Lawn mower and control method thereof

Abstract

The application is suitable for the technical field of lawn mowers, and discloses a lawn mower and a control method thereof. The lawn mower comprises a lawn mower main body, a sensing device and a cleaning device. The sensing device is arranged on the lawn mower main body and is provided with a sensing window. The cleaning device is installed on the lawn mower main body and / or the sensing device and comprises a driving component and a wiping member connected to the driving component. The wiping member is attached to the outer surface of the sensing window, and the driving component is used for driving the wiping member to perform linear reciprocating motion. The lawn mower provided by the application reduces the formation of the cleaning blind area of the rectangular or similar rectangular sensing window, improves the cleaning effect on dry dirt, and effectively improves the cleaning effect on the sensing device.

Description

Technical Field

[0001] This invention relates to the field of lawnmower technology, and more particularly to a lawnmower and its control method. Background Technology

[0002] When existing lawnmowers operate outdoors, the sensor windows of their cameras, radars, and other sensors are easily covered by contaminants such as grass clippings, soil, mud, water, and dew. This can affect the function of the sensors and consequently affect the operation of the lawnmower.

[0003] To achieve optimal cleanliness of the sensor window, some products employ rotary cleaning brushes or single-point spray devices. However, because rotary cleaning brushes move in a circular motion, they struggle to clean the corners and edges of rectangular or similarly rectangular sensor windows, leading to a continuous accumulation of contaminants and creating cleaning blind spots. Single-point spray devices, relying on liquid rinsing, require large amounts of water for cleaning dried mud, wasting water resources, and their cleaning effect is also inadequate. Summary of the Invention

[0004] This application provides a lawnmower and its control method, aiming to solve the technical problems of existing lawnmower cleaning devices having a large number of cleaning blind spots for rectangular or similar rectangular sensing windows, and poor cleaning effect on dried dirt.

[0005] According to a first aspect of this application, some embodiments provide a lawnmower, comprising: Lawn mower body; A sensing device is installed on the main body of the lawnmower and has a sensing window; A cleaning device is installed on the lawnmower body and / or the sensing device, including a driving component and a wiping component connected to the driving component. The wiping component is attached to the outer surface of the sensing window, and the driving component is used to drive the wiping component to perform linear reciprocating motion.

[0006] In some embodiments, the driving component includes a driving device, a lead screw drive, and a sliding component; The wiping component is connected to the sliding component, and the lead screw drive is connected between the driving device and the sliding component. The driving device is used to drive the lead screw drive to rotate, so as to drive the sliding component and the wiping component to move linearly along the lead screw drive.

[0007] In some embodiments, the driving component further includes a guide member, the lead screw drive member and the guide member are arranged in parallel and respectively located on opposite sides of the sensing window, one end of the slider is throttle-connected to the lead screw drive member, the other end of the slider is slidably connected to the guide member, and the slider spans the sensing window; And / or, the driving component further includes a limiting member for limiting the range of movement of the slider.

[0008] In some embodiments, the wiping element is detachably connected to the sliding element.

[0009] In some embodiments, one of the wiping member and the sliding member is provided with a slot, and the other is provided with a protrusion that engages with the slot. The wiping member is detachably connected to the sliding member through the engagement of the protrusion and the slot. Alternatively, the wiping member has a first mounting hole, the sliding member has a second mounting hole, and the cleaning device further includes a locking member that is detachably locked between the first mounting hole and the second mounting hole, so that the wiping member is detachably connected to the sliding member.

[0010] In some embodiments, the wiping element is made of silicone or TPE material; Alternatively, the cleaning device may further include an elastic element disposed between the wiping element and the sliding element. In some embodiments, the cleaning device further includes a housing with a through passage, and the sensing window is correspondingly disposed with respect to the through passage; The driving component is disposed on the housing, the wiping member crosses the clearance channel along a first direction, and the driving component is used to drive the wiping member to move linearly in the radial direction of the clearance channel along a second direction, wherein the first direction is perpendicular to the second direction.

[0011] In some embodiments, at least a portion of the wiping member extends axially into the clearance channel; And / or, the projection of the sensing window onto the avoidance channel falls within the avoidance channel.

[0012] In some embodiments, both the avoidance channel and the sensing window are rectangular; The first direction is the width direction of the avoidance channel, and the second direction is the length direction of the avoidance channel; or, the first direction is the length direction of the avoidance channel, and the second direction is the width direction of the avoidance channel.

