CN117178729A - Control method of mower and mower - Google Patents

Abstract

The application provides a control method of a mower and the mower, and relates to the technical field of mowers. The control method comprises the following steps: acquiring a control signal; judging whether a triggering condition of a traveling mode is met or not according to the acquired control signal; and if the triggering condition of the advancing mode is met, controlling the mower to operate in the corresponding advancing mode. According to the control method disclosed by the application, different control signals correspond to different advancing modes, so that the diversity of advancing modes of the mower is improved, and the use requirements of different scenes and different conditions are met.

Description

Control method of mower and mower

Technical Field

The application relates to the technical field of mower control, in particular to a mower control method and a mower.

Background

The lawn is a whole green ground which is cultivated by artificial paving or grass seed sowing, is an important component of garden landscapes, and is also a place for rest and recreation. Modern lawns are not limited to gardens, and are widely applied to places with larger areas such as factories, football fields, golf courses and the like, and the lawns need to be trimmed by using garden tools such as mowers.

Traditional mower can only run in a single common mode, when in a special working environment, such as uneven ground or a part of area is not mowed completely, mowing needs to be circularly cut back and forth, and the mower can not be operated in the single common mode, so that the mower is troublesome to operate and cannot meet the use requirement in the special working environment.

Disclosure of Invention

In view of the above drawbacks of the prior art, the present application provides a control method for a mower to improve the technical problem that the existing mower has only a single common operation mode and cannot meet the use under a special working environment. To achieve the above and other related objects, the present application provides a control method of a lawn mower provided with a first sensor configured to detect whether an operator stands on a foot pedal of the lawn mower, the control method comprising:

acquiring a control signal;

judging whether a triggering condition of a traveling mode is met or not according to the acquired control signal;

and if the triggering condition of the advancing mode is met, controlling the mower to operate in the corresponding advancing mode.

In an exemplary embodiment of the application, the travel mode comprises a first travel mode, and the control signal comprises a first signal configured to be generated when the operator reaches the ride position and/or when a mode selection is made; according to the acquired control signal, judging whether the triggering condition of the travelling mode is met comprises the following steps: and if the first signal is acquired, judging that the triggering condition of the first running mode is met.

In an exemplary embodiment of the application, the travel mode comprises a second travel mode, the control signal comprises a second signal configured to be generated when the operator reaches the push position and/or when a mode selection is made; according to the acquired control signal, judging whether the triggering condition of the travelling mode is met comprises the following steps: and if the second signal is acquired or the first signal is not acquired, judging that the triggering condition of the second running mode is met.

In an exemplary embodiment of the present application, the maximum forward speed of the mower when operating in the first travel mode is greater than the maximum forward speed of the mower when operating in the second travel mode.

In an exemplary embodiment of the present application, the maximum retraction speed of the mower when operating in the first travel mode is greater than the maximum retraction speed of the mower when operating in the second travel mode.

In an exemplary embodiment of the present application, when the mower operates in the first traveling mode, the traveling speed is set with four gears, wherein the first gear has a maximum traveling speed of 3 to 5mph; second gear, the maximum advancing speed is 5-8 mph; third gear, the maximum advancing speed is 9-11 mph; fourth gear, the maximum advancing speed is 13-15 mph; the maximum backward speed of the mower is 3-5 mph when the mower runs in the first running mode.

In an exemplary embodiment of the present application, when the mower operates in the second traveling mode, the forward speed is set with three gears, wherein, the first gear has a maximum forward speed of 1.75-2.75 mph; second gear, the maximum advancing speed is 2.75-3.25 mph; third gear, the maximum advancing speed is 3.5-4.5 mph; the maximum retraction speed of the mower when operating in the second travel mode is 1.75-2.75 mph.

In an exemplary embodiment of the present application, the control signal includes a third signal configured to be sent when the steering mechanism is in a non-parking state and/or performs mode selection, and determining whether a trigger condition of the traveling mode is satisfied according to the acquired control signal includes: and if the third signal is acquired, judging that the trigger condition for entering or maintaining the running mode is met.

In an exemplary embodiment of the present application, the control signal includes a fourth signal configured to be sent when the steering mechanism is in a parking state and/or performs mode selection, and determining whether a trigger condition of the traveling mode is satisfied according to the acquired control signal includes: and if the fourth signal is acquired, judging that the triggering condition for entering or maintaining the running mode is not met.

In an exemplary embodiment of the application, the method further comprises:

acquiring an operation signal of a mowing motor;

judging whether the operation condition of the mowing motor is met or not according to the control signal;

and if the operation condition of the mowing motor is met, the mowing motor is operated.

In an exemplary embodiment of the present application, the control signal includes a first signal configured to be generated when an operator arrives at a riding position and/or when a mode selection is made, and determining whether an operation condition of the mowing motor is satisfied according to the control signal includes: and if the first signal is received, judging that the operation condition of the mowing motor is met.

In an exemplary embodiment of the application, the control signal comprises a third signal configured to be issued when the steering mechanism is in an out-of-park state and/or a mode selection is made; according to the control signal, judging whether the operation condition of the mowing motor is met comprises the following steps: and if the third signal is received, judging that the operation condition of the mowing motor is met.

The application also provides a control method of the mower, wherein the mower is provided with a pedal plate, the pedal plate at least has a first position and a second position, and the control method comprises the following steps:

Acquiring the position of the pedal;

judging the position of the pedal, and judging that the triggering condition of the first running mode is met if the pedal is at the first position; and if the pedal is at the second position, judging that the triggering condition of the second running mode is met.

