A mower device and intelligent mowing method of a mower

Abstract

The present application relates to a lawn mower device and a lawn mower intelligent mowing method, relating to the technical field of garden mowing, the device comprises a machine body, a driving assembly, a mowing assembly, a detection assembly, an auxiliary tire assembly and a handrail; the method comprises collecting a mowing operation path; determining a tire mowing operation coverage path; determining a mowing operation coverage range; obtaining a lawn mower position, obtaining an abnormal slope position corresponding to the mowing operation coverage range; determining a current distance based on the lawn mower position and the abnormal slope position, obtaining an auxiliary tire lifting parameter corresponding to the abnormal slope position, and performing a lifting operation; when the lifting operation is performed, the mowing assembly is controlled to perform a mower avoidance operation based on the auxiliary tire lifting parameter and the mower lifting parameter to determine; when there is no auxiliary tire lifting parameter, an artificial bypass signal is output. The present application has the effect of effectively avoiding the scratching and jamming of the protruding obstacles between the lawn mower chassis and the wheels.

Description

Technical Field

[0001] This invention relates to the field of garden mowing technology, and in particular to a mowing machine device and an intelligent mowing method. Background Technology

[0002] Lawn mowers are the core equipment for garden maintenance and lawn trimming. They cut and trim weeds by driving the blades to rotate at high speed, and can quickly straighten the lawn height. They are widely used in courtyards, parks, green spaces and other scenarios. Push lawn mowers, in particular, have become the mainstream equipment for civilian lawn maintenance due to their flexible operation and suitability for small-area operations.

[0003] To prevent the mowing mechanism from colliding and being damaged by solid obstacles such as rocks and slopes during operation, existing lawnmowers generally embed the mowing mechanism within the protective area of ​​the lawnmower chassis, using the chassis to provide physical protection for the mowing mechanism. At the same time, this type of lawnmower can also adaptively adjust the working height of the mowing mechanism according to the ground clearance of the chassis, thereby meeting the lawn mowing height requirements in different scenarios.

[0004] In response to the aforementioned technologies, in order to meet the needs of mowing, the overall ground clearance of the lawnmower chassis is relatively low. During the pushing operation, it is easily obstructed by ground protrusions between the left and right tires of the lawnmower, and it is impossible to avoid the hard collision between the obstacle located between the left and right tires of the lawnmower and the chassis, which will lead to chassis scraping and machine jamming, affecting the normal operation of mowing. Summary of the Invention

[0005] To address the problems of hand-push lawnmowers being easily obstructed by ground protrusions and causing chassis scraping due to their low ground clearance, this invention provides a lawnmower device and an intelligent lawnmower mowing method.

[0006] In a first aspect, the present invention provides a lawnmower device, which adopts the following technical solution: A lawnmower device includes a body, a drive assembly mounted on the body, a mowing assembly fixedly connected to the body, a detection assembly fixedly connected to the body, an auxiliary tire assembly fixedly connected to the body, and handles fixedly connected to both sides of the body. The drive assembly includes a drive shaft and tires fixedly connected to both ends of the drive shaft; The mowing assembly includes a lifting drive assembly, a support, a lifting shaft, an angle adjustment assembly, and a cutter. The support is located inside the machine body and has a limit hole. The lifting drive assembly is located inside the machine body. One end of the lifting shaft that passes through the limit hole is fixedly connected to the lifting drive assembly, and the other end of the lifting shaft that is away from the lifting drive assembly is fixedly connected to the angle adjustment assembly. The angle adjustment assembly is fixedly connected to the cutter. The auxiliary tire assembly includes a base fixedly connected to the body, an auxiliary rod slidably connected to the base, and an auxiliary tire rotatably connected to the auxiliary rod.

[0007] By adopting the above technical solution, the auxiliary tire assembly can lift and support the front chassis of the aircraft. When a protruding obstacle is detected in front, the lifting height of the auxiliary tire can be adjusted by adjusting the length of the auxiliary rod extending out of the base, thereby raising the height of the aircraft chassis so that it can pass over obstacles of lower height and reduce the situation of chassis scraping and jamming.

[0008] Optionally, the detection assembly includes a detection base, a detection shaft that is slidably connected to the detection base and serves as a resistor, a first detection line that is electrically connected to one end of the detection shaft, a second detection line that is electrically connected to the other end of the detection shaft, a probe that is fixedly connected to the end of the detection shaft away from the detection base, and a reset spring sleeved on the detection shaft for driving the detection shaft to return to its original position. The resistance of the probe shaft is uniformly distributed along its axial direction. One end of the second probe line is provided with a metal wire loop. The metal wire loop is sleeved on the probe shaft and abuts against the probe base. The probe shaft, the metal wire loop and the second probe line are electrically connected in sequence. The first probe line and the second probe line are both connected in series with the same power supply and ammeter located inside the machine body. One end of the reset spring abuts against the probe, and the other end of the reset spring abuts against the probe base.

[0009] By adopting the above technical solution, when the probe collides with an obstacle, the probe will drive the detection axis to slide in the direction of the detection base. At this time, the relative position of the metal wire ring and the detection axis changes, the resistance length of the detection axis connected to the circuit between the first and second detection lines changes, and thus the current in the circuit changes. The distance the probe is compressed can be obtained by the current magnitude, thereby quickly determining the height information of the obstacle. The structure is simple, the detection response speed is fast, and it can meet the rapid detection needs of sudden obstacles.

[0010] Secondly, the present invention provides an intelligent lawn mowing method for a lawnmower, which adopts the following technical solution: A smart lawnmower mowing method, applied to a lawnmower device as described above, includes: Step S1: In response to the mowing signal, collect the mowing operation path in real time; Step S2: Determine the tire mowing coverage path based on the mowing operation path and the preset tire cross-section width; Step S3: Determine the mowing coverage area based on the mowing operation path and the tire mowing operation coverage path; Step S4: Obtain the location of the lawnmower in real time and identify the location of abnormal slopes corresponding to the lawn mowing operation coverage area; Step S5: Determine the current distance based on the lawnmower position and the abnormal slope position. If the current distance is less than the preset predicted distance threshold, obtain the auxiliary tire lifting parameters corresponding to the abnormal slope position, and perform the lifting operation according to the auxiliary tire lifting parameters. Step S6: When performing the lifting operation, determine the cutting blade lifting parameters based on the auxiliary tire lifting parameters to control the mowing assembly to perform the cutting blade avoidance operation; Step S7: When there are no auxiliary tire lifting parameters, output a manual detour signal.

[0011] By adopting the above technical solution, after the lawnmower enters the mowing area, it first collects the working path and then determines the actual mowing coverage area based on the width of the tires. It identifies obstacles such as abnormal slopes within the coverage area in advance. When the lawnmower approaches an abnormal slope to within a safe predicted distance, it controls the auxiliary tires to lift to raise the overall chassis height. If it cannot avoid obstacles by lifting the auxiliary tires, it outputs a signal in time to remind manual intervention. This effectively reduces the probability of the chassis scraping and colliding with abnormal slope protrusions, reduces the possibility of chassis jamming and scraping damage, and ensures smooth mowing operations.

