Garden tool and driving control method thereof

Abstract

The application provides a garden tool and a driving control method thereof. The garden tool comprises a device main body, a self-driving module, a control module and a control module. The self-driving module is arranged on the device main body and is used for driving the device main body to move. The control module is arranged on the device main body and comprises at least one operation handle. The operation handle can move relative to the device main body in an operation range comprising at least two intersecting operation directions. The control module is used for acquiring operation input information of the operation handle, determining a movement type of the device main body and a control parameter of the self-driving module based on the operation input information, and controlling the self-driving module to operate according to the corresponding movement type and the control parameter. The operation input information comprises at least one of position change information and force information of the operation handle. In the garden tool, the user can input the self-driving control intention through the position change or force change when holding the operation handle, thereby improving the intuitiveness and convenience of the self-driving control of the garden tool.

Description

[0001] This application is based on and claims priority to patent application CN 202610369753.2, filed on March 24, 2026, entitled “A garden tool, a hand-push tool, and a snow-sweeping device”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of garden tool technology, and in particular to a garden tool and its drive control method. Background Technology

[0003] Garden tools are typically used for outdoor work, such as snowplows, lawnmowers, and sweepers. Taking a snowplow as an example, a snowplow needs to move on the ground while clearing snow, and the user usually needs to hold the handle to support, guide, and adjust the direction of the machine. To reduce the labor intensity of users pushing the machine, some garden tools are equipped with self-drive modules, which allow the machine to move forward, backward, or turn.

[0004] In related technologies, self-drive modules are typically controlled by independent control components such as joysticks, levers, buttons, triggers, or gear switches. While these control components enable self-drive control, they are usually independent of the handle held by the user. When the user holds the handle to support and guide the garden tool, they still need to operate the independent control component to input control intentions such as forward, backward, turning, or speed adjustment. This results in a separation between the supporting action and the self-drive control action, making the operation less intuitive. Furthermore, these control methods often fail to fully utilize the changes in the handle's position or force in multiple directions to simultaneously determine the motion type of the main body of the device and the control parameters of the self-drive module, affecting the convenience of self-drive control and the flexibility of movement control for garden tools. Summary of the Invention

[0005] To overcome the problems existing in related technologies, this application provides a garden tool and a drive control method to improve the intuitiveness, convenience and flexibility of self-driven operation of the garden tool.

[0006] According to a first aspect of the embodiments of this application, a garden tool is provided. The garden tool includes a device body, a self-drive module, a control module, and a control module. The self-drive module is disposed on the device body and drives the device body to move. The control module is disposed on the device body and includes at least one operating handle. The operating handle can move relative to the device body within an operating range including at least two intersecting operating directions. The control module acquires the operating input information of the operating handle and determines the movement type of the device body and the control parameters of the self-drive module based on the operating input information, so as to control the self-drive module to operate according to the movement type and control parameters. The operating input information includes at least one of the position change information of the operating handle and the force information.

[0007] With this design, the operating handle can simultaneously serve as a support and self-driving input function. Users can control the movement type and output intensity by adjusting its direction, amplitude, position, pressure, and other methods, thereby improving the intuitiveness and convenience of operation.

[0008] In some alternative implementations, the operating handle has a neutral state and multiple deviation states relative to the neutral state, which deviate in multiple different directions. The position change information includes the deviation direction and the deviation amount of the deviation state. The control module determines the motion type of the main body of the device based on the deviation direction and determines the control parameters of the self-drive module based on the deviation amount.

[0009] With this design, the neutral state can be used as a judgment benchmark, the deviation direction corresponds to the motion intention, and the deviation amount corresponds to the output intensity, so that the operation input and the movement of the equipment form an intuitive correspondence.

[0010] In some alternative implementations, at least some of the multiple deviation directions correspond to one of the following movement types: forward, backward, stop, straight left turn, straight right turn, left turn in place, and right turn in place.

[0011] With this design, different deviation directions of the operating handle can directly correspond to different types of movement, making it easy for users to input a single value into the handle, and for the device to respond to various walking control intentions based on the output.

[0012] In some optional implementations, the deviation directions of the multiple deviation states include a first deviation direction, a second deviation direction, a third deviation direction, and a fourth deviation direction. The first deviation direction and the second deviation direction constitute a first relative direction, and the third deviation direction and the fourth deviation direction constitute a second relative direction. The first relative direction and the second relative direction are arranged intersectingly in the operating plane.

[0013] With this design, the four offset directions can together form an operating area similar to two-dimensional coordinates, which makes it easier to identify single-direction input and compound-direction input, and improves the flexibility of motion control.

[0014] In some optional implementations, when the deviation is less than or equal to a preset no-action threshold, the control module controls the self-driven module not to output driving force or to maintain a stopped state; when the deviation is greater than the preset no-action threshold, the control module controls the self-driven module to work based on the deviation direction and deviation amount.

[0015] This design creates a no-action zone near the neutral state, filtering out slight shaking and accidental touches; effective control is only executed when the deviation exceeds the threshold, improving safety and resistance to accidental touches.

[0016] In some alternative implementations, the control module determines the target speed based on the deviation, and the target speed increases as the deviation increases.

[0017] With this design, the deviation is not only used to determine the validity of the input, but also to adjust the speed, allowing users to control the speed through the range of their operations, thus improving responsiveness and fine-grained control.

[0018] In some optional implementations, the control module acquires the self-driving gear information and determines the speed mapping relationship based on the self-driving gear information and the motion type; when the motion type is forward motion or reverse motion, the control module determines the target travel speed based on the deviation amount and the speed mapping relationship.

[0019] With this design, the self-driving gear information is used to determine the speed range, the motion type is used to select the corresponding mapping relationship, and the deviation amount is used to refine the target speed, taking into account both gear control and continuous speed adjustment.

[0020] In some alternative implementations, when the self-drive gear information and the deviation amount are the same, the target speed determined by the control module based on the forward motion type is greater than the target speed determined based on the reverse motion type.

[0021] This design allows for high operational efficiency when moving forward and low speed when moving backward, reducing the risk of limited visibility or misoperation, thus balancing efficiency and safety when moving backward.

[0022] In some alternative implementations, the self-drive gear information is provided by at least one of a self-drive gear control submodule located on the garden tool and an external operating terminal that is communicatively connected to the control module.

[0023] With this design, users can select gears either through the local structure, set gears through an external operating terminal, or form corresponding gear mapping control through the control submodule in the control module, thus improving the convenience and adaptability of gear setting.

[0024] In some optional embodiments, at least one operating handle includes a first handle and a second handle, and the self-drive module includes a left drive motor and a right drive motor. The left drive motor and the right drive motor drive the drive wheel on the left side and the drive wheel on the right side of the main body of the device, respectively. The control module obtains the first operation input information corresponding to the first handle and the second operation input information corresponding to the second handle, and determines the control parameters of the left drive motor and the right drive motor based on the first operation input information and / or the second operation input information, thereby controlling the operation of the left drive motor and the right drive motor.

[0025] With this design, the dual handlebar inputs can participate in the left and right drive control separately or together, making it easy to achieve straight-line driving, differential steering, and turning on the spot.

[0026] In some optional implementations, the control module determines the target operation information based on the first operation input information and the second operation input information, and determines the common control parameters based on the target operation information, and then controls the left drive motor and the right drive motor to work based on the common control parameters.

[0027] This design allows for the selection or fitting of a suitable input as a common control basis when there are differences in the inputs of the two handlebars, enabling the left and right drive motors to output synchronously and improving the stability of straight-line travel.

[0028] In some optional implementations, the control module determines a first control parameter and a second control parameter based on the first operation input information and the second operation input information, respectively, and controls the left drive motor and the right drive motor to work based on the first control parameter and the second control parameter, respectively.

[0029] With this design, the left and right drive motors can be controlled separately according to the corresponding handle input, which facilitates differential output and improves steering responsiveness and independent left and right control capabilities.

[0030] In some optional implementations, the control module has a first control mode and a second control mode; in the first control mode, the left drive motor and the right drive motor share a single control parameter; in the second control mode, the left drive motor and the right drive motor determine their control parameters based on the deviation information of the corresponding side's operating handle.

[0031] This design allows switching between synchronous control and separate side control, balancing straight-line stability and steering maneuverability.

[0032] In some optional implementations, the control module determines a first candidate control parameter based on the first operation input information, determines a second candidate control parameter based on the second operation input information, and determines the parameter difference between the first candidate control parameter and the second candidate control parameter; when the parameter difference is within a preset threshold range, the control module switches to the first control mode; when the parameter difference exceeds the preset threshold range, the control module switches to the second control mode.

[0033] This design allows for automatic selection of synchronous control or separate control based on the input differences between the two sides, reducing deviations caused by small differences while retaining differential steering capability.

[0034] In some optional embodiments, the garden tool further includes a user operation module that generates mode selection information in response to user operation. The control module switches between a first control mode and a second control mode based on the mode selection information. The user operation module includes a local operating component disposed on the garden tool and / or an external operating terminal that is communicatively connected to the control module. The local operating component includes at least one of buttons, a touch screen, a knob, and a toggle switch. The external operating terminal runs a mobile terminal application.

[0035] This design allows users to actively choose between synchronous control or separate control based on the work scenario, improving the convenience of mode switching and work adaptability.

[0036] In some optional implementations, the control module controls the left drive motor and the right drive motor to perform at least one of the following actions based on the first operation input information and the second operation input information: moving forward in a straight line, moving backward in a straight line, turning left in place, turning right in place, turning left while moving straight, turning right while moving straight, turning left while moving backward, and turning right while moving backward.

[0037] This design allows the dual handle inputs to cover a variety of walking movements, giving the device more comprehensive motion control capabilities and improving operational flexibility in complex work scenarios.

[0038] In some alternative implementations, the garden tool also includes a backward actuation module, which is electrically connected to the control module; when the backward actuation module is triggered, the control module controls the self-driven module to perform backward work based on the position information or force information of the operating handle.

[0039] With this design, the backward activation module can serve as a backward confirmation condition, preventing accidental backward movement caused by accidentally pulling the handle, and the backward output intensity can be adjusted in conjunction with the handle input.

[0040] In some alternative implementations, the garden tool also includes a detection module that detects operational input information of at least one operating handle. The operational input information includes at least one of the position change information and force information of the operating handle. The control module is electrically connected to the detection module and acquires the operational input information through the detection module.

[0041] With this design, the detection module can convert changes in handle position or force into input signals that the control module can recognize, thereby improving the accuracy and reliability of operation input acquisition.

[0042] In some optional implementations, the detection module includes a pressure detection unit and / or a position detection unit. The pressure detection unit detects the pressure values ​​of the operating handle in multiple force directions. The control module determines the motion type of the main body of the device based on the force direction and determines the control parameters of the self-drive module based on the pressure values. The position detection unit detects position change information of the operating handle, including the deviation direction and deviation amount of the operating handle relative to the neutral state. The control module determines the motion type of the main body of the device based on the deviation direction and determines the control parameters of the self-drive module based on the deviation amount.

[0043] This design allows for the identification of user intent through at least one of pressure detection and position detection, improving detection adaptability across different structures and usage scenarios.

[0044] According to a second aspect of the embodiments of this application, a driving control method for a garden tool is provided. The garden tool includes a device body, a self-driving module, and a control module. The self-driving module is used to drive the device body to move. The control module includes at least one operating handle, which can move relative to the device body within an operating range including at least two intersecting operating directions. The driving control method includes: acquiring position change information of the operating handle; determining the movement type of the device body and control parameters of the self-driving module based on the position change information; and controlling the self-driving module to operate according to the movement type and control parameters.

[0045] This design allows for the conversion of handle position input to self-driven output through a set of steps, making the control logic of garden tools clear and easy to implement in software.

[0046] In some optional implementations, the operating handle has a neutral state and multiple deviation states relative to the neutral state, which deviate in multiple different directions. The position change information includes the deviation direction and the deviation amount of the deviation state. The step of determining the motion type of the device body and the control parameters of the self-drive module based on the position change information includes: determining the motion type of the device body based on the deviation direction and determining the control parameters of the self-drive module based on the deviation amount.

[0047] This design uses the neutral state as the judgment criterion and determines the motion type and output parameters by using the deviation direction and deviation amount, thereby improving the intuitiveness of the control logic.

[0048] In some optional implementations, the step of determining the motion type of the main body of the device based on the deviation direction includes: determining the motion type corresponding to the current deviation direction according to a preset correspondence between the deviation direction and the motion type. The motion type includes at least one of forward, backward, stop, straight left turn, straight right turn, left turn in place, and right turn in place.

[0049] This design allows for the rapid identification of motion types through preset correspondences, enabling handle direction input to be stably converted into device motion actions.

[0050] In some optional implementations, determining the control parameters of the self-driving module based on the deviation amount includes: generating invalid control parameters, stopping control parameters, or not outputting control parameters when the deviation amount is less than or equal to a preset no-action threshold; and generating valid control parameters based on the deviation direction and deviation amount when the deviation amount is greater than the preset no-action threshold.

[0051] This design can filter out minor erroneous inputs through a no-action threshold and generate control parameters after a valid deviation, thereby improving control safety and anti-interference capability.

[0052] In some optional implementations, determining the control parameters of the self-driving module based on the deviation includes: determining the target speed based on the deviation, wherein the target speed increases as the deviation increases.

[0053] This design allows the travel speed to be adjusted according to the deviation of the handle, so that the speed of the main body of the device changes with the user's operation range, improving the responsiveness of speed control.

[0054] In some optional implementations, the drive control method further includes: acquiring self-drive gear information; determining a speed mapping relationship based on the self-drive gear information and the motion type; and determining a target speed based on the deviation amount and the speed mapping relationship.

[0055] With this design, gear information is used to select the speed range, motion type is used to determine the mapping category, and deviation amount is used to determine the specific speed, thus improving the hierarchy of speed control.

[0056] In some alternative implementations, the motion type includes forward motion type and reverse motion type; when the self-drive gear information is the same and the deviation is the same, the target speed determined based on the forward motion type is greater than the target speed determined based on the reverse motion type.

[0057] This design allows the forward speed to be higher than the backward speed, improving work efficiency when moving forward and reducing safety risks when moving backward.

[0058] In some optional implementations, the control module includes a first handle and a second handle, and the self-drive module includes a left drive motor and a right drive motor; the drive control method further includes: acquiring first operation input information corresponding to the first handle and second operation input information corresponding to the second handle; determining control parameters of the self-drive module based on the first operation input information and / or the second operation input information; and controlling the left drive motor and the right drive motor to run based on the control parameters.

[0059] This design allows the method to control the left and right drive motors based on dual handlebar inputs, achieving synchronous or differential output and improving the flexibility of walking control.

[0060] In some optional implementations, the step of determining the control parameters of the self-driven module based on the first operation input information and / or the second operation input information includes: determining target operation information based on the first operation input information and the second operation input information; determining common control parameters based on the target operation information; and controlling the left drive motor and the right drive motor to work based on the common control parameters.

[0061] This design allows for the determination of a common control basis through dual handle inputs, reducing inconsistencies in left and right outputs caused by input differences and improving the stability of linear control.

[0062] In some optional implementations, the step of determining the control parameters of the self-driven module based on the first operation input information and / or the second operation input information includes: determining the first control parameter and the second control parameter based on the first operation input information and the second operation input information, respectively; the step of controlling the operation of the left drive motor and the right drive motor based on the control parameters includes: controlling the operation of the left drive motor and the right drive motor based on the first control parameter and the second control parameter, respectively.

[0063] This design allows for separate control of the left and right drive motors, enabling the main body of the equipment to turn or turn in place via differential speed, thus improving the independent control capability of the left and right sides.

[0064] In some optional implementations, the drive control method further includes: determining a first control mode or a second control mode; in the first control mode, enabling the left drive motor and the right drive motor to share a single control parameter; and in the second control mode, determining the control parameters of the left drive motor based on first operation input information and determining the control parameters of the right drive motor based on second operation input information.

[0065] This design allows switching between synchronous control and separate control, ensuring both straight-line stability and flexible steering requirements.

[0066] In some optional implementations, the step of determining the first control mode or the second control mode further includes: determining a first candidate control parameter based on the first operation input information, and determining a second candidate control parameter based on the second operation input information; determining the parameter difference between the first candidate control parameter and the second candidate control parameter; determining the first control mode when the parameter difference is within a preset threshold range; and determining the second control mode when the parameter difference exceeds the preset threshold range.