The present application also provides a control method of a lawn mower provided with a first sensor configured to detect whether an operator is on the lawn mower, the control method comprising:

acquiring a signal of the first sensor;

judging the signal of the first sensor, and if the first sensor is the first signal, judging that the triggering condition of the first running mode is met; and if the first sensor is a second signal, judging that the triggering condition of the second running mode is met.

The present application also provides a mower comprising:

a frame;

the cutting table assembly comprises a mowing motor and a cutting knife;

the travelling mechanism comprises a driving motor and travelling wheels;

a first sensor configured to detect whether an operator is on a lawn mower, the first sensor being a first signal if the operator is on the lawn mower, the lawn mower operating in a first travel mode; if the operator is not on the mower, the first sensor is a second signal and the mower operates in a second travel mode.

In an exemplary embodiment of the present application, four gears are provided when the mower operates in the first traveling mode, wherein the maximum rotation speed of the driving motor during traveling is 1150-1350 rpm; second gear, the maximum rotation speed of the driving motor is 2050-2250 rpm when advancing; third gear, the maximum rotation speed of the driving motor is 2950-3150 rpm when advancing; fourth gear, the maximum rotation speed of the driving motor is 4150-4350 rpm when the vehicle advances; when the mower runs in the first running mode, the maximum rotating speed of the driving motor is 1100-1300 rpm during backward movement.

In an exemplary embodiment of the present application, when the mower operates in the second traveling mode, three gears are provided, wherein, the first gear is a gear, and the maximum rotation speed of the driving motor is 550-750 rpm when the mower advances; second gear, the maximum rotation speed of the driving motor is 800-1000 rpm when advancing; third gear, the maximum rotation speed of the driving motor is 1150-1350 rpm when advancing; and when the mower operates in the second advancing mode, the maximum rotating speed of the driving motor is 550-750 rpm during the backward movement.

In an exemplary embodiment of the application, the mower includes a steering mechanism comprising:

a lever that manipulates parking and travel of the mower;

a second sensor configured to detect whether the joystick is in a park state, the second sensor being a third signal if the joystick is in a non-park state, the mower entering or maintaining a travel mode; and dragging the control lever to be in a parking state, wherein the third sensor is a fourth signal, and the mower enters or maintains a parking mode.

In an exemplary embodiment of the present application, after the switch of the mowing motor is turned on, the mowing motor is started when the second sensor is a third signal and/or the first sensor is a first signal; and if the second sensor is a fourth signal and the first sensor is a second signal, the mowing motor is not started.

In an exemplary embodiment of the present application, the mower includes a foot pedal rotatably mounted on the frame, the first sensor is a second signal when the foot pedal is in an initial state, and the first sensor is a first signal after the foot pedal is subjected to an external force exceeding a preset threshold value to rotate the foot pedal to a preset angle toward the ground.

The application has the beneficial effects that in combination with the prior art:

according to the control signal obtained, whether the triggering condition of the travelling mode is met is judged, after the triggering condition of the travelling mode is met, the mower is controlled to operate in a corresponding travelling mode, different control signals correspond to different travelling modes, the diversity of the travelling mode of the mower is improved, and the use requirements of different scenes and different conditions are met.

Drawings

In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic illustration of an exemplary mower control method of the present application;

FIG. 2 is a schematic diagram illustrating a first signal to determine a travel mode of a mower according to an exemplary mower control method of the present application;

FIG. 3 is a schematic diagram of a method for controlling a lawnmower according to the present application, wherein the method includes determining whether the lawnmower enters a travel mode according to a third signal;

FIG. 4 is a schematic illustration of the operation of an exemplary mower of the present application;

FIG. 5 is a schematic illustration of another exemplary mower control method of the present application;

FIG. 6 is a schematic diagram of yet another exemplary mower control method of the present application;

FIG. 7 is a schematic view of an exemplary mower of the present application;

FIG. 8 is a schematic view of another angular configuration of an exemplary mower of the present application;

FIG. 9 is a schematic view of a portion of an exemplary footrest apparatus according to the present application shown in an uncollapsed position;

FIG. 10 is a schematic view of a portion of an exemplary pedal device of the present application when retracted;

FIG. 11 is a schematic view of an exemplary pedaling apparatus in accordance with the application;

FIG. 12 is a schematic view of a portion of an exemplary pedaling apparatus in accordance with the application;

FIG. 13 is a schematic diagram of an exemplary foot signal switch of the present application in an engaged state;

FIG. 14 is a schematic diagram illustrating an exemplary signal switch separation state of the present application;

FIG. 15 is a schematic diagram illustrating an exemplary signal switch engaged state of the present application;

FIG. 16 is a schematic view of a portion of a joystick in a separated state of an exemplary signal switch of the present application;

FIG. 17 is a schematic view of a portion of a joystick in an engaged state of an exemplary signal switch of the present application.

Description of element reference numerals

100. A frame; 110. a limiting plate; 111. a limit groove; 120. a limiting hole; 130. supporting the shock absorbing member;

200. a header assembly;

300. an operating mechanism; 310. a joystick; 320. a lever mount; 330. manipulating the signal switch;

400. a walking mechanism;

500. a pedal device; 510. a foot pedal; 511. a second limit part; 514. a limit mounting part; 515. a limit loop bar; 520. a reset frame; 521. a first limit part; 530. a foot signal switch; 540. a reset mechanism; 541. a pressure spring; 542. a fixed block; 570. a bolt.