[0013] In some embodiments, the cleaning device is detachably mounted to the lawnmower body and / or the sensing device.

[0014] In some embodiments, multiple sensing devices and multiple cleaning devices are provided, and the cleaning devices and the sensing devices correspond one-to-one; And / or, the sensing device is a visual imaging device or radar.

[0015] According to a second aspect of this application, some embodiments provide a method for controlling a lawnmower, the method being used to control the lawnmower described in the first aspect, the method comprising: The control module controls the wiping component to perform a preset number of reciprocating movements each time the cumulative working time of the lawnmower increases by a preset time interval; And / or, when the sensing quality parameters of the acquired sensing device meet the preset cleaning trigger conditions, the control module controls the wiping component to perform a preset number of reciprocating movements, wherein the sensing quality parameters include visual recognition confidence and / or characteristic parameters of radar detection signals.

[0016] The lawnmower and its control method provided by this invention utilize a wiping component attached to the outer surface of the sensor window. When the wiping component is moved relative to the sensor window, it wipes the window, cleaning it. A driving component drives the wiping component in a linear reciprocating motion. Compared to rotary cleaning methods, linear motion can cover the entire area of ​​a rectangular or similar rectangular sensor window, cleaning even the corners and reducing blind spots. Compared to single-point spraying, wiping the sensor window with a wiping component allows for repeated wiping of dried mud through reciprocating motion, improving cleaning efficiency and reducing water waste. Therefore, the lawnmower provided by this invention reduces blind spots in rectangular or similar rectangular sensor windows and improves the cleaning effect on dried dirt, effectively enhancing the cleaning of the sensor device. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0018] Figure 1 This is an exploded view of the lawnmower provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the assembly structure of the cleaning device and the sensing device provided in an embodiment of the present invention; Figure 3This is an exploded view of the cleaning device and sensing device provided in the embodiments of the present invention; Figure 4 This is a schematic diagram of the cleaning device provided in an embodiment of the present invention from one perspective; Figure 5 This is a structural schematic diagram of the cleaning device provided in an embodiment of the present invention from another perspective; Figure 6 This is an exploded view of the cleaning device provided in an embodiment of the present invention; Figure 7 This is a front view of the cleaning device provided in an embodiment of the present invention after removing the first outer casing; Figure 8 This is an exploded view of the first type of sliding member, the first type of wiping member, and the elastic member provided in the embodiments of the present invention; Figure 9 This is a rear view of the first type of slider provided in an embodiment of the present invention; Figure 10 This is a cross-sectional view of the second type of sliding member, the second type of wiping member, and the locking member provided in the embodiments of the present invention; Figure 11 yes Figure 10 A magnified view of a section at point A in the middle; Figure 12 This is a structural schematic diagram of the housing provided in an embodiment of the present invention from one perspective; Figure 13 This is a structural schematic diagram of the housing provided in an embodiment of the present invention from another perspective.

[0019] Explanation of icon numbers: 100. Lawn mower; 10. Lawn mower body; 20. Sensor; 21. Sensor window; 22. Second positioning component; 30. Cleaning device; 31. Drive component; 311. Drive device; 312. Screw drive component; 313. Sliding component; 314. Guide component; 32. Wiping component; 331. Slot; 332. Protrusion; 341. First mounting hole; 3411. First hole body; 3412. Second hole body; 342. Second mounting hole; 343. Locking component; 35. Elastic component; 36. Housing; 361. Clearance channel; 362. First outer shell; 3621. First perforation; 363. Second outer shell; 3631. Second perforation; 364. Receiving cavity; 3641. First cavity; 3642. Second cavity; 37. First positioning component.

[0020] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0022] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0023] It should also be noted that when a component is described as "fixed to" or "set on" another component, it can be directly on the other component or there may be an intervening component present. When a component is described as "connected to" another component, it can be directly connected to the other component or there may be an intervening component present.

[0024] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0025] Currently, rotary cleaning brushes or single-point spray devices are mainly used to clean the sensor windows of lawnmowers (cameras, radar, etc.). However, the circular motion of rotary cleaning brushes makes it difficult to clean the corners of rectangular or similarly rectangular sensor windows, leading to the continuous accumulation of contaminants and creating blind spots. Single-point spray devices, relying on liquid rinsing, require large amounts of water to clean dried mud, resulting in water waste and poor cleaning effectiveness.