[0012] Optionally, specific methods for performing the cutter avoidance operation include: Step S60: Control the mowing assembly to perform mowing blade lifting operation based on the blade lifting parameters; Step S61: Determine the distance between the cutter chassis based on the cutter lifting parameters and the auxiliary tire lifting parameters; Step S62: When the distance between the cutter and the chassis is not negative, the cutter position is acquired in real time, and the current cutter rotation range is determined based on the cutter position; Step S63: Determine the first distance difference based on the current cutter rotation range and the location of the abnormal slope; Step S64: When the first distance difference falls within the preset minimum distance difference range, find the preset semi-circular rotation parameters to control the mowing component to perform the cutter rotation operation; Step S65: Determine the second distance difference based on the cutter position and the abnormal slope position; Step S66: When the second distance difference falls within the minimum distance difference range, determine the cutter lifting and lowering callback parameters based on the abnormal slope height and the cutter lifting and lowering parameters to control the mowing component to perform the cutter lifting and lowering operation; Step S67: When the first distance difference does not fall within the minimum distance difference range, obtain the preset reference cutter rotation parameters to control the mowing component to perform cutter rotation operation.

[0013] By adopting the above technical solution, while raising the auxiliary tires to elevate the chassis, the height and rotation position of the cutter are simultaneously adjusted. First, it is confirmed that sufficient operating space is reserved between the cutter and the chassis after it is raised. Then, the rotation range and height of the cutter are adjusted according to the actual distance between the cutter and the abnormal slope, ensuring that the cutter will not scrape or collide with the abnormal slope protrusions, thereby further improving obstacle avoidance safety and reducing the risk of cutter damage.

[0014] Optionally, it also includes a method for adjusting the cutter angle during the cutter avoidance operation, the method comprising: Step S68: Obtain the fuselage tilt angle; Step S69: Determine the current cutter angle based on the fuselage tilt angle; Step S70: Determine the cutter angle correction value based on the preset reference cutter angle and the current cutter angle; Step S71: Obtain an executable signal. If an executable signal exists, perform a cutter angle adjustment operation based on the cutter angle correction value.

[0015] By adopting the above technical solution, after the auxiliary tire lift raises the chassis, the machine body will tilt to a certain extent as it is raised, and the cutting blade operating angle will also shift accordingly. The cutting blade angle correction value is obtained by calculating the machine body tilt angle. When the adjustment conditions are met, the cutting blade operating angle is corrected, which can reduce the impact of machine body tilt on the flatness of grass cutting and ensure the quality of lawn cutting around areas with abnormal slopes.

[0016] Optionally, it also includes a method for outputting an executable signal, the method comprising: Step S710: Determine the extension length of the auxiliary rod based on the cutter lifting parameters; Step S711: Determine the fuselage chassis outline segment based on the fuselage tilt angle; Step S712: Obtain the preset cutter rotation radius, and determine the corrected cutter cutting range based on the cutter rotation radius, the extension length of the auxiliary rod, and the cutter angle correction value; Step S713: Determine the overlap point based on the fuselage chassis outline and the cutting range of the correction cutter; Step S714: When there is an overlap, do not output an executable signal; Step S715: When there is no overlapping point, output an executable signal.

[0017] By adopting the above technical solution, if the cutting range of the cutter does not overlap with the outline of the chassis, it means that the cutter will not scrape against the chassis after the angle is adjusted. In this case, the cutter angle adjustment is allowed. Otherwise, the adjustment is not allowed. This can effectively prevent the cutter from scraping against the chassis after the cutter angle is adjusted, and further improve the safety of the cutter adjustment process.

[0018] Optionally, it also includes a method for performing a test lift operation, the method comprising: Step S8: Obtain collision pressure in real time; Step S80: When the collision pressure is greater than the preset abnormal collision pressure threshold, obtain the number of abnormal probes; Step S81: When the number of abnormal probes is less than the preset threshold for the number of abnormal probes, determine the valid probe number; Step S82: Determine the current highest probe number based on the valid probe number, and obtain the probe reference height corresponding to the current highest probe number; Step S83: Determine the required auxiliary tire lifting parameters based on the probe reference height; Step S84: Perform the lifting operation based on the required tire lifting parameters; Step S85: When the number of abnormal probes is not less than the abnormal probe number threshold, perform a test lift operation.

[0019] By adopting the above technical solution, for sudden protruding obstacles, collision pressure information is collected by multiple probes, which can quickly identify the height range of the obstacle. When the obstacle is low, the auxiliary tire is raised directly according to the reference height of the highest probe to complete obstacle avoidance. When the obstacle is high and the height cannot be directly determined, the actual height of the obstacle is gradually detected by gradually testing the raising of the auxiliary tire, and finally the appropriate raising parameters are determined to complete obstacle avoidance. This can effectively deal with sudden obstacles, reduce the obstruction of lawn mowing operations by sudden obstacles, and further reduce the probability of chassis scratch damage.

[0020] Optionally, methods for performing test lift operations include: Step S850: Control the auxiliary tire to perform a lifting operation according to the preset test lifting parameters; Step S851: Obtain the number of corrected anomaly probes; Step S852: When the number of abnormal probes is not less than the threshold for the number of abnormal probes, re-execute steps S850 to S851; Step S853: Obtain the current lifting count, determine the current auxiliary tire lifting parameters based on the current lifting count, and if the current auxiliary tire lifting parameters do not fall within the range of auxiliary tire lifting parameters, output a manual detour signal; Step S854: When the number of abnormal probes is less than the threshold number of abnormal probes, control the auxiliary tire to perform a lifting operation.

[0021] By adopting the above technical solution, the number of abnormal probes is counted after each test lift. If a sufficient number of probes still detect abnormal collision pressure, it means that the current lift height is insufficient for the chassis to pass over the obstacle, and the lift test needs to continue until the lift height meets the requirements or reaches the maximum lift range, at which point manual intervention is prompted. This can gradually determine the height of the obstacle and gradually adjust to a suitable lift height to adapt to obstacles of different heights in a sudden manner. While ensuring detection accuracy, it reduces unnecessary excessive lift, ensuring obstacle avoidance effect and lawn mowing efficiency.

[0022] Optionally, when the number of corrected abnormal probes is not less than the abnormal probe number threshold, the method of re-executing steps S850 to S851 includes: Step S8520: Obtain the current number of lifts, perform an accumulation operation on the test lift parameters according to the current number of lifts to determine the current test lift parameters, and use the current test lift parameters as the test lift parameters to re-execute steps S850 to S851.

[0023] By adopting the above technical solution, each test lift adds a fixed height parameter based on the previous lift height, which can ensure that the test lift increases gradually and orderly, thereby ensuring the stability of the gradual test lift process.

[0024] Optionally, when the number of abnormal probes is less than the abnormal probe number threshold, the specific methods for controlling the auxiliary tire to perform a lifting operation include: Step S8540: Obtain the corrected highest probe number; Step S8541: Obtain the reference height of the correction probe corresponding to the highest correction probe number, and determine the required correction parameters of the auxiliary tire lifting based on the current auxiliary tire lifting parameters and the reference height of the correction probe; Step S8542: When the adjustment requirement for the auxiliary tire lifting parameter falls within the range of the auxiliary tire lifting parameters, control the auxiliary tire to perform a lifting operation; Step S8543: When the adjustment requirement for the auxiliary tire lifting parameter does not fall within the range of the auxiliary tire lifting parameter, output a manual detour signal.

[0025] By adopting the above technical solution, the corrected demand-assisted tire lifting parameters are determined based on the detection results of the actual abnormal probe after the test lifting. This can accurately correspond to the lifting height required for the actual height of the obstacle. When the corrected demand-assisted tire lifting parameters are within the lifting range, the corresponding lifting operation can be directly executed, ensuring that the lifting height is adapted to the obstacle height.