[0067] This design allows for automatic determination of whether to use synchronous control or split-side control based on parameter differences, thereby improving the rationality of mode selection and control stability.

[0068] In some optional implementations, determining the first control mode or the second control mode includes: acquiring mode selection information generated in response to user operation; switching between the first control mode and the second control mode based on the mode selection information, wherein the mode selection information is generated by a local operating device of the garden tool or an external operating terminal that is communicatively connected to the garden tool.

[0069] This design allows users to actively select the control mode, making the drive control method adaptable to different work scenarios and personal operating habits.

[0070] According to a third aspect of the embodiments of this application, a driving control method for a garden tool is provided. The garden tool includes a device body, a self-driving module, and a control module. The self-driving module is used to drive the device body to move. The control module includes at least one operating handle, which is capable of moving relative to the device body within an operating range including at least two intersecting operating directions. The driving control method includes: acquiring pressure values ​​of the operating handle in multiple force directions; determining the motion type of the device body based on the force direction; determining control parameters of the self-driving module based on the pressure values; and controlling the self-driving module to operate according to the motion type and control parameters.

[0071] This design allows the user's intent to be recognized by the direction of force and pressure value, enabling self-drive control even with small handle displacement, thus improving the flexibility of structural layout.

[0072] According to a fourth aspect of the embodiments of this application, a controller for garden tools is provided. The controller includes a processor and a memory. The memory stores instructions that can be executed by the processor. When the instructions are executed by the processor, they cause the controller to perform any of the aforementioned drive control methods.

[0073] According to a fifth aspect of the embodiments of this application, a computer-readable storage medium is provided, on which a computer program or instructions are stored, and when the computer program or instructions are executed by a processor, they implement any of the aforementioned drive control methods.

[0074] According to a sixth aspect of the embodiments of this application, a computer program product is provided, including a computer program or instructions, which, when executed by a processor, implement any of the aforementioned drive control methods.

[0075] The garden tool of this application, because its operating handle can move relative to the main body of the equipment within an operating range including at least two intersecting operating directions, not only serves as a structure for the user to support and guide the main body of the equipment, but also forms control inputs in multiple operating directions. Furthermore, the control module can acquire the operating input information from the operating handle and determine the movement type of the main body of the equipment and the control parameters of the self-drive module based on this information. This allows the position change information and / or force information of the operating handle to simultaneously express the user's movement intention and output intensity. In this way, the operating handle can directly convert the user's operating actions when holding the handle into forward, backward, and turning movement types, as well as corresponding control parameters such as speed, rotational speed, and torque. This reduces the separation between the supporting action and the self-drive control action, improving the intuitiveness, convenience, and flexibility of the garden tool's self-drive operation.

[0076] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this specification. Attached Figure Description

[0077] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this specification and, together with the description, serve to explain the principles of this specification.

[0078] Figure 1 This is a schematic diagram of the overall structure of a garden tool in one embodiment of this application; Figure 2 This is a partial structural diagram of a garden tool in one embodiment of this application. Figure 1 ; Figure 3 This is a partial structural diagram of a garden tool in one embodiment of this application. Figure 2 ; Figure 4 This is a schematic diagram of the structure of the control module in a garden tool according to one embodiment of this application. Figure 1 ; Figure 5 This is a schematic diagram of the structure of the control module in a garden tool according to one embodiment of this application. Figure 2 ; Figure 6 This is a schematic diagram of the internal structure of the control module in a garden tool according to an embodiment of this application; Figure 7 A cross-section of the control module in a garden tool according to an embodiment of this application. Figure 1 ; Figure 8 A cross-section of the control module in a garden tool according to an embodiment of this application. Figure 2 ; Figure 9 This is an exploded view of the control module in a garden tool according to one embodiment of this application; Figure 10 This is a schematic diagram of the operating handle in a garden tool according to one embodiment of this application; Figure 11 This is a schematic diagram of the internal structure of the control module in a garden tool according to another embodiment of this application; Figure 12 This is a schematic diagram of a control module in a garden tool according to another embodiment of this application; Figure 13 This is a schematic diagram of the operating handle in a garden tool according to another embodiment of this application; Figure 14 A cross-section of the control module in a garden tool according to another embodiment of this application. Figure 1 ; Figure 15 A cross-section of the control module in a garden tool according to another embodiment of this application. Figure 2 ; Figure 16 A cross-section of the control module in a garden tool according to another embodiment of this application. Figure 3 ; Figure 17 This is a schematic diagram illustrating the installation of the operating handle and heating element in a garden tool according to one embodiment of this application; Figure 18 This is a control principle block diagram of garden tools in one embodiment of this application. Figure 1 ; Figure 19 This is a schematic diagram of the operating range of the handle in one embodiment of this application; Figure 20 This is a schematic diagram illustrating the mapping relationship between the deviation of the operating handle and the forward speed in one embodiment of this application; Figure 21 This is a schematic diagram illustrating the mapping relationship between the deviation of the operating handle and the backward speed in one embodiment of this application; Figure 22 This is a schematic diagram comparing the forward speed mapping relationship and the reverse speed mapping relationship in the same gear position in one embodiment of this application; Figure 23 This is a control principle block diagram of garden tools in one embodiment of this application. Figure 2 ; Figure 24 This is a control principle block diagram of garden tools in one embodiment of this application. Figure 3 ; Figure 25This is a control principle block diagram of garden tools in one embodiment of this application. Figure 4 ; Figure 26 The flowchart of a self-driven control method in one embodiment of this application Figure 1 ; Figure 27 The flowchart of a self-driven control method in one embodiment of this application Figure 2 . Detailed Implementation

[0079] In related technologies, self-drive modules are usually controlled by independent control components such as joysticks, levers, buttons, triggers, or gear switches. They are relatively independent of the handle held by the user. When the user holds the handle to support and guide the garden tool, they still need to operate the independent control components to input control intentions such as forward, backward, turning, or speed adjustment. This results in the separation of the support action and the self-drive control action, making the operation less intuitive.

[0080] To overcome the shortcomings of existing technologies, this application provides a garden tool. Because the operating handle can move relative to the main body of the tool within an operating range including at least two intersecting operating directions, the operating handle not only serves as a structure for user support and guidance of the main body but also forms control inputs in multiple operating directions. Furthermore, the control module can acquire the operating input information from the operating handle and determine the motion type of the main body and the control parameters of the self-drive module based on this information. This allows the position change information and / or force information of the operating handle to simultaneously express the user's motion intention and output intensity. In this way, the operating handle can directly convert the user's gripping actions into forward, backward, and turning motion types, as well as corresponding speed, rotational speed, torque, and other control parameters. This reduces the separation between support actions and self-drive control actions, improving the intuitiveness, convenience, and flexibility of the garden tool's self-drive operation.

[0081] The following will combine Figures 1 to 27 This application provides a detailed description to enable those skilled in the art to gain a clearer understanding of its contents. It should be noted that the embodiments described below are only a portion of the embodiments of this application, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0082] This application provides a garden tool, which can be a snowplow, lawnmower, sweeper, or other outdoor work equipment that needs to be moved during operation.

[0083] See Figure 1In some embodiments, the garden tool may include a main body 1, a working mechanism, a walking mechanism, a control module 3, and a control module 4. The main body 1 serves as the main supporting structure of the garden tool, housing the working mechanism, walking mechanism, power supply components, and electrical control components. The working mechanism performs corresponding gardening tasks; for example, when the garden tool is a snowplow, the working mechanism can be used to clear, roll in, or throw away snow. The walking mechanism supports the main body 1 and moves it relative to the work surface. The control module 3 allows the user to input their control intentions. The control module 4 is located within the main body 1 or the control module 3, and can control the operation of relevant components of the garden tool according to the user's control intentions.

[0084] See Figure 1 In some embodiments, the garden tool may further include a control module 3, a control module 4, and two self-drive modules 2. The two self-drive modules 2 are respectively connected to the device body 1 and configured to drive the device body 1 to move. The control module 3 is disposed on the device body 1 and may include at least one operating handle 322, which is rotatably disposed on the device body 1. The control module 4 is electrically connected to the operating handle 322 and the self-drive modules 2 respectively, and is configured to control the operation of the self-drive modules 2 based on the movement of the operating handle 322.

[0085] Specifically, the two self-driving modules 2 can be respectively disposed on the left and right sides of the main body 1. In some exemplary embodiments, each self-driving module 2 may include a drive wheel 21 and a drive motor for driving the drive wheel 21 to rotate. The drive motor may be a hub motor 22, a wheel-side motor, or other power components capable of driving the drive wheel 21 to rotate. The two self-driving modules 2 can jointly drive the main body 1 forward or backward, or the main body 1 can perform actions such as turning left, turning right, or turning in place by the speed difference, start-stop difference, or output direction difference between the two self-driving modules 2.

[0086] See Figures 1 to 5 The operating handle 322 is rotatably mounted on the device body 1. Under user operation, the operating handle 322 can change its angle or posture relative to the device body 1. For example, the operating handle 322 can pivot about a single axis, rotate about multiple axes in combination, or deflect freely within a two-dimensional operating range. When the user grips the operating handle 322 and applies force in different directions, the operating handle 322 can generate motion information. This motion information can record at least one of the following: rotation direction, rotation angle, deflection direction, deflection amount, position change information, or posture change information of the operating handle 322.

[0087] The control module 4 is electrically connected to the operating handle 322 and the two self-driven modules 2 respectively, so as to control the working status of the two self-driven modules 2 according to the motion information of the operating handle 322.

[0088] See Figures 1 to 5 In some exemplary embodiments, the operating handles 322 can also be configured as two, with the two operating handles 322 respectively located on the left and right sides of the device body 1. The two operating handles 322 can be positioned where the user's hands grip, allowing the user to support the corresponding operating handles 322 with their left and right hands during operation, thereby more stably controlling the walking direction and balance of the device body 1. The two operating handles 322 can be electrically connected to the control module 4 to output corresponding operating signals. The control module 4 can control the operation of the two self-driven modules 2 based on the movement state of the two operating handles 322.

[0089] It should be noted that the operating handle 322 in this embodiment serves both as a support function and a self-driven control input function. In addition, the garden tool may include other types of handles. For example, the garden tool may also include a fixed handle, which is fixedly mounted on the main body 1 of the device. The fixed handle is used for the user to hold, support, carry, or assist in stabilizing the garden tool, but it does not serve as an input component for self-driven control, nor does it output operating signals to the control module 4 for controlling the self-driven module 2.

[0090] In this embodiment, the operating handle 322 serves both as a support function and a self-driven control input function. While holding the operating handle 322 to stabilize the direction and balance of the garden tool, the user can input their walking control intention by pushing, pulling, deflecting, or rotating the operating handle 322. The control module 4 further controls the two self-driven modules 2 to drive the main body 1 forward, backward, or turn. In this way, self-driven control can be completed using the user's original gripping action, eliminating the need for the user to operate separate joysticks, levers, buttons, or triggers, thereby improving the intuitiveness and convenience of self-driven operation of the garden tool.

[0091] Furthermore, the two self-drive modules 2 are respectively connected to the main body 1 of the equipment and can both be controlled by the control module 4. Therefore, the control module 4 can perform the same or different controls on the two self-drive modules 2 according to the different movement states of the operating handle 322. For example, when the operating handle 322 moves in the forward and backward direction, the control module 4 can control the two self-drive modules 2 to jointly drive the main body 1 forward or backward; when the operating handle 322 moves in the left and right direction or undergoes lateral deflection, the control module 4 can adjust the output difference between the two self-drive modules 2 to enable the main body 1 to turn. Therefore, different movement states of one operating handle 322 can correspond to multiple walking control modes, which helps to simplify the control structure.

[0092] See Figures 1 to 3 In some embodiments, each self-driven module 2 includes a drive motor, and the drive motors of both self-driven modules 2 are electrically connected to the control module 4; there are two operating handles 322, which are used to control the two drive motors to rotate at the same or different speeds.

[0093] Specifically, the two operating handles 322 can be the first handle 3222 and the second handle 3223, respectively, which correspond to the drive motors on both sides of the main body 1 of the control device. When the two operating handles 322 output control information for synchronous control, the control module 4 can control the drive motors on both sides of the main body 1 to move at the same speed, so as to drive the main body 1 to move in a straight line. When the two operating handles 322 output control information for differential control, the control module 4 can control the drive motors on both sides of the main body 1 to move at different speeds, so as to drive the main body 1 to turn.

[0094] Furthermore, both operating handles 322 are electrically connected to the control module 4, and the control module 4 controls the operation of the two drive motors based on the status of the two operating handles 322.

[0095] See Figures 6 to 15 In some embodiments, the operating handle 322 is pivotally connected to the device body 1, and the operating handle 322 is pivotable about a first axis and about a second axis; wherein the first axis and the second axis intersect.

[0096] In this embodiment, since the operating handle 322 can pivot about a first axis and about a second axis, and the first axis intersects with the second axis, that is, the operating handle 322 can move in two dimensions. The user can input different walking control intentions to the control module 4 by applying forces in different directions to the operating handle 322.

[0097] In some exemplary embodiments, the first axis and the second axis may be perpendicular. The forward direction when the garden tool is in normal use is defined as the front-back direction, the horizontal direction perpendicular to the front-back direction is defined as the left-right direction, and the direction perpendicular to both the front-back and left-right directions is defined as the height direction. For example, the first axis may be arranged along the left-right direction, allowing the operating handle 322 to pivot relative to the device body 1 in the front-back direction; the second axis may be arranged along the front-back direction, allowing the operating handle 322 to pivot relative to the device body 1 in the left-right direction.

[0098] When the user pushes the operating handle 322 forward or pulls it backward, the operating handle 322 can pivot about a first axis extending in the left-right direction, thereby forming an operating input in the front-back direction. When the user flicks the operating handle 322 to the left or right, the operating handle 322 can pivot about a second axis extending in the front-back direction, thereby forming an operating input in the left-right direction.

[0099] In this embodiment, when the operating handle 322 pivots around the first axis, it can correspondingly generate an operating input in the first direction; when the operating handle 322 pivots around the second axis, it can correspondingly generate an operating input in the second direction. The control module 4 can control the two self-driven modules 2 based on the operating inputs in the first and second directions.

[0100] See Figures 6 to 10 In some embodiments, the control module 3 may include a fixed base housing 3211 and a handle fixing part 3212. The fixed base housing 3211 is fixed to the device body 1, and the interior of the fixed base housing 3211 defines a receiving cavity 330. The handle fixing part 3212 is rotatably disposed in the receiving cavity 330 via a second shaft 3251 arranged along a second axis, and the interior of the handle fixing part 3212 defines a first mounting cavity 3213. The operating handle 322 passes through the first mounting cavity 3213 and is rotatably connected to the handle fixing part 3212 via a first shaft 3241 arranged along a first axis.

[0101] The handle fixing part 3212 is installed in the receiving cavity 330 of the fixing base housing 3211 via the second shaft 3251, so that the handle fixing part 3212 can rotate relative to the fixing base housing 3211 about the second axis. Specifically, the fixing base housing 3211 and the second shaft 3251 can be rotatably fixed by the first bearing 3261.

[0102] See Figure 8 Since the operating handle 322 passes through the mounting cavity 3213 of the handle fixing part 3212, when the user applies a force to the operating handle 322 in the direction corresponding to the second axis, the operating handle 322 can drive the handle fixing part 3212 to rotate relative to the fixed base housing 3211, thereby forming a pivotal movement of the operating handle 322 around the second axis.

[0103] See Figure 8Since the operating handle 322 and the first shaft 3241 both pass through the first mounting cavity 3213, the operating handle 322 can rotate around the first shaft 3241 (the first axis). Both ends of the first shaft 3241 can also extend out of the handle fixing part 3212 and enter the receiving cavity 330 of the fixing base housing 3211, and then be rotatably fixed to the handle fixing part 3212 via the second bearing 3262. It should be noted that the portion of the first shaft 3241 entering the receiving cavity 330 does not interfere with the inner wall of the receiving cavity 330, thus not affecting the rotation of the operating handle 322 around the second axis.