Detailed Description

Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict. It is also to be understood that the terminology used in the examples of the invention is for the purpose of describing particular embodiments only, and is not intended to limit the scope of the invention. The test methods in the following examples, in which specific conditions are not noted, are generally conducted under conventional conditions or under conditions recommended by the respective manufacturers.

Where numerical ranges are provided in the examples, it is understood that unless otherwise stated herein, both endpoints of each numerical range and any number between the two endpoints are significant both in the numerical range. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs and to which this invention belongs, and any method, apparatus, or material of the prior art similar or equivalent to the methods, apparatus, or materials described in the examples of this invention may be used to practice the invention.

It should be understood that the terms such as "upper," "lower," "left," "right," "middle," and "a" and the like are used in this specification for descriptive purposes only and not for purposes of limitation, and that the application may be practiced without materially departing from the novel teachings and without departing from the scope of the application.

The existing mower has only a single operation mode, and when the mower encounters special terrain or special conditions, the problems of uncleanness in mowing, inconvenience in operation of the mower and the like are easily caused, so that the service efficiency of the mower is affected.

Referring to fig. 1, the present application provides a control method of a mower, which specifically includes:

step S110, a control signal is acquired.

After the whole mower is electrified, the mower enters a standby state and acquires a control signal. The control signal may be sent by a sensor, switch, etc. on the mower, by the operator when selecting the mode of operation, or by remote control. In one embodiment, the mower is provided with a first sensor configured to detect whether the operator is on the mower, and the operator emits a different signal when the operator is on the mower than when the operator is not on the mower, e.g., the signal of the first sensor is a first signal when the operator is on the mower, and the signal of the first sensor is a second signal when the operator is not on the mower. In an embodiment, the first sensor is a pedal signal switch, the pedal signal switch is disposed on the pedal device, when a person stands on the pedal, the pedal signal switch is in an engaged state and sends a first signal, when the person does not stand on the pedal, the pedal signal switch is in a separated state and sends a second signal, and it is noted that when the pedal signal switch is in the separated state, the pedal signal switch does not send a signal, and at the moment, the pedal signal switch does not send a signal, and when the default pedal signal switch does not send a signal, the pedal signal switch is also the second signal. In other words, when the first sensor sends a first signal, the judgment person stands on the foot pedal of the mower, and when the first sensor sends a second signal, the judgment person does not stand on the foot pedal of the mower. In another embodiment, when a person stands on the foot pedal, the foot pedal signal switch is in a separated state and sends out a first signal, and it is to be noted that when the situation that the foot pedal signal switch cannot send out a signal exists at this time, the first signal is sent out for the foot pedal signal switch when the signal sent out by the foot pedal signal switch is not acquired by default; when the person is not standing on the foot pedal, the foot pedal signal switch is in an engaged state and sends out a second signal. In another embodiment, the first sensor can monitor the position of the pedal to determine whether a person is on the pedal, for example, when a person is standing on the pedal, the pedal is rotated to the first position under the gravity action of the operator, when a person is not standing on the pedal, the pedal is reset to the initial position under the action of the reset mechanism, and the first sensor determines whether a person is standing by monitoring the position of the pedal. In other embodiments, the first sensor determines whether a person is on the pedal by monitoring whether a shielding is on the pedal, and the first sensor determines whether the person is on the pedal, and selects the implementation mode according to actual needs.

The mower is provided with a second sensor for detecting whether the operating mechanism is in a parking space or not, the operating mechanism is in the parking space or not and the second sensor sends different signals, for example, when the operating mechanism is in the non-parking space, the signal of the second sensor is a third signal, and when the operating mechanism is in the parking space, the signal of the second sensor is a fourth signal. In one embodiment, the second sensor detects position information of a mower operating lever, so that the operating intention of a worker is judged, when a signal of the second sensor is a fourth signal, the operating lever is in a parking position, and the mower enters or maintains a parking state; when the signal of the second sensor is the third signal, the control lever is in the non-parking position, the mower enters or maintains the traveling mode, and after the mower enters the traveling mode, the mower performs forward or backward movement according to the operation of the staff or the preset program, and only enters the traveling mode, and the mower does not perform the forward or backward movement when the staff does not further operate or have no preset program. In an exemplary embodiment, in the initial state of the control handle, the signal of the second sensor is a fourth signal, and when the operator controls the control handle to deviate from the initial position, the signal of the second sensor is a third signal. In an embodiment, the second sensor is a manipulation signal switch of the mower, in an initial state, the manipulation signal switch is in a combined state, a signal of the second sensor at the moment is a fourth signal, after the manipulation handle is pulled, the manipulation signal switch is in a separated state, the signal of the second sensor at the moment is a third signal, a control part of the mower enters a traveling mode after receiving a traveling signal, and after the manipulation handle further acts, the mower is controlled to advance or retreat.

And step S120, judging whether the triggering condition of the travelling mode is met or not according to the acquired control signal.