[0026] In view of this, the present invention provides a lawnmower and its control method to reduce the formation of cleaning blind spots and improve the cleaning effect on dried dirt.

[0027] like Figures 1 to 5As shown, the lawnmower 100 provided in this embodiment of the invention includes a lawnmower body 10, a sensing device 20, and a cleaning device 30. The sensing device 20 is disposed on the lawnmower body 10 and has a sensing window 21. The cleaning device 30 is installed on the lawnmower body 10 and / or the sensing device 20, and includes a driving component 31 and a wiping component 32 connected to the driving component 31. The wiping component 32 is attached to the outer surface of the sensing window 21, and the driving component 31 is used to drive the wiping component 32 to perform linear reciprocating motion. The lawnmower body 10 is used for mowing operations, and after mowing, it can enter a base station for charging and / or cleaning. The sensing device 20 assists the lawnmower body 10 in mowing operations and in entering and exiting the base station.

[0028] By adopting the above technical solution, a wiping member 32 is attached to the outer surface of the sensing window 21. When the wiping member 32 is moved relative to the sensing window 21, it can wipe the sensing window 21 to clean it. By setting a driving component 31 to drive the wiping member 32 to perform linear reciprocating motion, compared with the rotary cleaning method, the linear motion cleaning method can cover the entire area of ​​the rectangular or similar rectangular sensing window 21, and can clean the corner areas of the sensing window 21, reducing the formation of cleaning blind spots. Compared with the single-point spraying cleaning method, using the wiping member 32 to wipe the sensing window 21 can repeatedly wipe the dried mud through reciprocating motion, which not only improves the cleaning effect, but also reduces the waste of water resources.

[0029] Therefore, the lawnmower 100 provided by the present invention reduces the formation of cleaning blind spots in the rectangular or similar rectangular sensing window 21, and improves the cleaning effect on dried dirt, effectively enhancing the cleaning effect on the sensing device 20.

[0030] In some embodiments, the sensing device 20 is a visual imaging device or a radar. The visual imaging device can be a camera, and the radar can be one or more of lidar, millimeter-wave radar, or ultrasonic radar. When the sensing device 20 is a camera, its sensing window 21 is typically the outer surface of the lens's protective glass; when the sensing device 20 is a lidar, the sensing window 21 is its light-transmitting cover; when the sensing device 20 is a millimeter-wave radar, the sensing window 21 is its radome; and when the sensing device 20 is an ultrasonic radar, the sensing window 21 is its sound-transmitting diaphragm. The shape of the sensing window 21 is typically rectangular, but it can also be a similar rectangle with rounded corners.

[0031] Please see Figure 3 and Figure 6The driving component 31 includes a driving device 311, a lead screw drive 312, and a sliding member 313. The wiping member 32 is connected to the sliding member 313. The lead screw drive 312 is drively connected between the driving device 311 and the sliding member 313. The driving device 311 drives the lead screw drive 312 to rotate, thereby causing the sliding member 313 and the wiping member 32 to move linearly along the lead screw drive 312. This configuration effectively converts the rotational motion of the driving device 311 into the linear motion of the wiping member 32, enabling the wiping member 32 to move linearly relative to the sensing window 21.

[0032] In some embodiments, the lead screw drive 312 is a ball screw or a trapezoidal lead screw. The ball screw provides better transmission efficiency and positioning accuracy, while the trapezoidal lead screw provides good self-locking performance, preventing the slider 313 from moving under external force when not in operation.

[0033] In some embodiments, the drive device 311 is a stepper motor or a servo motor. Using a stepper motor or a servo motor can improve the control over the movement position and speed of the wiping member 32.

[0034] Please see Figure 3 , Figure 6 and Figure 7 The driving component 31 also includes a guide 314, a lead screw drive 312, and the guide 314, which are arranged in parallel and respectively on opposite sides of the sensing window 21. One end of the slider 313 is drivenly connected to the lead screw drive 312, and the other end of the slider 313 is slidably connected to the guide 314. The slider 313 spans across the sensing window 21. This arrangement provides dual-sided support and motion guidance for the slider 313, reducing the probability of the slider 313 deflecting or wobbling during movement. This ensures that the pressure of the wiping component 32 on the sensing window 21 remains uniform, thereby improving the consistency and reliability of the wiping component 32 in cleaning the sensing window 21.

