A position synchronization control system and algorithm for the blade lifting mechanism of a lawnmower robot

Abstract

This invention discloses a position synchronization control system and algorithm for the blade lifting mechanism of a lawnmower robot, comprising: an actuator, a sensor system, and a control system. The actuator consists of two electric linear actuators that convert the rotational motion of a motor into linear push / pull force. Each electric linear actuator comprises a DC motor, a gearbox, and a lead screw. The sensor system consists of two pull-cord position sensors that measure the extension length of each actuator in real time. The control system consists of a main controller, two motor drivers, and a power supply unit. This invention aims to provide a position synchronization control system and algorithm for the blade lifting mechanism of a lawnmower robot, primarily to solve the problem of inconsistent positions of the left and right actuators during the lifting process, which causes tilting, jamming, and mechanical damage to the blade lifting mechanism.

Description

Technical Field

[0001] This invention relates to the field of cutter mechanism position synchronization control technology, specifically a cutter lifting mechanism position synchronization control system and algorithm applied to lawn mowing robots. Background Technology

[0002] Modern intelligent lawn mowing robots, especially large models suitable for undulating or commercial lawns, must meet the following key requirements for the lifting mechanism of their mowing unit (blade):

[0003] High synchronization accuracy: The lifting height on both sides must be strictly synchronized to avoid uneven cutting height or mechanism jamming caused by tilting of the cutting table.

[0004] Strong load-bearing capacity: It needs to overcome the uneven load of the mowing unit (such as entering a dense grass area on one side) and the impact caused by terrain bumps.

[0005] High reliability: Adaptable to harsh outdoor working environments with humidity, dust, and vibration.

[0006] The shortcomings of existing cutter lifting mechanisms:

[0007] a) Poor consistency of left and right push rod positions: Due to certain errors in the speed feedback of the left and right push rod motors, the movement position of the push rods is somewhat incorrect at the same set speed, which leads to the tilting of the cutting table.

[0008] b) Poor reliability: The left and right push rods cannot sense changes in each other's position. When one side is stuck due to mechanical structure and cannot continue to move, the other side continues to move, resulting in excessive deviation between the two sides, which causes problems such as deformation of the mechanical structure.

[0009] c) Poor flexibility: When the cutting table tilts, it is impossible to adjust a single push rod to level it.

[0010] To address the above shortcomings, a position synchronization control system and algorithm for the blade lifting mechanism of a lawnmower robot are proposed to solve the aforementioned technical problems. Summary of the Invention

[0011] The purpose of this invention is to provide a position synchronization control system and algorithm for the blade lifting mechanism of a lawnmower robot, in order to solve the problems mentioned in the background art.

[0012] To achieve the above objectives, the present invention provides the following technical solution:

[0013] A position synchronization control system for the blade lifting mechanism of a lawnmower robot includes: an actuator, a sensor system, and a control system;

[0014] Actuator: Two electric linear actuators convert the rotational motion of the motor into linear push / pull force. The electric linear actuator consists of a DC motor, gearbox, and lead screw.

[0015] Sensor system: Two pull rope position sensors measure the extension length of each push rod in real time. Since the Hall sensor built into the push rod motor is susceptible to interference, an external pull rope position sensor is used to detect the extension length of the push rod. The pull rope position sensor has a resolution of 4096P / R and an inner hub circumference of 60mm.

[0016] When the rope is not pulled out, set the current position value to 1000. Other values ​​can also be set for the reference point. The formula is:

[0017]

[0018] Unit: mm, where: L: extension length of the pull rope position sensor; X: value read from the pull rope position sensor;

[0019] Control system: It consists of three parts: main controller, two motor drivers, and power supply unit;

[0020] Main controller: The brain of the system, it receives sensor feedback and remote control commands, runs control algorithms, outputs control commands and sends them to the motor driver via the CAN bus interface;

[0021] Motor driver: Receives signals from the main controller to drive the push rod motor in forward and reverse rotation and speed adjustment;

[0022] Power supply unit: Provides a stable power supply to the main controller, rope position sensor and motor driver.

