CN-122004028-A - Dual-mode mower and control method thereof

Abstract

The invention discloses a dual-mode mower and a control method thereof, wherein the dual-mode mower comprises a control system, a machine body and a handle arranged on the machine body, the mower is provided with two working modes, namely a manual control mode based on the operation of a user holding the handle and an automatic control mode based on the autonomous movement operation of a user instruction, and the control system comprises: and the control module is configured to control the mower to switch between a manual control mode and an automatic control mode when the mode switching condition is met. According to the invention, the mower is provided with two control modes, so that a single control module can realize the switching and operation of the two control modes, and further, the mower can move, mow, collect fallen leaves and the like under the manual control of a user under the condition of complex terrain and the like of an operation area, and can autonomously work in the operation area when the user wants to save labor in the operation area, so that the functions are more comprehensive.

Inventors

• SUN YIMIN
• SUN LONG

Assignees

• 浙江亚特电器股份有限公司

Dates

Publication Date

20260512

Application Date

20260212

Claims (20)

1. 1. A dual mode mower, including control system, fuselage and install the handle on the fuselage, its characterized in that, the mower has two kinds of mode, is respectively based on the manual control mode of user's hand handle work and based on the automatic control mode of user's instruction autonomous movement work, control system includes: And the control module is configured to control the mower to switch between a manual control mode and an automatic control mode when the mode switching condition is met.
2. 2. The dual mode mower of claim 1 wherein the handle is movably coupled to the mower body, the control system further comprising: The detection module is configured to detect the position of the handle and is electrically connected with the control module, and the control module determines whether the mode switching condition is met according to the position information of the handle.
3. 3. A dual mode mower as claimed in claim 2, wherein said handle is rotatably connected to said main body and has a holding position for holding a user and a storage position folded on top of the main body, said handle being rotated to switch between the holding position and the storage position, said control module switching the mower to a manual control mode when said detection module detects that the handle is in the holding position.
4. 4. A dual-mode mower as claimed in claim 3, wherein said main body comprises a housing and a crash barrier provided at a front end of the housing, wherein a projection of a front end of said handle on a horizontal plane is located within a projection of said crash barrier on the horizontal plane when said handle is in the stowed position.
5. 5. A dual-mode mower as claimed in claim 2, wherein said detection module is provided on said main body or said detection module is provided on said handle.
6. 6. The dual-mode mower of claim 2, wherein the detection module is one of an infrared sensor, a micro switch, a hall switch and an inertial measurement unit.
7. 7. The dual mode mower of claim 1 wherein the control system further comprises: The sensing module is electrically connected with the control module, and when the mower is in a manual control mode or an automatic control mode, the control module detects the surrounding environment of the mower through the sensing module and positions the mower.
8. 8. The dual-mode mower of claim 7, wherein the sensing module comprises one or more of an ultrasonic detection unit, a laser detection unit, and a visual detection unit.
9. 9. The dual-mode mower of claim 7, wherein the sensing module comprises an ultrasonic detection unit, the ultrasonic detection unit comprises two first ultrasonic sensors arranged on the front side of the mower body and two second ultrasonic sensors respectively arranged on the left side and the right side of the mower body, detection areas of the two first ultrasonic sensors in the horizontal direction are partially overlapped, and detection areas of the adjacent first ultrasonic sensors and second ultrasonic sensors in the horizontal direction are partially overlapped.
10. 10. The dual-mode mower of claim 9, wherein the detection area of the ultrasonic sensor in the vertical direction is fan-shaped, an included angle between a center line of the detection area of the first ultrasonic sensor and a horizontal plane is alpha, and an included angle between a center line of the detection area of the second ultrasonic sensor and the horizontal plane is beta, so that alpha > beta is satisfied.
11. 11. The dual-mode mower of claim 7, wherein the mower further comprises a mobile terminal, the control system further comprises a communication module for performing information transmission between the control module and the mobile terminal, and the communication module is electrically connected with the control module; When the mower is in the automatic control mode, the control module controls the mower to autonomously move and work in the scene map based on the information received from the sensing module and the communication module.
12. 12. The dual-mode mower of claim 1, wherein the control system further comprises a scram module electrically connected to the control module; when the mower is in a manual control mode or an automatic control mode, the control module carries out emergency shutdown on the mower after the emergency shutdown module is triggered.
13. 13. The dual-mode mower of claim 1, wherein the mower body is provided with a cutter assembly for mowing and a hub assembly for driving the mower body to move, and the control system further comprises a cutter module and a traveling module which are respectively and electrically connected with the control module; when the mower is in a manual control mode or an automatic control mode, the control module controls the cutter assemblies to work independently through the cutter modules, and the control module controls the hub assemblies to work independently through the advancing module.
14. 14. The dual-mode mower of claim 13, wherein the handle is provided with an operation table, the traveling module comprises a speed regulating switch for regulating the rotating speed of the hub and a self-propelled switch driven by the start-stop hub, and the speed regulating switch and the self-propelled switch are arranged on the operation table.
15. 15. The dual-mode mower of claim 14, wherein the traveling module further comprises a left turn-around switch and a right turn-around switch, the left turn-around switch and the right turn-around switch are respectively arranged on handles on the left side and the right side of the operation platform, the mower turns around to the left side when the left turn-around switch is triggered, and the mower turns around to the right side when the right turn-around switch is triggered.
16. 16. The dual-mode mower of claim 14, further comprising a mobile terminal, wherein the handle is further provided with a placement groove, and wherein a notch of the placement groove is upward and positioned on the front side of the console for placing the mobile terminal when the user holds the handle.
17. 17. The dual-mode mower of claim 14, wherein the control module comprises a main control board, and further comprises a map building switch and a straight switch electrically connected with the main control board, wherein the map building switch and the straight switch are both arranged on the operation table.
18. 18. The dual-mode mower of claim 1, wherein the operation panel is arranged on the top of the mower body, the control module comprises a main control board, a power switch, a starting switch and a confirmation switch, wherein the starting switch and the confirmation switch are used for starting an automatic control mode, and the power switch, the starting switch and the confirmation switch are arranged on the operation panel and are electrically connected with the main control board.
19. 19. A control method of a dual-mode mower, comprising the steps of: S1, judging whether a handle of the mower is folded at the top of the mower body, if not, entering S2, and if so, entering S3; s2, entering a manual control mode, and executing a mowing command, a self-walking command or a map building command according to user selection in the manual control mode, wherein a cutting knife assembly of the mower works to mow when the mowing command is executed; S3, judging whether the mower is positioned in the working scene map according to the positioning of the mower, if so, entering S4, and if not, returning to S1; And S4, judging whether a user selects to start an automatic control mode, if not, returning to the S3, if so, entering the automatic control mode, and automatically moving the mower in the working scene map to mow in the automatic control mode.
20. 20. The method of claim 19, wherein in S2, the manual control mode further includes an auxiliary travel command, and if the user selects the self-travel command, it is determined whether the user selects the auxiliary travel command, if so, the mower is assisted to travel along a straight line according to a direction of the straight line defined by the user, and if not, the mower only executes the self-travel command.