[0035] In some embodiments, the guide member 314 is a guide rod, and the other end of the slider 313 is sleeved on the guide rod and slidably connected to the guide rod. It is understood that in other embodiments, the guide member 314 may also be a guide rail.

[0036] In some embodiments, the drive component 31 further includes a limiting member (not shown) for limiting the movement range of the slider 313. By setting the limiting member to limit the movement range of the slider 313, it is possible to prevent the slider 313 from exceeding the preset stroke due to control abnormalities or inertia, and to prevent the wiping member 32 from leaving the sensing window 21 area or interfering with other components, thereby improving the safety and reliability of the product.

[0037] In some embodiments, the limiting member may be a stop block disposed at both ends of the lead screw drive member 312 and / or both ends of the guide member 314.

[0038] In some embodiments, the drive component 31 further includes a collision avoidance member (not shown), which is disposed on the limiting member to withstand the impact of the sliding member 313 and buffer the impact force. The collision avoidance member is made of an elastic material, such as rubber or polyurethane. When the sliding member 313 moves to its extreme position, it first contacts the collision avoidance member, and the elastic deformation of the collision avoidance member absorbs the impact energy, thereby reducing the rigid collision between the sliding member 313 and the limiting member. This protects the limiting member from impact damage and reduces collision noise.

[0039] In some embodiments, the wiping element 32 is detachably connected to the sliding element 313. This allows the wiping element 32 to be replaced individually after wear or aging, without needing to replace the sliding element 313 or the cleaning device 30, thus reducing maintenance costs. Of course, in other embodiments, the wiping element 32 may also be fixedly connected to the sliding element 313.

[0040] In some embodiments, please refer to Figure 8 and Figure 9 One of the wiping component 32 and the sliding component 313 is provided with a groove 331, and the other is provided with a protrusion 332 that engages with the groove 331. The wiping component 32 is detachably connected to the sliding component 313 through the engagement of the protrusion 332 and the groove 331. The detachable connection between the wiping component 32 and the sliding component 313 is achieved by using the engagement of the groove 331 and the protrusion 332. The engagement structure is simple and the processing cost is low.

[0041] In this embodiment, the sliding member 313 is provided with a slot 331, and the wiping member 32 is provided with a protrusion 332. In other embodiments, the wiping member 32 may not have a protrusion 332, and a portion of the wiping member 32 may be directly snapped into the slot 331.

[0042] It is understood that in other embodiments, please refer to Figure 4 , Figure 10 and Figure 11 Alternatively, the wiping member 32 can be provided with a first mounting hole 341, and the sliding member 313 can be provided with a second mounting hole 342. The cleaning device 30 also includes a locking member 343, which is detachably locked between the first mounting hole 341 and the second mounting hole 342, so that the wiping member 32 is detachably connected to the sliding member 313. This method can reliably fix the wiping member 32 and the sliding member 313, preventing the wiping member 32 from loosening during long-term reciprocating motion, and the locking member 343 can be removed to separate them when replacement is needed.

[0043] In specific applications, the first mounting hole 341 penetrates the wiping member 32 and includes a first hole body 3411 and a second hole body 3412 communicating with the first hole body 3411. The first hole body 3411 is located away from the sliding member 313, and the diameter of the first hole body 3411 is larger than the diameter of the second hole body 3412. When the locking member 343 is locked between the first mounting hole 341 and the second mounting hole 342, the end of the locking member 343 can extend into the first mounting hole 341 to prevent the locking member 343 from touching the sensing window 21 when the wiping member 32 is cleaning it.

[0044] Alternatively, in other embodiments, one of the wiping member 32 and the sliding member 313 may be provided with a hook and loop male surface and the other with a hook and loop female surface that is bonded to the hook and loop male surface. The wiping member 32 is detachably connected to the sliding member 313 through the bonded connection between the hook and loop male surface and the hook and loop female surface.

[0045] In some embodiments, the wiping element 32 is made of silicone or TPE (Thermoplastic Elastomer). Using silicone or TPE to prepare the wiping element 32 provides it with better elasticity and abrasion resistance, enabling it to provide appropriate friction when adhering to the surface of the sensing window 21, thereby effectively removing dirt while reducing the risk of scratching the sensing window 21.