[0026] In summary, the present invention has at least one of the following beneficial technical effects: 1. By predicting abnormal slopes between wheels on the working path in advance and automatically raising the auxiliary tires to elevate the chassis, the chassis can be effectively prevented from scraping or getting stuck on the ground or slope. 2. The blade and the machine body are raised in a coordinated manner, with a strategy of semi-circular avoidance, height adjustment and angle correction. This not only prevents the blade from being damaged by collision with abnormal slopes, but also maintains the flatness of the lawn, taking into account both obstacle avoidance safety and mowing effect. 3. The probe-type detection component is used to detect terrain changes in real time. Combined with the hierarchical judgment and step-by-step testing and lifting logic, it can adapt to pre-stored terrain deviations, sudden obstacles and other scenarios, and improve the lawnmower's adaptability to complex lawn terrain and its ability to avoid obstacles autonomously. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of a lawnmower device according to an embodiment of this application. Figure 1 ; Figure 2 This is a schematic diagram of the structure of a lawnmower device according to an embodiment of this application. Figure 2 ; Figure 3 This is an exploded view of the auxiliary tire assembly in the embodiments of this application; Figure 4 This is a schematic diagram of the detection component in the embodiments of this application; Figure 5 This is a flowchart of an intelligent lawn mowing method using a lawnmower, as described in an embodiment of this application. Figure 6 This is a schematic diagram of the lawn mowing operation coverage area in an embodiment of this application; Figure 7 This is a schematic diagram of the scenario where the cutting range and overlap point of the corrected cutter are shown in the embodiments of this application.

[0028] The parts referred to by the numbers in the above attached diagrams are as follows: 1. Body; 2. Drive assembly; 3. Mowing assembly; 31. Support; 32. Lifting shaft; 33. Angle adjustment assembly; 331. Angle adjustment base; 332. Angle adjustment lug; 333. Angle adjustment shaft; 334. Connecting bracket; 34. Cutter blade; 4. Auxiliary tire assembly; 41. Base; 42. Auxiliary rod; 43. Auxiliary tire; 44. Auxiliary lifting cylinder; 5. Detection assembly; 51. Detection base; 52. Detection shaft; 53. First detection line; 54. Second detection line; 55. Probe; 56. Return spring; 6. Handrail. Detailed Implementation

[0029] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0030] This invention discloses a lawnmower device. (Refer to...) Figure 1 and Figure 2 A lawnmower device includes a body 1, a drive assembly 2, a mowing assembly 3, an auxiliary tire assembly 4, a detection assembly 5, and a handle 6.

[0031] The drive assembly 2 includes a drive shaft and a tire. A drive limiting hole is provided on the outer side wall of the body 1. The drive shaft passes through the drive limiting hole. Both ends of the drive shaft are fixedly connected to the tire.

[0032] Reference Figure 2 The mowing assembly 3 includes a lifting drive assembly, a support 31, a lifting shaft 32, an angle adjustment assembly 33, and a cutter blade 34. The lifting drive assembly includes a lifting cylinder and a drive motor. The lifting cylinder is placed inside the machine body 1 and fixedly connected to the inner wall of the end of the machine body 1 away from the tires. The drive motor is fixedly connected to the piston end of the lifting cylinder, and the output shaft of the drive motor is fixedly connected to one end of the lifting shaft 32. The two sides of the support 31 are fixedly connected to the inner wall of the machine body 1. The support 31 has limiting holes for the lifting shaft 32 to slide along its axial direction and to restrict the horizontal movement of the lifting shaft 32, thus limiting the lifting movement of the lifting shaft 32. The lifting cylinder is used to realize the lifting of the lifting shaft 32, and the drive motor is used to realize the rotation of the lifting shaft 32.

[0033] Reference Figure 2 The angle adjustment assembly 33 includes an angle adjustment base 331, an angle adjustment lug 332, an angle adjustment shaft 333, and a connecting bracket 334. One end of the angle adjustment base 331 is fixedly connected to the end of the lifting shaft 32 away from the output shaft of the drive motor, and the other end of the angle adjustment base 331 is fixedly connected to the angle adjustment lug 332. The lifting and lowering of the lifting shaft 32 drives the lifting and lowering of the angle adjustment base 331, and the rotation of the lifting shaft 32 drives the rotation of the angle adjustment base 331. The angle adjustment shaft 333 passes through the angle adjustment lug 332, and both ends of the angle adjustment shaft 333 are rotatably connected to the angle adjustment lug 332. One end of the connecting bracket 334 is fixedly connected to both ends of the angle adjustment shaft 333, and the other end of the connecting bracket 334 is fixedly connected to the cutter 34. The angle adjustment shaft 333 drives the connecting bracket 334 to rotate, thereby causing the connecting bracket 334 to drive the cutter 34 to rotate.

[0034] Reference Figure 3The auxiliary tire assembly 4 includes a base 41, an auxiliary rod 42, and an auxiliary tire 43. One side of the base 41 is fixedly connected to the outer wall of the machine body 1. One end of the base 41 has an auxiliary sliding groove for the auxiliary rod 42 to slide. An auxiliary lifting cylinder 44 is installed at the bottom of the auxiliary sliding groove. The cylinder body of the auxiliary lifting cylinder 44 is fixedly connected to the bottom of the auxiliary sliding groove. The piston end of the auxiliary lifting cylinder 44 is fixedly connected to one end of the auxiliary rod 42. Both sides of the auxiliary rod 42 are rotatably connected to the auxiliary tire 43. The auxiliary rod 42 can be driven by the auxiliary lifting cylinder 44 to extend, adjust the position of the auxiliary tire 43, and thus adjust the height of the chassis of the machine body 1 to adapt to sloping working areas. The tires of the drive assembly 2 are driven by a motor and are used to assist the user in pushing the lawnmower forward, while the auxiliary tire 43 of the auxiliary tire assembly 4 does not have a corresponding drive device and can only be pushed manually by the user.

[0035] Reference Figure 4 The detection assembly 5 includes a detection base 51, a detection shaft 52, a first detection line 53, a second detection line 54, a probe 55, and a return spring 56. The detection base 51 is fixed to the front side of the body 1, and the detection base 51 has a detection groove for the detection shaft 52 to slide.

[0036] A resistive layer is evenly distributed axially on the sidewall of the probe shaft 52. The probe shaft 52 extends into the probe groove. The probe 55 is fixedly connected to the end of the probe shaft 52 that extends out of the probe groove. A return spring 56 is sleeved on the outside of the probe shaft 52. One end of the return spring 56 abuts against the probe 55, and the other end abuts against the surface of one end of the probe base 51, driving the probe 55 to return to its initial position after being squeezed by an obstacle or slope. The first detection wire 53 is electrically connected to the end of the probe shaft 52 away from the probe 55, and the second detection wire 54 is electrically connected to the sidewall of the probe shaft 52 through a metal wire loop. A metal wire loop is fixedly fitted at the opening of the detection slot, always maintaining contact with the resistive layer of the detection shaft 52. The first detection wire 53 and the second detection wire 54 are connected in series with the power supply and ammeter inside the machine body 1 to form a circuit. When the probe 55 is squeezed and pushes the detection shaft 52 into the detection slot, the distance between the metal wire loop and the end of the detection shaft 52 changes, the total resistance of the circuit changes accordingly, and the current changes accordingly. The squeezing displacement of the probe 55 can then be calculated from the current value, converting it into impact pressure. Multiple sets of detection components 5 are horizontally spaced along the front side of the machine body 1. Handrails 6 are fixedly connected to both sides of the machine body 1, allowing operators to grip and move the entire machine during operation.

