Dual-mode mower and control method thereof

Abstract

The invention discloses a dual-mode mower and a control method thereof.The dual-mode mower comprises a control system, a mower body and a handle installed on the mower body, and the mower has two working modes which are the manual control mode for working based on the handle held by a user and the automatic control mode for autonomous moving working based on a user instruction. The control system comprises a control module, and the control module is configured to control the mower to be switched between the manual control mode and the automatic control mode when the mode switching condition is met. The mower is set to have two control modes, so that the switching and operation of the two control modes can be realized by a single control module, and the mower can move, mow, collect fallen leaves and the like under the manual control of a user under the conditions that the terrain of a working area is complex, and the like; and when wide users want to save labor in a working area, the robot can work autonomously in the working area, and the functions are more comprehensive.

Description

Technical Field

[0001] This invention belongs to the field of garden equipment, specifically relating to a dual-mode lawnmower and its control method. Background Technology

[0002] Currently, lawnmowers on the market are generally divided into two categories: push lawnmowers, which require manual operation, and autonomous intelligent lawnmower robots. Push lawnmowers can adapt to various complex terrains and can collect grass clippings and fallen leaves through a collection bin. However, the entire mowing process requires full user intervention; the user needs to hold the handle to steer and control the lawnmower, which can easily lead to user fatigue. While intelligent lawnmowers can operate autonomously, freeing up the user, they have poor adaptability to complex terrains and cannot collect grass clippings and fallen leaves. Therefore, both types of lawnmowers have relatively limited functions and are only suitable for specific work scenarios, failing to meet the diverse needs of users in various work situations, resulting in a poor user experience. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a dual-mode lawnmower to solve the problem of lawnmowers having only one function.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: a dual-mode lawnmower, including a control system, a body, and a handle mounted on the body. The lawnmower has two working modes: a manual control mode based on the user holding the handle and an automatic control mode based on user commands for autonomous movement. The control system includes a control module configured to switch the lawnmower between the manual and automatic control modes when the mode switching conditions are met. This technical solution has the following technical effects: This invention enables a lawnmower to have two control modes: a manual control mode where the user can operate it by holding a handle, and an automatic control mode where it moves and works autonomously by receiving user commands. A single control module can switch between and operate these two modes, allowing the lawnmower to perform tasks such as moving, mowing, and collecting leaves under manual control in complex terrain areas, or autonomously moving within a large work area to perform these tasks when the user prefers to save effort. This makes the lawnmower more versatile, allowing users to choose the mode that best suits their needs, thus broadening its applicability.

[0005] In the aforementioned dual-mode lawnmower, the handle is movably connected to the machine body. The control system also includes a detection module configured to detect the handle's position and electrically connected to the control module. The control module determines whether the mode switching conditions are met based on the handle's position information. By movably connecting the handle to the machine body, the handle can move within the machine. The detection module allows the control module to detect the handle's movement and determine whether a mode switch is necessary. Therefore, users can switch working modes simply by operating the handle, making operation simple and convenient and improving the user experience.

[0006] In the aforementioned dual-mode lawnmower, a handle is rotatably connected to the body, featuring a handhold position for the user and a folded-down storage position on top of the body. The handle can be rotated to switch between these two positions. When the detection module detects the handle is in the handhold position, the control module switches the lawnmower to manual control mode. By rotatably connecting the handle to the body, the user can switch between the handhold and storage positions. In manual control mode, the handle is in the handhold position, allowing the user to easily grip and apply force, enabling the lawnmower to move or rotate. In automatic control mode, the handle is in the storage position, folded and stored on top of the body, reducing the overall space occupied by the lawnmower and preventing it from colliding with obstacles and hindering movement during autonomous operation. This facilitates both user operation and lawnmower operation.

[0007] In the aforementioned dual-mode lawnmower, the body includes a casing and a crash barrier located at the front of the casing. When the handle is in the retracted position, the projection of the handle's tip onto the horizontal plane lies within the projection of the crash barrier onto the horizontal plane. The crash barrier protects both the casing and the folded handle. During the lawnmower's operation, if a collision occurs with an obstacle due to detection errors or other reasons, the entire handle is positioned inside the crash barrier because the projection of the handle's tip onto the horizontal plane lies within the projection of the crash barrier. That is, the crash barrier is located at the front of the casing, and the handle's tip does not protrude beyond it. Therefore, only the crash barrier itself comes into contact with the obstacle. The crash barrier can absorb some of the impact force through deformation, reducing the impact force transmitted to the casing. This protects the casing and the retracted handle, achieving a shock-absorbing effect and ensuring the lawnmower's safety and durability.

[0008] In one of the aforementioned dual-mode lawnmowers, the detection module is located on the machine body; or, the detection module is located on the handle.

[0009] In the aforementioned dual-mode lawnmower, the detection module comprises one of an infrared sensor, a micro switch, a Hall effect switch, and an inertial measurement unit. This design results in a small and simple detection module, allowing it to be installed in various positions while providing accurate detection results. This enables the control module to accurately acquire the detection results and determine mode switching.

[0010] In the aforementioned dual-mode lawnmower, the control system further includes a sensing module electrically connected to the control module. When the lawnmower is in manual or automatic control mode, the control module uses the sensing module to detect the surrounding environment of the lawnmower and locate it. The sensing module can detect the surrounding environment of the lawnmower to identify obstacles, and it can also locate the lawnmower so that it can autonomously locate itself in both manual and automatic control modes. In both modes, the control module can use the sensing module to autonomously locate, plan routes, and avoid obstacles for the lawnmower.

[0011] In the aforementioned dual-mode lawnmower, the perception module includes one or more of an ultrasonic detection unit, a laser detection unit, and a visual detection unit. Because the ultrasonic detection unit, visual detection unit, and laser detection unit can all independently perceive the lawnmower's own position and locate and orient obstacles on the map to avoid obstacles, and assist the lawnmower in optimizing its path algorithm and mapping capabilities, using one or more of these units enables the lawnmower to achieve fully dynamic obstacle avoidance and intelligent path planning.

[0012] In the aforementioned dual-mode lawnmower, the sensing module includes an ultrasonic detection unit. This unit comprises two first ultrasonic sensors located on the front of the mower body and two second ultrasonic sensors located on the left and right sides of the mower body, respectively. The detection areas of the two first ultrasonic sensors partially overlap in the horizontal direction, and adjacent first and second ultrasonic sensors also partially overlap in the horizontal direction. By setting the detection areas of adjacent ultrasonic sensors to partially overlap in the horizontal direction, the four ultrasonic sensors can provide full horizontal coverage of the area in front of and to the left and right sides of the mower's path, enabling more comprehensive obstacle detection and allowing for more accurate obstacle avoidance.

[0013] In the aforementioned dual-mode lawnmower, the vertical detection area of ​​the ultrasonic sensor is fan-shaped. The angle between the center line of the first ultrasonic sensor's detection area and the horizontal plane is α, and the angle between the center line of the second ultrasonic sensor's detection area and the horizontal plane is β, satisfying α > β. Because the vertical detection areas of the first and second ultrasonic sensors have the same angle, setting α to be greater than β allows the detection area of ​​the first ultrasonic sensor to be more upwardly tilted compared to the detection area of ​​the second ultrasonic sensor. This results in a higher detection height in front of the lawnmower. During the lawnmower's movement, the first ultrasonic sensor can detect obstacles at higher elevations or falling obstacles for precise obstacle avoidance.