And further judging whether the triggering condition of the traveling mode is met or not according to the obtained control signal. The control signal may comprise a first signal configured to be generated when the operator reaches the ride position and/or when a mode selection is made, in one embodiment the first signal is generated when the operator reaches the ride position, in another embodiment the first signal is formed when the operator makes a mode selection of the first travel mode, in other embodiments the first signal may be generated when the operator reaches the ride position and the first travel mode is selected, preferably the first signal is generated when the operator reaches the ride position. And if the first signal is acquired, judging that the triggering condition of the first running mode is met. The control signal may further comprise a second signal configured to be generated when the operator reaches the push position and/or when a mode selection is made, and in one embodiment, the second signal is generated when the operator reaches the push position, and the push position may be a fixed position or may be a push position when the operator is not in the riding position; in one embodiment, the second signal is generated when a mode selection is made, and if a second travel mode is selected, the second signal is generated; in an embodiment, the second signal is generated when the operator reaches the pushing position and when the second travel mode is selected, preferably the second signal is generated when the operator reaches the pushing position. According to the acquired control signal, judging whether the triggering condition of the travelling mode is met comprises the following steps: and if the second signal is acquired, judging that the triggering condition of the second running mode is met. In an embodiment, when the first signal is not acquired, it may also be determined that the trigger condition of the second traveling mode is satisfied. As shown in fig. 2, when the mower has two traveling modes, the first signal corresponds to a trigger condition satisfying the first traveling mode, it is determined whether the received signal is the first signal, when the received signal is the first signal, it is determined that the trigger condition of the first traveling mode is satisfied, and when the received signal is not the first signal, it is determined that the trigger condition of the second traveling mode is satisfied.

The control signal may include a third signal configured to be sent when the steering mechanism is in an out-of-park state and/or a mode selection is made, in one embodiment the third signal is sent when the steering mechanism is in an out-of-park state, in another embodiment the third signal is sent when a travel mode is selected in the selection of a park mode and a travel mode, in other embodiments the steering mechanism is in an out-of-park state and a travel mode is selected, preferably the third signal is sent when the steering mechanism is in an out-of-park state. According to the acquired control signal, judging whether the triggering condition of the travelling mode is met comprises the following steps: and if the third signal is acquired, judging that the trigger condition for entering or maintaining the running mode is met. The control signal may include a fourth signal configured to be sent when the steering mechanism is in a park state and/or when a mode selection is made, and in one embodiment, the fourth signal is sent when the steering mechanism is in a park state; in another embodiment, the fourth signal is sent when the parking mode is selected in the mode selection; in a further embodiment, the fourth signal is preferably emitted when the actuating element is in the park state, and when the park mode is selected when the mode selection is performed. According to the acquired control signal, judging whether the triggering condition of the travelling mode is met comprises the following steps: and if the fourth signal is acquired, judging that the triggering condition for entering or maintaining the running mode is not met. Referring to fig. 3, in an embodiment, if the third signal corresponds to the trigger condition of the running mode, it is determined whether the received signal is the third signal, if so, it is determined that the trigger condition of the running mode is met, and if not, it is determined that the trigger condition of the parking mode is met.

Step S130, if the triggering condition of the advancing mode is met, controlling the mower to operate in the corresponding advancing mode.

When the triggering condition of the travel mode is met, the mower is controlled to operate in the corresponding travel mode. When the trigger condition of a certain travel mode is satisfied, the mower directly enters the corresponding travel mode when entering the travel mode. For example, when the mower meets the triggering condition of the first travelling mode, the first travelling mode is directly operated when the mower enters the travelling mode; when the mower meets the second traveling mode, the mower enters the traveling mode and directly operates the second traveling mode.

Illustratively, the signal of the first signal sensor includes a first signal and a second signal, and the signal of the second sensor includes a third signal and a fourth signal, and in one embodiment, the signals of the first sensor and the second sensor are acquired simultaneously and judged simultaneously, so as to determine the operation state of the mower. In another embodiment, the controller determines the signal of the first sensor first, determines whether the mower is in a first travel mode or a second travel mode, and then determines the signal of the second sensor, thereby determining whether the mower is in a parking state or in a corresponding travel mode. In other embodiments, the controller first determines the signal of the second sensor, and then determines the signal of the first sensor if the mower is operating or enters the travel mode, thereby controlling the mower to operate in a specific first travel mode or second travel mode. The signals of the first sensor and the second sensor may be obtained in real time, or may be obtained when the signal states of the first sensor and the second sensor change, and may be selected according to actual needs.

Illustratively, the mower operates in different modes according to the signal of the first sensor, and the forward and backward speeds of the mower are different in different modes, so that the mower can be used conveniently under different conditions. If the operator is in the riding position, the mower operates in a first travel mode, which may also be referred to as a normal mode, i.e. the person is advancing synchronously on the mower. When the mower is required to be repeatedly mowed on a special terrain or a partial area, the mower operates in a second traveling mode in a pushing position by an operator, and the second traveling mode can be called a following mode, namely, a person does not control the mower to advance on the mower, and the person moves along with the mower. When the operator's state changes, the signal from the first sensor changes, and the mower's mode of operation changes. If the operator moves from the riding position to the pushing position, the mower is switched from a first running mode to a second running mode; when the operator moves from the pushing position to the riding position, the mower is switched from the second running mode to the first running mode, and the running mode of the mower is switched along with the action of the operator, so that the mower can be controlled more conveniently, and various use requirements are met.

Illustratively, the mower in the first travel mode has a maximum forward speed of a first forward speed, and the mower has a maximum backward speed of a first backward speed, wherein the first forward speed is not less than the first backward speed for ensuring safety and convenient operation. In the second traveling mode, the maximum advancing speed of the mower in the second traveling mode is the second advancing speed, the maximum retreating speed is the second retreating speed, and the second advancing speed is not smaller than the second retreating speed, so that the mower can be operated by workers to move better.