[0046] It is understood that in other embodiments, please refer to Figure 3 , Figure 4 and Figure 8 Alternatively, the cleaning device 30 may also include an elastic element 35, which is disposed between the wiping element 32 and the sliding element 313. The elastic element 35, positioned between the wiping element 32 and the sliding element 313, provides elastic pre-pressure, allowing the wiping element 32 to conform to the outer surface of the sensing window 21. Even after some wear, the wiping element 32 can still maintain its contact with the outer surface of the sensing window 21. The elastic element 35 can be an elastic rubber block.

[0047] Please see Figure 3 , Figure 5 and Figure 6The cleaning device 30 also includes a housing 36, through which a clearance channel 361 is provided. The sensing window 21 is correspondingly disposed with respect to the clearance channel 361. A driving component 31 is disposed on the housing 36, and a wiping member 32 crosses the clearance channel 361 along a first direction. The driving component 31 drives the wiping member 32 to move linearly in a second direction along the radial direction of the clearance channel 361. The first direction and the second direction are perpendicular. By providing the clearance channel 361, signals emitted or received by the sensing device 20 through the sensing window 21 can pass through the clearance channel 361. The housing 36 will not interfere with the sensing signals, and the clearance channel 361 also provides movement space for the wiping member 32.

[0048] In some embodiments, the projection of the sensing window 21 onto the avoidance channel 361 falls within the avoidance channel 361. That is, the cross-sectional dimension of the avoidance channel 361 is larger than the cross-sectional dimension of the sensing window 21, and the periphery of the avoidance channel 361 extends beyond the corresponding edge of the sensing window 21. In this way, on the one hand, the entire effective detection area of ​​the sensing window 21 corresponds to the light transmission range of the avoidance channel 361, avoiding the housing 36 from obstructing the sensing window 21; on the other hand, the wiping member 32, which spans the avoidance channel 361, can cover and wipe the entire outer surface of the sensing window 21 during its linear reciprocating motion, achieving a more comprehensive cleaning effect.

[0049] Please see Figure 6 , Figure 7 , Figure 12 and Figure 13 The housing 36 includes a first outer shell 362 and a second outer shell 363. The second outer shell 363 is connected to the first outer shell 362 and together with the first outer shell 362 forms a receiving cavity 364. The first outer shell 362 has a first through hole 3621, and the second outer shell 363 has a second through hole 3631. The receiving cavity 364 includes a first cavity 3641 and a second cavity 3642. The first cavity 3641 communicates with the first through hole 3621 and the second through hole 3631, and together with the first through hole 3621 and the second through hole 3631, forms a clearance channel 361. The second cavity 3642 is arranged around or partially around the first cavity 3641. The driving device 311, the lead screw drive 312, and the guide 314 are all installed in the second cavity 3642, and the sliding member 313 is located in the first cavity 3641. The lead screw drive 312 and the guide 314 are respectively located on opposite sides of the first cavity 3641.

[0050] In some embodiments, at least a portion of the wiping member 32 extends axially from the clearance channel 361. This arrangement ensures that the wiping member 32 can contact the outer surface of the sensing window 21 after assembly, while the housing 36 does not contact the sensing window 21. In specific applications, after assembly, the first housing 362 is positioned away from the sensing device 20, the second housing 363 is positioned towards the sensing device 20, and the wiping member 32 protrudes from the side of the second housing 363 opposite to the first housing 362. In some embodiments, both the avoidance channel 361 and the sensing window 21 are rectangular. The first direction is the width direction of the avoidance channel 361, and the second direction is the length direction of the avoidance channel 361; or, the first direction is the length direction of the avoidance channel 361, and the second direction is the width direction of the avoidance channel 361. Alternatively, the avoidance channel 361 and the sensing window 21 may also be configured as similar rectangles.

[0051] When the first direction is the width direction of the avoidance channel 361 and the second direction is the length direction of the avoidance channel 361, the wiping member 32 can reciprocate linearly along the length direction of the sensing window 21 to wipe the sensing window 21. When the first direction is the length direction of the avoidance channel 361 and the second direction is the width direction of the avoidance channel 361, the wiping member 32 can reciprocate linearly along the width direction of the sensing window 21 to wipe the sensing window 21. In this embodiment, the first direction is the width direction of the avoidance channel 361 and the second direction is the length direction of the avoidance channel 361.