[0023] A position synchronization control algorithm for the blade lifting mechanism of a lawnmower robot is provided. The blade lifting mechanism adopts an X-shaped lifting mechanism, and the purpose of lifting the cutting table is achieved by controlling the length of the push rod.

[0024] The position feedback of two push rods S1 and S2 is used. During the movement, the position difference ∆S between the two push rods is calculated in real time, ∆S=S1−S2. The set speed of each push rod is calculated based on ∆S and the direction of the push rod. When the left and right push rods are fully extended, the position of the lifting mechanism is 0mm when it is at the top.

[0025] ① During the movement of the lifting mechanism downwards and the push rod retracts, where S1 > S2, if ∆S is greater than 0, it indicates that the left push rod retracts faster than the right push rod. Therefore, the speed of the left push rod needs to be reduced, while the right push rod maintains its original speed. The corresponding formula is shown below:

[0026]

[0027]

[0028] in:

[0029] This indicates the set speed of the left push rod, which also indicates the direction. The speed is positive when the push rod retracts. ≥0;

[0030] This indicates the set speed of the right push rod. The set speed also indicates the direction; the speed is positive when the push rod retracts. ≥0;

[0031] This indicates the set speed given by the remote control;

[0032] Indicates the maximum set speed;

[0033] This indicates the maximum permissible positional deviation of the left and right push rods.

[0034] This indicates the positional deviation values ​​of the left and right push rods;

[0035] ② During the movement of the lifting mechanism downwards and the push rod retracts, where S1 < S2, ∆S is less than 0, indicating that the left push rod retracts slower than the right push rod. Therefore, the right push rod needs to be decelerated while the left push rod maintains its original speed. The corresponding formula is shown below:

[0036]

[0037]

[0038] in:

[0039] This indicates the set speed of the right push rod. The set speed also indicates the direction; the speed is positive when the push rod retracts. ≥0;

[0040] This indicates the set speed of the left push rod, which also indicates the direction. The speed is positive when the push rod retracts. ≥0;

[0041] This indicates the set speed given by the remote control;

[0042] Indicates the maximum set speed;

[0043] This indicates the maximum permissible positional deviation of the left and right push rods.

[0044] This indicates the positional deviation values ​​of the left and right push rods;

[0045] ③ During the upward movement of the lifting mechanism and the extension of the push rod, where S1 > S2, if ∆S > 0, it indicates that the left push rod extends slower than the right push rod. Therefore, the right push rod needs to be decelerated while the left push rod maintains its original speed. The corresponding formula is shown below:

[0046]

[0047]

[0048] in:

[0049] This indicates the actual set speed of the right push rod. The set speed includes direction; the speed is negative when the push rod extends. ≤0;

[0050] This indicates the actual set speed of the left push rod. The set speed includes direction; the speed is negative when the push rod extends. ≤0;

[0051] This indicates the control speed sent by the remote control;

[0052] Indicates the maximum control speed;

[0053] This indicates the maximum positional difference between the left and right push rods;

[0054] Indicates the positional difference between the left and right push rods;

[0055] ④ When the lifting mechanism moves upward and the push rod extends, during the movement where S1 < S2, ∆S < 0, indicating that the left push rod extends faster than the right push rod. Therefore, the speed of the left push rod needs to be reduced, while the right push rod maintains its original speed. The corresponding formula is shown below:

[0056]

[0057]

[0058] in:

[0059] This indicates the actual set speed of the left push rod. The set speed includes direction; the speed is negative when the push rod extends. ≤0;

[0060] This indicates the actual set speed of the right push rod. The set speed includes direction; the speed is negative when the push rod extends. ≤0;

[0061] This indicates the control speed sent by the remote control;

[0062] Indicates the maximum control speed;

[0063] This indicates the maximum positional difference between the left and right push rods;

[0064] This indicates the positional difference between the left and right push rods.