[0014] In the aforementioned dual-mode lawnmower, the lawnmower also includes a mobile terminal, and the control system further includes a communication module for transmitting information between the control module and the mobile terminal. The communication module is electrically connected to the control module. When the lawnmower is in automatic control mode, the control module controls the lawnmower to move autonomously within the scene map based on information received from the sensing module and the communication module. The inclusion of the mobile terminal and communication module allows information to be transmitted between the mobile terminal and the control module via the communication module when the user operates the mobile terminal. This enables the user to remotely control the lawnmower, facilitating operation and enhancing the user experience.

[0015] In the aforementioned dual-mode lawnmower, the control system also includes an emergency stop module electrically connected to the control module. When the lawnmower is in manual or automatic control mode, the control module will perform an emergency stop after the emergency stop module is triggered. The emergency stop module is used to stop the lawnmower in an emergency. When the lawnmower is in manual control mode, the control module can perform an emergency stop after the emergency stop module is triggered. When the lawnmower is in automatic control mode, the control module can perform an emergency stop after the emergency stop module is triggered. The emergency stop module can operate in both manual and automatic control modes to ensure the safe use of the lawnmower.

[0016] In the aforementioned dual-mode lawnmower, the machine body is equipped with a blade assembly for cutting grass and a wheel assembly for driving the machine body to move. The control system also includes a blade module and a travel module, which are electrically connected to the control module respectively. When the lawnmower is in manual or automatic control mode, the control module controls the blade assembly to work independently through the blade module, and the control module controls the wheel assembly to work independently through the travel module. The arrangement of the blade module and the travel module allows the control module to drive the blade assembly and the wheel assembly to work independently, respectively, through the blade module and the travel module.

[0017] In the aforementioned dual-mode lawnmower, a control panel is provided on the handle. The travel module includes a speed control switch for adjusting the wheel hub speed and a self-propelled switch for starting and stopping the wheel hub's self-drive. Both the speed control switch and the self-propelled switch are located on the control panel. When the lawnmower is in manual control mode, the user holds the handle and places the speed control switch and the self-propelled switch on the control panel, allowing for convenient and quick operation and improving the user experience.

[0018] In the aforementioned dual-mode lawnmower, the travel module also includes a left turn switch and a right turn switch, which are respectively located on the handles on the left and right sides of the control panel. When the left turn switch is triggered, the lawnmower turns to the left; when the right turn switch is triggered, the lawnmower turns to the right. The control module can control the speed of the two rear wheel motors separately. When the user presses the right turn switch, the speed of the right rear wheel motor becomes zero, and the left rear wheel rotates at normal self-propelled speed, thus enabling the lawnmower to turn 180° to the right with the right rear wheel as the center. When the user presses the left turn switch, the speed of the left rear wheel motor becomes zero, and the right rear wheel rotates at normal self-propelled speed, thus enabling the lawnmower to turn 180° to the left with the left rear wheel as the center. The 180° turn on the spot can minimize the impact of turning on the mowing effect, ensuring the mowing effect while making it more convenient and effortless for the user to control the lawnmower to turn. The left and right U-turn switches are located on the handles on the left and right sides of the control panel, respectively, so that users can quickly operate them when they need to turn around.

[0019] In the aforementioned dual-mode lawnmower, the lawnmower also includes a mobile terminal, and a placement slot is provided on the handle. When the user holds the handle, the slot is positioned with its opening facing upwards and located on the front side of the control panel for placing the mobile terminal. By placing the placement slot on the front of the control panel when the user operates the lawnmower while holding the handle, the user can easily view and operate the mobile terminal, allowing the user to operate the control panel on the handle based on the feedback displayed on the mobile terminal, thus improving the user experience.

[0020] In the aforementioned dual-mode lawnmower, the control module includes a main control board, as well as a mapping switch and a straight-line switch electrically connected to the main control board. Both the mapping switch and the straight-line switch are located on the control panel. By placing the mapping switch and the straight-line switch on the control panel, when the lawnmower is in manual control mode, the user holds the handle and only needs to press the switch on the control panel to map or activate the lawnmower's auxiliary straight-line function. This allows for convenient and quick operation and improves the user experience.

[0021] In the aforementioned dual-mode lawnmower, an operation panel is located on the top of the machine body. The control module includes a main control board, a power switch, and a start switch and a confirmation switch for activating the automatic control mode. The power switch, start switch, and confirmation switch are located on the operation panel and electrically connected to the main control board. By placing the operation panel with the power switch, start switch, and confirmation switch on the top of the machine body, the user can press the corresponding buttons to control the lawnmower to enter the automatic control mode, making operation more convenient.

[0022] This invention also provides a control method for a dual-mode lawnmower, comprising the following steps: S1, determining whether the lawnmower handle is folded to the top of the body; if not, proceeding to S2; if yes, proceeding to S3; S2, entering manual control mode; in manual control mode, according to user selection, executing a mowing command, a self-propelled command, or a mapping command; when executing the mowing command, the lawnmower's blade assembly operates to mow the grass; when executing the self-propelled command, the lawnmower moves autonomously; when executing the mapping command, the lawnmower records and maps the work scene map; S3, determining whether the lawnmower is within the work scene map based on its positioning; if yes, proceeding to S4; if no, returning to S1; S4, determining whether the user selects to activate automatic control mode; if no, returning to S3; if yes, entering automatic control mode; in automatic control mode, the lawnmower moves autonomously within the work scene map to perform its work. This technical solution has the following technical effects: This invention provides a lawnmower with two control modes, which users can switch between by turning the handle. When the terrain is complex and manual control is required, simply turn the handle to the position where it extends towards the rear of the mower; the mower will automatically enter manual control mode, allowing the user to select functions such as movement, mowing, or leaf collection. When the terrain is flat and open, and the user prefers a less strenuous approach, the user can map the work area in manual control mode, push the mower into the area, fold the handle to the top of the machine, and then select automatic control mode. The mower will then move autonomously within the work area in automatic mode. By offering two control modes, the mower can perform manual mowing in complex terrain and autonomous mowing in spacious areas, offering more comprehensive functionality to meet different user needs and enhance the user experience. Because existing smart lawnmowers do not require user operation, they do not have a handle. Mapping typically uses automatic mapping, where the lawnmower moves autonomously within the work area and automatically turns to map when it encounters the boundary. However, automatic mapping is only suitable for work areas with boundaries, i.e., areas with obstacles blocking the boundary. It cannot map open work areas (i.e., work areas without boundary restrictions). This invention provides manual mapping mode, allowing users to select areas for mapping by pushing the lawnmower with the handle. Users can precisely select the mapping range. During mapping, the work area can be without boundaries, so manual mapping is not limited by the type of work area, whether it has boundaries or not. Compared to automatic mapping by the lawnmower, manual mapping has a wider range of applications.