[0052] In some embodiments, the cleaning device 30 is detachably mounted to the lawnmower body 10 and / or the sensing device 20. This arrangement allows the cleaning device 30 to be disassembled for repair or replacement when it malfunctions or needs upgrading, and also allows the user to choose whether to install the cleaning device 30 on the sensing device 20 based on the level of pollution in the working environment. In this embodiment, the cleaning device 30 is detachably mounted to the sensing device 20.

[0053] In some embodiments, a magnetic adsorption assembly is provided between the cleaning device 30 and the sensing device 20 to allow the cleaning device 30 to be detachably connected to the sensing device 20. Alternatively, in other embodiments, a snap-fit ​​connection structure is provided between the cleaning device 30 and the sensing device 20 to allow the cleaning device 30 to be detachably connected to the sensing device 20. Alternatively, a screw connection structure may also be provided between the cleaning device 30 and the sensing device 20 to allow the cleaning device 30 to be detachably connected to the sensing device 20.

[0054] In some embodiments, please refer to Figure 3 and Figure 4The cleaning device 30 further includes a first positioning element 37, and the sensing device 20 further includes a second positioning element 22. The cleaning device 30 is pre-positioned in the sensing device 20 through the cooperation of the first positioning element 37 and the second positioning element 22. The first positioning element 37 can be a positioning pin and / or a positioning hole, and the second positioning element 22 can be a positioning hole and / or a positioning pin. The pre-positioning of the cleaning device 30 is achieved through the insertion and cooperation of the positioning pin and the positioning hole. In this embodiment, both the first positioning element 37 and the second positioning element 22 include a positioning pin and a positioning hole, and the first positioning element 37 is disposed on the second housing 363.

[0055] It is understood that in other embodiments, the first positioning element 37 and the second positioning element 22 may not be provided.

[0056] In some embodiments, multiple sensing devices 20 and cleaning devices 30 are provided, and each cleaning device 30 corresponds to one sensing device 20. This allows for individual cleaning of each sensing device 20, and compared to a solution where multiple sensing devices 20 share a single cleaning device 30, each sensing window 21 can be cleaned promptly and effectively. Alternatively, in other embodiments, one cleaning device 30 can be provided corresponding to at least two sensing devices 20 for cleaning the sensing windows 21 of at least two sensing devices 20. In this latter case, the sensing devices 20 sharing a single cleaning device 30 need to be arranged side-by-side, with each sensing window 21 located on the same plane.

[0057] This invention also provides a control method for a lawnmower 100, the control method being used to control the lawnmower 100, the control method comprising: The control module controls the wiping component to perform a preset number of reciprocating movements every time the cumulative working time of the lawnmower increases by a preset time interval. And / or, when the sensing quality parameters of the acquired sensing device meet the preset cleaning trigger conditions, the control module controls the wiping component to perform a preset number of reciprocating movements, wherein the sensing quality parameters include visual recognition confidence and / or characteristic parameters of radar detection signals.

[0058] A control strategy that uses a cumulative working time-triggered approach allows for preventative cleaning of the sensing window 21 before it becomes severely contaminated, preventing the sensing device 20 from remaining dirty for extended periods. A control strategy that uses sensing quality parameter triggering allows for on-demand cleaning when the degree of contamination in the sensing window 21 actually affects the sensing quality, reducing unnecessary cleaning actions, saving energy, and extending the lifespan of the wiping component 32. These two triggering strategies, used individually or in combination, balance timeliness and efficiency in cleaning.

[0059] Among them, the visual recognition confidence level reflects the degree to which the image quality of the visual imaging device is degraded due to contamination. The characteristic parameters of the radar detection signal reflect the degradation of radar detection performance caused by contamination of the sensing window 21.

[0060] In practical applications, the characteristic parameters of radar detection signals vary depending on the radar configuration. For example, when the radar is a lidar, the characteristic parameter of the radar detection signal can be point cloud density; when the radar is a millimeter-wave radar, the characteristic parameter can be the number of effective detection points; and when the radar is an ultrasonic radar, the characteristic parameter can be the number of effective echoes or the detection range.

[0061] In some embodiments, the cleaning triggering conditions include visual recognition confidence being lower than a preset confidence threshold, and / or the characteristic parameters of the radar detection signal being lower than a preset characteristic threshold.

[0062] In some embodiments, the control method further includes: after the control module controls the wiping component to perform a preset number of reciprocating movements, obtaining the perceived quality parameters after cleaning; if the perceived quality parameters after cleaning do not return to a preset normal range, then controlling the wiping component to perform reciprocating movements again.