[0065] As a further aspect of the present invention, it also includes a zero-finding mechanism;

[0066] Zero-finding mechanism: includes two zero-finding modes: automatic zero-finding and manual zero-finding;

[0067] Automatic zeroing: After the lawnmower robot is powered on, the system automatically performs a self-check of the lifting mechanism, checking the communication status of the two pull rope position sensors and the two push rod motor drivers. After the communication is detected to be normal, the left and right push rods extend in asynchronous mode, and the lifting mechanism rises. When the left and right push rods trigger their respective maximum travel limits, the corresponding push rod positions are automatically cleared. When both push rods touch the maximum travel limit, the automatic zeroing is completed.

[0068] Manual zeroing: Manually adjust the lifting mechanism to the highest position using the remote control, and then use the remote control to zero the positions of the left and right push rods to complete the manual zeroing.

[0069] As a further aspect of the present invention, a fault monitoring mechanism is also included;

[0070] The system monitors the communication status of the rope position sensor and the motor driver, and immediately stops the motor operation if a communication failure is detected.

[0071] During the operation of the lifting mechanism, the position changes of the two push rods are monitored at regular intervals. If the position of the push rods does not change within the specified time, the motor operation is stopped immediately and an alarm is triggered.

[0072] If the position feedback from the two push rod motors exceeds 1cm during the operation of the lifting mechanism, the motor operation will stop and an alarm will be triggered.

[0073] As a further aspect of the present invention, a fault handling mechanism is also included;

[0074] When the lifting mechanism is uneven on the left and right, you can exit the lifting synchronization mode via remote control and select to adjust one of the push rods individually to level it.

[0075] The maximum current limit of the push rod motor can be changed using a remote control.

[0076] Compared with the prior art, the beneficial effects of the present invention are:

[0077] 1. The lifting and lowering synchronization control algorithm is adopted to ensure that the left and right sides of the cutter lifting mechanism are always on the same horizontal plane during the lifting and lowering process;

[0078] 2. It has a zero-positioning mechanism and automatically performs a self-test upon power-on to calibrate the initial position of the cutter lifting mechanism;

[0079] 3. It has multiple fault monitoring mechanisms, including communication status monitoring, motor current monitoring, and position monitoring, to prevent faults from causing damage to the mechanical structure;

[0080] 4. When the lifting mechanism is uneven, you can use the remote control to enter the asynchronous mode and control one of the push rods to adjust it to be level.

[0081] 5. Using a pull rope position sensor as the position sensing unit of the cutter lifting mechanism can directly detect the extension length of the push rod. Compared with the traditional method of calculating the push rod position by deducing the position through Hall sensors, this invention is more direct and avoids the problem of large discrepancies between the measured position and the actual position of the push rod caused by inaccurate transmission ratio measurement in the traditional method. At the same time, the pull rope position sensor has stronger anti-interference ability than Hall sensors. Attached Figure Description

[0082] Figure 1 This is a block diagram of the position synchronization control system for the blade lifting mechanism of a lawnmower robot.

[0083] Figure 2 This is a schematic diagram of the X-shaped lifting structure in the position synchronization control system and algorithm of the blade lifting mechanism applied to a lawnmower robot.

[0084] Figure 3 This is a schematic diagram of the downward movement of the lifting mechanism (pusor retraction, S1 > S2) in the position synchronization control system and algorithm of the blade lifting mechanism applied to a lawnmower robot.

[0085] Figure 4 This is a schematic diagram of the downward movement of the lifting mechanism (pusor retraction, S1 < S2) in the position synchronization control system and algorithm of the blade lifting mechanism applied to a lawnmower robot.

[0086] Figure 5 This is a schematic diagram of the upward (puss rod extension, S1>S2) movement of the lifting mechanism in the synchronous control system and algorithm of the blade lifting mechanism applied to a lawnmower robot.

[0087] Figure 6 This is a schematic diagram of the upward (puss rod extension, S1 < S2) lifting mechanism in the synchronous control system and algorithm of the blade lifting mechanism applied to a lawnmower robot. Detailed Implementation

[0088] Various exemplary embodiments, features, and aspects of this application will now be described in detail with reference to the accompanying drawings. The same reference numerals in the drawings denote elements that have the same or similar functions. Although various aspects of the embodiments are shown in the drawings, they are not necessarily drawn to scale unless specifically indicated otherwise.