[0023] In the aforementioned dual-mode lawnmower control method, in step S2, the manual control mode also includes an auxiliary straight-line command. If the user selects the auto-mower command, it is determined whether the user has selected the auxiliary straight-line command. If so, the lawnmower is assisted to move along a straight line according to the user-specified direction; otherwise, the lawnmower only executes the auto-mower command. When the lawnmower is in manual control mode, the user can push the lawnmower themselves or activate the rear wheel drive motor by executing the auto-mower command, allowing the lawnmower to move automatically, saving the user effort. When executing the auto-mower command, the user typically needs to control the lawnmower's trajectory to maintain a straight line back and forth on the lawn for good mowing results. However, due to uneven terrain, it is difficult for the user to maintain a straight line, resulting in some areas not being mowed, leading to poor mowing results. The auxiliary straight-line command allows the lawnmower to maintain a straight line while the user manually controls it to move back and forth on the lawn, saving the user effort while achieving good mowing results.

[0024] In the aforementioned dual-mode lawnmower control method, in S2, the manual control mode also includes a turn-around command. If the user selects the auto-drive command, the system determines whether the user has selected the turn-around command. If yes, the lawnmower is assisted to turn 180 degrees; otherwise, the lawnmower only executes the auto-drive command. When executing the turn-around command, the lawnmower can turn 180 degrees to the left or right in place, centered on the left drive wheel, according to the instruction. A 180-degree turn in place minimizes the impact of turning on the mowing effect, ensuring mowing quality without requiring the user to exert effort to rotate the lawnmower. This makes controlling the lawnmower to turn around more convenient and effortless for the user.

[0025] In the aforementioned control method for a dual-mode lawnmower, in step S2, if the user selects the mapping command, it is determined whether the lawnmower has a stored work scene map. If so, the process returns to step S1; otherwise, the mapping command is executed to map the work scene. By determining whether the lawnmower has a stored work scene map before mapping, if the lawnmower has a stored work scene map, the user does not need to perform secondary mapping, saving mapping time and making it more convenient for the user.

[0026] In the above-mentioned dual-mode lawnmower control method, the mapping command has a boundary mapping mode and a coverage mapping mode. In the boundary mapping mode, the user pushes the lawnmower to move along the boundary of the work scene. During this process, the lawnmower performs multiple positioning, and the multiple positioning points are connected end to end to form a work scene map. In the coverage mapping mode, the user pushes the lawnmower to move, and the lawnmower passes through all the areas that need to be worked. The area covered by the lawnmower's movement path forms a work scene map.

[0027] In the above-mentioned control method for a dual-mode lawnmower, in step S3, when determining whether the lawnmower's location is within the work scene map, the following steps are included: S31, determine whether the lawnmower stores a work scene map. If yes, proceed to S32; otherwise, return to S1. S32, locate the lawnmower and determine whether its location is within the work scene map. If yes, proceed to S4; otherwise, return to S1.

[0028] In the aforementioned control method for a dual-mode lawnmower, step S4, determining whether the user has selected to activate the automatic control mode, includes the following steps: S41, determining whether the user has selected to activate automatic control; if not, return to S3; if yes, proceed to S42; S42, determining whether the user has selected to confirm activation of automatic control within a set time; if yes, enter automatic control mode; if not, return to S41. By splitting the determination of whether the user has selected to activate the automatic control mode into two steps, and setting the confirmation to activate automatic control within a set time after the initial selection, the user needs to press the button twice consecutively within a certain time when selecting to activate automatic control mode. Therefore, accidental presses will not activate the lawnmower's automatic control mode, making it safer for the user.

[0029] The features and advantages of the present invention will be disclosed in detail in the following specific embodiments and accompanying drawings. Attached Figure Description

[0030] The present invention will be further described below with reference to the accompanying drawings and specific embodiments: Figure 1 This is a schematic diagram of the control system for a dual-mode lawnmower. Figure 2 A 3D view of the dual-mode lawnmower with the handle in the hand position; Figure 3 A 3D view of the dual-mode lawnmower with the handle in the stowed position; Figure 4 An exploded view of a lawnmower; Figure 5 A 3D view showing the handle in the hand-holding position without a mobile terminal placed on it; Figure 6 A 3D view showing a mobile terminal placed on the handle in the hand-holding position; Figure 7 This is a schematic diagram of the control panel; Figure 8 This is a schematic diagram of the detection area of ​​the ultrasonic detection unit on a horizontal plane. Figure 9 This is a schematic diagram of the detection area of ​​the ultrasonic detection unit on a vertical plane. Figure 10 A flowchart of a control method for a dual-mode lawnmower; Figure 11 This is a schematic diagram of the boundary mapping mode of a dual-mode lawnmower for the work area; Figure 12 This is a schematic diagram of a dual-mode lawnmower mapping the work area.

[0031] Figure label: 100. Control module; 110. Main control board; 120. Power switch; 140. Start switch; 150. Confirmation switch; 160. Graphing switch; 170. Straight-through switch; 200. Cutting blade module; 210. Cutting blade switch; 220. Cutting motor; 230. Cutting motor drive board; 300. Travel module; 310. Speed ​​control switch; 320. Self-propelled switch; 330. Rear wheel motor; 340. Rear wheel motor drive board; 350. Left U-turn switch; 360. Right U-turn switch; 400. Communication module; 410. Mobile communication unit; 420. Long-distance radio communication unit; 500. Sensing module; 510. Ultrasonic detection unit; 511. Ultrasonic sensor; 5111. First ultrasonic sensor; 5112. Second ultrasonic sensor; 512. Ultrasonic algorithm board; 520. Laser detection unit; 521. Laser sensor; 522. Laser algorithm board; 530. Visual detection unit; 531. Visual sensor; 532. Visual algorithm board; 600. Emergency stop module; 610. Emergency stop switch; 700. Body; 710. Control panel; 720. Battery pack assembly; 730. Grass collection box; 740. Cutter assembly; 750. Wheel hub assembly; 751. Rear wheel; 760. Indicator light; 770. Housing; 780. Crash guardrail; 800, Handle; 810, Control panel; 820, Placement slot; 900. Mobile terminal. Detailed Implementation

[0032] This invention proposes a dual-mode lawnmower, comprising a control system, a body, and a handle mounted on the body. The lawnmower has two operating modes: a manual control mode based on the user's hand-held handle and an automatic control mode based on user commands for autonomous movement. The control system includes a control module configured to switch the lawnmower between the manual and automatic control modes when mode switching conditions are met. By configuring the lawnmower with two control modes—a manual control mode operated by the user's hand-held handle and an automatic control mode that allows autonomous movement based on user commands—a single control module can switch between and operate both modes. This allows the lawnmower to perform tasks such as movement, mowing, and leaf collection under manual control in complex terrain areas, and autonomous movement within a wide work area for easier movement and leaf collection when the user prefers a more efficient approach. The functionality is more comprehensive, and users can choose the appropriate mode based on their needs, broadening the lawnmower's applicability.

[0033] The technical solutions of the embodiments of the present invention will be explained and described below with reference to the accompanying drawings. However, the following embodiments are only preferred embodiments of the present invention and not all of them. Other embodiments obtained by those skilled in the art based on the embodiments in the implementation methods without creative effort are all within the protection scope of the present invention.