For example, in an equivalent gear, the first forward speed is greater than the second forward speed and the first reverse speed is greater than the second reverse speed. When the operator is not on the mower in the second traveling mode, the operator and the mower cannot synchronously move, and the second advancing speed is smaller than the first advancing speed, the second retreating speed is smaller than the second retreating speed, so that the operator can conveniently follow the mower to advance or retreat. The mower can work in special environments, the running speed of the mower is reduced, the reaction time of workers is prolonged, the personal safety is guaranteed, and the use safety of the mower is improved.

In the first travel mode, the forward speed of the mower is provided with a plurality of gears, in an embodiment, the forward speed of the mower in the first travel mode is provided with four gears, wherein, in the first gear, the first forward speed is 3-5 mph, the first forward speed can be any value between 3-5 mph, such as 3mph, 4mph, 5mph, etc., and when the first forward speed is 3mph, the forward speed of the mower is 0-3 mph, and when the first forward speed is 5mph, the forward speed of the mower is 0-5 mph. For example, the allowable error of the first forward speed is ±0.3mph, for example, the first forward speed is designed to be 4mph, and the actual first forward speed may be between 3.7mph and 4.3mph, thereby meeting the actual use requirement. In other words, when the mower is in the first gear of the first traveling mode, if the first traveling speed is 4mph, the advancing speed range of the mower operated by the worker is 0-4 mph, and the specific speed is determined according to the operation of the worker, for example, for the mower provided with the operation handle, the specific speed is determined according to the amplitude and the speed range of the operation handle pulled by the worker; second gear, the first advancing speed is 5-8 mph, any value between 5-8 mph can be selected, such as 5mph, 6mph and 7mph, and the allowable error between the designed first advancing speed and the actual first advancing speed is +/-0.3 mph; third gear, the first advancing speed is 9-11 mph, can be any value between 9-11 mph, such as 9mph, 10mph, 11mph, etc., the allowable error between the designed first advancing speed and the actual first advancing speed is + -0.3 mph; fourth gear, the first forward speed is 13-15 mph, the first forward speed can be any value between 13-15 mph, such as 13mph, 14mph, 15mph, etc., the allowable error between the designed first forward speed and the actual first forward speed is + -0.3 mph, in one embodiment, the first forward speed of the fourth gear is 14mph, the forward speed range of the mower is 0-14 mph, and the actual forward speed is matched with the operation of an operator, such as determined according to the rotation amplitude of the operating lever, the stepping amplitude of the accelerator pedal, etc. Different first advancing speeds in different gears meet different advancing requirements and mowing requirements, and meet the use requirements of different staff. When the mower operates in the first travelling mode, the first backward speed is 3-5 mph, the first backward speed can be any value between 3-5 mph, such as 3mph, 4mph, 5mph and the like, and the allowable error of the first backward speed is +/-0.3 mph, such as the first backward speed is designed to be 4mph, and the actual first backward speed can be between 3.7mph and 4.3 mph. In other embodiments, the first reverse speed may be different in different gear positions, preferably the same, to prevent the reverse speed from being too fast, resulting in improper operation of the mower.

In the second traveling mode, the forward speed of the mower is provided with three gears, wherein the first gear is provided, the second forward speed is 1.75-2.75 mph, and the second forward speed can be any value between 1.75-2.75 mph, such as 1.75mph, 2mph, 2.25mph, 2.75mph and the like; second gear, the second forward speed is 2.75-3.25 mph, which can be any value between 2.75-3.25 mph, such as 2.75mph, 3mph, 3.25mph, etc.; third gear, second forward speed is 3.5-4.5 mph, can be any value between 3.5-4.5 mp, such as 3.5mph, 4mph, 4.5mph, etc.; illustratively, the allowable error between the design value and the actual value of the second forward speed is + -0.3 mph. Illustratively, when the mower is operating in the second travel mode, the second reverse speed is 1.75-2.75 mph, which may be any value between 1.75-2.75 mph, such as 1.75mph, 2mph, 2.25mph, 2.75mph, etc. For example, the allowable error between the design value and the actual value of the second reverse speed is ±0.3mph, and in other embodiments, the second reverse speed may be different in different gear, and preferably the second reverse speed is the same in different gear. The different second forward speeds meet the use requirements of different staff, the difference value of the second forward speeds between adjacent gears is smaller than the difference value of the first forward speeds between adjacent gears, and sudden lifting or lowering of the speed caused by overlarge difference value of the second forward speeds between different gears can be avoided, so that the center of gravity of the staff is unstable, and accidents such as falling of the staff are prevented.

When the mower works, the mower needs to be started by the mower motor to drive the cutter to rotate for mowing, but the mower can be started only when an operator is at a riding position, so that different use requirements can be met conveniently. Referring to fig. 4, the control method of the mower of the present application further includes:

step S410, a mowing motor starting signal is obtained.

The mower motor start signal is typically sent by a mower motor switch which, when engaged after the mower motor is on, sends the mower motor start signal.

And step 320, judging whether the operation condition of the mowing motor is met or not according to the control signal.

And judging whether the operation condition of the mowing motor is met or not according to the control signal. The control signal is a first signal and/or a third signal, and the operating condition of the mowing motor is determined to be satisfied when the operator is in the riding position and/or the operating mechanism is in the non-parking position, that is, when the operator is in either one of the riding position and the operating mechanism is in the non-parking position. If the operator is not satisfied in both the riding position and the operating mechanism is in the parking position, it is determined that the operating condition of the mowing motor is not satisfied.