[0089] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments.

[0090] Furthermore, to better illustrate this application, numerous specific details are provided in the following detailed embodiments. Those skilled in the art should understand that this application can be implemented without certain specific details. In some instances, methods, means, and elements well-known to those skilled in the art have not been described in detail, in order to highlight the main points of this application.

[0091] Example 1

[0092] Please see Figure 1 A position synchronization control system for the blade lifting mechanism of a lawnmower robot includes: an actuator, a sensor system, and a control system.

[0093] Actuator: Two electric linear actuators convert the rotational motion of the motor into linear push / pull force. The electric linear actuator consists of a DC motor, gearbox, and lead screw.

[0094] Sensor system: Two pull rope position sensors measure the extension length of each push rod in real time. Since the Hall sensor built into the push rod motor is susceptible to interference, an external pull rope position sensor is used to detect the extension length of the push rod. The pull rope position sensor has a resolution of 4096P / R and an inner hub circumference of 60mm.

[0095] When the rope is not pulled out, set the current position value to 1000. Other values ​​can also be set for the reference point. The formula is:

[0096]

[0097] Unit: mm, where: L: extension length of the pull rope position sensor; X: value read from the pull rope position sensor;

[0098] Control system: It consists of three parts: main controller, two motor drivers, and power supply unit;

[0099] Main controller: The brain of the system, it receives sensor feedback and remote control commands, runs control algorithms, outputs control commands and sends them to the motor driver via the CAN bus interface;

[0100] Motor driver: Receives signals from the main controller to drive the push rod motor in forward and reverse rotation and speed adjustment;

[0101] Power supply unit: Provides a stable power supply to the main controller, rope position sensor and motor driver.

[0102] Please see Figure 2 A position synchronization control algorithm for the cutting blade lifting mechanism of a lawnmower robot is proposed. The cutting blade lifting mechanism adopts an X-shaped lifting mechanism, which achieves the purpose of raising and lowering the cutting platform by controlling the length of the push rod.

[0103] The position feedback of two push rods S1 and S2 is used. During the movement, the position difference ∆S between the two push rods is calculated in real time, ∆S=S1−S2. The set speed of each push rod is calculated based on ∆S and the direction of the push rod. When the left and right push rods are fully extended, the position of the lifting mechanism is 0mm when it is at the top.

[0104] Please see Figure 3 ① When the lifting mechanism moves downwards and the push rod retracts, during the movement where S1 > S2, ∆S is greater than 0, indicating that the left push rod retracts faster than the right push rod. Therefore, the speed of the left push rod needs to be reduced, while the right push rod maintains its original speed. The corresponding formula is shown below:

[0105]

[0106]

[0107] in:

[0108] This indicates the set speed of the left push rod, which also indicates the direction. The speed is positive when the push rod retracts. ≥0;

[0109] This indicates the set speed of the right push rod. The set speed also indicates the direction; the speed is positive when the push rod retracts. ≥0;

[0110] This indicates the set speed given by the remote control;

[0111] Indicates the maximum set speed;

[0112] This indicates the maximum permissible positional deviation of the left and right push rods.

[0113] This indicates the positional deviation values ​​of the left and right push rods;

[0114] Assumption =100rpm, =500, =5mm, When = 5mm,

[0115]

[0116]

[0117] Due to the above requirements ≥0, therefore:

[0118]

[0119]

[0120] Please see Figure 4 ② When the lifting mechanism moves downwards and the push rod retracts, during the movement where S1 < S2, ∆S is less than 0, indicating that the left push rod retracts slower than the right push rod. Therefore, the right push rod needs to be decelerated while the left push rod maintains its original speed. The corresponding formula is shown below:

[0121]

[0122]

[0123] in:

[0124] This indicates the set speed of the right push rod. The set speed also indicates the direction; the speed is positive when the push rod retracts. ≥0;

[0125] This indicates the set speed of the left push rod, which also indicates the direction. The speed is positive when the push rod retracts. ≥0;

[0126] This indicates the set speed given by the remote control;

[0127] Indicates the maximum set speed;

[0128] This indicates the maximum permissible positional deviation of the left and right push rods.