Description

Dual-mode mower and control method thereof Technical Field The invention belongs to the field of garden equipment, and particularly relates to a dual-mode mower and a control method thereof. Background Currently, mowers on the market are generally classified into two types, one type is a hand-push type mower requiring manual control, and the other type is an intelligent mowing robot working autonomously. The hand propelled mower can adapt to various complicated terrains, also can collect grass bits and fallen leaves etc. through album grass box, but whole grass cutting process needs the whole participation of user, and the user needs hand handle in order to turn to the control such as mower, and the user is tired easily. Although the intelligent mower can operate autonomously, a user is liberated, the intelligent mower has poor adaptability to complex terrains, and grass scraps, fallen leaves and the like cannot be collected. Therefore, the two types of mowers are single in function, are only suitable for specific working scenes, cannot meet the use requirements of various working scenes of users, and are poor in use experience. Disclosure of Invention The invention aims to solve the technical problem of providing a dual-mode mower to solve the problem of single function of the mower. In order to solve the technical problems, the dual-mode mower comprises a control system, a mower body and a handle arranged on the mower body, wherein the mower is provided with two working modes, namely a manual control mode based on the operation of a user holding the handle and an automatic control mode based on the autonomous mobile operation of a user instruction, and the control system comprises a control module which is configured to control the mower to switch between the manual control mode and the automatic control mode when the mode switching condition is met. The technical scheme has the following technical effects: According to the invention, the mower is provided with two control modes, wherein the two working modes are respectively manual control modes which can be operated by a user by a hand handle, and automatic control modes which can be operated by receiving an automatic movement of a user instruction, so that a single control module can realize the switching and operation of the two control modes, the mower can move, mow, collect fallen leaves and the like under the manual control of the user under the condition of complex terrain and the like of an operation area, and can automatically move in the operation area to perform the moving, mowing, collect fallen leaves and the like when the user wants to save labor in the operation area, the functions are more comprehensive, the user can automatically select according to different use requirements, and the application range of the mower is wider. In the dual-mode mower, the handle is movably connected to the mower body, the control system further comprises a detection module, the detection module is configured to detect the position of the handle and is electrically connected with the control module, and the control module determines whether the mode switching condition is met according to the position information of the handle. Through with handle swing joint on the fuselage for the handle can be on the fuselage activity, through setting up detection module, makes control module can detect the activity of handle through detection module, and with this judgement whether need carry out operating mode and switch, so, the user operates the handle, can realize operating mode's switching, and easy operation is convenient, promotes user's use experience. In the dual-mode mower, the handle is rotatably connected to the mower body and provided with a hand-held position for a user to hold and a storage position folded at the top of the mower body, the handle is rotated to switch between the hand-held position and the storage position, and the control module switches the mower to the manual control mode when the detection module detects that the handle is in the hand-held position. The handle is rotatably connected to the machine body, so that a user can realize the switching of working modes by rotating the handle between the holding position and the storage position, when the mower is in the manual control mode, the handle is in the holding position, so that the user can hold the handle by hand and apply force to the handle, the mower can move or rotate when the user applies force, when the mower is in the automatic control mode, the handle is in the storage position, and the handle is folded and stored at the top of the machine body at the moment, so that the whole occupied space of the mower is reduced, the movement of the mower is prevented from being blocked due to collision of the handle and an obstacle when the mower works autonomously, and the mower is convenient for the user to operate and also convenient for the mower to work. In the dual-mode mower, the mac