When any one of the control signals is changed, the starting state of the mowing motor is determined to be kept or changed according to the new signal state, and the mowing motor is kept in the starting state by detecting whether the signal of the first sensor of the driving position of the operator is changed from the first signal to the second signal by detecting whether the signal of the second sensor of the driving position of the operator is kept in the third signal by using the signal of the second sensor of the driving position; if the signal of the second sensor is changed from the third signal to the fourth signal and the signal of the first sensor is changed from the first signal to the second signal, the mowing motor is in an off state and is in an on state. In other words, the mower motor is in a stopped state only when the worker is not on the riding board and does not pull the steering handle.

Step S330, if the operation condition of the mowing motor is met, the mowing motor is operated.

When the operation condition of the mowing motor is met, the mowing motor operates to drive the cutting blade to rotate.

The application also provides a control method of the mower, which is used for controlling the starting of the mowing motor and is independent of the travelling mode of the mower. The method specifically comprises the following steps:

Acquiring a mowing motor starting signal;

acquiring signals of a second sensor and signals of a first sensor;

if the signal of the second sensor is a third signal and/or the signal of the first sensor is a first signal, starting the mowing motor; and if the signal of the second sensor is a fourth signal and the signal of the first sensor is a second signal, the mowing motor is not started.

It should be noted that, no sequence exists between the signal for acquiring the starting signal of the mowing motor and the signal for acquiring the second sensor and the signal for acquiring the first sensor, the mowing motor starting signal may be acquired first, and the signal for acquiring the second sensor and the signal for acquiring the first sensor may also be acquired first.

The control method of the mower can enable a person to walk along with the mower to work under other environments such as uneven ground or obstacles, and can meet mowing work under various working environments, and the control method is simple in structure, convenient to operate, low in use cost and capable of improving user experience.

Referring to fig. 5, the present application further provides a control method of a mower, where the mower is provided with a pedal, the pedal has at least a first position and a second position, and illustratively, when an operator stands on the pedal, the pedal is in the first position, and when the operator does not stand on the pedal, the pedal is separated from the first position and is in the second position. The control method specifically comprises the following steps:

Step S510, acquiring the position of the pedal.

For example, the step may be obtained specifically in the first position or the second position, or only whether the step is in the first position may be determined, and in particular, when the step is not in the first position, the step is determined to be in the second position.

Step S520, judging the position of the pedal, and judging that the triggering condition of the first running mode is met if the pedal is at the first position; and if the pedal is at the second position, judging that the triggering condition of the second running mode is met.

According to the position of the pedal, whether the operator is on the pedal is judged, and whether the triggering condition of the corresponding running mode is met is judged. When the pedal is at the first position, the operator is judged to be on the pedal, so that the triggering condition of the first running mode is judged to be met, and when the mower enters the running mode, the mower directly enters the first running mode. When the foot pedal is in the second position, the operator is judged not to be on the foot pedal, so that the triggering condition of the first traveling mode is judged to be met, and when the mower enters the traveling mode, the mower directly enters the second traveling mode.

Referring to fig. 6, the present application further provides a control method of a mower, where a first sensor is disposed on the mower, and the first sensor is configured to detect whether an operator is on the mower, and the control method specifically includes:

step S610, acquire a signal of the first sensor.

Step S620, judging a signal of a first sensor, and judging that a triggering condition of a first running mode is met if the first sensor is the first signal; if the first sensor is the second signal, judging that the triggering condition of the second running mode is met. For example, when the operator is on the mower, the first sensor is a first signal; the first sensor is a second signal when the operator is not on the mower. The first sensor may be an inductive sensor, such as an infrared sensor, for detecting whether a person is present in the driving position (including the standing position), or a triggering sensor, such as a pressure switch, a contact switch, etc., for sending a corresponding signal when a person is present in the driving position. When the mower enters a traveling mode, the corresponding traveling mode is directly operated.

Referring to fig. 7 to 8, the present application further provides a mower, which includes a frame 100, a header assembly 200, an operating mechanism 300, a traveling mechanism 400, a pedal device 500, and a control part.

The cutting deck assembly 200 is installed at the bottom of the frame 100, and the cutting deck assembly 200 includes a mowing motor and a cutting blade, and the mowing motor drives the cutting blade to rotate for mowing.

Referring to fig. 14 to 17, the operating mechanism 300 includes an operating lever 310, an operating lever mount 320, and a second sensor, the operating lever 310 is rotatably mounted on the operating lever mount 320, and the operating lever mount 320 is rotatably mounted on the frame 100. In one embodiment, the second sensor is fixed on the lever mount 320, and the lever mount 320 rotates with the frame 100 to change the signal of the second sensor; in another embodiment, the second sensor is fixed on the frame 100, and the lever mount 320 rotates with the frame 100 to change the signal of the second sensor. When the operating lever mounting seat 320 is in the initial state, the signal of the second sensor is the second signal, and when the operating lever 310 drives the operating lever mounting seat 320 to rotate around the frame, the signal of the second sensor is the first signal. In one embodiment, the axis of rotation of the lever 310 about the lever mount 320 is perpendicular to the axis of rotation of the lever mount 320 about the housing 100, such that the lever 310 facilitates rotation of the lever mount 320 about the housing. In one embodiment, the joystick 310 includes a left joystick and a right joystick, and the joystick mounts include a left joystick mount and a right joystick mount, each joystick mount 320 having a second sensor disposed thereon for better operation of the mower. The second sensor may be an inductive sensor, such as an infrared sensor, or may be a contact switch, such as a manipulation signal switch 330, where the manipulation signal switch 330 is in an engaged state when in an initial state, and is a fourth signal; when the joystick 310 drives the joystick mount 320 to rotate around the frame, the joystick switch 330 changes to an off state, which is a travel signal. The second sensor is preferably a contact switch, so that the cost is low, the recognition rate is high, and the use of a complex environment is facilitated.

