by the slope surface detecting assembly and a control parameter of controlling the height lifting mechanisms to perform height lifting adjustment for corresponding traveling wheels by the wheel control device.

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