[0034] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0035] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more, unless explicitly defined otherwise.

[0036] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0037] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0038] Example 1:

[0039] A dual-mode lawnmower, such as Figures 1 to 9 As shown, the lawnmower includes a control system, a body 700, and a handle 800 mounted on the body 700. The lawnmower has two operating modes: a manual control mode based on the user's hand position on the handle 800, and an automatic control mode based on user commands for autonomous movement. The control system includes a control module 100, which is configured to switch the lawnmower between manual and automatic control modes when the mode switching conditions are met.

[0040] This invention enables a lawnmower to have two control modes: a manual control mode where the user can operate it by holding the handle 800, and an automatic control mode where it moves and works autonomously by receiving user commands. A single control module 100 can switch between and operate these two modes. This allows the lawnmower to perform tasks such as moving, mowing, and collecting leaves under manual control in complex terrain areas, or autonomously moving, mowing, and collecting leaves in spacious areas where the user prefers to save effort. The invention offers more comprehensive functionality, allowing users to choose the appropriate mode based on their needs, thus broadening the lawnmower's applicability.

[0041] The mode switching conditions can be multiple. In this embodiment, the handle 800 is movably connected to the body 700, meaning the handle 800 can move on the body 700. The control system also includes a detection module configured to detect position changes of the handle 800. The detection module is electrically connected to the control module 100, and the control module 100 determines whether the mode switching conditions are met based on the position information of the handle 800. By setting up the detection module, the control module 100 can detect the movement of the handle 800 and determine whether a working mode switch is needed. Therefore, the user can switch working modes simply by operating the handle 800, making the operation simple and convenient and improving the user experience. It is understood that the handle 800 can be retractably mounted on the body 700 or rotatably connected to the body 700.

[0042] Preferably, the handle 800 is rotatably connected to the body 700, and has a hand-holding position and a storage position, such as... Figure 2 As shown, when the handle 800 is in the hand-held position, the handle 800 extends and tilts towards the rear of the lawnmower for the user to hold and operate; as Figure 3As shown, when the handle 800 is in the stowed position, it is folded and stored on the top of the body 700. The handle 800 can be rotated to switch between the hand-held position and the stowed position. When the detection module detects that the handle 800 is in the hand-held position, the control module 100 switches the lawnmower to manual control mode. By rotating the handle 800 to the body 700, the control module 100 determines the position of the handle 800 based on the position information of the handle 800 obtained by the detection module, and switches between manual control mode and automatic control mode according to the position of the handle 800. This allows the user to switch working modes by rotating the handle 800 between the hand-held position and the storage position. When the lawnmower is in manual control mode, the handle 800 is in the hand-held position, making it convenient for the user to hold the handle 800 and apply force to it, so that the lawnmower can move or rotate when the user applies force. When the lawnmower is in automatic control mode, the handle 800 is in the storage position. At this time, the handle 800 is folded and stored on the top of the body 700 to reduce the overall space occupied by the lawnmower and prevent the handle 800 from colliding with obstacles and hindering the movement of the lawnmower when it is working autonomously. This makes it convenient for the user to operate and for the lawnmower to work.

[0043] In this embodiment, as Figure 3 As shown, the body 700 in this embodiment includes a housing 770 and a crash barrier 780. The crash barrier 780 is located at the front end of the housing 770. When the handle 800 is in the retracted position, the projection of the front end of the handle 800 on the horizontal plane is located within the projection of the crash barrier 780 on the horizontal plane. That is, the front end of the handle 800 will not protrude from the front end face of the crash barrier 780. The guardrail 780 protects the housing 770 and the folded handle 800. During the mower's movement, if the mower collides with an obstacle due to detection errors or other reasons, the projection of the handle 800's front end on the horizontal plane falls within the projection of the guardrail 780 on the horizontal plane. Therefore, the handle 800 is entirely located inside the guardrail 780. In other words, the guardrail 780 is located at the front of the housing 770, and the front end of the handle 800 does not protrude beyond it. Thus, only the guardrail 780 comes into contact with the obstacle. The guardrail 780 can absorb some of the impact force through deformation, reducing the impact force transmitted to the housing 770. This protects the housing 770 and the folded handle 800, achieving a shock-absorbing effect and ensuring the mower's safety and durability. Of course, it is understood that in another embodiment, the projection of the front end of the handle 800 on the horizontal plane may also be located within the projection of the gap between the guardrail 780 and the housing 770 on the horizontal plane, or within the projection of the housing 770 on the horizontal plane, as long as the front end of the handle 800 does not protrude from the front end face of the guardrail 780.

[0044] In this embodiment, the detection module is located on the body 700. However, it is understood that in other embodiments, the detection module could also be located on the handle 800. The detection module can employ various existing detection structures, as long as they can detect the position of the handle 800. Specifically, the detection module is one of an infrared sensor, a micro switch, a Hall effect switch, a mechanical switch, and an inertial measurement unit (IMU). When the detection module is an infrared sensor, a micro switch, a mechanical switch, or a Hall effect switch, it can be located on the body 700 or on the handle 800. When the detection module is an inertial measurement unit, it is located on the handle 800. By using one of the following as the detection module—an infrared sensor, a micro switch, a Hall effect switch, or an inertial measurement unit—the detection module is small and simple in structure, can be installed in various positions, and provides accurate detection results. This allows the control module 100 to accurately acquire the detection results for mode switching determination.

[0045] In this embodiment, the control system also includes a sensing module 500, which is electrically connected to the control module 100. When the lawnmower is in manual or automatic control mode, the control module 100 uses the sensing module 500 to detect the lawnmower's surrounding environment and locate it. The sensing module 500 can detect the lawnmower's surrounding environment to identify obstacles and locate the lawnmower, enabling it to autonomously locate itself in both manual and automatic control modes. In both modes, the control module 100 can use the sensing module 500 to autonomously locate, plan routes, and avoid obstacles for the lawnmower, assisting it in mapping and autonomous operation.

[0046] The perception module 500 may include one or more of an ultrasonic detection unit 510, a laser detection unit 520, and a vision detection unit 530. Because the ultrasonic detection unit 510, the vision detection unit 530, and the laser detection unit 520 can all independently perceive the lawnmower's own position and locate and orient obstacles on the map to avoid obstacles and assist the lawnmower in optimizing its path algorithm and mapping capabilities, using one or more of these units enables the lawnmower to achieve fully dynamic obstacle avoidance and intelligent path planning.

[0047] In this preferred embodiment, the lawnmower 700 is equipped with an ultrasonic detection unit 510, a laser detection unit 520, and a vision detection unit 530. The ultrasonic detection unit 510 specifically includes an ultrasonic sensor 511 and an ultrasonic algorithm board 512 electrically connected to the ultrasonic sensor 511. The laser detection unit 520 specifically includes a laser sensor 521 and a laser algorithm board 522 electrically connected to the laser sensor 521. The vision detection unit 530 specifically includes a vision sensor 531 and a vision algorithm board 532 electrically connected to the vision sensor 531. Because the ultrasonic detection unit 510, vision detection unit 530, and laser detection unit 520 can all independently perceive the lawnmower's own position, and can also locate and orient obstacles on the map to avoid obstacles, and assist the lawnmower in optimizing its path algorithm and mapping capabilities. Therefore, the simultaneous use of ultrasonic detection unit 510, laser detection unit 520, and visual detection unit 530 in the sensing module 500 of this embodiment is only a preferred implementation. When ultrasonic detection unit 510, visual detection unit 530, and laser detection unit 520 are used as the sensing module 500, the control system can integrate the information from ultrasonic detection unit 510, visual detection unit 530, and laser detection unit 520 in each sensing module 500 to form the best sensing decision and control the movement, cutting operation, etc. Of course, it is understood that in other embodiments, the sensing module 500 may also use only one or any combination of two of ultrasonic detection unit 510, visual detection unit 530, and laser detection unit 520.