[0104] In some exemplary embodiments, the first axis (first axis 3241) can be arranged in the left-right direction, allowing the operating handle 322 to pivot relative to the device body 1 in the front-back direction. The second axis (second axis 3251) can be arranged in the front-back direction, allowing the operating handle 322 to pivot relative to the device body 1 in the left-right direction. Thus, when the user holds the operating handle 322, they can push it forward and backward, pull it backward, or flick it left and right to generate corresponding operational inputs in different directions. The control module 4 can control the two self-driven modules 2 to operate based on the movement state of the operating handle 322 around the first axis and / or the second axis.

[0105] See Figures 11 to 15 In other embodiments, the control module 3 may further include a fixed base housing 3211 and a track guide 331. The fixed base housing 3211 is fixed to the main body 1, and the interior of the fixed base housing 3211 defines a rotating cavity 3314. The outer wall of the track guide 331 and the inner wall of the rotating cavity 3314 form a spherical pair, and the track guide 331 is connected to the operating handle 322 to enable the operating handle 322 to pivot.

[0106] A spherical joint refers to a kinematic pair in which both contact surfaces of the two components are spherical, and the two spheres share a common center. In this embodiment, the outer wall of the track guide 331 can be machined into a spherical or partially spherical surface, and the inner wall of the rotating cavity 3314 can be correspondingly machined into a concave spherical or partially spherical surface, with the outer spherical surface of the track guide 331 and the inner spherical surface of the rotating cavity 3314 sharing the same center. This allows the track guide 331 to perform multi-degree-of-freedom pivoting motion relative to the rotating cavity 3314 around the center, thereby driving the operating handle 322 to complete corresponding control inputs in multiple directions.

[0107] See Figure 14 and Figure 15Furthermore, a second mounting cavity 3315 is provided within the track guide portion 331, and an operating handle 322 passes through the second mounting cavity 3315. A first shaft 3241, arranged along the first axis, passes through the track guide portion 331 and the operating handle 322 located within the second mounting cavity 3315, with both ends of the first shaft 3241 protruding from the outer surface of the track guide portion 331. The inner wall of the rotating cavity 3314 defines two track portions 3310 into which the two ends of the first shaft 3241 respectively extend, namely the first track portion 3311 and the second track portion 3312, to define the extension direction of the first shaft 3241.

[0108] During use, the operating handle 322 can rotate relative to the track guide 331 around the first axis 3241, and the first track 3311 and the second track 3312 constrain the two ends of the first axis 3241, thereby guiding the pivoting process of the operating handle 322.

[0109] When the operating handle 322 pivots around the first axis, the two ends of the first shaft 3241 rotate around the axis of the first shaft 3241, respectively, in the first track portion 3311 and the second track portion 3312. When the operating handle 322 pivots around the second axis, the two ends of the first shaft 3241 move along the extension direction of the two track portions, but remain within the first track portion 3311 and the second track portion 3312, so as to restrict the pivoting trajectory of the operating handle 322 by using the first track portion 3311 and the second track portion 3312, so that the operating handle 322 will not disengage from the first track portion 3311 and the second track portion 3312.

[0110] Furthermore, the first track section 3311 and the second track section 3312 can be groove-shaped structures, such as guide grooves, rotating grooves, or limiting grooves. The groove shapes corresponding to the first track section 3311 and the second track section 3312 can be straight grooves, arc grooves, or closed tracks.

[0111] See Figure 6 , Figures 7 to 11 , Figure 13 In some embodiments, the control module 3 may further include a reset unit 323, which is configured to drive the operating handle 322 back to its initial position.

[0112] The reset unit 323 can drive the operating handle 322 back to its initial position after the user removes the force applied to it, so that the operating handle 322 remains in a relatively fixed zero position when not in use. This initial position can serve as a reference for the control module 4 to identify the direction and amplitude of the movement of the operating handle 322, which helps to improve the accuracy of operation signal recognition.

[0113] See Figure 6 , Figures 7 to 11, Figure 13 In some embodiments, a reset mounting cavity 332 is further defined within the mounting housing 3211. The operating handle 322 is elongated, with the axis of the first shaft 3241 and the axis of the second shaft 3251 both perpendicular to the extending direction of the operating handle 322. The operating handle 322 has a gripping end 3221 for user gripping and a non-grip end 3226 opposite to the gripping end 3221. An abutment portion 3225 protrudes from the operating handle 322, with at least a portion of the abutment portion 3225 extending into the reset mounting cavity 332.

[0114] The reset part 323 is an elastic body. The elastic body is sleeved in the section from the contact part 3225 to the non-grip end 3226, and the first end of the elastic body abuts against the contact part 3225, and the second end of the elastic body abuts against the inner wall of the reset mounting cavity 332.

[0115] During use, when the user rotates the operating handle 322 relative to the fixed base housing 3211, the elastic body undergoes elastic deformation and stores elastic potential energy as the operating handle 322 pivots. After the user reduces the operating force or stops operating, the elastic body releases the stored elastic potential energy, driving the operating handle 322 to rotate back to the initial position, thereby achieving automatic reset.

[0116] See Figure 16 In some embodiments, the operating handle 322 is elongated, and the interior of the mounting housing 3211 of the control module 3 defines a receiving cavity 330, which has an entry port 3301 for the operating handle 322 to extend into. The outline of the entry port 3301 includes at least one abutting profile 3302, which mates with the outer wall of the operating handle 322 during pivoting.

[0117] Specifically, a portion of the operating handle 322 can extend into the receiving cavity 330 of the fixed base housing 3211 through the inlet 3301, while another portion of the operating handle 322 can be located outside the fixed base housing 3211 for the user to grip and operate. Since the operating handle 322 is pivotable relative to the fixed base housing 3211, when the user pushes, pulls, or laterally deflects the operating handle 322, the outer wall of the operating handle 322 will change position relative to the contour of the inlet 3301. The contour of the inlet 3301 can be used to limit the range of motion of the operating handle 322 and constrain the direction of movement and maximum deflection position of the operating handle 322.

[0118] See Figure 16In some exemplary embodiments, the outline of the insertion port 3301 may include an abutting outline 3302 and a clearance outline 3303 connected to the abutting outline 3302. The clearance outline 3303 may be configured to have a large clearance relative to the outer wall of the operating handle 322, and the abutting outline 3302 may be configured to fit the outer wall of the operating handle 322. For example, the clearance outline 3303 may be an arc segment with a radius larger than the outer wall radius of the operating handle 322, and the radius of the abutting outline 3302 may be configured to fit the outer wall radius of the operating handle 322.

[0119] During the pivoting process of the operating handle 322, the operating handle 322 can move relatively smoothly within the area corresponding to the avoidance contour 3303. When the operating handle 322 moves along a preset direction to a preset maximum deflection position or close to the maximum deflection position, the outer wall of the operating handle 322 can contact the contact contour 3302. Since the shape of the contact contour 3302 matches that of the outer wall of the operating handle 322, a relatively stable fit can be formed after the two contact, thereby restricting the continued movement of the operating handle 322 in that direction and giving the operating handle 322 a certain sense of positioning at the preset position.

[0120] In other words, the insertion port 3301 is not entirely tightly fitted to the operating handle 322. Instead, it can only have abutting contours 3302 that match the outer wall of the operating handle 322 at the locations where limiting or positioning is required. In this way, the other contour segments of the insertion port 3301 can provide sufficient movement space for the operating handle 322, while the abutting contours 3302 can abut, limit, or slightly position the operating handle 322 when it moves to the maximum deflection position in a preset direction.

[0121] See Figure 17 In some embodiments, the operating handle 322 has a gripping end 3221. The garden tool may also include a heating element 328 disposed at the gripping end 3221 for heating the operating handle 322.

[0122] See Figure 18 Furthermore, the control module 4 can also be electrically connected to the heating element 328 to adjust the working state of the heating element 328. For example, the control module 4 can adjust the heating temperature of the heating element 328 according to the ambient temperature, so that the heating element 328 outputs different amounts of heat at different ambient temperatures; it can also receive temperature adjustment commands input by the user to adjust the heating temperature of the heating element 328 according to the user's preferences.

[0123] See Figure 9 , Figure 11 and Figure 18In some embodiments, the garden tool further includes a detection module 10, which is electrically connected to the control module 4. The detection module 10 is used to detect the operation input information of at least one operating handle 322, including the pose change and / or force information of the operating handle 322. The control module 4 acquires the operation input information through the detection module 10 and controls the self-driven module 2 to work based on the operation input information.

[0124] The pose change of the operating handle 322 may include a change in position or orientation of the operating handle 322 relative to the console 31, or a simultaneous change in position and orientation. For example, the pose change may include at least one of displacement, oscillation, deflection, rotation, or tilting of the operating handle 322 relative to the console 31. The pose change may be a change in a single direction or a combination of changes in multiple directions.

[0125] In some embodiments, the detection module 10 may be located on the operating handle 322, on the console 31, or on the force transmission path or motion transmission path between the operating handle 322 and the console 31.

[0126] See Figure 18 The detection module 10 may include a pressure detection unit 110 and / or a position detection unit 120. The pressure detection unit 110 can detect the pressure values ​​of the operating handle 322 in multiple force directions. The control module 4 can determine the motion type of the device body 1 based on the force direction and determine the control parameters of the self-driven module 2 based on the pressure values. The position detection unit 120 can detect position change information of the operating handle 322, including the deviation direction and amount of the operating handle 322 relative to the neutral state. The control module 4 can determine the motion type of the device body 1 based on the deviation direction and determine the control parameters of the self-driven module 2 based on the deviation amount.

[0127] Furthermore, the detection module 10 can be at least one of a potentiometer, Hall sensor, optical encoder, angle sensor, inertial measurement unit, pressure sensor and displacement sensor to detect the pose change and / or force information of the operating handle 322 relative to the console 31.

[0128] See Figure 9 and Figure 11In some embodiments, the side of the operating handle 322 away from the heating element 328 may have a rocker arm engaging end 3224, which is used to connect to the rocker arm 101. The detection module 10 may include the rocker arm 101, which may be electrically connected to the control module 4. During use, when the user holds and operates the operating handle 322, the operating handle 322 can drive the rocker arm 101 to move through the rocker arm engaging end 3224, causing the rocker arm 101 to generate a control input corresponding to the positional change or force change of the operating handle 322. The control module 4 can control the movement of the self-driven module 2 based on this control input, thereby adjusting the movement state of the garden tool.

[0129] In some other embodiments, the garden tool may not have a separate detection module 10. The control module 4 can indirectly obtain the operation input information of the operating handle 322 by detecting changes in the operating parameters of the control module 3. For example, the control module 3 may include electronic control devices, driving devices, damping devices, or actuators linked to the operating handle 322. When the position, posture, or force of the operating handle 322 changes, the operating current, voltage, power, or load state of the control module 3 may change accordingly. The control module 4 can obtain the operating current of the control module 3 and characterize the position or force changes of the operating handle 322 based on the magnitude, direction, rate of change, or current difference between different directional channels of the operating current.

[0130] See Figure 1 , Figure 2 and Figure 18 In some embodiments, the garden tool may have a display feedback function to synchronously display the working status of the garden tool during user operation. Specifically, the garden tool may further include a display submodule 41, which is electrically connected to the control module 4. The control module 4 can generate operating information based on the operation of the handle 322, and the display submodule 41 can display the working status of the garden tool based on this operating information. The working status of the garden tool may include at least one of the following: the operating speed of the self-driven module 2, the current information, voltage information, and direction of movement information of the garden tool.

[0131] As an example, the display submodule 41 can be a control panel 411. During use, when the user operates the handle 322 to move relative to the main body 1, the control module 4 can respond to the operation of the handle 322 to generate corresponding operating information. For example, when the user pushes the handle 322 to control the acceleration or deceleration of the garden tool, the control module 4 can generate operating information corresponding to the operating speed of the self-driven module 2, and the control panel 411 can display the current speed, target speed, or speed gear.

[0132] See Figure 19In some embodiments, the control module 3 includes at least one operating handle 322, which is movable relative to the device body 1 within an operating range, the operating range including at least two intersecting operating directions. The control module 4 is configured to acquire operation input information from the operating handle 322, and determine the motion type of the device body 1 and the control parameters of the self-driven module 2 based on the operation input information, so as to control the self-driven module 2 to operate according to the motion type and control parameters; wherein, the operation input information includes at least one of position change information and force information of the operating handle 322.

[0133] The operating range includes at least two intersecting operating directions. In some embodiments, the operating handle 322 may move only along the two intersecting operating directions, such as moving along the front-back direction and the left-right direction respectively. In other embodiments, the at least two intersecting operating directions may also jointly define an operating area, within which the operating handle 322 can move in any direction.

[0134] The position change information of the operating handle 322 may include at least one of the following: the direction of position change, the amount of position change, the direction of rotation, the angle of rotation, the direction of deflection, and the amount of deflection of the operating handle 322 relative to the device body 1, the neutral position, or the initial position. For example, when the user pushes the operating handle 322 forward or presses it down, the operating handle 322 may deviate forward relative to its initial position; when the user pulls the operating handle 322 backward or lifts it upward, the operating handle 322 may deviate backward relative to its initial position; when the user flicks the operating handle 322 left or right, the operating handle 322 may deviate left or right relative to its initial position. The control module 4 can identify the type of movement that the user expects the device body 1 to perform based on the different position change directions of the operating handle 322.

[0135] The force information of the operating handle 322 may include at least one of the following: the direction of the force, the magnitude of the force, the pressure value, the tension value, the torque value, or force components in multiple directions. For example, when a user pushes, pulls, presses, or applies lateral force to the operating handle 322, the operating handle 322 may experience a change in force in the corresponding direction. The control module 4 can determine the user's desired movement type based on the direction of the force on the operating handle 322, and determine the control parameters of the self-drive module 2 based on the magnitude of the force. Thus, even if the positional change of the operating handle 322 is small, the user's control intention can be identified through the force information.

[0136] The operation input information acquired by the control module 4 may include only position change information, only force information, or both. The control module 4 can acquire the operation input information through the detection module 10 connected to the operating handle 322, or through the detection circuit integrated within the control module 3. The above detection methods do not limit the scope of protection of this application, as long as they enable the control module 4 to obtain the operation input information from the operating handle 322.

[0137] The movement type of the main body 1 can include at least one of forward, backward, stop, straight left turn, straight right turn, stationary left turn, and stationary right turn. The control module 4 can determine the movement type based on the directional information in the operation input information. For example, when the operating handle 322 deviates or is subjected to force along the first operation direction, the control module 4 can determine that the movement type of the main body 1 is forward; when the operating handle 322 deviates or is subjected to force along the second operation direction opposite to the first operation direction, the control module 4 can determine that the movement type of the main body 1 is backward or stop; when the operating handle 322 deviates or is subjected to force along the third or fourth operation direction, the control module 4 can determine that the movement type of the main body 1 is left turn or right turn. If the operating handle 322 simultaneously generates input in two intersecting operation directions, the control module 4 can also determine a compound movement type such as straight left turn, straight right turn, backward left turn, or backward right turn based on the combination of inputs in the two directions.

[0138] The control parameters of the self-driving module 2 may include at least one of the following: target travel speed, target rotational speed, target torque, target acceleration, target braking force, the speed difference between the left and right drive wheels 21, and the torque difference between the left and right drive motors 224. The control module 4 can determine the control parameters based on the amplitude information in the operation input information.

[0139] For example, the greater the deviation of the operating handle 322 from its initial position, the greater the target travel speed or target rotational speed determined by the control module 4; the greater the force on the operating handle 322 in a certain direction, the greater the target torque or target acceleration determined by the control module 4. Thus, the user can input not only the motion type through the operating direction of the operating handle 322, but also control parameters such as speed, torque, or steering degree through the operating amplitude of the operating handle 322.