[0037] Based on the same inventive concept, embodiments of the present invention provide an intelligent lawn mowing method for lawn mowers.

[0038] Reference Figure 5 A method for intelligent lawn mowing, comprising: Step S1: In response to the mowing signal, collect the mowing operation path in real time.

[0039] A mowing signal is a control command signal triggered by the user to start the lawnmower and perform mowing operations.

[0040] The mowing path refers to the dynamic path formed by the trajectory sensor in real time, which collects the actual direction of movement of the worker pushing the mower after the control system receives the mowing signal.

[0041] Step S2: Determine the tire mowing coverage path by using the mowing operation path and the preset tire cross-section width.

[0042] The tire cross-section width refers to the axial solid width of the main travel tire of the lawnmower, which is a preset structural parameter of the lawnmower device. (Refer to...) Figure 6 The tire mowing operation coverage path refers to the two parallel rolling tracks formed on the ground by taking the real-time collected mowing operation path as the center line and combining it with the cross-sectional width of the tire.

[0043] Step S3: Determine the mowing coverage area based on the mowing operation path and the tire mowing operation coverage path.

[0044] Reference Figure 6 The coverage area of ​​a lawn mowing operation refers to the area defined by taking the real-time collected lawn mowing path as the center line, the two parallel compaction tracks of the tire lawn mowing operation coverage path as the outer boundaries, and extending forward along the direction of the lawn mowing operation path.

[0045] Step S4: Obtain the location of the lawnmower in real time and identify the location of any abnormal slopes corresponding to the area covered by the mowing operation.

[0046] An abnormal slope location refers to a raised or sloping area within the mowing operation's coverage area, situated between the tracks of the left and right tires. This area lies within the tire's track width, meaning the tires do not directly contact it; only the machine body does. The abnormal slope location is obtained by pre-marking and storing the coordinates of all raised or sloping areas within the mowing area in the control system's terrain coordinate database before the mowing operation. After determining the mowing operation's coverage area, the control system filters out the coordinate points within this database that fall within the current coverage area and are located between the tracks of the left and right tires; these coordinate points are the abnormal slope locations. The terrain coordinate database is a dedicated database pre-established and stored within the control system to record the location coordinates and corresponding height data of all abnormal terrain features such as raised areas and slopes within the mowing operation area.

[0047] Abnormal slope height refers to the vertical height of the highest point of a ground protrusion or slope at the corresponding abnormal slope location, as recorded in the terrain coordinate database, relative to a reference plane. Here, the reference plane refers to a plane pre-established based on the mowing area, used to standardize the longitudinal height within the mowing area. The mowing area refers to a complete area pre-delineated according to mowing needs, where the lawnmower will perform mowing operations. A corresponding mowing operation coordinate system is established for the mowing area here. This mowing operation coordinate system is a spatial rectangular coordinate system established with the lower left corner of the mowing area as the origin, the horizontal rightward axis as the X-axis, the horizontal upward axis as the Y-axis, and the vertical upward axis as the Z-axis.

[0048] Step S5: Determine the current distance based on the lawnmower position and the abnormal slope position. If the current distance is less than the preset predicted distance threshold, obtain the auxiliary tire lifting parameters corresponding to the abnormal slope position, and perform the lifting operation according to the auxiliary tire lifting parameters.

[0049] The current distance refers to the straight-line distance between the current position coordinates of the front head of the lawnmower, which are collected in real time by the system, and the position coordinates of abnormal slope locations selected from the terrain coordinate library.

[0050] The predicted distance refers to the spatial distance that the control system presets and detects forward along the direction of the worker's push. It is used to identify the terrain features of the area where the lawnmower is about to enter in advance, and to reserve action response time for the lifting of the auxiliary tire 43 and the avoidance of the cutter 34, so as to avoid collision between the cutter 34, the chassis and abnormal slopes. In this embodiment, the predicted distance is 1m.

[0051] The auxiliary tire lifting parameter refers to the sliding distance of the auxiliary rod 42 in the auxiliary sliding groove, obtained by testing the height of the abnormal slope during the operation of the lawnmower. Since this data is obtained from historical experience, its accuracy may be compromised in actual operation due to changes in the abnormal slope or soil depressions in the soil contacted by the auxiliary tire 43 during lifting operations. Solutions to these issues will be discussed later.

[0052] The lifting operation refers to the system controlling the adjustable auxiliary tires 43 of the lawnmower chassis to extend downwards and support the ground according to the auxiliary tire lifting parameters, thereby raising the entire machine body and chassis so that the chassis is higher than the abnormal slope height. This avoids a hard collision between the chassis and the abnormal slope without changing the operator's pushing path. If a lifting operation is performed on a specified abnormal slope location, the distance between the rear of the machine body and the abnormal slope location will be recorded. Without changing the direction of the lawnmower's travel, the distance will decrease. In this embodiment, the distance will change from a positive number to 0 and then to a negative number. When the distance is negative, the lifting operation can be canceled.

[0053] Step S6: When performing the lifting operation, the cutting blade lifting parameters are determined based on the auxiliary tire lifting parameters to control the mowing assembly 3 to perform the cutting blade avoidance operation.

[0054] The cutter lifting parameters refer to the height adjustment parameters of the mowing assembly 3, which are set according to the lifting height of the auxiliary tire 43. Because the lifting operation increases the height of the machine body, the effective range of the mowing assembly 3 also changes. To prevent the cutter 34 from rising in height due to the machine body lifting, thus affecting the normal mowing effect, the cutter lifting parameters need to be determined to execute subsequent cutter lifting operations. The cutter lifting operation refers to the system adjusting the vertical height of the mowing assembly 3 according to the cutter lifting parameters.

[0055] The cutter avoidance operation refers to the operation in which the mowing component 3 considers abnormal slope positions during the cutter raising and lowering operation, and adjusts the range of action of the cutter 34 for abnormal slope positions, so as to maximize the mowing effect while avoiding collision between the cutter 34 and the slope corresponding to the abnormal slope position. The specific operation process will be introduced in the following process.

[0056] Step S7: When there are no auxiliary tire lifting parameters, output a manual detour signal.

[0057] The manual detour signal refers to the audible and visual prompt signal issued by the system to the staff, which is used to inform the staff that the current abnormal slope cannot be avoided by lifting with the auxiliary tires 43, and the direction of the lawnmower needs to be manually adjusted.

[0058] When there are no auxiliary tire lifting parameters, it indicates that the abnormal slope height exceeds the range of the auxiliary tire's lifting parameters. Lifting the machine body alone cannot prevent collisions between the chassis, cutter 34, and the abnormal slope. Manual intervention is required to change the pushing path to avoid terrain obstacles. The range of auxiliary tire lifting parameters refers to the parameter interval corresponding to the maximum lifting height that the liftable auxiliary tire 43 can achieve by sliding within the auxiliary sliding groove via the auxiliary rod 42.

[0059] The specific methods for performing the cutter avoidance operation include: Step S60: Control the mowing component 3 to perform the mowing operation based on the cutter lifting parameters.

[0060] Step S61: Determine the distance between the cutter chassis based on the cutter lifting parameters and the auxiliary tire lifting parameters.

[0061] The distance between the cutter and the chassis refers to the vertical distance between the lowest point of the cutter 34 of the mowing assembly 3 and the bottom surface of the mower chassis. It is calculated by subtracting the adjustment height of the cutter 34 corresponding to the cutter lifting parameters and the lifting height of the machine body corresponding to the auxiliary tire lifting parameters.