Referring to fig. 16 to 17, in an embodiment, a limiting plate 110 is disposed on a rack 100, a limiting groove 111 is disposed on the limiting plate 110, when a lever 310 is located in the limiting groove 111, the limiting groove 111 limits the lever 310 to rotate relative to a lever mounting seat 320, and when the lever 310 rotates outside the limiting groove 111, the lever mounting seat 320 rotates synchronously with the lever 310, so that the lever mounting seat 320 rotates relative to the rack 100, and a signal of a second sensor is switched from a second signal to a first signal.

In an embodiment, the operating mechanism 300 further includes a return device, where after the external force on the operating lever mounting seat 320 disappears, the return device makes the operating lever mounting seat 320 automatically return to the initial state, so that after the operator releases the operating lever 310, the operating lever mounting seat 320 automatically returns to the initial state, thereby avoiding the continued operation of the mower, reducing the danger, and preventing accidents such as injury of the operator.

The travelling mechanism 400 comprises a driving motor and a travelling wheel, and the operating mechanism 300 controls the driving motor to drive the travelling wheel to rotate so as to operate the mower to move forwards, backwards and turn.

Referring to fig. 11-13, the foot pedal 500 includes a foot pedal 510 and a first sensor, which, for example, detects whether an operator is on the foot pedal, the first sensor is a first signal when the operator is on the foot pedal, and the first sensor is a second signal when the operator is not on the foot pedal. Illustratively, when the foot pedal 510 is in an initial state, the signal of the first sensor is a second signal, and after the foot pedal 510 rotates to a preset angle toward the ground, the signal of the first sensor is switched to the first signal, in an embodiment, the first sensor is a foot pedal signal switch 530, when the foot pedal 510 is in an initial state, the foot pedal signal switch 530 is in a separated state, and when the foot pedal 510 is rotated to a preset angle toward the ground by an external force exceeding a preset threshold, the foot pedal signal switch 530 is switched to an engaged state. In one embodiment, the pedal apparatus 500 further includes a reset frame 520 and a reset mechanism 540, the pedal 510 is rotatably mounted on the frame 100, the reset frame 520 is rotatably mounted on the pedal 510, and the pedal signal switch 530 is provided on the reset frame 520 and/or the pedal 510 to be turned on when the pedal 510 is rotated to a set position with respect to the reset frame 520. The reset mechanism 540 is provided between the reset frame 520 and the pedal 510 to rotate the pedal 510 after the external force acting on the pedal 510 is removed, thereby turning off the pedal signal switch 530. When an operator stands on the pedal 510, the pedal 510 is subjected to an external force exceeding a preset threshold value, and rotates to a set position relative to the reset frame 520, namely, after the pedal 510 rotates to a preset angle towards the ground, the pedal signal switch 530 is engaged, and the second signal is switched to the first signal; when the operator leaves from the pedal 510, the pedal 510 rotates under the action of the reset mechanism 540, the pedal signal switch 530 is separated, and the second signal is switched to realize monitoring whether the operator stands on the pedal 510, so that the garden tool can make different running modes according to whether the operator stands on the pedal 510.

Referring to fig. 9 to 10, in an embodiment, a support shock absorbing member 130 is disposed on the frame 100, the support shock absorbing member 130 is disposed below the reset frame 520, the support shock absorbing member 130 provides support for the pedal device 500, so as to facilitate the operator to tread on the pedal 510, and the support shock absorbing member 130 is an exemplary horizontal hollow column structure, and when the operator stands on the pedal 510, the support shock absorbing member 130 provides a buffering effect when the pedal device 500 contacts the support shock absorbing member 130, so as to reduce the impact to the operator when the pedal device 500 contacts the support shock absorbing member 130.

The foot signal switch 530 may be an inductive switch, such as an infrared inductive switch, or may be a contact switch, preferably a contact switch, which has low cost and high recognition rate, and is convenient for complex environments. In one embodiment, the foot signal switch 530 includes two parts, one part is a main body part, the other part is a contact part, and the other part is respectively mounted on the foot pedal 510 and the reset frame 520, when the reset frame 520 is mounted under the foot pedal 510, the contact part is in contact with the main body part, the foot signal switch 530 is turned on, and when the contact part is separated from the main body part, the foot signal switch 530 is turned off. When the reset frame 520 is mounted above the foot pedal 510, the foot pedal signal switch 530 is turned off when the contact portion is in contact with the main body portion, and the foot pedal signal switch 530 is turned on when the contact portion is separated from the main body portion. In one embodiment, the foot signal switch 530 is integrated, the foot signal switch 530 is disposed on the foot pedal 510, and in another embodiment, the foot signal switch 530 is disposed on the reset frame 520.