[0140] In one specific control process, when the user holds the operating handle 322 and pushes it forward, the operating handle 322 changes position in the forward operating direction (forward) or downward operating direction (downward). After obtaining this position change information, the control module 4 can determine that the movement type of the device body 1 is forward, and determine the target moving speed based on the forward or downward deviation of the operating handle 322, thereby controlling the self-drive module 2 to drive the device body 1 forward. When the user pulls the operating handle 322 backward, lifts the operating handle 322, or activates the reverse actuation module, the control module 4 can determine that the movement type of the device body 1 is reverse, and determine the reverse speed based on the backward deviation, or when the reverse actuation module is activated, determine the reverse speed based on the forward or downward deviation. Alternatively, when the user pulls the operating handle 322 backward or upward, the control module 4 can determine that the movement type of the main body 1 is "stop"; when the user moves the operating handle 322 to the left, the control module 4 can determine that the movement type of the main body 1 is "turn left" and determine the steering control parameters based on the leftward deviation. When the user deflects the operating handle 322 to the right front, the control module 4 can simultaneously acquire the forward and rightward components and determine that the main body 1 will perform a straight-to-right turn action.

[0141] In another specific control process, the user applies a forward thrust, a backward pull, a downward pressure, an upward lifting force, or a lateral force to the operating handle 322. The control module 4 can acquire the force information or position change information of the operating handle 322 in the corresponding direction, and determine the motion type of the device body 1 based on the force direction or position change information, and determine the control parameters of the self-drive module 2 based on the magnitude of the force or position change information. Thus, the operating handle 322 can generate control input through force changes or position changes, which is beneficial for achieving self-drive control in scenarios where the travel of the operating handle 322 is limited or requires a small travel distance.

[0142] In this embodiment, since the operating handle 322 can form operating inputs in at least two intersecting operating directions, the control module 4 can determine the movement type of the device body 1 and the control parameters of the self-drive module 2 based on the position change information and / or force information of the operating handle 322. Therefore, while holding the operating handle 322 to support and guide the garden tool, the user can express forward, backward, stop, turn, or compound movement intentions through different operating directions of the operating handle 322, and adjust the output intensity of the self-drive module 2 by adjusting the deviation or force of the operating handle 322, thereby improving the intuitiveness, convenience, and walking control flexibility of the garden tool's self-drive operation.

[0143] See Figure 19In some embodiments, the operating handle 322 has a neutral state and multiple deviation states relative to the neutral state, deviating in multiple different directions. Position change information includes the deviation direction and the amount of deviation for each deviation state. The control module 4 is configured to determine the motion type of the device body 1 based on the deviation direction and to determine the control parameters of the self-driving module 2 based on the amount of deviation.

[0144] Specifically, the neutral state can be the state of the operating handle 322 when the user does not apply any operating force, or it can be the initial state, zero position state, or centering state maintained by the operating handle 322 under the action of the reset structure. When the operating handle 322 is in the neutral state, the control module 4 can record the position change of the operating handle 322 in the corresponding operating direction as zero, or use this state as a reference for judging the deviation direction and deviation amount of the operating handle 322.

[0145] When the user pushes, pulls, presses, flicks, or deflects the operating handle 322, the operating handle 322 can deviate from the neutral state in different directions, forming corresponding deviation states. Multiple deviation states can respectively correspond to the deviation of the operating handle 322 from the neutral state in the forward, backward, left, right, or diagonal directions. The deviation direction can be used to characterize the type of movement the user expects the device body 1 to perform, and the deviation amount can be used to characterize the control strength the user expects the self-driven module 2 to output.

[0146] In some embodiments, the deviation direction may include the displacement direction, rotation direction, swing direction, or tilt direction of the operating handle 322 relative to the neutral state. For example, when the operating handle 322 deviates forward or downward relative to the neutral state, the control module 4 can determine that the movement type of the device body 1 is forward; when the operating handle 322 deviates backward or upward relative to the neutral state, the control module 4 can determine that the movement type of the device body 1 is backward or stopped; when the operating handle 322 deviates left or right relative to the neutral state, the control module 4 can determine that the movement type of the device body 1 is left turn or right turn. If the operating handle 322 deviates to the left front, right front, left rear, or right rear relative to the neutral state, the control module 4 can also determine, based on the combined deviation direction, that the device body 1 performs a combined movement such as a straight left turn, a straight right turn, a backward left turn, or a backward right turn.

[0147] In some embodiments, the deviation may include the displacement of the operating handle 322 relative to the neutral state, rotation angle, swing amplitude, tilt angle, or a combination of the above parameters. The control module 4 may determine the control parameters of the self-drive module 2 based on the deviation. The control parameters may include at least one of the following: target travel speed, target rotational speed, target torque, target acceleration, the speed difference between the left and right drive wheels 21, and the torque difference between the left and right drive motors 224.

[0148] For example, when the operating handle 322 deviates in the forward or downward direction, the control module 4 can determine the movement type of the device body 1 as forward based on the direction of deviation, and determine the target speed based on the amount of deviation of the operating handle 322 in the forward direction. The larger the deviation, the larger the target speed; the smaller the deviation, the smaller the target speed. As another example, when the operating handle 322 deviates in the left-turn direction, the control module 4 can determine the movement type of the device body 1 as left-turn based on the direction of deviation, and determine the speed difference or torque difference between the left and right drive wheels 21 based on the amount of deviation of the operating handle 322 in the left-turn direction, so that the device body 1 moves according to the corresponding degree of steering.

[0149] In some embodiments, the control module 4 can pre-store the correspondence between deviation direction and motion type, as well as the mapping relationship between deviation amount and control parameters. During use, the detection module 10 detects the current deviation state of the operating handle 322 relative to the neutral state and outputs position change information or force change information containing deviation direction and deviation amount. After obtaining the position change information or force change information, the control module 4 can query the mapping relationship stored in its memory 520 to determine the motion type that the device body 1 should perform based on the deviation direction, and determine the control parameters of the self-driven module 2 under that motion type based on the deviation amount, thereby controlling the self-driven module 2 to operate according to the corresponding motion type and control parameters.

[0150] In this embodiment, the neutral state of the operating handle 322 can serve as a benchmark for judging position changes or force changes, enabling the control module 4 to accurately identify the deviation direction and amount of the operating handle 322. The deviation direction is used to determine the motion type of the main body 1, and the deviation amount is used to determine the control parameters of the self-drive module 2. This allows the user to express forward, backward, or turning intentions through the deviation direction of the operating handle 322, and adjust the speed, torque, or degree of steering by adjusting the deviation magnitude. This allows the operating state of the operating handle 322 to form a more intuitive correspondence with the motion state of the garden tool, improving the accuracy, responsiveness, and ease of operation of the self-drive control.

[0151] See Figure 19 In some embodiments, the deviation directions of the multiple deviation states include a first deviation direction, a second deviation direction, a third deviation direction, and a fourth deviation direction. The first deviation direction and the second deviation direction constitute a first relative direction, and the third deviation direction and the fourth deviation direction constitute a second relative direction. The first relative direction and the second relative direction are arranged intersectingly in the operating plane.

[0152] Specifically, the operating plane can be understood as the primary plane of motion where the operating handle 322 deviates from its neutral state. This operating plane can be a horizontal plane, for example, with the first relative direction being the left-right direction on the horizontal plane and the second relative direction being the front-back direction on the horizontal plane; it can also be a vertical plane, for example, with the first relative direction being the left-right direction on the vertical plane and the second relative direction being the vertical direction; it can also be a plane inclined relative to the horizontal plane; or it can be a virtual operating plane defined by the structural installation relationship of the operating handle 322. Within this operating plane, the operating handle 322 can deviate from its neutral state in multiple directions to form different deviation states.

[0153] In some exemplary embodiments, the first deviation direction and the second deviation direction can be located on opposite sides of the neutral state. For example, the first deviation direction can be the direction in which the operating handle 322 deviates forward relative to the neutral state or the direction in which the operating handle 322 deviates downward relative to the neutral state, and the second deviation direction can be the direction in which the operating handle 322 deviates backward relative to the neutral state or the direction in which the operating handle 322 deviates upward relative to the neutral state. The third deviation direction and the fourth deviation direction can also be located on opposite sides of the neutral state. For example, the third deviation direction can be the direction in which the operating handle 322 deviates to the left relative to the neutral state, and the fourth deviation direction can be the direction in which the operating handle 322 deviates to the right relative to the neutral state.

[0154] Furthermore, the first and second relative directions are arranged intersectingly within the operating plane, meaning that the direction lines containing the first and second deviation directions intersect with the direction lines containing the third and fourth deviation directions. For example, the first and second relative directions can be perpendicular to each other within the operating plane, or they can intersect at acute or obtuse angles. In other words, the four deviation directions are not limited to a strictly orthogonal front-back-left-right arrangement, as long as they allow the operating handle 322 to form two sets of intersecting relative deviation directions around its neutral position.

[0155] In some embodiments, when the operating handle 322 deviates from the neutral state to the first or second deviation direction, it can primarily form a first type of operation input; when the operating handle 322 deviates from the neutral state to the third or fourth deviation direction, it can primarily form a second type of operation input. Since the two sets of deviation directions are arranged intersectingly in the operating plane, the control module 4 can distinguish whether the user inputs a first type of operation intention or a second type of operation intention based on the directional region where the deviation direction of the operating handle 322 is located.

[0156] Furthermore, when the operating handle 322 deviates from the region between the first deviation direction and the third deviation direction, or from the region between the first deviation direction and the fourth deviation direction, the control module 4 can also identify the deviation as a composite input formed by the superposition of the two types of operating inputs.

[0157] In some embodiments, the first deviation direction, the second deviation direction, the third deviation direction, and the fourth deviation direction can jointly define the basic operating boundaries of the operating handle 322. When the operating handle 322 deviates within any region between the above four directions, the control module 4 can decompose the current deviation direction into a first component along the first relative direction and a second component along the second relative direction, and determine the control parameters of the self-driving module 2 based on the first component and the second component. Thus, the operating handle 322 can not only form definite inputs in the four basic deviation directions, but also form continuous or combined inputs between adjacent deviation directions.

[0158] This design creates a pair of opposing directions: the first and second deviation directions form one pair, and the third and fourth deviation directions form another pair. These two pairs are arranged intersecting within the operating plane, allowing the operating handle 322 to form a clear multi-directional operating range around the neutral state. Therefore, the control module 4 can distinguish different types of control intentions based on the deviation direction of the operating handle 322 relative to the neutral state, and can identify composite control inputs based on the deviation state between adjacent deviation directions. This improves the distinguishability of multi-directional inputs from the operating handle 322 and the flexibility of garden tool movement control.

[0159] See Figures 20 to 22 In some embodiments, the control module 4 is configured to: control the self-drive module 2 not to output driving force or maintain a stopped state when the deviation is less than or equal to a preset no-action threshold; and control the self-drive module 2 to work based on the deviation direction and the deviation amount when the deviation is greater than the preset no-action threshold.

[0160] Specifically, the operating handle 322 has a neutral state. When the operating handle 322 deviates from the neutral state in different directions, corresponding deviation directions and deviation amounts can be formed. The control module 4 can set a no-action zone and an effective control zone within the operating range of the operating handle 322, based on the neutral state. The no-action zone can correspond to a range where the deviation amount is less than or equal to a preset no-action threshold, and the effective control zone can correspond to a range where the deviation amount is greater than the preset no-action threshold.

[0161] In some embodiments, when the deviation of the operating handle 322 from the neutral state is small, and the deviation is less than or equal to a preset no-action threshold, the control module 4 can consider the deviation to be due to slight shaking, accidental contact, minor oscillation caused by assembly gaps, or unintentional input during the user's gripping process. In this case, the control module 4 can control the self-driven module 2 to not output driving force, maintain the self-driven module 2 in a stopped state, or maintain the current safe state. This avoids the operating handle 322 from accidentally triggering the self-driven module 2 when the user supports the device body 1, the device body 1 vibrates during walking, or the user's hand shakes slightly.

[0162] In some embodiments, when the deviation of the operating handle 322 from the neutral state exceeds a preset no-action threshold, the control module 4 can consider the operating handle 322 to have entered the effective control range and recognize the deviation as a valid control input. At this time, the control module 4 can determine the motion type of the device body 1 based on the deviation direction and determine the control parameters of the self-drive module 2 based on the deviation amount. For example, the deviation direction can be used to determine motion types such as forward, backward, stop, left turn, right turn, or compound steering, and the deviation amount can be used to determine control parameters such as target travel speed, target rotational speed, target torque, the speed difference between the left and right drive wheels 21, or steering control amount.

[0163] Furthermore, when the operating handle 322 has entered the effective control range, the control module 4 can also perform operation control and stop control. For example, with the neutral position as the origin, a downward offset is set as forward control, and an upward offset is set as stop operation control. When the leftward offset of the operating handle 322 is less than a preset no-action threshold, the control module maintains the current movement of the self-driven module; when the leftward offset of the operating handle 322 is greater than the preset no-action threshold, the control module controls the self-driven module to stop. When the rightward offset of the operating handle 322 is less than the preset no-action threshold, the control module maintains the current movement of the self-driven module; when the rightward offset of the operating handle 322 is greater than the preset no-action threshold, the control module controls the self-driven module to move forward.

[0164] As an example, the operating handle 322 can be set to deviate from the neutral state in a certain operating direction between -5° and 5°, with 0° corresponding to the neutral state of the operating handle 322. The control module 4 can define the range where the deviation of the operating handle 322 from the neutral state is less than or equal to 2° as the no-action interval. That is, when the deviation of the operating handle 322 in this operating direction is between 0° and 2°, the control module 4 can control the self-drive module 2 not to output driving force or to maintain a stopped state; when the deviation of the operating handle 322 in this operating direction is greater than 2° and less than or equal to 5°, the control module 4 can recognize the deviation as a valid control input and control the self-drive module 2 to work based on the deviation direction and deviation amount.

[0165] In some embodiments, the control module 4 can set corresponding preset no-action thresholds for the first deviation direction, the second deviation direction, the third deviation direction, and the fourth deviation direction. The preset no-action thresholds for different deviation directions can be the same or different. For example, different no-action thresholds can be set for the forward and backward directions, and different no-action thresholds can be set for the left and right turns according to the control sensitivity requirements. In this way, the trigger sensitivity of the operating handle 322 in different directions can be adjusted according to the safety requirements and operating habits of different movement types.

[0166] In some embodiments, when the operating range of the operating handle 322 is constructed as an operating area similar to a two-dimensional coordinate system, the control module 4 can determine whether it has entered the effective control range based on the deviation components of the operating handle 322 in the first relative direction and the deviation components in the second relative direction. For example, when the deviation component of the operating handle 322 in the forward / backward direction is less than or equal to the corresponding preset no-action threshold, the control module 4 may not generate forward or backward control quantities; when the deviation component of the operating handle 322 in the left / right direction is less than or equal to the corresponding preset no-action threshold, the control module 4 may not generate left or right turn control quantities. If the deviation component in a certain directional dimension is greater than the corresponding preset no-action threshold, the control module 4 can generate corresponding effective control parameters based on the deviation direction and deviation amount in that directional dimension.

[0167] In other embodiments, the control module 4 can also determine whether it has entered the effective control range based on the composite deviation of the operating handle 322 relative to the neutral state. For example, when the operating handle 322 deviates in an oblique direction, the control module 4 can calculate or determine the composite deviation based on the deviation components of the operating handle 322 in two intersecting operating directions; when the composite deviation is less than or equal to a preset no-action threshold, the control module 4 can control the self-driven module 2 not to output driving force or maintain a stopped state; when the composite deviation is greater than the preset no-action threshold, the control module 4 can determine the composite motion type and its corresponding control parameters based on the directional component and deviation amount included in the oblique deviation.

[0168] This design, by setting a no-action zone near the neutral state, can filter out minor wobbling, accidental touches, or unintended inputs of the operating handle 322, reducing the risk of malfunction of the self-driven module 2. By allowing the module to enter the effective control zone after the deviation exceeds a preset no-action threshold, the control module 4 can control the self-driven module 2 only when the user has a clear intention to operate, based on the direction and amount of deviation. Therefore, it balances the sensitivity of the operating handle 322 control with its resistance to accidental touches, improving the safety, stability, and user experience of the self-driven control of garden tools.

[0169] See Figures 20 to 22In some embodiments, the control module 4 is configured to determine the target travel speed based on the deviation amount, and the target travel speed increases as the deviation amount increases.

[0170] In this embodiment, the deviation of the operating handle 322 from the neutral state can establish a correspondence with the target travel speed. This allows the deviation to not only determine whether there is a valid control input, but also to further adjust the output speed of the self-driving module 2. The greater the range of motion applied by the user to the operating handle 322, the higher the target travel speed determined by the control module 4; the smaller the range of motion applied by the user to the operating handle 322, the lower the target travel speed determined by the control module 4. This allows the travel speed of the garden tool to change with the range of motion applied by the user.