[0062] Step S62: When the distance between the cutter and the chassis is not negative, the cutter position is obtained in real time, and the current cutter rotation range is determined based on the cutter position.

[0063] The cutter position refers to the real-time coordinates of the rotation center of the cutter 34 in the mowing coordinate system. This coordinate is obtained by a position sensor installed on the shaft of the cutter 34, which collects data in real-time and transmits it to the processor. The current cutter rotation range refers to the circular area formed by the rotation center of the cutter 34 and its rotation radius. This area represents the maximum spatial range that the cutter 34 can cover during its rotational cutting process. The current cutter rotation range is obtained by calculating the coordinates of each boundary point of this circular area in the mowing coordinate system based on the real-time collected coordinates of the cutter 34's rotation center and the cutter's rotation radius.

[0064] When the distance between the cutter and the chassis is not negative, it means that the cutter 34 is closer to the soil than the chassis of the machine body. Therefore, when the lawnmower is propelled forward, if the direction of the lawnmower does not change, the cutter 34 will collide with the slope at the abnormal slope position.

[0065] When the distance between the cutter and the chassis is negative, it means that the lowest point of the cutter 34 is above the bottom surface of the chassis. After the machine body is raised, the height of the lowest point of the cutter 34 is still higher than the height of the highest point of the abnormal slope. At this time, the cutter 34 will not collide with the abnormal slope. The cutting component 3 can be controlled to maintain normal rotation and cutting operation by directly using the reference cutter rotation parameters, without the need for additional adjustment of the rotation range.

[0066] Step S63: Determine the first distance difference based on the current cutter rotation range and the location of the abnormal slope.

[0067] The first distance difference refers to the shortest distance between the edge of the circular area of ​​the current rotation range of the cutter 34 and the nearest edge of the slope at the location of the abnormal slope.

[0068] Step S64: When the first distance difference falls within the preset minimum distance difference range, find the preset semi-circular rotation parameters to control the mowing component 3 to perform the cutter rotation operation.

[0069] The semi-circular rotation parameter refers to controlling the cutter 34 to rotate and cut only within a half-circumference range away from the slope surface at the abnormal slope position, pausing the rotation of the cutter 34 on the side close to the abnormal slope position. This can prevent the cutter 34 from hitting the abnormal slope surface during rotation and reduce the risk of damage to the cutter 34.

[0070] The blade rotation operation refers to controlling the mowing assembly 3 to rotate within a defined range and speed to complete the lawn cutting operation. When the first distance difference does not fall within the minimum distance difference range, it indicates that there is still a sufficient safe distance between the current rotation range of the blade 34 and the abnormal slope surface. There is no need to adjust the current rotation range of the blade 34; the benchmark blade rotation parameters can be used directly to control the mowing assembly 3 to maintain normal rotation and cutting operations.

[0071] When the first distance difference falls into the minimum distance difference range, it means that the current rotation range of the cutter 34 is very close to the distance of the slope surface with abnormal slope. Continuing to maintain a full circular rotation is very likely to cause scraping and collision with the slope surface. At this time, adjusting the cutter 34 to a half-circle rotation can avoid the slope surface while maintaining normal cutting operations on the other side, thereby reducing the impact of abnormal terrain on the overall grass cutting efficiency.

[0072] Step S65: Determine the second distance difference based on the cutter position and the abnormal slope position.

[0073] The second distance difference refers to the distance between the center of rotation of the cutter 34 and the location of the abnormal slope.

[0074] Step S66: When the second distance difference falls within the minimum distance difference range, the cutter lifting and lowering callback parameters are determined based on the distance between the cutter chassis to control the mowing component 3 to perform the cutter lifting and lowering operation.

[0075] The cutter height adjustment parameter refers to the height adjustment value of the mowing assembly 3 based on its existing height. This is used to raise the overall height of the cutter 34 when its rotation center is too close to the slope surface with an abnormal gradient. This raises the lowest point of the cutter 34 above the highest point of the abnormal slope, ensuring that the cutter 34 does not collide with the slope surface during rotation. This parameter is calculated based on the distance between the cutter base and the abnormal slope height.

[0076] When the second distance difference falls within the minimum distance difference range, it indicates that even with the semi-circular rotation parameters, the cutter 34 cannot avoid colliding with the slope due to its abnormal gradient. Therefore, the only solution is to control the cutter 34 to raise or lower, thus preventing a collision. Since the chassis height is already higher than the abnormal slope height, raising or lowering the cutter 34 only requires adjusting the distance between the cutter and chassis.

[0077] Step S67: When the first distance difference does not fall within the minimum distance difference range, obtain the preset reference cutter rotation parameters and reference cutter lifting parameters to control the mowing component 3 to perform cutter rotation operation.

[0078] The reference cutter rotation parameters refer to the preset parameters for the complete circumference rotation of the mowing component 3. Under these parameters, the cutter 34 performs a full-circumference rotation cutting operation, which is the default rotation parameter used under normal operating conditions of the mower.

[0079] When the first distance difference does not fall within the minimum distance difference range, it indicates that there is still sufficient safety space between the rotation range of the cutter 34 and the abnormal slope, which will not affect the safe distance between the cutter 34 and the abnormal slope. At this time, maintaining full rotation and the original height is sufficient to continue normal cutting operations. When the lifting operation is canceled, the cutter lifting parameters are executed according to the preset reference cutter 34 parameters. The reference cutter lifting parameters refer to the default vertical height adjustment parameters of the mowing component 3 used in normal mowing operations, which are pre-stored in the system. In this embodiment, the reference cutter lifting parameters are the height parameters of the cutter 34 flush with the chassis. Therefore, when the lifting operation ends, the cutter 34 will descend along with the chassis height.

[0080] This also includes a method for adjusting the cutter angle during a cutter avoidance operation, the method comprising: Step S68: Obtain the fuselage tilt angle.

[0081] The body tilt angle refers to the tilt angle of the entire lawnmower body relative to the reference plane, which is collected in real time by the tilt sensor installed at the center of gravity of the body. In this embodiment, the angle adjustment component can only correct the tumble angle of the cutter, so the body tilt angle here specifically refers to the tumble angle of the body.

[0082] Step S69: Determine the current cutter angle based on the fuselage tilt angle.

[0083] The current cutter angle refers to the tilt angle of the cutting plane of the mowing assembly 3 relative to the reference plane, which is calculated by combining the tilt angle of the machine body with the fixed installation angle of the mowing assembly 3 and the machine body.

[0084] Step S70: Determine the cutter angle correction value based on the preset reference cutter angle and the current cutter angle.

[0085] The cutter angle correction value refers to the angle difference required to keep the cutting plane formed by the rotation of the cutter 34 parallel to the reference plane. It is calculated by subtracting the current cutter angle from the reference cutter angle.

[0086] Step S71: Obtain an executable signal. If an executable signal exists, perform a cutter angle adjustment operation based on the cutter angle correction value.

[0087] An executable signal refers to a trigger signal output by the control system that allows the cutter angle adjustment operation to be performed. The criteria for outputting this signal will be described later. The cutter angle adjustment operation refers to the operation of rotating the cutter 34 by the angle adjustment component 33, which is fixedly connected to the cutter 34, to correct the tilting problem caused by the machine body tilt, so that the cutting plane formed by the cutting rotation is parallel to the reference plane.