[0048] In this embodiment, the ultrasonic detection unit 510 includes two first ultrasonic sensors 5111 and two second ultrasonic sensors 5112. The two first ultrasonic sensors 5111 are located on the front side of the body 700, and the two second ultrasonic sensors 5112 are respectively located on the left and right sides of the body 700. Figure 8 As shown, the detection area of ​​the ultrasonic sensor 511 in the horizontal direction is fan-shaped. The detection areas of the two first ultrasonic sensors 5111 partially overlap in the horizontal direction, and the detection areas of adjacent first ultrasonic sensors 5111 and second ultrasonic sensors 5112 also partially overlap in the horizontal direction. By setting the detection areas of adjacent ultrasonic sensors 511 to partially overlap in the horizontal direction, the four ultrasonic sensors 511 can form full coverage of the front and left and right sides of the lawnmower's path in the horizontal direction. This makes the lawnmower's obstacle detection more comprehensive, enabling the lawnmower to accurately avoid obstacles and making the lawnmower's movement smoother.

[0049] like Figure 9As shown, the detection area of ​​the ultrasonic sensor 511 in the vertical direction is fan-shaped. The angle between the center line L1 of the detection area of ​​the first ultrasonic sensor 5111 and the horizontal plane is α, and the angle between the center line L2 of the detection area of ​​the second ultrasonic sensor 5112 and the horizontal plane is β, satisfying α > β. Because the angles of the detection areas of each ultrasonic sensor 511 in the vertical direction are the same, setting α to be greater than β allows the detection area of ​​the first ultrasonic sensor 5111 to be more upwardly tilted than the detection area of ​​the second ultrasonic sensor 5112. This results in the ultrasonic sensor 511 in front of the lawnmower detecting at a higher height. During the lawnmower's movement, the first ultrasonic sensor 5111 can detect obstacles at high altitudes or obstacles falling from a height for accurate obstacle avoidance.

[0050] The front end of the handle 800 does not protrude from the front end of the guardrail 780. This also prevents the detection area of ​​the first ultrasonic sensor 5111 in the height direction from being affected by the folded handle 800 (i.e., the handle 800 in the storage position), which would limit the detection area of ​​the first ultrasonic sensor 5111. This ensures that the detection area of ​​the first ultrasonic sensor 5111 in the height direction is large enough to facilitate the lawnmower's accurate obstacle avoidance during its movement.

[0051] In this embodiment, to facilitate remote operation by the user, the lawnmower also includes a mobile terminal 900, and the control system also includes a communication module 400. The communication module 400 is electrically connected to the control module 100 and is used to perform information transmission between the control module 100 and the mobile terminal 900. The communication module 400 includes a mobile communication unit 410 and a long-range radio communication unit 420. The mobile communication unit 410 establishes a bidirectional data link between the lawnmower's control module 100, the cloud, and the mobile terminal 900 through mobile communication technology (4G or 5G), enabling the mobile terminal 900 to remotely control the lawnmower, monitor its status, synchronize data, and perform OTA upgrades. Of course, the long-range radio communication unit 420 can also transmit sound, text, data, and images, so that the lawnmower's scene map can be displayed on the mobile terminal 900 through the transmission of the communication module 400. The user can also send commands to the lawnmower's control module 100 through the mobile terminal 900. When the lawnmower is in automatic control mode, the control module 100 controls the lawnmower to move autonomously within the scene map based on information received from the sensing module 500 and the communication module 400. The setup of the mobile terminal 900 and the communication module 400 allows information to be transmitted between the mobile terminal 900 and the control module 100 via the communication module 400 when the user operates the mobile terminal 900. This means the user can remotely control the lawnmower, facilitating operation and improving the user experience.

[0052] like Figure 1 As shown, the control system also includes an emergency stop module 600, which is electrically connected to the control module 100. The emergency stop module 600 is used to perform an emergency stop on the lawnmower. When the lawnmower is in manual control mode, the control module 100 can perform an emergency stop on the lawnmower after the emergency stop module 600 is triggered. When the lawnmower is in automatic control mode, the control module 100 can also perform an emergency stop on the lawnmower after the emergency stop module 600 is triggered. That is, the emergency stop module 600 can operate in both manual and automatic control modes to ensure the safe use of the lawnmower and avoid collisions with obstacles or pedestrians. Of course, in another embodiment, the emergency stop module 600 can also operate only in automatic control mode, that is, the control module 100 only detects whether the emergency stop module 600 is triggered when the lawnmower is in automatic control mode. The emergency stop module 600 includes an emergency stop switch 610, which triggers the emergency stop module 600 when pressed.

[0053] In this embodiment, the control module 100 includes a main control board 110, and also includes a power switch 120, a start switch 140, a confirmation switch 150, a mapping switch 160, and a straight-line switch 170, all electrically connected to the main control board 110. When the lawnmower is in manual control mode, pressing the mapping switch 160 will allow mapping to be performed even if a work area map is not currently available. The start switch 140 and the confirmation switch 150 are used to activate the automatic control mode. The user must press the start switch 140 first, and then the confirmation switch 150 to activate the automatic control mode, preventing accidental activation and ensuring the lawnmower's safety.

[0054] like Figure 3 and Figure 4 As shown, the body 700 is equipped with a cutter assembly 740, a wheel hub assembly 750, a battery pack assembly 720, and a grass collection box 730. The battery pack assembly 720 supplies power to the lawnmower, and the grass collection box 730 collects grass clippings, fallen leaves, and other debris when the lawnmower is in manual or automatic control mode. The control system also includes a cutter module 200 and a travel module 300, which are electrically connected to the control module 100. The arrangement of the cutter module 200 and the travel module 300 allows the control module 100 to drive the cutter assembly 740 and the wheel hub assembly 750 to work independently, respectively, through the cutter module 200 and the travel module 300.

[0055] The control module 100 controls the independent operation of the cutter assembly 740 for mowing via the cutter module 200. The cutter assembly 740 specifically includes a cutter blade. The cutter module 200 specifically includes a cutter switch 210, a cutting motor 220 that drives the cutter blade, and a cutting motor drive board 230. The cutting motor drive board 230 is electrically connected to the cutting motor 220 to drive the cutting motor 220. When the cutter switch 210 is pressed and triggered, the main control board 110 controls the cutting motor drive board 230 to operate, thereby enabling the cutter assembly 740 to perform the mowing operation.