[0171] In addition, the operating handle 322 is not only a simple start-stop trigger, but can also form a speed control input similar to stepless speed regulation or graded speed regulation, so that users can adjust the traveling speed of the main body 1 by changing the deviation of the operating handle 322, thereby improving the responsiveness and precision of the self-driven control.

[0172] See Figures 20 to 22 In some embodiments, the control module 4 is configured to acquire self-driving gear information and determine a speed mapping relationship based on the self-driving gear information and the motion type. When the motion type is a forward motion type or a reverse motion type, the control module 4 is also configured to determine the target travel speed based on the deviation amount and the speed mapping relationship.

[0173] In some exemplary embodiments, the self-drive gear information can be generated by the self-drive gear control submodule 29. The self-drive gear control submodule 29 can be located on the control panel 31, operating handle 322, or other easily accessible location of the garden tool to allow the user to select different self-drive speed gears. The self-drive gear control submodule 29 may include buttons, knobs, toggle switches, touch areas, or other structures capable of outputting gear selection signals.

[0174] In some exemplary embodiments, the self-driving gear position information can also be communicated by an external operating terminal 352 connected to the control module 4. The external operating terminal 352 can be a mobile phone, tablet computer, remote control, smart wearable device, or other electronic device capable of establishing a communication connection with garden tools. The external operating terminal 352 can communicate directly or indirectly with the control module 4 via Bluetooth, Wireless Fidelity (Wi-Fi), cellular networks, Near Field Communication (NFC), or wired communication.

[0175] Specifically, the external operating terminal 352 can run a mobile terminal application, which can include a self-driving gear selection interface. Users can select gear 1, gear 2, gear 3, or other preset gear levels in this interface. In response to the user's gear selection, the external operating terminal 352 generates corresponding self-driving gear information and sends it to the control module 4. Upon receiving the self-driving gear information, the control module 4 can use this information as the current gear level to determine the speed range or speed mapping relationship of the self-driving module 2.

[0176] In some embodiments, the self-driving speed gear may include multiple gears, each gear corresponding to a speed control relationship. For example, the self-driving speed gear may include three gears, namely, gear one, gear two, and gear three.

[0177] After the control module 4 obtains the operation input information from the operating handle 322, it can first determine the motion type of the main body 1 of the equipment based on the deviation direction. If the determined motion type includes forward motion, the control module 4 can determine the speed mapping relationship under the corresponding forward gear according to the self-drive gear information; if the determined motion type includes reverse motion, the control module 4 can determine the speed mapping relationship under the corresponding reverse gear according to the self-drive gear information. It should be noted that the reverse motion can be triggered by the reverse actuation module 342, or it can be triggered by other means, such as the control panel 411, etc., which are not specifically limited in this application.

[0178] In some embodiments, the control module 4 can also be configured such that, under the same motion type, different gears correspond to different target travel speeds.

[0179] See Figure 20 and Figure 21 As an example, the self-driving gear information can include first gear, second gear, and third gear. When the motion type determined by control module 4 includes forward motion, the maximum speed in first gear can be 0.3 m / s, the maximum speed in second gear can be 0.8 m / s, and the maximum speed in third gear can be 1.1 m / s. When the determined motion type includes reverse motion, the maximum speed in first gear can be 0.25 m / s, the maximum speed in second gear can be 0.3 m / s, and the maximum speed in third gear can be 0.4 m / s.

[0180] In some embodiments, the control module 4 can also be configured such that, at the same gear, the target speed increases as the deviation increases.

[0181] See Figure 20 and Figure 21Continuing with the example above, in first gear, the deviation of the operating handle 322 in the corresponding direction is the first deviation, and the control module 4 can determine the target speed as 0.1 m / s; if the deviation is the second deviation, the control module 4 can determine the target speed as 0.2 m / s; if the deviation is the third deviation, the control module 4 can determine the target speed as 0.3 m / s. The first, second, and third deviations increase sequentially.

[0182] In this embodiment, based on the same self-driving gear, the target travel speeds corresponding to different motion types are different.

[0183] See Figure 22 Continuing with the example above, when the automatic drive gear information indicates first gear, and the motion type determined by control module 4 includes forward motion, the maximum speed of automatic drive module 2 can be 0.3 m / s. When the automatic drive gear information indicates first gear, and the motion type determined by control module 4 includes reverse motion, the maximum speed of automatic drive module 2 can be 0.25 m / s.

[0184] When the automatic drive gear information indicates second gear, and the motion type determined by the control module 4 includes forward motion, the maximum speed of the automatic drive module 2 can be 0.8 m / s. When the automatic drive gear information indicates second gear, and the motion type determined by the control module 4 includes reverse motion, the maximum speed of the automatic drive module 2 can be 0.3 m / s.

[0185] When the automatic drive gear information indicates third gear, and the motion type determined by the control module 4 includes forward motion, the maximum speed of the automatic drive module 2 can be 1.1 m / s. When the automatic drive gear information indicates third gear, and the motion type determined by the control module 4 includes reverse motion, the maximum speed of the automatic drive module 2 can be 0.4 m / s.

[0186] Velocity mapping relationships can be discrete mapping relationships (such as...) Figure 20 and Figure 21 As shown in the figure, for example, in a certain gear, the deviation can be divided into multiple deviation ranges, with different deviation ranges corresponding to different target speeds, and the relationship between the deviation and the target speed remains unchanged within the same deviation range.

[0187] The velocity mapping relationship can also be a continuous mapping relationship (such as...) Figure 22 (As shown). For example, at a certain gear, the greater the deviation, the greater the target speed; the smaller the deviation, the smaller the target speed. At this time, the control module 4 can continuously calculate the target speed according to the deviation in the corresponding speed mapping relationship, so that the speed of the main body of the device 1 changes continuously with the deviation of the operating handle 322.

[0188] In some embodiments, the control module 4 can pre-store multiple speed mapping relationships, each corresponding to a different motion type and a different self-driving gear. For example, one forward gear corresponds to a first forward speed mapping relationship, two forward gears correspond to a second forward speed mapping relationship, and three forward gears correspond to a third forward speed mapping relationship; one backward gear corresponds to a first backward speed mapping relationship, two backward gears correspond to a second backward speed mapping relationship, and three backward gears correspond to a third backward speed mapping relationship. After determining the motion type and self-driving gear information, the control module 4 can select the corresponding speed mapping relationship from the multiple speed mapping relationships and determine the target travel speed based on the current deviation.

[0189] With this design, the self-drive gear information can be used to limit or select the speed mapping relationship of the main body 1 under different motion types, while the deviation amount is used to further determine the specific target travel speed within the corresponding speed mapping relationship. Thus, users can first select a general speed range through the self-drive gear information, and then refine the target travel speed through the deviation amount of the operating handle 322. This allows the garden tool to not only meet the gear control needs under different work scenarios, but also maintain the responsiveness and continuity of the speed adjustment of the operating handle 322.

[0190] See Figure 22 Furthermore, when the self-driving gear information and the deviation amount are the same, the target speed determined by the control module 4 based on the forward motion type is greater than the target speed determined based on the reverse motion type.

[0191] Furthermore, the forward speed mapping relationship and the reverse speed mapping relationship can be differentiated by different speed limits, different mapping slopes, or different mapping curves. For example, at the same gear level, the forward speed mapping relationship can have a larger speed limit or a larger speed increase slope, while the reverse speed mapping relationship can have a smaller speed limit or a smaller speed increase slope. In this way, as the deviation of the operating handle 322 gradually increases, the target speed of the device body 1 when moving forward is always, or at least within the main deviation range, greater than the target speed of the device body 1 when moving backward.

[0192] As an example, when the self-drive gear information indicates that it is currently in first gear, if the control module 4 determines that the movement type of the main body 1 is forward based on the deviation direction of the operating handle 322, then the control module 4 can call the forward speed mapping relationship corresponding to first gear. In this forward speed mapping relationship, the maximum speed can be 0.3 m / s. If the deviation of the operating handle 322 in the forward direction is the first deviation, the control module 4 can determine the target speed as 0.1 m / s; if the deviation is the second deviation, the control module 4 can determine the target speed as 0.2 m / s; if the deviation is the third deviation, the control module 4 can determine the target speed as 0.3 m / s.

[0193] When the same self-drive gear information indicates that the current gear is first gear, if the control module 4 determines that the movement type of the main body 1 is reverse based on the deviation direction of the operating handle 322, the control module 4 can call the reverse speed mapping relationship corresponding to the first gear. In this first gear reverse speed mapping relationship, the maximum speed can be 0.25 m / s. If the deviation of the operating handle 322 in the reverse direction is the first deviation, the control module 4 can determine the target speed as 0.08 m / s; if the deviation is the second deviation, the control module 4 can determine the target speed as 0.16 m / s; if the deviation is the third deviation, the control module 4 can determine the target speed as 0.25 m / s.

[0194] Therefore, when the automatic drive gear information is all in first gear and the deviation of the operating handle 322 is the same, the target speed corresponding to the forward motion type is greater than the target speed corresponding to the reverse motion type. For example, at the first deviation, the forward motion type corresponds to 0.1 m / s, and the reverse motion type corresponds to 0.08 m / s; at the second deviation, the forward motion type corresponds to 0.2 m / s, and the reverse motion type corresponds to 0.16 m / s; at the third deviation, the forward motion type corresponds to 0.3 m / s, and the reverse motion type corresponds to 0.25 m / s.

[0195] As an example, the forward speed mapping and reverse speed mapping can also use a continuous mapping method. For instance, when the automatic transmission gear information indicates that it is currently in first gear, the forward speed mapping for first gear can be set to gradually increase the target forward speed from 0 to 0.3 m / s with the deviation amount, and the reverse speed mapping for first gear can be set to gradually increase the target reverse speed from 0 to 0.25 m / s with the deviation amount. For the same deviation amount, the target forward speed output by the forward speed mapping is greater than the target reverse speed output by the reverse speed mapping.

[0196] It should be noted that the number of gears, speed values, deviation levels, and speed mapping relationships specified above are merely examples and are not intended to limit this application. In practical applications, the control module 4 can adjust the forward speed mapping relationship and reverse speed mapping relationship under the same gear level according to the overall machine weight, the object being worked on, ground conditions, user operating habits, and safety strategies.

[0197] In this embodiment, when the self-drive gear information is the same and the deviation of the operating handle 322 is the same, by making the target speed corresponding to the forward motion type greater than the target speed corresponding to the backward motion type, the garden tool can maintain a high travel efficiency when working forward, and maintain a relatively low speed when working backward. This reduces the control risks caused by limited vision, untimely operation or changes in ground resistance during backward movement, thereby balancing work efficiency and backward safety.

[0198] See Figure 18 , Figure 23 and Figure 24 In some embodiments, at least one operating handle 322 includes a first handle 3222 and a second handle 3223. The self-driven module 2 includes a left drive motor 222 and a right drive motor 224, which are used to drive the drive wheel 21 on the left and right sides of the device body 1, respectively. The control module 4 is configured to acquire first operation input information corresponding to the first handle 3222 and second operation input information corresponding to the second handle 3223, determine control parameters for the left drive motor 222 and the right drive motor 224 based on the first operation input information and / or the second operation input information, and control the operation of the left drive motor 222 and the right drive motor 224 based on the control parameters.

[0199] Specifically, the first handle 3222 and the second handle 3223 can be respectively located on the left and right sides of the device body 1, or respectively located on the control panel 31 for the user to hold with both hands. Both the first handle 3222 and the second handle 3223 can move relative to the device body 1 within their respective operating ranges, and respectively generate corresponding operation input information. The first operation input information may include at least one of the position change information and force information of the first handle 3222, and the second operation input information may include at least one of the position change information and force information of the second handle 3223.

[0200] The left drive motor 222 can be connected to the drive wheel 21 on the left side of the main body 1, and the right drive motor 224 can be connected to the drive wheel 21 on the right side of the main body 1. The control module 4 can control the speed, direction, output torque, or start / stop status of the left drive motor 222 and the right drive motor 224 to enable the main body 1 to perform movements such as stopping, moving forward in a straight line, moving backward in a straight line, turning left, turning right, or turning in place.

[0201] In some embodiments, the control module 4 can jointly determine the control parameters of the left drive motor 222 and the right drive motor 224 based on the first operation input information and the second operation input information. For example, when both the first handle 3222 and the second handle 3223 output operation input information for the forward direction, the control module 4 can determine that the motion type of the device body 1 is linear forward movement, and determine the target speed based on the first operation input information and the second operation input information, including but not limited to fitting the first operation input information and the second operation input information through a fitting module and outputting the fitted deviation or force value; or comparing the first operation input information and the second operation input information through a selection module and outputting the selected deviation or force value according to a preset selection rule to determine the target speed; thereby controlling the left drive motor 222 and the right drive motor 224 to run at the same or substantially the same target speed.

[0202] In some embodiments, the control module 4 can also determine the control parameters of the left drive motor 222 and the right drive motor 224 based solely on one of the first and second operation input information. For example, when one of the operating handles 322 is not effectively operated, the control module 4 can determine the motion type of the device body 1 and the control parameters of the self-drive module 2 based on the effective operation input information of the other operating handle 322. In this way, the basic self-drive control capability of the garden tool can still be maintained even when the user operates with one hand or when one side of the operation input fails.

[0203] In some embodiments, the control module 4 can determine the control parameters of the left drive motor 222 and the right drive motor 224 respectively. The control parameters of the left drive motor 222 and the right drive motor 224 can be the same or different. When the control parameters are the same, the left drive wheel 21 and the right drive wheel 21 can operate with the same or substantially the same output state, enabling the main body of the equipment 1 to move in a straight line; when the control parameters are different, the left drive wheel 21 and the right drive wheel 21 can form a differential motion, enabling the main body of the equipment 1 to turn or turn in place.

[0204] For example, when both the first handle 3222 and the second handle 3223 deviate forward or downward relative to the neutral state, and the deviations are basically the same, the control module 4 can control the left drive motor 222 and the right drive motor 224 to run forward at the same target speed, causing the main body of the equipment 1 to move forward in a straight line. When both the first handle 3222 and the second handle 3223 deviate backward, and the deviations are basically the same, the control module 4 can control the left drive motor 222 and the right drive motor 224 to run in opposite directions at the same target speed, causing the main body of the equipment 1 to move backward in a straight line or stop. If the deviation of the first handle 3222 is greater than the deviation of the second handle 3223, the control module 4 can make the left drive motor 222 and the right drive motor 224 form different target speeds, thereby causing the main body of the equipment 1 to deflect to one side. If the left drive motor 222 and the right drive motor 224 are controlled to run in opposite directions, the main body of the equipment 1 can achieve a left turn or a right turn in place.

[0205] With this design, the first handle 3222 and the second handle 3223 can each generate operation input information. The control module 4 can perform synchronous or differential control on the left drive motor 222 and the right drive motor 224 based on the input information from the two handles 322. Thus, the user can intuitively control the linear movement and steering of the main body 1 by holding and operating the first handle 3222 and the second handle 3223 with both hands. Simultaneously, the left drive motor 222 and the right drive motor 224 can generate the same or different output states according to the operation inputs from both sides, improving the flexibility, stability, and precision of the garden tool's movement control.

[0206] See Figure 23 In some embodiments, the control module 4 is configured to determine target operation information based on the first operation input information and the second operation input information. The control module 4 is also configured to determine common control parameters based on the target operation information, and control the left drive motor 222 and the right drive motor 224 to operate based on the common control parameters.

[0207] Specifically, the first operational input information can be the position change information and / or force information of the first handle 3222, and the second operational input information can be the position change information and / or force information of the second handle 3223. The first and second operational input information can respectively include the deviation direction, force direction, deviation amount, or force of the corresponding handle 322. The control module 4 determines the more suitable target operational information as the basis for common control based on the first and second operational input information.

[0208] Furthermore, based on the first operation input information and the second operation input information, including but not limited to fitting the first operation input information and the second operation input information through a fitting module, and outputting the fitted deviation or force value to determine the target travel speed; or comparing the first operation input information and the second operation input information through a selection module, and outputting the selected deviation or force value according to a preset selection rule to determine the target travel speed.