[0088] This also includes a method for outputting an executable signal, the method comprising: Step S710: Determine the extension length of the auxiliary rod based on the cutting tool lifting parameters.

[0089] The extension length of the auxiliary rod refers to the length of the auxiliary rod 42 extending outward from the auxiliary sliding groove during the process of the liftable auxiliary tire 43 supporting the ground. It is obtained by converting the auxiliary tire lifting parameters.

[0090] Step S711: Determine the fuselage chassis outline based on the fuselage tilt angle.

[0091] Reference Figure 7 The chassis outline refers to the projected outline of the lawnmower chassis structure.

[0092] Step S712: Obtain the preset cutter rotation radius, and determine the corrected cutter cutting range based on the cutter rotation radius, the extension length of the auxiliary rod, and the cutter angle correction value.

[0093] The blade rotation radius refers to the maximum horizontal distance from the rotation center of the blade 34 to the outer edge of the blade 34 when the blade 34 rotates around its rotation center. It is a preset inherent structural parameter of the lawnmower.

[0094] Reference Figure 7 The corrected cutting range of the cutter refers to the maximum area that the outer edge of the cutter 34 can cover in space after angle correction. It is calculated by combining the cutter's rotation radius with the current extension length of the auxiliary rod and the cutter's angle correction value. After angle correction, the length of the lifting shaft 32 extending out may be too short, resulting in the angle adjustment component 33 extending out of the chassis also being too short. Therefore, the corresponding lifting distance of the lifting shaft 32 is too short, which may cause the cutter 34 to collide with the chassis after angle correction. Therefore, it is necessary to determine the overlap point for subsequent judgment operations.

[0095] Step S713: Determine the overlap point based on the fuselage chassis outline and the cutting range of the correction cutter.

[0096] Reference Figure 7The overlapping point refers to the intersection between the cutting range of the corrected cutter and the outline of the fuselage chassis. The specific method for determining it is to traverse the overlapping point mapping table determined according to the cutting range corresponding to the size of the cutter 34, the tilt angle of the fuselage, and the extension length of the auxiliary rod. The table establishes the correspondence between the cutting range of the corrected cutter and the outline of the fuselage chassis under the corresponding extension length of the auxiliary rod. By looking up the table, it is possible to quickly determine whether there is an overlapping point.

[0097] Step S714: When there is an overlap, do not output an executable signal.

[0098] When there is an overlap, it means that the outer edge of the rotating cutter 34 will rub against the chassis structure after the angle is corrected. Therefore, the cutter angle adjustment operation cannot be performed. In this case, the current uncorrected cutter 34 angle can be used directly for rotation and cutting.

[0099] Step S715: When there is no overlapping point, output an executable signal.

[0100] When there is no point of overlap, it means that the outer edge of the rotating cutter 34 will not rub against the chassis structure after the angle is corrected. At this time, the cutter angle adjustment operation can be performed.

[0101] This also includes a method for performing a test lift operation, which includes: Step S8: Obtain collision pressure in real time.

[0102] The collision pressure refers to the equivalent pressure value output in real time by the current sensor of the detection component 5 at the front of the lawnmower, which is positively correlated with the contact force of the probe 55. When the probe 55 contacts an obstacle or slope, the return spring 56 is compressed, and its deformation will drive the detection shaft 52 to change the resistance connected to the circuit. The output current of the current sensor changes accordingly, and this current value is converted to obtain the equivalent collision pressure value, thereby reflecting the contact state and force magnitude of the probe 55.

[0103] Step S80: When the collision pressure is greater than the preset abnormal collision pressure threshold, obtain the number of abnormal probes.

[0104] The abnormal collision pressure threshold refers to the critical pressure value preset by the system corresponding to the abnormal compression of the spring. When the collision pressure exceeds the abnormal collision pressure threshold, it indicates that probe 55 has made effective contact with the obstacle or slope, but no lifting operation has been triggered at this time. This indicates that the collision location belongs to a new, unrecorded abnormal slope, and the matching auxiliary tire lifting parameters need to be obtained through subsequent testing procedures.

[0105] The number of abnormal probes refers to the total number of probes 55 in the detection component 5 whose collision pressure exceeds the abnormal collision pressure threshold, which is used to reflect the contact range between the slope or obstacle and the front side of the lawnmower body.

[0106] When the collision pressure exceeds the abnormal collision pressure threshold, it indicates that at least one probe 55 of the detection component 5 has made effective contact with an obstacle or slope. The pre-stored terrain data may not match the actual terrain, and the auxiliary tire lifting parameters need to be determined through feedback from the detection component 5. Because the pre-stored terrain data does not match the actual terrain, to avoid damage to the cutter from sudden obstacles or slopes, a cutter retraction operation will be performed. Specifically, the cutter retraction operation involves sliding the auxiliary rod 42 to retract the cutter 34, causing the cutter 34 to retract into the chassis. The cutter retraction operation does not affect the mowing operation, but it only prevents the mowing height from being met.

[0107] Step S81: When the number of abnormal probes is less than the preset threshold for the number of abnormal probes, determine the valid probe number.

[0108] The abnormal probe number threshold refers to the upper limit of the number of detection components 5 preset by the system to distinguish between local contact and overall contact. In this embodiment, the abnormal probe number threshold is 3.

[0109] The valid probe number refers to the number corresponding to probe 55 whose collision pressure exceeds the abnormal collision pressure threshold. The number corresponds one-to-one with the installation height of probe 55 on the fuselage. The larger the number, the higher the installation height of the corresponding detection component 5.

[0110] When the number of abnormal probes is less than the threshold for the number of abnormal probes, it indicates that the contact between probe 55 and the obstacle or slope is in a local contact state, and the auxiliary tire lifting parameters can be determined by the data of the triggered probe 55.

[0111] Step S82: Determine the current highest probe number based on the valid probe number, and obtain the probe reference height corresponding to the current highest probe number.

[0112] The current highest probe number refers to the number with the largest value among all valid probe numbers, corresponding to the probe 55 which has the highest installation height and makes effective contact with the obstacle or slope.

[0113] The probe reference height refers to the relative height of probe 55 of the detection component 5 corresponding to the highest probe number at present, relative to the reference height of the auxiliary tire. The auxiliary tire reference height refers to the relative height of the axle of the auxiliary tire 43 relative to the bottom surface of the chassis when the auxiliary tire 43 is not lifted, and is pre-stored in the system.

[0114] Step S83: Determine the required auxiliary tire lifting parameters based on the probe reference height.

[0115] The required auxiliary tire lifting parameter refers to the height parameter used to control the lifting of the auxiliary tire 43 when it is separated from the pre-stored terrain data. It is calculated based on the probe reference height corresponding to the current highest probe number, ensuring that the bottom surface of the fuselage chassis can avoid collisions with obstacles or slopes after the auxiliary tire 43 is lifted.

[0116] Step S84: Perform the lifting operation based on the required tire lifting parameters.

[0117] When an auxiliary tire lift parameter is available, it means that the parameter can meet the current terrain avoidance requirements. By directly controlling the auxiliary tire 43 to lift according to the required auxiliary tire lift parameter, the chassis can be raised to a sufficient height to avoid the current abnormal slope or obstacles, and will not scrape or collide with the slope.

[0118] Step S85: When the number of abnormal probes is not less than the abnormal probe number threshold, perform a test lift operation.