[0056] The control module 100 controls the wheel hub assembly 750 to work independently through the travel module 300 to drive the body 700 to move. The wheel hub assembly 750 includes two front wheels and two rear wheels 751, namely the left rear wheel 751 and the right rear wheel 751. The travel module 300 specifically includes a speed control switch 310, a straight-line switch 170, two rear wheel motors 330 and a rear wheel motor drive board 340. The two rear wheel motors 330 are respectively used to control the rotation of the two rear wheels 751. The rear wheel motor drive board 340 is electrically connected to the rear wheel motors 330 and is used to drive the rear wheel motors 330 to work. The speed control switch 310 is used to adjust the speed of the rear wheels 751. The self-propelled switch 320 realizes the self-drive of the rear wheels 751 by triggering. When the lawnmower is in manual control mode, if the user presses the self-propelled switch 320, the main control board 110 can control the two rear wheel motors 330 to work through the rear wheel motor drive board 340, thereby driving the two rear wheels 751 to rotate and realize the self-propelled lawnmower. The user only needs to control the direction of the lawnmower, without having to push it, which is more labor-saving. If the user presses the straight-ahead switch 170, the lawnmower's auxiliary straight-ahead function will be activated, making directional control even easier. If the user operates the speed control switch 310, the lawnmower's travel speed can be changed. The speed control switch 310 is a toggle wheel structure, and the speed is adjusted by rotating it.

[0057] To facilitate quick U-turns for the lawnmower, the travel module 300 in this embodiment also includes a left U-turn switch 350 and a right U-turn switch 360. When the lawnmower is in manual control mode, if the user presses the right U-turn switch 360, the speed of the right rear wheel motor 330 becomes zero under the control of the main control board 110, and the left rear wheel 751 rotates at normal self-propelled speed, thereby enabling the lawnmower to turn 180° to the right with the right rear wheel 751 as the center. If the user presses the left U-turn switch 350, the speed of the left rear wheel motor 330 becomes zero under the control of the main control board 110, and the right rear wheel 751 rotates at normal self-propelled speed, thereby enabling the lawnmower to turn 180° to the left with the left rear wheel 751 as the center. A 180° U-turn in place can minimize the impact of turning on the mowing effect, ensuring the mowing effect while eliminating the need for the user to exert effort to turn the lawnmower, making it more convenient and effortless for the user to control the lawnmower to turn.

[0058] In this embodiment, the preferred embodiment is as follows: Figure 5 As shown, a control panel 810 is located in the middle of the handle 800. Since the user needs to hold the handle 800 when the lawnmower is in manual control mode, the mapping switch 160, straight-line switch 170, speed control switch 310, and self-propelled switch 320 are located on the control panel 810 for convenient and quick operation, improving the user experience. A left turn switch 350 and a right turn switch 360 are located on the handle 800 on the left and right sides of the control panel 810, respectively, to provide prompts for left and right turns, allowing for quick operation when a turn is needed.

[0059] The cutter switch 210 is also located on the control panel 810. When the user triggers the cutter switch 210, the cutter assembly 740 will operate. To comply with safety regulations, the cutter switch 210 typically includes a start button and an unlock button. The user must simultaneously trigger both the start button and the unlock button to unlock the cutter assembly 740, preventing accidental activation that could cause injury. To enhance user convenience, this embodiment provides two start buttons and one self-propelled switch 320 for the cutter switch 210, forming a group. These two groups are located on opposite sides of the control panel 810. Either group of start buttons and self-propelled switches can control the lawnmower, enabling one-handed operation. Alternatively, multiple indicator lights 760 can be installed on the control panel 810 to display the current operating status.

[0060] In this embodiment, the handle 800 is also provided with a placement slot 820. When the handle 800 is held by the user, the slot 820 is positioned with its opening facing upwards and located on the front side of the control panel 810 for placing the mobile terminal 900. When the user operates the lawnmower by holding the handle 800, the placement slot 820 is positioned on the front side of the control panel 810, such as... Figure 6 As shown, the mobile terminal 900 set in the placement slot 820 can be easily viewed and operated by the user, so that the user can operate the control panel 810 on the handle 800 according to the feedback on the mobile terminal 900, thereby improving the user experience.

[0061] When the lawnmower is in manual control mode, the user can control the lawnmower to create a map by holding the lawnmower handle 800, and can also view the map creation status through the mobile terminal 900. The user can also control the blade module 200 and the travel module 300 to perform tasks such as mowing and self-propelled movement. When the lawnmower is in automatic control mode, the control module 100, based on information received from the sensing module 500 and the communication module 400, achieves autonomous positioning, route planning, and obstacle avoidance, enabling the lawnmower to move autonomously within the scene map.

[0062] When the handle 800 is in the retracted position, the top of the body 700 is divided into a first region and a second region. The area covered by the projection of the handle 800 on the top of the body 700 is the second region, and the rest of the top of the body 700 is the first region. That is, the first region is not obstructed by the handle 800 in the vertical direction, while the second region is obstructed by the handle 800 in the vertical direction. The emergency stop switch 610 is located in the first region to prevent the handle 800 from obstructing the emergency stop switch 610, so that the user can quickly press the emergency stop switch 610.

[0063] like Figure 2 and Figure 7 As shown, the first area also includes an operation panel 710, on which a power switch 120, a start switch 140, and a confirmation switch 150 are located. By placing the operation panel 710, which includes the power switch 120, start switch 140, and confirmation switch 150, on top of the body 700 when the handle 800 is not folded, the user is not obstructed by the handle 800 when pressing the corresponding buttons to control the lawnmower into automatic control mode, making operation more convenient. The operation panel 710 also includes multiple indicator lights 760, which are electrically connected to the main control board 110 to display the lawnmower's working progress. The working progress may include: the battery pack assembly 720's power status; the lawnmower's current working mode; the currently selected working map when multiple maps are stored in the lawnmower's memory; and the user's initiation process for starting the automatic control mode. The multiple indicator lights 760 provide prompts to the user for operation.

[0064] Example 2:

[0065] A control method for a dual-mode lawnmower, such as Figure 10 As shown, the lawnmower has two control modes: manual control mode and automatic control mode. The control method includes the following steps: S1. After the user turns on the power switch to supply power to the lawnmower, determine whether the lawnmower handle is folded on top of the machine. If the lawnmower handle is not folded on top of the machine, that is, the lawnmower handle is in the hand-hold position that extends backwards towards the lawnmower, then proceed to S2; if the lawnmower handle is folded on top of the machine, that is, the lawnmower handle is in the storage position where it is folded on top of the machine, then proceed to S3.

[0066] S2. The lawnmower enters manual control mode. In manual control mode, users can select from mowing, auto-drive, and mapping commands. Users can choose to execute mowing, auto-drive, or mapping commands. Each command is independent and does not affect the others. Users can execute mowing, auto-drive, or mapping commands individually, or execute two or more of these commands simultaneously.

[0067] When the user selects the mowing command, the mower's blade assembly starts working, and the user can move the mower by holding the handle to mow the grass.

[0068] When the user selects the self-propelled command, the main control board controls the two rear wheel motors to drive the two rear wheels, enabling the lawnmower to move autonomously. The user only needs to control the direction of the lawnmower, eliminating the need to push it, thus saving effort. In self-propelled mode, the speed can also be adjusted via a speed control switch, further reducing effort for the user. The user only needs to control the direction of the lawnmower with a handle.