[0209] Combination Figure 19 In some exemplary embodiments, the first operation input information may include a first operation vector, which represents the operation direction and deviation of the first handle 3222 relative to the neutral state. The second operation input information may include a second operation vector, which represents the operation direction and deviation of the second handle 3223 relative to the neutral state.

[0210] Both the first and second operation vectors can be located within the operation range corresponding to the operation handle 322. Specifically, this operation area can have a two-dimensional coordinate system constructed from a first deviation direction, a second deviation direction, a third deviation direction, and a fourth deviation direction. The first and second deviation directions can form one pair of opposing directions, and the third and fourth deviation directions can form another pair of opposing directions. The first deviation direction can correspond to the forward direction, the second deviation direction can correspond to the backward direction, the third deviation direction can correspond to the left turn direction, and the fourth deviation direction can correspond to the right turn direction. When the operation handle 322 is in a neutral state, it can correspond to the coordinate center of this operation area.

[0211] When the first control unit 3222 deviates from the neutral state into the region between the first deviation direction and the third deviation direction, the first operation vector can simultaneously have a component vector in the first deviation direction and a component vector in the third deviation direction. The magnitude of the component vector in the first deviation direction represents the forward deviation amount corresponding to the first control unit 3222, and the magnitude of the component vector in the third deviation direction represents the left turn deviation amount corresponding to the first control unit 3222.

[0212] When the second handle 3223 also deviates from the neutral state into the region between the first and third deviation directions, the second operation vector can simultaneously have a component vector in the first deviation direction and a component vector in the third deviation direction. Specifically, the magnitude of the component vector in the first deviation direction represents the forward deviation amount corresponding to the second handle 3223, and the magnitude of the component vector in the third deviation direction represents the left turn deviation amount corresponding to the second handle 3223.

[0213] When performing control, the control module 4 can compare the effective components of the first operation vector and the second operation vector in the same deviation direction. For example, the control module 4 can obtain the magnitude of the component vector of the first operation vector in the first deviation direction and the magnitude of the component vector of the second operation vector in the first deviation direction, and take the larger of the two as the common deviation amount in the forward direction, so as to match or calculate the target forward speed based on the common deviation amount in the forward direction.

[0214] The control module 4 can also acquire the magnitude of the component vector of the first operation vector in the third deviation direction and the magnitude of the component vector of the second operation vector in the third deviation direction, and take the larger of the two as the common deviation amount in the left turn direction, so as to match or calculate the target left turn control parameters based on the common deviation amount in the left turn direction. The target left turn control parameters may include at least one of the following: target left turn speed, speed difference between the left and right drive motors 224, torque difference between the left and right drive motors 224, or target turning radius.

[0215] When both the first handle 3222 and the second handle 3223 deviate to the left front, the control module 4 can extract the larger effective component in the forward direction and the larger effective component in the left turn direction from the two operation vectors respectively, and determine the forward control parameters and the left turn control parameters respectively, so that the main body of the equipment 1 performs the straight-through left turn action.

[0216] Similarly, when the first and second operation vectors are in the region between the first and fourth deviation directions, the control module 4 can select the larger component of the two in the first deviation direction as the common deviation amount for the forward direction, and select the larger component of the two in the fourth deviation direction as the common deviation amount for the right turn direction, so as to control the main body 1 to perform a straight-ahead right turn action. When the first and second operation vectors are in the region between the second and third deviation directions, the control module 4 can determine the target reverse speed based on the larger component in the second deviation direction, and determine the target left turn control parameters based on the larger component in the third deviation direction, so as to control the main body 1 to perform a reverse left turn action.

[0217] Similarly, when the first operation vector and the second operation vector are in the region between the first deviation direction and the fourth deviation direction, the control module 4 can fit the component in the first deviation direction (such as calculating the average) as the common deviation amount of the forward direction, and fit the component in the first deviation direction as the common deviation amount of the right turn direction, so as to control the main body of the device 1 to perform the straight right turn action.

[0218] With this design, when both the first handle 3222 and the second handle 3223 are involved in the input, the control module 4 can determine a target operation information by comparing the first operation input information and the second operation input information, and generate control parameters shared by the left drive motor 222 and the right drive motor 224 based on the target operation information. This avoids inconsistencies in the output of the left and right drive motors 224 caused by differences in the input quantities of the two handles 322, ensuring good stability of the device body 1 in synchronous control scenarios such as linear forward or linear backward movement. Simultaneously, when the input of one handle 322 is more explicit or the other handle 322 has no effective input, the control module 4 can still select the effective target operation information for control, improving the fault tolerance and operational convenience of the dual-handle self-drive control.

[0219] See Figure 24 In other embodiments, the control module 4 may also be configured to determine a first control parameter and a second control parameter based on the first operation input information and the second operation input information, respectively. The control module 4 is also configured to control the left drive motor 222 and the right drive motor 224 to operate based on the first control parameter and the second control parameter, respectively.

[0220] Specifically, the first operation input information may be the position change information and / or force information of the first handle 3222, and the second operation input information may be the position change information and / or force information of the second handle 3223. The first operation input information may include at least one of the following: the deviation direction, deviation amount, force direction, and force magnitude of the first handle 3222 relative to the neutral state; the second operation input information may include at least one of the following: the deviation direction, deviation amount, force direction, and force magnitude of the second handle 3223 relative to the neutral state.

[0221] In some exemplary embodiments, the first handle 3222 may correspond to the left drive motor 222, and the second handle 3223 may correspond to the right drive motor 224. The control module 4 may determine a first control parameter based on the first operation input information of the first handle 3222, and control the left drive motor 222 to operate based on the first control parameter; the control module 4 may also determine a second control parameter based on the second operation input information of the second handle 3223, and control the right drive motor 224 to operate based on the second control parameter. The first control parameter and the second control parameter may respectively include at least one of target rotational speed, target speed, target torque, target acceleration, target braking force, and target steering output.

[0222] In some exemplary embodiments, the first control parameter and the second control parameter can be the same or different. When the first operation input information and the second operation input information are substantially consistent, it can be understood that "substantially consistent" or "substantially the same" is defined as a form in which the first operation input information and the second operation input information, although different, fall within the same range of control input information. This application does not impose specific limitations on the setting form. The control module 4 can determine that the first control parameter and the second control parameter are substantially consistent, thereby controlling the left drive motor 222 and the right drive motor 224 to operate in the same or substantially the same output state, so that the main body of the device 1 moves forward or backward in a straight line. When the first operation input information and the second operation input information are different, the control module 4 can determine that the first control parameter and the second control parameter are different, thereby controlling the left drive motor 222 and the right drive motor 224 to form a differential output, so that the main body of the device 1 performs a left turn, a right turn, or a compound steering action.

[0223] As an example, when both the first handle 3222 and the second handle 3223 deviate forward relative to the neutral state, and the amount of deviation is the same or substantially the same, the control module 4 can determine the same or substantially the same target forward speed based on the first operation input information and the second operation input information, and control the left drive motor 222 and the right drive motor 224 to run forward at the same or substantially the same speed, so that the main body of the equipment 1 moves forward in a straight line.

[0224] As another example, when both the first handle 3222 and the second handle 3223 deviate forward from the neutral state, but the deviation of the first handle 3222 is greater than that of the second handle 3223, the control module 4 can determine a larger first control parameter based on the larger first operation input information and a smaller second control parameter based on the smaller second operation input information. In this case, the output speed of the left drive motor 222 can be greater than the output speed of the right drive motor 224, causing the main body of the equipment 1 to turn to one side during forward movement. Conversely, when the deviation of the second handle 3223 is greater than that of the first handle 3222, the output speed of the right drive motor 224 can be greater than the output speed of the left drive motor 222, causing the main body of the equipment 1 to turn to the other side.

[0225] In some embodiments, when the first operation input information and the second operation input information correspond to opposite operational intentions, the control module 4 can also control the left drive motor 222 and the right drive motor 224 to run in different directions based on the first control parameters and the second control parameters, respectively. For example, when the first handle 3222 corresponds to the forward direction input and the second handle 3223 corresponds to the reverse direction input, the control module 4 can control the left drive motor 222 to run forward and control the right drive motor 224 to run in reverse, thereby enabling the device body 1 to perform in-place turning or small-radius turning. Similarly, the left drive motor 222 can be controlled to run in reverse and the right drive motor 224 to run forward to achieve in-place turning in opposite directions.

[0226] With this design, the control module 4 can determine the control parameters of the left drive motor 222 and the right drive motor 224 based on the inputs of the first handle 3222 and the second handle 3223, respectively. This allows the left and right drive motors to be independently controlled according to the operating state of the corresponding side handle 322. Therefore, when the operating inputs on both sides are consistent, the garden tool can move stably in a straight line; when the operating inputs on both sides differ, the garden tool can turn or turn on the spot through the differential output of the left and right drive motors 224, thereby improving the walking flexibility, steering responsiveness, and control precision under dual-handle operation.

[0227] In some embodiments, the control module 4 has a first control mode and a second control mode. In the first control mode, the left drive motor 222 and the right drive motor 224 share a single control parameter; in the second control mode, the left drive motor 222 and the right drive motor 224 determine their control parameters based on the deviation information of the corresponding side operating handle 322.

[0228] Specifically, the first control mode can be understood as a synchronous control mode. In the first control mode, the control module 4 can determine a common control parameter based on the operation input information of at least one of the first handle 3222 and the second handle 3223, and control the left drive motor 222 and the right drive motor 224 to work based on the common control parameter. The common control parameter may include at least one of common target speed, common target rotational speed, common target torque, common acceleration, or common braking force. Under the common control parameter, the left drive motor 222 and the right drive motor 224 can operate with the same or substantially the same output state, thereby driving the main body of the equipment 1 to move forward or backward in a straight line.

[0229] For example, when both the first handle 3222 and the second handle 3223 deviate forward or downward, but not left or right, and the control module 4 determines that the user primarily wants the main body of the equipment 1 to move in a straight line, the control module 4 can enter the first control mode. In this mode, the control module 4 can determine a common target forward speed based on the larger forward deviation, the average forward deviation, or the forward deviation that meets preset conditions among the first handle 3222 and the second handle 3223, and control both the left drive motor 222 and the right drive motor 224 to operate at this common target forward speed. In this way, even if there is a slight difference in the amount of forward or downward deviation of the two operating handles 322, it will not directly cause a significant difference in the output of the left and right drive motors 224, which is beneficial for the main body of the equipment 1 to maintain straight-line movement.

[0230] The second control mode can be understood as a split-side control mode or a differential control mode. In this mode, the control module 4 can determine the control parameters of the left drive motor 222 based on the deviation information of the first handle 3222, and determine the control parameters of the right drive motor 224 based on the deviation information of the second handle 3223. The deviation information of the first handle 3222 can include the direction and amount of deviation of the first handle 3222 relative to the neutral state, and the deviation information of the second handle 3223 can include the direction and amount of deviation of the second handle 3223 relative to the neutral state. The left drive motor 222 and the right drive motor 224 operate according to the deviation information of their respective side handles 322, allowing the drive outputs on both sides to be the same or different.

[0231] For example, when both the first handle 3222 and the second handle 3223 deviate forward, but the deviation of the first handle 3222 is significantly greater than that of the second handle 3223, the control module 4 in the second control mode can determine a larger target speed for the left drive motor 222 based on the deviation of the first handle 3222, and a smaller target speed for the right drive motor 224 based on the deviation of the second handle 3223, thereby causing the main body of the equipment 1 to turn to one side during forward movement. As another example, when the first handle 3222 corresponds to the forward direction input and the second handle 3223 corresponds to the reverse direction input, the control module 4 can control the left drive motor 222 to run forward and the right drive motor 224 to run in reverse, respectively, so that the main body of the equipment 1 can perform a turn in place or a small-radius turn.

[0232] In some embodiments, the first control mode can be applied to scenarios involving straight forward movement, straight backward movement, or scenarios requiring synchronous output from the left and right drive motors 224. The second control mode can be applied to scenarios involving stationary turning, differential steering, obstacle avoidance, or scenarios requiring separate output from the left and right drive motors 224. The control module 4 can switch between the first and second control modes based on user selection, the input state of the operating handle 322, the difference between the inputs on both sides, the current motion type, or a preset control strategy.

[0233] In some embodiments, when the first handlebar 3222 and the second handlebar 3223 deviate in the same direction and the difference in their deviation amounts is basically the same, the control module 4 can adopt a first control mode to improve the stability of straight-line travel; when the first handlebar 3222 and the second handlebar 3223 deviate in different directions or the difference in their deviation amounts is large, the control module 4 can adopt a second control mode to enable the left and right drive motors 224 to form a differential output to meet the steering or stationary steering control requirements.

[0234] With this design, the control module 4 can adapt between synchronous output and separate output from the left and right drive motors 224 by setting a first control mode and a second control mode. In the first control mode, the left drive motor 222 and the right drive motor 224 share a single control parameter, which helps reduce the impact of slight differences in the input from both sides on straight-line stability. In the second control mode, the left drive motor 222 and the right drive motor 224 determine their control parameters based on the deviation information of the corresponding side handle 322, which facilitates differential steering, stationary steering, or more precise independent left and right control. Thus, both straight-line stability and steering maneuverability can be balanced.

[0235] Furthermore, control module 4 is configured to determine a first candidate control parameter based on the first operation input information, and to determine a second candidate control parameter based on the second operation input information. Control module 4 is also configured to determine the parameter difference between the first candidate control parameter and the second candidate control parameter. When the parameter difference is within a preset threshold range, control module 4 switches to a first control mode; when the parameter difference exceeds the preset threshold range, control module 4 switches to a second control mode.

[0236] Specifically, the first candidate control parameter can be a control parameter initially determined by the control module 4 based on the first operation input information of the first handle 3222, and the second candidate control parameter can be a control parameter initially determined by the control module 4 based on the second operation input information of the second handle 3223. The first and second candidate control parameters can include at least one of the following: candidate target speed, candidate target rotational speed, candidate target torque, candidate acceleration, candidate braking force, or candidate steering control quantity.

[0237] In some embodiments, the control module 4 can first determine the motion type corresponding to the first operation input information based on the deviation direction of the first handle 3222, and determine the first candidate control parameter based on the deviation amount of the first handle 3222. Simultaneously, the control module 4 can determine the motion type corresponding to the second operation input information based on the deviation direction of the second handle 3223, and determine the second candidate control parameter based on the deviation amount of the second handle 3223. Subsequently, the control module 4 compares the first candidate control parameter and the second candidate control parameter to determine whether the current control intensity input by the two handles 322 is close.

[0238] In some embodiments, the parameter difference can be the absolute value of the difference between the first candidate control parameter and the second candidate control parameter. For example, when both the first and second candidate control parameters are target speeds, the parameter difference can be the speed difference between the first and second candidate target speeds; when both the first and second candidate control parameters are target rotational speeds, the parameter difference can be the rotational speed difference between the first and second candidate target rotational speeds; when both the first and second candidate control parameters are target torques, the parameter difference can be the torque difference between the first and second candidate target torques.

[0239] When the parameter difference is within a preset threshold range, it indicates that the control strength corresponding to the first handle 3222 and the second handle 3223 is similar, and the user is more likely to want the main body of the device 1 to maintain a straight forward, straight backward, or synchronous output on both sides. At this time, the control module 4 can switch to the first control mode, so that the left drive motor 222 and the right drive motor 224 share a control parameter. This shared control parameter can be the larger of the first candidate control parameter and the second candidate control parameter, the smaller of the two, the average value, the weighted average value, or one that meets a preset rule.

[0240] For example, if both the first handle 3222 and the second handle 3223 deviate forward, the control module 4 determines the first candidate target speed as 0.28 m / s based on the first operation input information and the second candidate target speed as 0.30 m / s based on the second operation input information. If the preset threshold is 0.05 m / s, the parameter difference between the two is 0.02 m / s, which is less than the preset threshold. At this time, the control module 4 can switch to the first control mode and determine a common target speed, such as 0.30 m / s or the average of the two, 0.29 m / s, to control the left drive motor 222 and the right drive motor 224 to run synchronously.