[0119] The test lift operation refers to the situation where the number of abnormal probes is not less than the abnormal probe number threshold, indicating that the contact range of the abnormal slope or obstacle has covered all the detection probes 55 in all height ranges. At this time, the lift parameters cannot be determined by the height of a single highest probe 55. It is necessary to gradually determine the lift height that meets the safety obstacle avoidance requirements through a step-by-step lift test method.

[0120] The methods for performing the test lift operation include: Step S850: Control the auxiliary tire 43 to perform the lifting operation according to the preset test lifting parameters.

[0121] The test lifting parameter refers to the preset single small-amplitude trial lifting height parameter; this parameter is the height difference between the installation positions of the probe 55 corresponding to the smallest and largest probe numbers in the probe 55 assembly, and is the fixed increase in lifting height each time the auxiliary tire 43 performs a test lifting, used to gradually test the safe lifting height that can avoid abnormal slopes.

[0122] Step S851: Obtain the number of corrected anomaly probes.

[0123] The number of corrected abnormal probes refers to the total number of probes 55 whose collision pressure exceeds the abnormal collision pressure threshold after the auxiliary tire 43 completes a lift according to the test lift parameters.

[0124] Step S852: When the number of abnormal probes is not less than the threshold for the number of abnormal probes, re-execute steps S850 to S851.

[0125] When the number of abnormal probes is not less than the threshold number of abnormal probes, it means that the height of the current single test is still insufficient to avoid abnormal slopes or obstacles with large-area contact. The machine head is still in contact with the slope or obstacle, and it is necessary to continue to raise the auxiliary tire 43 for testing.

[0126] Step S853: Obtain the current number of lifts, determine the current auxiliary tire lift parameters based on the current number of lifts, and output a manual detour signal if the current auxiliary tire lift parameters do not fall within the range of liftable parameters for the auxiliary tires.

[0127] The current lifting count refers to the cumulative number of iterations of the test lifting operation performed by the control system. The lifting count is automatically incremented once for each lifting action corresponding to step S850.

[0128] The current auxiliary tire lift parameter refers to the total height parameter of the cumulative lift of the auxiliary tire 43, which is calculated by adding the current lift count and the lift parameter of a single test.

[0129] If the current auxiliary tire lifting parameters do not fall within the range of adjustable auxiliary tire lifting parameters, it means that after multiple attempts to lift, the cumulative lifting height of the auxiliary tire 43 has exceeded its maximum safe adjustable range, and it is impossible to avoid obstacles by continuing to lift. Therefore, a manual detour signal is output.

[0130] Step S854: When the number of abnormal probes is less than the threshold number of abnormal probes, control the auxiliary tire 43 to perform a lifting operation.

[0131] When the number of abnormal probes is less than the threshold for the number of abnormal probes, it means that the height of the current single test has allowed enough probes 55 to disengage from abnormal contact, satisfying the condition for calculating the lifting parameters through the valid probe number. At this point, there is no need to continue probing the lifting, and the lifting operation can be performed to avoid obstacles. However, the lifting operation here will reduce the range in which the auxiliary tire 43 can continue to lift due to multiple probing lifting, which may not meet the requirements for avoiding obstacles or slopes. The specific process will be introduced in the following content.

[0132] The method for re-executing steps S850 to S851 when the number of corrected abnormal probes is not less than the abnormal probe number threshold includes: Step S8520: Obtain the current number of lifts, perform an accumulation operation on the test lift parameters according to the current number of lifts to determine the current test lift parameters, and use the current test lift parameters as the test lift parameters to re-execute steps S850 to S851.

[0133] The cumulative operation refers to multiplying the current number of lifts by the single test lift height to obtain the total cumulative test lift height. This total height is then used as the current test lift parameter to control the auxiliary tire 43 to complete the current trial lift action. This ensures that each trial lift is based on the previous lift result and continues to increase the lift height, gradually exploring the total lift height that can meet the obstacle avoidance requirements.

[0134] The current test lift parameter refers to the total lift height achieved by the auxiliary tire 43 after cumulative test lifts.

[0135] The specific method for controlling the auxiliary tire 43 to perform a lifting operation when the number of abnormal probes is less than the abnormal probe number threshold includes: Step S8540: Obtain the corrected highest probe number.

[0136] The corrected highest probe number refers to the number of probe 55 with the largest value and the highest installation height among the remaining valid probe numbers after lifting. It corresponds to the highest point probe 55 that is still in contact with abnormal slope or obstacles after lifting.

[0137] When the number of abnormal probes is less than the threshold number of abnormal probes, it indicates that after the test lift, the contact between the machine head and the abnormal slope or obstacle has changed from large-area contact to local contact. The final lift parameters can be determined by the number of the highest probe 55.

[0138] Step S8541: Obtain the reference height of the correction probe corresponding to the highest correction probe number, and determine the required correction parameters of the auxiliary tire lifting based on the current auxiliary tire lifting parameters and the reference height of the correction probe.

[0139] The corrected probe reference height refers to the corrected relative height of probe 55 of the detection component 5 corresponding to the highest probe number, relative to the auxiliary tire reference height. This value is pre-stored in the system.

[0140] The corrected auxiliary tire lift parameter refers to the final total lift height of the auxiliary tire 43 calculated based on the current cumulative lift height of the auxiliary tire 43 and the reference height of the corrected probe.

[0141] Step S8542: When the adjustment requirement for the auxiliary tire lifting parameter falls within the range of the auxiliary tire lifting parameters, control the auxiliary tire 43 to perform the lifting operation.

[0142] When the adjustment requirement for the auxiliary tire lifting parameter falls within the range of the adjustable parameters of the auxiliary tire, it means that the adjustment requirement for the auxiliary tire lifting parameter has not exceeded the maximum adjustable range of the auxiliary tire 43. By controlling the auxiliary tire 43 to complete the lifting according to the calculated adjustment requirement for the auxiliary tire lifting parameter, the machine body can be raised to a sufficient height to avoid abnormal slopes or obstacles, ensuring that the mowing operation can be carried out safely.

[0143] Step S8543: When the adjustment requirement for the auxiliary tire lifting parameter does not fall within the range of the auxiliary tire lifting parameter, output a manual detour signal.

[0144] When the adjustment of the auxiliary tire lifting parameters does not fall within the range of the auxiliary tire lifting parameters, it means that even after gradual testing and lifting, the final lifting height that can meet the contact range requirements still exceeds the maximum safe adjustable range of the auxiliary tire 43. Therefore, obstacle avoidance cannot be achieved by lifting the auxiliary tire 43. At this time, a manual detour signal is output to prompt the user that the lawnmower cannot complete the lawn mowing operation in the current area autonomously.