[0129] This indicates the positional deviation values ​​of the left and right push rods;

[0130] Assumption =100rpm, =500, =5mm, When =-5mm,

[0131]

[0132]

[0133] Due to the above requirements ≥0, therefore:

[0134]

[0135]

[0136] Please see Figure 5 ③ When the lifting mechanism moves upward and the push rod extends, during the movement of S1 > S2, ∆S > 0, indicating that the left push rod extends slower than the right push rod. Therefore, the speed of the right push rod needs to be reduced, while the left push rod maintains its original speed. The corresponding formula is shown below:

[0137]

[0138]

[0139] in:

[0140] This indicates the actual set speed of the right push rod. The set speed includes direction; the speed is negative when the push rod extends. ≤0;

[0141] This indicates the actual set speed of the left push rod. The set speed includes direction; the speed is negative when the push rod extends. ≤0;

[0142] This indicates the control speed sent by the remote control;

[0143] Indicates the maximum control speed;

[0144] This indicates the maximum positional difference between the left and right push rods;

[0145] Indicates the positional difference between the left and right push rods;

[0146] Assumption =-100rpm, =500, =5mm, When = 5mm,

[0147]

[0148]

[0149] Due to the above requirements ≤0, therefore:

[0150]

[0151]

[0152] Please see Figure 6 ④ When the lifting mechanism moves upward and the push rod extends, during the movement where S1 < S2, ∆S < 0 indicates that the left push rod extends faster than the right push rod. Therefore, the speed of the left push rod needs to be reduced, while the right push rod maintains its original speed. The corresponding formula is shown below:

[0153]

[0154]

[0155] in:

[0156] This indicates the actual set speed of the left push rod. The set speed includes direction; the speed is negative when the push rod extends. ≤0;

[0157] This indicates the actual set speed of the right push rod. The set speed includes direction; the speed is negative when the push rod extends. ≤0;

[0158] This indicates the control speed sent by the remote control;

[0159] Indicates the maximum control speed;

[0160] This indicates the maximum positional difference between the left and right push rods;

[0161] This indicates the positional difference between the left and right push rods.

[0162] Assumption =-100rpm, =500, =5mm, When =-5mm,

[0163]

[0164]

[0165] Due to the above requirements ≤0, therefore:

[0166]

[0167]

[0168] Preferably, a zero-finding mechanism is also included;

[0169] Zero-finding mechanism: includes two zero-finding modes: automatic zero-finding and manual zero-finding;

[0170] Automatic zeroing: After the lawnmower robot is powered on, the system automatically performs a self-check of the lifting mechanism, checking the communication status of the two pull rope position sensors and the two push rod motor drivers. After the communication is detected to be normal, the left and right push rods extend in asynchronous mode, and the lifting mechanism rises. When the left and right push rods trigger their respective maximum travel limits, the corresponding push rod positions are automatically cleared. When both push rods touch the maximum travel limit, the automatic zeroing is completed.

[0171] Manual zeroing: Manually adjust the lifting mechanism to the highest position using the remote control, and then use the remote control to zero the positions of the left and right push rods to complete the manual zeroing.

[0172] Preferably, a fault monitoring mechanism is also included;

[0173] The system monitors the communication status of the rope position sensor and the motor driver, and immediately stops the motor operation if a communication failure is detected.

[0174] During the operation of the lifting mechanism, the position changes of the two push rods are monitored at regular intervals. If the position of the push rods does not change within the specified time, the motor operation is stopped immediately and an alarm is triggered.

[0175] If the position feedback from the two push rod motors exceeds 1cm during the operation of the lifting mechanism, the motor operation will stop and an alarm will be triggered.

[0176] Preferably, it also includes a fault handling mechanism;

[0177] When the lifting mechanism is uneven on the left and right, you can exit the lifting synchronization mode via remote control and select to adjust one of the push rods individually to level it.