[0069] When the user selects the mapping command, it is determined whether the lawnmower has stored a work scene map. If the lawnmower has stored a work scene map, mapping is not required, and the process returns to S1. If the lawnmower does not have stored a work scene map, the mapping command is executed, and the user pushes the lawnmower to move within the work area to record the work scene for mapping.

[0070] S3. Determine whether the lawnmower is within the work scene map based on its location. If yes, proceed to S4; otherwise, return to S1.

[0071] Regarding the lawnmower not being within the work scene map, there are two specific scenarios: Scenario 1: The lawnmower contains a work scene map, but its location is not within the work scene map; Scenario 2: The lawnmower does not contain a work scene map. These two scenarios require user intervention through different operations. Therefore, determining whether the lawnmower's location is within the work scene map includes the following steps: S31: Determine if the lawnmower contains a work scene map. If yes, proceed to S32; otherwise, return to S1. S32: Locate the lawnmower and determine if its location is within the work scene map. If yes, proceed to S4; otherwise, return to S1. In Scenario 1, the user needs to push the lawnmower into the work scene map. In Scenario 2, the user needs to create a map in manual control mode to store the work scene map within the lawnmower.

[0072] S4. Determine if the user selects to activate the automatic control mode. If not, return to S3; if yes, enter the automatic control mode. Determining if the user selects to activate the automatic control mode includes the following steps: S41. Determine if the user selects to activate automatic control (i.e., presses the start switch). If not, return to S3; if yes, proceed to S42. S42. Determine if the user selects to confirm activation of automatic control within the set time (i.e., presses the confirmation switch). If yes, enter the automatic control mode; if not, return to S41. In automatic control mode, the lawnmower moves autonomously within the work scene map to perform tasks such as mowing, traveling, and collecting fallen leaves, without user intervention.

[0073] This invention provides a lawnmower with two control modes, which users can switch between by turning the handle. When the terrain is complex and manual control is required, simply turn the handle to the position where it extends towards the rear of the mower; the mower will automatically enter manual control mode. Users can then select various functions to control the mower for movement, mowing, or leaf collection. When the terrain is flat and open, and the user prefers a less strenuous approach, they can map the work area in manual control mode, push the mower into the area, fold the handle to the top, and then select automatic control mode. The mower will then move autonomously within the work area to perform mowing without user intervention. By setting two control modes, the lawnmower can perform mowing tasks manually under user control in complex terrain areas, or autonomously move within a wide work area for easier mowing when the user prefers a more efficient approach. This more comprehensive functionality caters to different user needs and enhances the user experience. Because existing smart lawnmowers require no user operation and therefore lack a handle, they typically use automatic mapping. This means the lawnmower moves autonomously within the work area, automatically turning to map when it encounters a boundary. However, automatic mapping is only suitable for work areas with boundaries, i.e., areas obstructed by obstacles, and cannot map open work areas (i.e., areas without boundary restrictions). This invention features manual mapping mode, allowing users to select areas for mapping by pushing the lawnmower with a handle. Users can precisely select the mapping range, and the work area can be without boundaries during mapping. Therefore, manual mapping is not limited by the type of work area and has a wider range of applications compared to automatic mapping.

[0074] In S2, the manual control mode also features an assisted straight-line movement command. If the user selects the auto-mower command, the system checks if the assisted straight-line movement command is selected. If yes, the mower moves along a straight line according to the user-specified direction; otherwise, the mower only executes the auto-mower command. In manual control mode, the user can push the mower themselves or activate the drive motor of the drive wheels by executing the auto-mower command, allowing the mower to move automatically and saving effort. When executing the auto-mower command, the user typically needs to control the mower's trajectory to maintain a straight line back and forth across the lawn for optimal mowing. However, due to uneven terrain, maintaining a straight line can be difficult, resulting in some areas being missed and thus poor mowing. The assisted straight-line movement command allows the mower to maintain a straight line while the user manually controls it to move back and forth across the lawn, ensuring better mowing results.

[0075] The user specifies the straight-line direction as follows: The user presses the straight-line switch and then pushes the lawnmower a certain distance. The lawnmower's sensing module calibrates the initial and final positions of this trajectory as the two endpoints of the straight line. The line connecting the two endpoints is the specified straight-line direction. After the user turns the lawnmower, the lawnmower's path always remains parallel to this straight line, meaning the lawnmower can maintain a straight-line movement to autonomously move back and forth on the lawn.

[0076] In S2, the manual control mode also includes a U-turn command. If the user selects the auto-drive command, the system checks if the user has selected the U-turn command. If so, it assists the lawnmower in turning 180 degrees; otherwise, the lawnmower only executes the auto-drive command. When executing the U-turn command, the lawnmower can turn 180 degrees in place, either left or right, centered on the left drive wheel. A 180-degree turn in place minimizes the impact of turning on the mowing effect, ensuring good mowing quality without requiring the user to exert effort to turn the lawnmower. This makes controlling the lawnmower's U-turn more convenient and effortless. The U-turn command and the assisted straight-line driving command are independent of the mowing and mapping commands; they do not affect each other. That is, the U-turn command, the assisted straight-line driving command, the mowing command, and the mapping command can be executed individually, and multiple commands can be executed simultaneously.

[0077] The lawnmower's mapping command has two modes: boundary mapping mode and overlay mapping mode. In boundary mapping mode, such as... Figure 11 As shown, the user simply pushes the lawnmower along the boundary of the work scene (the arrow indicates the direction of movement). During the lawnmower's movement, the sensing module will perform multiple localizations and mark the localization points (e.g., M1, M2, M3, M4). Connecting these localization points end-to-end creates a map of the work scene. This mapping mode automatically connects the initial and final localization points to form a closed scene map, making mapping more convenient and labor-saving. In the overlay mapping mode, as... Figure 12 As shown, the user pushes the lawnmower to move and travels through the entire area that needs mowing, that is, the lawnmower passes through all the areas that need to be mowed (the areas where L1, L2, L3, L4, L5, and L6 are located in the direction of the arrows in the figure). The area covered by the lawnmower's movement path detected by the perception module can form a work scene map. Of course, the user can also mark the uncovered areas as work areas according to the prompts to generate a work scene map.

[0078] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A dual-mode lawnmower, comprising a control system, a body, and a handle mounted on the body, characterized in that, The lawnmower has two operating modes: a manual control mode based on the user holding a handle and an automatic control mode based on user commands for autonomous movement. The control system includes: The control module is configured to switch the lawnmower between manual and automatic control modes when the mode switching conditions are met.

2. A dual-mode lawnmower according to claim 1, characterized in that, The handle is movably connected to the body, and the control system further includes: The detection module is configured to detect the position of the handle and is electrically connected to the control module. The control module determines whether the mode switching conditions are met based on the position information of the handle.

3. A dual-mode lawnmower according to claim 2, characterized in that: The handle is rotatably connected to the body of the machine and has a handhold position for the user to hold and a storage position that is folded up on the top of the body. The handle can be rotated to switch between the handhold position and the storage position. When the detection module detects that the handle is in the handhold position, the control module switches the lawnmower to manual control mode.