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

[0146] The above 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 smart lawnmower mowing method, applied to a lawnmower device, characterized in that, Intelligent lawn mowing methods include: Step S1: In response to the mowing signal, collect the mowing operation path in real time; Step S2: Determine the tire mowing coverage path based on the mowing operation path and the preset tire cross-section width; Step S3: Determine the mowing coverage area based on the mowing operation path and the tire mowing operation coverage path; Step S4: Obtain the location of the lawnmower in real time and identify the location of abnormal slopes corresponding to the lawn mowing operation coverage area; Step S5: Determine the current distance based on the lawnmower position and the abnormal slope position. If the current distance is less than the preset predicted distance threshold, obtain the auxiliary tire lifting parameters corresponding to the abnormal slope position, and perform the lifting operation according to the auxiliary tire lifting parameters. Step S6: When performing the lifting operation, determine the cutting blade lifting parameters based on the auxiliary tire lifting parameters to control the mowing assembly (3) to perform the cutting blade avoidance operation; Step S7: When there are no auxiliary tire lifting parameters, output a manual detour signal; The lawnmower device includes a body (1), a drive assembly (2) mounted on the body (1), a mowing assembly (3) fixedly connected to the body (1), a detection assembly (5) fixedly connected to the body (1), an auxiliary tire assembly (4) fixedly connected to the body (1), and handles (6) fixedly connected to both sides of the body (1). The drive assembly (2) includes a drive shaft and tires fixedly connected to both ends of the drive shaft; The mowing assembly (3) includes a lifting drive assembly, a support (31), a lifting shaft (32), an angle adjustment assembly (33), and a cutter (34). The support (31) is located inside the machine body (1) and has a limit hole. The lifting drive assembly is located inside the machine body (1). One end of the lifting shaft (32) that passes through the limit hole is fixedly connected to the lifting drive assembly. The other end of the lifting shaft (32) that is away from the lifting drive assembly is fixedly connected to the angle adjustment assembly (33). The angle adjustment assembly (33) is fixedly connected to the cutter (34). The auxiliary tire assembly (4) includes a base (41) fixedly connected to the body (1), an auxiliary rod (42) slidably connected to the base (41), and an auxiliary tire (43) rotatably connected to the auxiliary rod (42). The detection assembly (5) includes a detection base (51), a detection shaft (52) slidably connected to the detection base (51) and serving as a resistor, a first detection line (53) electrically connected to one end of the detection shaft (52), a second detection line (54) electrically connected to the other end of the detection shaft (52), a probe (55) fixedly connected to the end of the detection shaft (52) away from the detection base (51), and a reset spring (56) sleeved on the detection shaft (52) for driving the detection shaft (52) to return to its original position. The resistance of the probe shaft (52) is uniformly distributed along its axial direction. One end of the second probe line (54) is provided with a metal wire loop. The metal wire loop is sleeved on the probe shaft (52) and abuts against the probe base (51). The probe shaft (52), the metal wire loop and the second probe line (54) are electrically connected in sequence. The first probe line (53) and the second probe line (54) are both connected in series with the same power supply and ammeter located inside the body (1). One end of the reset spring (56) abuts against the probe (55), and the other end of the reset spring (56) abuts against the probe base (51).

2. The intelligent lawn mowing method for a lawnmower according to claim 1, characterized in that, The specific methods for performing cutter avoidance operations include: Step S60: Control the mowing assembly (3) to perform the mowing operation based on the cutter lifting parameters; Step S61: Determine the distance between the cutter chassis based on the cutter lifting parameters and the auxiliary tire lifting parameters; Step S62: When the distance between the cutter and the chassis is not negative, the cutter position is acquired in real time, and the current cutter rotation range is determined based on the cutter position; Step S63: Determine the first distance difference based on the current cutter rotation range and the location of the abnormal slope; Step S64: When the first distance difference falls within the preset minimum distance difference range, find the preset semi-circular rotation parameters to control the mowing component (3) to perform the cutter rotation operation; Step S65: Determine the second distance difference based on the cutter position and the abnormal slope position; Step S66: When the second distance difference falls within the minimum distance difference range, determine the cutter lifting and lowering callback parameters based on the abnormal slope height and the cutter lifting and lowering parameters to control the mowing component (3) to perform the cutter lifting and lowering operation; Step S67: When the first distance difference does not fall within the minimum distance difference range, obtain the preset reference cutter rotation parameters to control the mowing component (3) to perform the cutter rotation operation.

3. The intelligent lawn mowing method for a lawnmower according to claim 2, characterized in that, It also includes a method for adjusting the cutter angle during a cutter avoidance operation, the method comprising: Step S68: Obtain the fuselage tilt angle; Step S69: Determine the current cutter angle based on the fuselage tilt angle; Step S70: Determine the cutter angle correction value based on the preset reference cutter angle and the current cutter angle; Step S71: Obtain an executable signal. If an executable signal exists, perform a cutter angle adjustment operation based on the cutter angle correction value.

4. The intelligent lawn mowing method for a lawnmower according to claim 3, characterized in that, It also includes a method for outputting an executable signal, the method comprising: Step S710: Determine the extension length of the auxiliary rod based on the cutter lifting parameters; Step S711: Determine the fuselage chassis outline segment based on the fuselage tilt angle; Step S712: Obtain the preset cutter rotation radius, and determine the corrected cutter cutting range based on the cutter rotation radius, the extension length of the auxiliary rod, and the cutter angle correction value; Step S713: Determine the overlap point based on the fuselage chassis outline and the cutting range of the correction cutter; Step S714: When there is an overlap, do not output an executable signal; Step S715: When there is no overlapping point, output an executable signal.

5. The intelligent lawn mowing method for a lawnmower according to claim 1, characterized in that, It also includes a method for performing a test lift operation, the method comprising: Step S8: Obtain collision pressure in real time; Step S80: When the collision pressure is greater than the preset abnormal collision pressure threshold, obtain the number of abnormal probes; Step S81: When the number of abnormal probes is less than the preset threshold for the number of abnormal probes, determine the valid probe number; Step S82: Determine the current highest probe number based on the valid probe number, and obtain the probe reference height corresponding to the current highest probe number; Step S83: Determine the required auxiliary tire lifting parameters based on the probe reference height; Step S84: Perform the lifting operation based on the required tire lifting parameters; Step S85: When the number of abnormal probes is not less than the abnormal probe number threshold, perform a test lift operation.

6. The intelligent lawn mowing method for a lawnmower according to claim 5, characterized in that, The methods for performing test lift operations include: Step S850: Control the auxiliary tire (43) to perform the lifting operation according to the preset test lifting parameters; Step S851: Obtain the number of corrected anomaly probes; Step S852: When the number of abnormal probes is not less than the threshold for the number of abnormal probes, re-execute steps S850 to S851; Step S853: Obtain the current lifting count, determine the current auxiliary tire lifting parameters based on the current lifting count, and if the current auxiliary tire lifting parameters do not fall within the range of auxiliary tire lifting parameters, output a manual detour signal; Step S854: When the number of abnormal probes is less than the threshold number of abnormal probes, control the auxiliary tire (43) to perform a lifting operation.

7. The intelligent lawn mowing method for a lawnmower according to claim 6, characterized in that, When the number of abnormal probes corrected is not less than the abnormal probe number threshold, the method of re-executing steps S850 to S851 includes: Step S8520: Obtain the current number of lifts, perform an accumulation operation on the test lift parameters according to the current number of lifts to determine the current test lift parameters, and use the current test lift parameters as the test lift parameters to re-execute steps S850 to S851.

8. The intelligent lawn mowing method for a lawnmower according to claim 6, characterized in that, When the number of abnormal probes is less than the threshold for the number of abnormal probes, the specific methods for controlling the auxiliary tire (43) to perform the lifting operation include: Step S8540: Obtain the corrected highest probe number; Step S8541: Obtain the reference height of the correction probe corresponding to the highest correction probe number, and determine the required correction parameters of the auxiliary tire lifting based on the current auxiliary tire lifting parameters and the reference height of the correction probe; Step S8542: When the adjustment requirement for the auxiliary tire lifting parameter falls within the range of the auxiliary tire lifting parameter, control the auxiliary tire (43) to perform the lifting operation; Step S8543: When the adjustment requirement for the auxiliary tire lifting parameter does not fall within the range of the auxiliary tire lifting parameter, output a manual detour signal.

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