[0241] When the parameter difference exceeds the preset threshold range, it indicates a significant difference in control strength between the first handlebar 3222 and the second handlebar 3223. The user may prefer differential output from the left and right drive motors, or it may be more suitable to perform steering, small-radius steering, or stationary steering. In this case, the control module 4 can switch to the second control mode, allowing the left drive motor 222 and the right drive motor 224 to determine control parameters based on the deviation information of the corresponding handlebar 322.

[0242] For example, both the first handle 3222 and the second handle 3223 deviate forward, but the control module 4 determines the first candidate target speed to be 0.6 m / s based on the first operation input information and the second candidate target speed to be 0.2 m / s based on the second operation input information. If the preset threshold is 0.1 m / s, the parameter difference between the two is 0.4 m / s, which exceeds the preset threshold range. At this time, the control module 4 can switch to the second control mode and control the left drive motor 222 and the right drive motor 224 based on the first candidate target speed and the second candidate target speed, respectively, so that the main body of the equipment 1 produces differential motion.

[0243] In some embodiments, the preset threshold can be adjusted based on the motion type, self-driving gear information, the current speed of the device body 1, or the operating condition. For example, in low-speed gears, the preset threshold range can be set smaller to improve steering response sensitivity; in high-speed gears, the preset threshold range can be set larger to reduce the possibility of slight input differences causing the device body 1 to yaw. Furthermore, in straight-line driving conditions, the preset threshold range can be set larger to improve straight-line stability; in steering conditions, the preset threshold range can be set smaller to allow for more timely entry into the second control mode.

[0244] With this design, control module 4 can automatically determine whether the inputs on both sides are close based on the parameter difference between the first and second candidate control parameters. When the inputs are close, control module 4 switches to the first control mode, allowing the left drive motor 222 and the right drive motor 224 to share a single control parameter, thereby improving straight-line stability. When the inputs differ significantly, control module 4 switches to the second control mode, allowing the left and right drive motors 224 to be controlled separately, thus achieving differential steering or more flexible steering control. Therefore, even with natural differences in the inputs from the two handlebars, both synchronous driving stability and steering maneuverability can be balanced.

[0245] See Figure 18In some embodiments, the garden tool further includes a user operation module configured to generate mode selection information in response to user operation. The control module 4 is configured to switch between a first control mode and a second control mode based on the mode selection information. The user operation module includes a local operating component 350 disposed on the garden tool and / or an external operating terminal 352 communicatively connected to the control module 4. The local operating component 350 includes at least one of buttons, a touchscreen, a knob, and a toggle switch, and the external operating terminal 352 runs a mobile terminal application.

[0246] Specifically, the first control mode can be a synchronous control mode, in which the left drive motor 222 and the right drive motor 224 share a single control parameter to improve the stability of the main body 1 when moving forward or backward in a straight line. The second control mode can be a separate control mode or a differential control mode, in which the left drive motor 222 and the right drive motor 224 determine control parameters based on the deviation information of the corresponding side operating handle 322, so that the main body 1 can perform differential steering, stationary steering, or independent left and right control.

[0247] In some embodiments, the local operating component 350 can be mounted on the console 31, the operating handle 322, or the main body of the device 1. Users can generate corresponding mode selection information by pressing buttons, rotating knobs, toggling switches, or selecting mode options on the touchscreen. After receiving the mode selection information, the control module 4 can switch the current control mode to either the first control mode or the second control mode.

[0248] In some embodiments, the external operating terminal 352 can be a mobile phone, tablet computer, device control panel, remote control, or smart wearable device, and can communicate with the control module 4 via Bluetooth, Wireless Fidelity (Wi-Fi), cellular network, Near Field Communication (NFC), or wired communication. The external operating terminal 352 can run a mobile terminal application, and the user can select a first control mode or a second control mode in the mode selection interface of the mobile terminal application. In response to the user's selection, the external operating terminal 352 generates mode selection information and sends it to the control module 4.

[0249] This design allows users to actively select either the first or second control mode based on actual operational needs, ensuring the garden tool maintains good stability during straight-line movement while offering high maneuverability when turning or requiring independent left / right control. Furthermore, the mode selection interface provided through the onboard operator 350 and / or the external operator terminal 352 enhances the convenience and adaptability of control mode switching.

[0250] See Figure 5 and Figure 18 In some embodiments, the garden tool further includes a backward actuation module 342, which is electrically connected to the control module 4. The control module 4 is configured to control the self-driven module 2 to perform backward operation based on the pose information or force information of the operating handle 322 when the backward actuation module 342 is triggered.

[0251] Specifically, the reverse actuation module 342 can be located on the operating handle 322, the control console 31, or the main body of the device 1 in a position convenient for user operation. The reverse actuation module 342 can be a button, toggle switch, trigger, touch switch, or other structure capable of responding to user operation and outputting a trigger signal. After the user triggers the reverse actuation module 342, the reverse actuation module 342 can output a reverse trigger signal to the control module 4. After receiving the reverse trigger signal, the control module 4 can enter the reverse control state or enable the reverse control input.

[0252] In some embodiments, after the reversing actuation module 342 is triggered, the control module 4 does not directly control the self-driven module 2 to reverse at a fixed speed based solely on the triggering state of the reversing actuation module 342. Instead, it further combines the pose information or force information of the operating handle 322 to determine the control parameters for reversing operation. The pose information here may include at least one of the following: the deviation direction, deviation amount, rotation angle, displacement amount, or tilt state of the operating handle 322 relative to the neutral state; the force information may include at least one of the following: the force direction, pressure value, tension value, or force magnitude of the operating handle 322 in the reversing direction.

[0253] For example, after the user triggers the reverse actuation module 342, the control module 4 determines that the self-drive module 2 has entered the reverse working state based on the reverse actuation module 342, and determines the target reverse speed, target rotational speed, or target torque based on the amount of deviation of the operating handle 322 in the forward or downward direction. The larger the deviation, the greater the target reverse speed or target output intensity; the smaller the deviation, the smaller the target reverse speed or target output intensity.

[0254] For example, after the user triggers the reverse actuation module 342, if the control module 4 detects that the user has applied a backward pulling force or a force in the reverse direction to the operating handle 322, the control module 4 can determine that the user intends to reverse based on the direction of the force, and determine the reverse control parameters of the self-drive module 2 based on the magnitude of the force. The greater the force, the greater the target reverse speed, target torque, or auxiliary reverse output determined by the control module 4; the smaller the force, the smaller the reverse output determined by the control module 4.

[0255] For example, before the user triggers the reverse actuation module 342, the control module 4 determines the target forward speed based on the deviation direction and amount of the operating handle 322, and drives the self-drive module 2 forward according to the target forward speed. When the user triggers the reverse actuation module 342, the control module 4 controls the self-drive module 2 to gradually stop, and then controls the self-drive module 2 to move backward according to the deviation amount of the operating handle 322. That is, after the reverse actuation module 342 is triggered, the movement type corresponding to the deviation direction of the operating handle 322 can be adjusted to reverse. It should be noted that when the deviation amount before and after the triggering of the reverse actuation module 342 remains unchanged, the forward speed before triggering can be greater than the backward speed after triggering, or the forward speed before triggering can be less than the backward speed after triggering.

[0256] In some embodiments, the reversing actuation module 342 can also serve as a safety confirmation condition for reversing control. That is, the control module 4 only allows the self-driven module 2 to reverse based on the pose or force information of the operating handle 322 if the reversing actuation module 342 is triggered. If the reversing actuation module 342 is not triggered, even if the operating handle 322 produces an action consistent with the reversing type, the control module 4 may not control the self-driven module 2 to reverse, or may identify the input as invalid. This reduces the risk of the device body 1 accidentally reversing due to the user accidentally pulling or touching the operating handle 322.

[0257] In some embodiments, the control module 4 may only control the self-drive module 2 to perform the backward movement when the backward movement module 342 is triggered and the pose information or force information of the operating handle 322 meets preset conditions. For example, the control module 4 generates backward movement control parameters only when the backward deviation of the operating handle 322 is greater than a preset no-action threshold, or when the force value of the operating handle 322 in the backward direction is greater than a preset force threshold; if the backward deviation or force value of the operating handle 322 is less than or equal to the corresponding threshold, the control module 4 may control the self-drive module 2 not to output driving force or to maintain a stopped state.

[0258] See Figure 25 This application also provides a controller 500 for garden tools. The controller 500 may include a processor 510 and a memory 520, the memory 520 storing instructions executable by the processor 510. When the processor 510 executes the instructions, the controller 500 can perform a drive control method for garden tools based on any of the above embodiments.

[0259] In some embodiments, the controller 500 may constitute at least a part of the structure of the control module 4. That is, the various control logics executed by the control module 4 can be implemented by the processor 510 in the controller 500 executing corresponding instructions. For example, the controller 500 can obtain position change information or force information of the operating handle 322 through the detection module 10, determine the motion type of the device body 1 and the control parameters of the self-drive module 2 based on the information, and output the corresponding control instructions to the self-drive module 2.

[0260] In other embodiments, the control module 4 may also include multiple controllers 500 or multiple control units. For example, the control module 4 may include a first controller disposed within the control module 3 and a second controller disposed within the device body 1. The first controller is used to acquire operation input information from the operating handle 322, and the second controller is used to control the operation of the self-driven module 2 according to the operation input information. The first controller and the second controller can communicate with each other via wired or wireless means. Thus, the control module 4 can be implemented centrally using a single controller 500 or distributedly using multiple controllers 500, and this application does not limit this.

[0261] See Figure 26 In some embodiments, the drive control method may include the following steps: Step S110: Obtain the position change information of the operating handle 322.

[0262] Step S120: Determine the motion type of the main body 1 and the control parameters of the self-driving module 2 based on the position change information.

[0263] Step S130: Control the self-driven module 2 to run according to the motion type and control parameters.

[0264] In step S110, the position change information may include at least one of the following: position change direction, position change amount, rotation direction, rotation angle, deviation direction, and deviation amount of the operating handle 322 relative to the device body 1, in a neutral state, or in an initial position.

[0265] In step S120, the motion type may include at least one of forward, backward, stop, straight-ahead left turn, straight-ahead right turn, stationary left turn, and stationary right turn. The control parameters of the self-drive module 2 may include at least one of the following: target travel speed, target rotational speed, target torque, target acceleration, the speed difference between the left and right drive wheels 21, and the torque difference between the left and right drive motors 224.

[0266] During the execution of step S120, the motion type of the main body 1 can be determined first based on the directional information in the position change information, and then the control parameters of the self-drive module 2 can be determined based on the amplitude information in the position change information. For example, when the operating handle 322 deviates forward, the motion type of the main body 1 can be determined to be forward, and the target forward speed can be determined based on the forward deviation amount; when the operating handle 322 deviates to the left, the motion type of the main body 1 can be determined to be left turn, and the steering control parameters can be determined based on the left deviation amount. In this way, the user can input the motion intention and output intensity of the main body 1 through the position change of the operating handle 322, which improves the intuitiveness, convenience and walking control flexibility of the self-drive operation of garden tools.

[0267] In some embodiments, the operating handle 322 has a neutral state and multiple deviation states relative to the neutral state, deviating in multiple different directions. The position change information includes the deviation direction and deviation amount of the deviation state. The step of determining the motion type of the device body 1 and the control parameters of the self-driving module 2 based on the position change information may include: determining the motion type of the device body 1 based on the deviation direction, and determining the control parameters of the self-driving module 2 based on the deviation amount.

[0268] Specifically, the neutral state can serve as a benchmark for judging the position change of the operating handle 322. When the operating handle 322 deviates from the neutral state in different directions, corresponding deviation directions and deviation amounts can be generated. The deviation direction is used to characterize the type of motion that the user expects the main body of the device to perform, and the deviation amount is used to characterize the control intensity that the user expects the self-driven module 2 to output. In this way, the control process can use the operating direction and operating amplitude to determine the motion type and control parameters, respectively, so that the operating state of the operating handle 322 and the motion state of the main body of the device 1 form a direct correspondence.

[0269] In some embodiments, the step of determining the motion type of the device body 1 based on the deviation direction may include: determining the motion type corresponding to the current deviation direction according to a preset correspondence between the deviation direction and the motion type. The motion type includes at least one of forward, backward, stop, straight left turn, straight right turn, stationary left turn, and stationary right turn.

[0270] Specifically, the control module 4 can pre-store the correspondence between deviation direction and motion type. For example, the first deviation direction can correspond to forward movement, the second deviation direction can correspond to backward movement, the third deviation direction can correspond to left turn, and the fourth deviation direction can correspond to right turn. When the operating handle 322 deviates from the area between two adjacent deviation directions, the composite motion type can also be determined based on its components in the two directions. Thus, the deviation direction of the operating handle 322 can be converted into the motion type of the device body 1 through the preset correspondence.

[0271] In some embodiments, the step of determining the control parameters of the self-driving module 2 based on the deviation amount may include: generating invalid control parameters, stopping control parameters, or not outputting control parameters when the deviation amount is less than or equal to a preset no-action threshold; and generating valid control parameters based on the deviation direction and the deviation amount when the deviation amount is greater than the preset no-action threshold.

[0272] Specifically, the neutral state of the operating handle 322 can be used as a reference to set a no-action zone and an effective control zone. The no-action zone corresponds to a deviation amount less than or equal to a preset no-action threshold, while the effective control zone corresponds to a deviation amount greater than the preset no-action threshold. When the deviation amount is within the no-action zone, it can be considered as a slight wobbling, accidental contact, or unintended input, and therefore the self-driven module 2 is not controlled to output driving force or is kept in a stopped state. When the deviation amount enters the effective control zone, corresponding effective control parameters are generated based on the deviation direction and amount, thereby reducing the risk of false triggering.

[0273] In some embodiments, the step of determining the control parameters of the self-driving module 2 based on the deviation may include: determining the target travel speed based on the deviation, wherein the target travel speed increases as the deviation increases.

[0274] Specifically, the deviation can be used not only to determine the presence of a valid control input, but also to determine the target travel speed. A smaller deviation results in a lower target travel speed, while a larger deviation results in a higher target travel speed. This target travel speed can be calculated through a continuous mapping relationship, or it can be obtained by matching discrete speed settings or deviation ranges. Therefore, the user can adjust the travel speed of the main body 1 by changing the deviation of the operating handle 322, improving the responsiveness and precision of the self-driven control.

[0275] In some embodiments, the drive control method may further include: acquiring self-drive gear information; determining a speed mapping relationship based on the self-drive gear information and the motion type; and determining a target speed based on the deviation amount and the speed mapping relationship.

[0276] Specifically, the self-drive gear information can represent the currently selected gear level, such as first gear, second gear, or third gear. This self-drive gear information can be generated by the self-drive gear control submodule 29 or by an external operating terminal 352 that communicates with the control module 4. It should be noted that the self-drive gear information is primarily used to represent the speed level or speed range; it does not directly represent the forward or reverse motion type itself. The motion type of the main body 1 can still be determined by the deviation direction.

[0277] During execution, the motion type can be determined first based on the direction of deviation, and then the corresponding speed mapping relationship can be determined by combining the automatic transmission gear information. For example, if the automatic transmission gear information indicates first gear and the motion type is forward, the forward speed mapping relationship corresponding to first gear can be called; if the automatic transmission gear information indicates first gear and the motion type is reverse, the reverse speed mapping relationship corresponding to first gear can be called. Subsequently, the target speed is determined based on the deviation amount in the corresponding speed mapping relationship. Thus, the automatic transmission gear information is used to select a general speed range, and the deviation amount is used to further determine the specific target speed within that speed range.

[0278] In some embodiments, the motion type includes forward motion type and reverse motion type. When the automatic transmission gear information and deviation amount are the same, the target speed determined based on the forward motion type is greater than the target speed determined based on the reverse motion type.

[0279] Specifically, within the same gear level, forward speed mapping relationships and reverse speed mapping relationships can be set separately, ensuring that the target speed output by the forward speed mapping relationship is generally greater than the target speed output by the reverse speed mapping relationship. For example, within the same gear level, the forward speed mapping relationship can have a larger speed upper limit or a larger speed increase slope, while the reverse speed mapping relationship can have a smaller speed upper limit or a smaller speed increase slope. Thus, under the same gear level and the same deviation, the forward speed is greater than the reverse speed, making the garden tool more efficient when operating forward, while maintaining a relatively low speed when reversing, improving the safety and stability of the reversing process.