4. A dual-mode lawnmower according to claim 3, characterized in that: The body includes a casing and a crash barrier located at the front end of the casing. When the handle is in the retracted position, the projection of the front end of the handle on the horizontal plane is located within the projection of the crash barrier on the horizontal plane.

5. A dual-mode lawnmower according to claim 2, characterized in that: The detection module is located on the body of the device; or, the detection module is located on the handle.

6. A dual-mode lawnmower according to claim 2, characterized in that: The detection module is one of an infrared sensor, a micro switch, a Hall switch, and an inertial measurement unit.

7. A dual-mode lawnmower according to claim 1, characterized in that, The control system further includes: The sensing module is electrically connected to the control module. When the lawnmower is in manual or automatic control mode, the control module uses the sensing module to detect the surrounding environment of the lawnmower and locate the lawnmower.

8. A dual-mode lawnmower according to claim 7, characterized in that: The sensing module includes one or more of the following: ultrasonic detection unit, laser detection unit, and visual detection unit.

9. A dual-mode lawnmower according to claim 7, characterized in that: The sensing module includes an ultrasonic detection unit, which includes two first ultrasonic sensors located on the front of the fuselage and two second ultrasonic sensors located on the left and right sides of the fuselage, respectively. The detection areas of the two first ultrasonic sensors partially overlap in the horizontal direction, and the detection areas of adjacent first and second ultrasonic sensors partially overlap in the horizontal direction.

10. A dual-mode lawnmower according to claim 9, characterized in that: The detection area of ​​the ultrasonic sensor in the vertical direction is fan-shaped. The angle between the center line of the detection area of ​​the first ultrasonic sensor and the horizontal plane is α, and the angle between the center line of the detection area of ​​the second ultrasonic sensor and the horizontal plane is β, satisfying α > β.

11. A dual-mode lawnmower according to claim 7, characterized in that: The lawnmower also includes a mobile terminal, and the control system also includes a communication module for performing information transmission between the control module and the mobile terminal, the communication module being electrically connected to the control module; When the lawnmower is in automatic control mode, the control module controls the lawnmower to move and work autonomously within the scene map based on the information received from the sensing module and the communication module.

12. A dual-mode lawnmower according to claim 1, characterized in that: The control system also includes an emergency stop module electrically connected to the control module; When the lawnmower is in manual or automatic control mode, the control module will stop the lawnmower in an emergency after the emergency stop module is triggered.

13. A dual-mode lawnmower according to claim 1, characterized in that: The machine body is equipped with a blade assembly for mowing grass and a wheel assembly for driving the machine body to move. The control system also includes a blade module and a travel module that are electrically connected to the control module. When the lawnmower is in manual or automatic control mode, the control module controls the cutter assembly to work independently through the cutter module, and the control module controls the wheel hub assembly to work independently through the travel module.

14. A dual-mode lawnmower according to claim 13, characterized in that: The handle is equipped with an operating panel, and the travel module includes a speed control switch for adjusting the wheel hub speed and a self-propelled switch for starting and stopping the wheel hub self-drive. Both the speed control switch and the self-propelled switch are located on the operating panel.

15. A dual-mode lawnmower according to claim 14, characterized in that: The travel module also includes a left turn switch and a right turn switch, which are respectively located on the handles on the left and right sides of the control panel. When the left turn switch is triggered, the lawnmower turns to the left, and when the right turn switch is triggered, the lawnmower turns to the right.

16. A dual-mode lawnmower according to claim 14, characterized in that: The lawnmower also includes a mobile terminal, and the handle is provided with a placement slot. When the handle is held by the user, the slot is positioned with its opening facing upwards and located on the front side of the control panel for placing the mobile terminal.

17. A dual-mode lawnmower according to claim 14, characterized in that: The control module includes a main control board, and also includes a mapping switch and a straight-line switch electrically connected to the main control board. Both the mapping switch and the straight-line switch are located on the operating table.

18. A dual-mode lawnmower according to claim 1, characterized in that: The top of the machine body is provided with an operation panel. The control module includes a main control board, a power switch, a start switch and a confirmation switch for activating the automatic control mode. The power switch, start switch and confirmation switch are located on the operation panel and are electrically connected to the main control board.

19. A control method for a dual-mode lawnmower, characterized in that, Includes the following steps: S1. Determine if the lawnmower handle is folded to the top of the machine. If not, proceed to S2; if yes, proceed to S3. S2. Enter manual control mode. In manual control mode, the user can select to execute the mowing command, the self-propelled command, or the mapping command. When the mowing command is executed, the mower's blade assembly works to mow the grass. When the self-propelled command is executed, the mower drives itself. When the mapping command is executed, the mower records the work scene map to create a map. S3. Determine whether the lawnmower is within the work scene map based on its location. If yes, proceed to S4; otherwise, return to S1. S4. Determine whether the user selects to start the automatic control mode. If not, return to S3. If yes, enter the automatic control mode. In the automatic control mode, the lawnmower moves autonomously within the work scene map to mow the lawn.

20. The control method for a dual-mode lawnmower according to claim 19, characterized in that: In S2, the manual control mode also has an assisted straight-line command. If the user selects the auto-move command, it will determine whether the user has selected the assisted straight-line command. If yes, the lawnmower will be assisted to move along a straight line according to the straight-line direction specified by the user. If no, the lawnmower will only execute the auto-move command.

21. The control method for a dual-mode lawnmower according to claim 19, characterized in that: In S2, the manual control mode also has a turn-around command. If the user selects the auto-drive command, it will determine whether the user has selected the turn-around command. If yes, it will assist the lawnmower to turn 180 degrees. If no, the lawnmower will only execute the auto-drive command.

22. The control method for a dual-mode lawnmower according to claim 19, characterized in that: In S2, if the user selects the mapping command, it is determined whether the lawnmower has stored a work scene map. If so, it returns to S1; otherwise, the mapping command is executed to map the work scene.

23. The control method for a dual-mode lawnmower according to claim 22, characterized in that: The mapping command has a boundary mapping mode and a coverage mapping mode. In the boundary mapping mode, the user pushes the lawnmower along the boundary of the work scene. During this process, the lawnmower performs multiple positioning operations, and the multiple positioning points are connected end to end to form a work scene map. In the coverage mapping mode, the user pushes the lawnmower to move, and the lawnmower passes through all the areas that need to be worked. The area covered by the lawnmower's movement path forms a work scene map.

24. The control method for a dual-mode lawnmower according to claim 19, characterized in that: In S3, when determining whether the lawnmower's location is within the work scene map, the following steps are included: S31, determine whether the lawnmower stores the work scene map. If yes, proceed to S32; otherwise, return to S1. S32, locate the lawnmower and determine whether its location is within the work scene map. If yes, proceed to S4; otherwise, return to S1.

25. The control method for a dual-mode lawnmower according to claim 19, characterized in that: In S4, when determining whether the user has selected to start the automatic control mode, the following steps are included: S41, determine whether the user has selected to start the automatic control. If not, return to S3; if yes, proceed to S42. S42, determine whether the user has selected to confirm the start of the automatic control within the set time. If yes, proceed to the automatic control mode; if not, return to S41.

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