[0178] The maximum current limit of the push rod motor can be changed using a remote control.

[0179] It should be noted that:

[0180] High consistency in the positions of the left and right push rods: Through the lifting and lowering synchronization control algorithm, it can be ensured that the cutter lifting mechanism is parallel to the vehicle body, avoiding misalignment at the left and right ends.

[0181] Position Abnormality Protection Mechanism: To prevent the position sensor from reading incorrectly due to interference or mechanical structural abnormalities, thus damaging the cutter lifting mechanism, the operation will automatically stop and an alarm will be issued when the position of the left and right push rods exceeds a certain set value.

[0182] Current abnormality protection mechanism: Each push rod is set with a maximum output protection current. When the current of a certain motor reaches the maximum output protection current threshold during the operation of the left or right push rod, the corresponding push rod motor stops moving. After maintaining the maximum output current for 3 seconds, an alarm prompt is given via remote control and the motor is released to prevent the push rod motor from being damaged due to overheating caused by prolonged overcurrent.

[0183] It has two working modes: synchronous and asynchronous. By default, the cutter lifting mechanism is in synchronous mode. When the cutter lifting mechanism malfunctions, it can be switched to asynchronous mode via remote control. In asynchronous mode, the position sensor position can be reset, and one of the push rods can be controlled individually to level it.

[0184] It has a self-test function for the cutter lifting mechanism: upon power-up, it automatically detects the communication status of the two motor drivers and two position sensors. If the communication status is normal, it automatically lifts upward to perform zero-position calibration and eliminates accumulated position errors.

[0185] Maximum lifting height can be set: The height of the cutter lifting mechanism from the horizontal ground can be set via remote control.

[0186] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within the present invention.

[0187] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A position synchronization control system for the blade lifting mechanism of a lawnmower robot, comprising: The actuator, sensor system, and control system are characterized by: Actuator: Two electric linear actuators convert the rotational motion of the motor into linear push / pull force. The electric linear actuator consists of a DC motor, gearbox, and lead screw. Sensor system: Two pull rope position sensors measure the extension length of each push rod in real time. Since the Hall sensor built into the push rod motor is susceptible to interference, an external pull rope position sensor is used to detect the extension length of the push rod. The pull rope position sensor has a resolution of 4096P / R and an inner hub circumference of 60mm. When the rope is not pulled out, set the current position value to 1000. Other values ​​can also be set for the reference point. The formula is: Unit: mm, where: L: extension length of the pull rope position sensor; X: value read from the pull rope position sensor; Control system: It consists of three parts: main controller, two motor drivers, and power supply unit; Main controller: The brain of the system, it receives sensor feedback and remote control commands, runs control algorithms, outputs control commands and sends them to the motor driver via the CAN bus interface; Motor driver: Receives signals from the main controller to drive the push rod motor in forward and reverse rotation and speed adjustment; Power supply unit: Provides a stable power supply to the main controller, rope position sensor and motor driver.