[0280] In some embodiments, the control module 3 includes a first handle 3222 and a second handle 3223, and the self-drive module 2 includes a left drive motor 222 and a right drive motor 224. The drive control method may further include: acquiring first operation input information corresponding to the first handle 3222 and second operation input information corresponding to the second handle 3223; determining control parameters of the self-drive module 2 based on the first operation input information and / or the second operation input information; and controlling the left drive motor 222 and the right drive motor 224 to operate based on the control parameters.

[0281] Specifically, the first operation input information may include position change information and / or force information of the first handle 3222, and the second operation input information may include position change information and / or force information of the second handle 3223. The control module 4 can determine the control parameters of the left drive motor 222 and the right drive motor 224 based on the first and second operation input information, or it can determine the control parameters based on only one of them. The left drive motor 222 and the right drive motor 224 can operate synchronously with the same control parameters, or they can form a differential output with different control parameters, thereby realizing straight-line movement, turning, or turning on the spot.

[0282] In some embodiments, the step of determining the control parameters of the self-driven module 2 based on the first operation input information and / or the second operation input information may include: comparing the first operation input information and the second operation input information, and determining target operation information from the first operation input information and the second operation input information according to the comparison result; determining common control parameters based on the target operation information, and controlling the left drive motor 222 and the right drive motor 224 to work based on the common control parameters.

[0283] Specifically, the motion type, deviation, force magnitude, or operation intensity corresponding to the first and second operation input information can be compared. When both correspond to the same or similar motion intentions, the input with the larger value, the input with the smaller value, the average value, or the one that meets preset rules can be selected as the target operation information, and shared control parameters can be determined based on the target operation information. The shared control parameters can be a common target speed, a common target rotational speed, or a common target torque. In this way, in scenarios requiring synchronous output from both sides, the impact of differences in the input from the two handlebars on the stability of straight-line travel can be reduced.

[0284] In some embodiments, the first operation input information may include a first operation vector, and the second operation input information may include a second operation vector. The first operation vector represents the operation direction and deviation of the first handle 3222 relative to the neutral state, and the second operation vector represents the operation direction and deviation of the second handle 3223 relative to the neutral state. The first deviation direction and the second deviation direction can form a pair of relative directions, and the third deviation direction and the fourth deviation direction can form another pair of relative directions. The four deviation directions together define an operation area similar to two-dimensional coordinates.

[0285] When both the first and second operation vectors are located within the region between the first and third deviation directions, both can be decomposed into component vectors in the first and third deviation directions. During control, the larger magnitude of the component vectors in the first deviation direction can be selected as the common deviation amount for the forward direction, and the target forward speed can be matched accordingly. Similarly, the larger magnitude of the component vectors in the third deviation direction can be selected as the common deviation amount for the left turn direction, and the target left turn control parameters can be matched accordingly. Therefore, the forward control and steering control quantities can be extracted separately during combined deviation with dual handlebars.

[0286] In some embodiments, the step of determining the control parameters of the self-driven module 2 based on the first operation input information and / or the second operation input information may include: determining the first control parameter and the second control parameter based on the first operation input information and the second operation input information, respectively. The step of controlling the operation of the left drive motor 222 and the right drive motor 224 based on the control parameters may include: controlling the left drive motor 222 and the right drive motor 224 to operate based on the first control parameter and the second control parameter, respectively.

[0287] Specifically, the first control parameter can be used to control the left drive motor 222, and the second control parameter can be used to control the right drive motor 224. The first control parameter and the second control parameter can be the same or different. When the first operation input information and the second operation input information are basically the same, the left drive motor 222 and the right drive motor 224 can operate with the same or basically the same output state, causing the main body of the equipment 1 to move forward or backward in a straight line. When there is a difference between the first operation input information and the second operation input information, the left drive motor 222 and the right drive motor 224 can form a differential output, causing the main body of the equipment 1 to perform steering or turning in place.

[0288] In some embodiments, the drive control method may further include: determining a first control mode or a second control mode; in the first control mode, enabling the left drive motor 222 and the right drive motor 224 to share a single control parameter; in the second control mode, determining the control parameter of the left drive motor 222 based on first operation input information, and determining the control parameter of the right drive motor 224 based on second operation input information.

[0289] Specifically, the first control mode can be a synchronous control mode, suitable for straight forward and backward movement, or scenarios requiring synchronous output from the left and right drive motors 224. The second control mode can be a separate control mode or a differential control mode, suitable for differential steering, stationary steering, or independent left and right control scenarios. By switching between the first and second control modes, both straight-line stability and steering maneuverability can be balanced.

[0290] In some embodiments, the step of determining a first control mode or a second control mode may include: determining a first candidate control parameter based on first operation input information, and determining a second candidate control parameter based on second operation input information; determining the parameter difference between the first candidate control parameter and the second candidate control parameter; determining the first control mode when the parameter difference is within a preset threshold range; and determining the second control mode when the parameter difference exceeds the preset threshold range.

[0291] Specifically, the first and second candidate control parameters can be candidate target speed, candidate target rotational speed, or candidate target torque. The parameter difference can be the absolute value of the difference between the two. When the parameter difference is small, it indicates that the operating inputs on both sides are relatively close, and the first control mode can be used to allow the left and right drive motors 224 to share a single control parameter, thereby improving straight-line stability. When the parameter difference is large, it indicates that the operating inputs on both sides are significantly different, and the second control mode can be used to allow the left and right drive motors 224 to be controlled separately, thereby achieving differential steering or more flexible independent control of the left and right sides.

[0292] In some embodiments, the step of determining the first control mode or the second control mode may further include: acquiring mode selection information generated in response to user operation; and switching between the first control mode and the second control mode based on the mode selection information. The mode selection information may be generated by a local operating device 350 installed on the garden tool or by an external operating terminal 352 communicatively connected to the garden tool.

[0293] Specifically, the local operating unit 350 may include at least one of buttons, a touch screen, a knob, and a toggle switch. The external operating terminal 352 may be a mobile phone, tablet, remote control, or smart wearable device, and may run a mobile terminal application. Users can select a first control mode or a second control mode through the local operating unit 350 or the external operating terminal 352, and the control module 4 switches the corresponding control mode according to the mode selection information. Thus, users can actively select synchronous control or separate control based on the work scenario, ground conditions, or personal operating habits, improving the adaptability and ease of use of the drive control method.

[0294] See Figure 27 In one embodiment of this application, the driving control method for the garden tool may further be performed according to the following steps: Step S210: Obtain the first operation input information of the first handle 3222 and the second operation input information of the second handle 3223. The operation input information includes the deviation direction and deviation amount of the operation handle 322 relative to the neutral state.

[0295] Step S211: Determine whether the deviation of the first handle 3222 is greater than the preset no-action threshold, and determine whether the deviation of the second handle 3223 is greater than the preset no-action threshold.

[0296] If the result of step S211 is negative, proceed to step S213. If the result of step S211 is positive, proceed to step S214.

[0297] Step S213: Output driving force or maintain the stopped state.

[0298] Step S214: Determine the first candidate control parameter based on the first operation input information, and determine the first candidate control parameter based on the second operation input information.

[0299] Step S214 is followed by step S215. Step S215: Determine whether the parameter difference between the first candidate control parameter and the second candidate control parameter is greater than a preset threshold.

[0300] If the result of step S215 is negative, proceed to steps S216 and S217 in sequence. If the result of step S215 is positive, proceed to steps S218 and S219 in sequence.

[0301] Step S216: Determine the target operation information based on the first operation input information and the second operation input information.

[0302] Step S217: Determine common control parameters based on the target operation information and control the left drive motor 222 and the right drive motor 224 to work based on the common control parameters.

[0303] Step S218: Determine the first control parameter and the second control parameter based on the first operation input information and the second operation input information, respectively.

[0304] Step S219: Control the left drive motor 222 and the right drive motor 224 to work based on the first control parameter and the second control parameter respectively.

[0305] This application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program or instructions, which, when executed by the processor 510, implement the drive control method in any of the foregoing embodiments.

[0306] Specifically, the computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may, for example, include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory 520 (RAM), read-only memory 520 (ROM), erasable programmable read-only memory 520 (EPROM or flash memory), optical fiber, portable compact disk read-only memory 520 (CD-ROM), optical storage device 520, magnetic storage device 520, or any suitable combination thereof.

[0307] This application also provides a computer program product. The computer program product includes a computer program or instructions, which, when executed by the processor 510, implement the drive control method in any of the foregoing embodiments.

[0308] The drive control method described in the above embodiments can be implemented entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software programs, it can be implemented entirely or partially in the form of a computer program product. This computer program product includes one or more computer-executable instructions. When these computer-executable instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer-executable instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer-executable instructions can be transmitted from one website, computer, server, or data center to another via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means.

[0309] It should be noted that the terms "one embodiment," "embodiment," "exemplary embodiment," "some embodiments," etc., mentioned in the specification indicate that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Moreover, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not, is within the knowledge scope of those skilled in the art.

[0310] Generally speaking, terms should be understood at least in part by their use in context. For example, at least in part by context, the term "one or more" as used in the text can be used to describe any feature, structure, or characteristic of the singular meaning, or a combination of features, structures, or characteristics of the plural meaning. Similarly, at least in part by context, terms such as "a" or "the" can also be understood to convey either singular or plural usage.

[0311] It should be readily understood that the terms “on,” “above,” and “on top of” in this application should be interpreted in the broadest possible sense, such that “on” means not only “directly on something” but also “on something” with an intermediate feature or layer therebetween, and that “above” or “on top of” means not only “on something” but also “on something” without an intermediate feature or layer therebetween (i.e., directly on something).

[0312] Furthermore, for ease of explanation, spatially relative terms such as "below," "below," "under," "above," and "above" may be used to describe the relationship of one element or feature relative to other elements or features as shown in the figures. Spatially relative terms are intended to encompass different orientations of the device in use or operation other than those shown in the figures. The device may have other orientations (rotated 90° or in other orientations), and the spatially relative descriptive terms used herein may be interpreted accordingly.

[0313] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A garden tool, characterized in that, include: Equipment body; A self-driven module is installed in the main body of the device and is configured to drive the main body of the device to move. A control module is disposed on the main body of the device. The control module includes at least one operating handle. The operating handle is movable relative to the main body of the device within an operating range. The operating range includes at least two intersecting operating directions. The control module is configured to acquire the operation input information of the operating handle, and determine the motion type of the main body of the device and the control parameters of the self-drive module based on the operation input information, so as to control the self-drive module to operate according to the motion type and the control parameters; The operation input information includes at least one of the position change information of the operation handle and the force information.

2. The garden tool according to claim 1, characterized in that, The operating handle has a neutral state and multiple deviated states that deviate from the neutral state in multiple different directions. The position change information includes the direction and amount of deviation of the deviation state; The control module is configured to determine the motion type of the main body of the device based on the deviation direction, and to determine the control parameters of the self-drive module based on the deviation amount.

3. The garden tool according to claim 2, characterized in that, The deviation directions of the multiple deviation states include: a first deviation direction, a second deviation direction, a third deviation direction, and a fourth deviation direction; The first deviation direction and the second deviation direction constitute a first relative direction, and the third deviation direction and the fourth deviation direction constitute a second relative direction. The first relative direction and the second relative direction are arranged intersectingly in the operating plane.

4. The garden tool according to claim 2, characterized in that, The control module is configured as follows: When the deviation is less than or equal to a preset no-action threshold, the self-driven module is controlled to either not output driving force or remain in a stopped state. When the deviation amount is greater than the preset no-action threshold, the self-driven module is controlled to work based on the deviation direction and the deviation amount.

5. The garden tool according to claim 4, characterized in that, The control module is configured as follows: The target speed is determined based on the deviation amount, and the target speed increases as the deviation amount increases.

6. The garden tool according to claim 2, characterized in that, The control module is configured to acquire self-driving gear information and determine a speed mapping relationship based on the self-driving gear information and the motion type. When the motion type is forward motion or backward motion, the control module is further configured to determine the target travel speed based on the deviation amount and the speed mapping relationship.

7. The garden tool according to claim 6, characterized in that, When the self-drive gear information is the same and the deviation is the same, the target speed determined by the control module based on the forward motion type is greater than the target speed determined based on the reverse motion type.

8. The garden tool according to claim 6, characterized in that, The self-drive gear information is provided by at least one of the self-drive gear control submodule installed in the garden tool and an external operating terminal that is communicatively connected to the control module.

9. The garden tool according to any one of claims 1 to 8, characterized in that, At least one of the operating handles includes a first handle and a second handle; The self-drive module includes a left drive motor and a right drive motor, which are used to drive the drive wheel on the left side and the drive wheel on the right side of the main body of the device, respectively. The control module is configured to acquire first operation input information corresponding to the first handle and second operation input information corresponding to the second handle, and determine control parameters of the left drive motor and the right drive motor based on the first operation input information and / or the second operation input information, and control the left drive motor and the right drive motor to operate based on the control parameters.

10. The garden tool according to claim 9, characterized in that, The control module is configured to determine target operation information based on the first operation input information and the second operation input information; The control module is also configured to determine common control parameters based on the target operation information, and to control the left drive motor and the right drive motor to work based on the common control parameters.

11. The garden tool according to claim 9, characterized in that, The control module is configured to determine a first control parameter and a second control parameter based on the first operation input information and the second operation input information, respectively. The control module is also configured to control the left drive motor and the right drive motor to work based on the first control parameter and the second control parameter, respectively.

12. The garden tool according to claim 9, characterized in that, The control module has a first control mode and a second control mode; In the first control mode, the left drive motor and the right drive motor share a single control parameter; In the second control mode, the left drive motor and the right drive motor determine control parameters based on the deviation information of the operating handle on the corresponding side.

13. The garden tool according to claim 12, characterized in that, The control module is configured to determine a first candidate control parameter based on the first operation input information, and to determine a second candidate control parameter based on the second operation input information; The control module is also configured to determine the parameter difference between the first candidate control parameter and the second candidate control parameter; When the parameter difference is within a preset threshold range, the control module switches to the first control mode; When the parameter difference exceeds the preset threshold range, the control module switches to the second control mode.

14. A method for driving and controlling garden tools, characterized in that, The garden tool includes a main body, a self-drive module, and a control module. The self-drive module is used to drive the main body of the equipment to move. The control module includes at least one operating handle. The operating handle can move relative to the main body of the equipment within an operating range. The operating range includes at least two intersecting operating directions. The drive control method includes: Obtain the position change information of the operating handle; The motion type of the main body of the device and the control parameters of the self-drive module are determined based on the position change information. The self-driven module is controlled to operate according to the motion type and the control parameters.

15. The drive control method according to claim 14, characterized in that, The operating handle has a neutral state and multiple deviation states relative to the neutral state, deviating in multiple different directions; the position change information includes the deviation direction and deviation amount of the deviation state; The steps for determining the motion type of the main body of the device and the control parameters of the self-drive module based on the position change information include: The movement type of the main body of the device is determined based on the deviation direction, and the control parameters of the self-drive module are determined based on the deviation amount.

16. The drive control method according to claim 15, characterized in that, The steps for determining the motion type of the main body of the device based on the deviation direction include: Based on the preset correspondence between the deviation direction and the motion type, the motion type corresponding to the current deviation direction is determined; wherein, The movement type includes at least one of forward, backward, stop, straight and left turn, straight and right turn, left turn in place, and right turn in place.

17. The drive control method according to claim 15, characterized in that, Determining the control parameters of the self-driving module based on the deviation includes: When the deviation is less than or equal to a preset no-action threshold, invalid control parameters are generated, control parameters are stopped, or no control parameters are output. When the deviation is greater than the preset no-action threshold, effective control parameters are generated based on the deviation direction and the deviation amount.

18. A controller for garden tools, characterized in that, It includes a processor and a memory, the memory storing instructions executable by the processor, which, when executed by the processor, cause the controller to perform the drive control method as described in any one of claims 14 to 17.

19. A computer-readable storage medium having a computer program or instructions stored thereon, characterized in that, When the computer program or instructions are executed by the processor, they implement the drive control method as described in any one of claims 14 to 17.

20. A computer program product comprising a computer program or instructions, characterized in that, When the computer program or instructions are executed by the processor, they implement the drive control method as described in any one of claims 14 to 17.

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