[0063] This setting allows for automatic additional cleaning if a single cleaning is incomplete, reducing the likelihood that residual dirt will affect the normal operation of the sensing device in the future.

[0064] In some embodiments, multiple sensing devices 20 and cleaning devices 30 are provided, and the cleaning devices 30 and sensing devices 20 correspond one-to-one; the control module is used to independently control the wiping member 32 of each cleaning device 30 to perform reciprocating motion according to the sensing quality parameters of each sensing device 20.

[0065] The above description is only a part of the embodiments of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made under the inventive concept of the present invention using the contents of the present invention specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A lawnmower, characterized in that, include: Lawn mower body; A sensing device is installed on the main body of the lawnmower and has a sensing window; A cleaning device is installed on the lawnmower body and / or the sensing device, including a driving component and a wiping component connected to the driving component. The wiping component is attached to the outer surface of the sensing window, and the driving component is used to drive the wiping component to perform linear reciprocating motion.

2. The lawnmower as described in claim 1, characterized in that, The driving component includes a driving device, a lead screw transmission component, and a sliding component; The wiping component is connected to the sliding component, and the lead screw drive is connected between the driving device and the sliding component. The driving device is used to drive the lead screw drive to rotate, so as to drive the sliding component and the wiping component to move linearly along the lead screw drive.

3. The lawnmower as described in claim 2, characterized in that, The driving component further includes a guide member. The lead screw drive member and the guide member are arranged in parallel and are respectively located on opposite sides of the sensing window. One end of the slider is driven to the lead screw drive member, and the other end of the slider is slidably connected to the guide member. The slider spans the sensing window. And / or, the driving component further includes a limiting member for limiting the range of movement of the slider.

4. The lawnmower as described in claim 2, characterized in that, The wiping element is detachably connected to the sliding element.

5. The lawnmower as described in claim 4, characterized in that, One of the wiping member and the sliding member is provided with a slot, and the other is provided with a protrusion that engages with the slot. The wiping member is detachably connected to the sliding member through the engagement of the protrusion and the slot. Alternatively, the wiping member has a first mounting hole, the sliding member has a second mounting hole, and the cleaning device further includes a locking member that is detachably locked between the first mounting hole and the second mounting hole, so that the wiping member is detachably connected to the sliding member.

6. The lawnmower as described in claim 2, characterized in that, The wiping device is made of silicone or TPE material; Alternatively, the cleaning device may further include an elastic element disposed between the wiping element and the sliding element.

7. The lawnmower as described in claim 1, characterized in that, The cleaning device also includes a housing, which has a through passage, and the sensing window is correspondingly arranged with the through passage. The driving component is disposed on the housing, the wiping member crosses the clearance channel along a first direction, and the driving component is used to drive the wiping member to move linearly in the radial direction of the clearance channel along a second direction, wherein the first direction is perpendicular to the second direction.

8. The lawnmower as described in claim 7, characterized in that, At least a portion of the wiping member extends axially from the clearance channel; And / or, the projection of the sensing window onto the avoidance channel falls within the avoidance channel.

9. The lawnmower as described in claim 7, characterized in that, Both the avoidance channel and the sensing window are rectangular; The first direction is the width direction of the avoidance channel, and the second direction is the length direction of the avoidance channel; or, the first direction is the length direction of the avoidance channel, and the second direction is the width direction of the avoidance channel.

10. The lawnmower as described in claim 1, characterized in that, The cleaning device is detachably mounted on the lawnmower body and / or the sensing device.

11. The lawnmower as claimed in any one of claims 1 to 10, characterized in that, Multiple sensors and multiple cleaning devices are provided, and each cleaning device corresponds to one sensor. And / or, the sensing device is a visual imaging device or radar.

12. A method for controlling a lawnmower, the method comprising controlling a lawnmower as described in any one of claims 1 to 11, the method comprising: The control module controls the wiping component to perform a preset number of reciprocating movements each time the cumulative working time of the lawnmower increases by a preset time interval; And / or, when the sensing quality parameters of the acquired sensing device meet the preset cleaning trigger conditions, the control module controls the wiping component to perform a preset number of reciprocating movements, wherein the sensing quality parameters include visual recognition confidence and / or characteristic parameters of radar detection signals.

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