2. A position synchronization control algorithm for the blade lifting mechanism of a lawnmower robot as described in claim 1, characterized in that, The cutter lifting mechanism adopts an X-type lifting mechanism, which achieves the purpose of lifting the cutting table by controlling the length of the push rod; The position feedback of two push rods S1 and S2 is used. During the movement, the position difference ∆S between the two push rods is calculated in real time, ∆S=S1−S2. The set speed of each push rod is calculated based on ∆S and the direction of the push rod. When the left and right push rods are fully extended, the position of the lifting mechanism is 0mm when it is at the top. ① During the movement of the lifting mechanism downwards and the push rod retracts, where S1 > S2, if ∆S is greater than 0, it indicates that the left push rod retracts faster than the right push rod. Therefore, the speed of the left push rod needs to be reduced, while the right push rod maintains its original speed. The corresponding formula is shown below: in: This indicates the set speed of the left push rod, which also indicates the direction. The speed is positive when the push rod retracts. ≥0; This indicates the set speed of the right push rod. The set speed also indicates the direction; the speed is positive when the push rod retracts. ≥0; This indicates the set speed given by the remote control; Indicates the maximum set speed; This indicates the maximum permissible positional deviation of the left and right push rods. This indicates the positional deviation values ​​of the left and right push rods; ② During the movement of the lifting mechanism downwards and the push rod retracts, where S1 < S2, ∆S is less than 0, indicating that the left push rod retracts slower than the right push rod. Therefore, the right push rod needs to be decelerated while the left push rod maintains its original speed. The corresponding formula is shown below: in: This indicates the set speed of the right push rod. The set speed also indicates the direction; the speed is positive when the push rod retracts. ≥0; This indicates the set speed of the left push rod, which also indicates the direction. The speed is positive when the push rod retracts. ≥0; This indicates the set speed given by the remote control; Indicates the maximum set speed; This indicates the maximum permissible positional deviation of the left and right push rods. This indicates the positional deviation values ​​of the left and right push rods; ③ During the upward movement of the lifting mechanism and the extension of the push rod, where S1 > S2, if ∆S > 0, it indicates that the left push rod extends slower than the right push rod. Therefore, the right push rod needs to be decelerated while the left push rod maintains its original speed. The corresponding formula is shown below: in: This indicates the actual set speed of the right push rod. The set speed includes direction; the speed is negative when the push rod extends. ≤0; This indicates the actual set speed of the left push rod. The set speed includes direction; the speed is negative when the push rod extends. ≤0; This indicates the control speed sent by the remote control; Indicates the maximum control speed; This indicates the maximum positional difference between the left and right push rods; Indicates the positional difference between the left and right push rods; ④ When the lifting mechanism moves upward and the push rod extends, during the movement where S1 < S2, ∆S < 0, indicating that the left push rod extends faster than the right push rod. Therefore, the speed of the left push rod needs to be reduced, while the right push rod maintains its original speed. The corresponding formula is shown below: in: This indicates the actual set speed of the left push rod. The set speed includes direction; the speed is negative when the push rod extends. ≤0; This indicates the actual set speed of the right push rod. The set speed includes direction; the speed is negative when the push rod extends. ≤0; This indicates the control speed sent by the remote control; Indicates the maximum control speed; This indicates the maximum positional difference between the left and right push rods; This indicates the positional difference between the left and right push rods.

3. A position synchronization control algorithm for the blade lifting mechanism of a lawnmower robot according to claim 2, characterized in that, It also includes a zero-finding mechanism; Zero-finding mechanism: includes two zero-finding modes: automatic zero-finding and manual zero-finding; Automatic zeroing: After the lawnmower robot is powered on, the system automatically performs a self-check of the lifting mechanism, checking the communication status of the two pull rope position sensors and the two push rod motor drivers. After the communication is detected to be normal, the left and right push rods extend in asynchronous mode, and the lifting mechanism rises. When the left and right push rods trigger their respective maximum travel limits, the corresponding push rod positions are automatically cleared. When both push rods touch the maximum travel limit, the automatic zeroing is completed. Manual zeroing: Manually adjust the lifting mechanism to the highest position using the remote control, and then use the remote control to zero the positions of the left and right push rods to complete the manual zeroing.

4. A position synchronization control algorithm for the blade lifting mechanism of a lawnmower robot according to claim 2, characterized in that, It also includes a fault monitoring mechanism; The system monitors the communication status of the rope position sensor and the motor driver, and immediately stops the motor operation if a communication failure is detected. During the operation of the lifting mechanism, the position changes of the two push rods are monitored at regular intervals. If the position of the push rods does not change within the specified time, the motor operation is stopped immediately and an alarm is triggered. If the position feedback from the two push rod motors exceeds 1cm during the operation of the lifting mechanism, the motor operation will stop and an alarm will be triggered.

5. A position synchronization control algorithm for the blade lifting mechanism of a lawnmower robot according to claim 2, characterized in that, It also includes fault handling mechanisms; When the lifting mechanism is uneven on the left and right, you can exit the lifting synchronization mode via remote control and select to adjust one of the push rods individually to level it. The maximum current limit of the push rod motor can be changed using a remote control.

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