Referring to fig. 11, an exemplary reset frame 520 is provided with a first limiting portion 521, a pedal 510 is provided with a second limiting portion 511, and the first limiting portion 521 cooperates with the second limiting portion 511 to limit a maximum angle between the pedal 510 and the reset frame 520. When the external force on the pedal 510 disappears, i.e. after the person leaves the pedal 510, the reset mechanism 540 causes the pedal 510 to rotate, and the first limit portion 521 and the second limit portion 511 cooperate to avoid the pedal 510 from being too much far away from the reset frame 520, so that the pedal device 500 is convenient for the person to use. The second limiting portion 511 includes a limiting mounting portion 514 and a limiting sleeve rod 515, which are disposed downward at the bottom of the pedal 510, the limiting sleeve rod 515 extends toward the reset frame 520, when the pedal 510 rotates to the initial position, the top of the limiting sleeve rod 515 contacts with the bottom of the first limiting portion 521, the first limiting portion 521 limits the limiting sleeve rod 515 to rotate further, that is, when the first limiting portion 521 contacts with the limiting sleeve rod 515, the angle between the reset frame 520 and the pedal 510 is the maximum angle, so that the excessive angle between the pedal 510 and the reset frame 520 is avoided, and the operator does not conveniently step on the pedal 510.

Referring to fig. 12, an exemplary reset mechanism 540 includes a compression spring 541, one end of the compression spring 541 is fixed to the bottom of the pedal 510, and the other end of the compression spring 510 is fixed to the top of the reset frame 520. When the external force of the pedal 510 is removed, the compression spring 541 makes the pedal 510 rotate under its own elastic action. The compression spring 541 has stable action, stable rotation and lower cost. For example, the pedal 510 and the reset frame 520 are provided with the fixing blocks 542, the fixing blocks 542 are correspondingly arranged on the pedal 510 and the reset frame 520, two ends of the pressure spring 541 are sleeved on the fixing blocks 542, when the pedal 510 and the reset frame 520 are at the maximum angle, the distance between the two fixing blocks 542 correspondingly arranged is smaller than the natural length of the pressure spring 541, in other words, when the pedal 510 and the reset frame 520 are at the maximum angle, the pressure spring 541 cannot be removed from the fixing blocks 542 in the uncompressed state. During installation, the compression spring 541 is directly sleeved on the fixing block 542 after being compressed, and additional fixing is not needed, so that the installation and the use of the compression spring 541 are facilitated.

Illustratively, the housing 100 is provided with a limiting aperture 120, and the pedal 500 is provided with a latch 570, such that when the pedal 500 is retracted, the latch 570 is inserted into the limiting aperture 220 to limit rotation of the pedal 500. By arranging the bolt 570 and the limiting hole 220, the pedal device 500 and the frame 100 can be prevented from rotating relatively during transportation, and the transportation safety is effectively ensured. Illustratively, when the latch 570 is inserted into the spacing aperture 220, the foot pedal signal switch 530 is not on, and when the foot pedal 500 is retracted, the signal switch 530 is in a disengaged state by the reset mechanism 540.

In an embodiment, when the signal of the second sensor is a driving signal, the mower starts the first traveling mode if the signal of the first sensor is the first signal, and starts the second traveling mode if the signal of the first sensor is the second signal. The first sensor signal is a first signal indicating that the operator is standing on the foot pedal 510 at this time, controlling the mower to initiate a first travel mode. If the signal from the first sensor is a second signal, indicating that the operator is not standing on the foot pedal 510, the mower is controlled to start the second travel mode. According to different standing positions of workers, the mower starts different operation modes, so that the workers can operate the mower better and more conveniently. Further, when the signal of the first sensor is changed during the operation of the mower, the control part controls the operation mode of the mower to be changed accordingly, and if the signal of the first sensor is switched from the first signal to the second signal, the mower is switched from the first running mode to the second running mode. Further, the second sensor comprises a left second sensor and a right second sensor, when signals of the two second sensors are travelling signals, the control part can acquire the travelling signals, so that the problem of operation of the mower when an operator touches the mower by mistake is solved, and the use safety of the mower is improved.

In one embodiment, the operating speed of the mower in the second travel mode is lower than the operating speed of the mower in the first travel mode in the same gear. Further, the forward speed of the mower in the first traveling mode is a first forward speed, the backward speed is a first backward speed, and in order to ensure safety and convenient operation, the first forward speed is greater than the first backward speed in the same gear. In the second traveling mode, the advancing speed of the mower in the second traveling mode is the second advancing speed, the retreating speed is the second retreating speed, and in the same gear, the second advancing speed is larger than the second retreating speed, so that an operator can operate the mower to move better.

Further, in the same gear, the first forward speed is greater than the second forward speed, and the first reverse speed is greater than the second reverse speed. When in the second travel mode, the operator stands behind the mower instead of on the foot pedal and does not move synchronously with the mower, and the operator conveniently follows the mower to advance or retract by the second advancing speed being smaller than the first advancing speed and the second retracting speed being smaller than the second retracting speed. The mower can work in special environments, the running speed of the mower is reduced, and personal safety is guaranteed.

For example, the mower is provided with a plurality of gears in the first running mode, the maximum rotation speed of the driving motor of the different gears is different, wherein in one gear, the maximum rotation speed of the driving motor is 1150-1350 rpm during running, and the maximum rotation speed can be any value between 1150-1350 rpm, such as 1150rpm, 1250rpm, 1251rpm, 1350rpm, and the like; second gear, when advancing, the maximum rotating speed is 2050-2250 rpm; third gear, the maximum rotation speed is 2950-3150 rpm when advancing, and can be any value between 2950-3150 rpm, such as 2950rpm, 3050rpm, 3150rpm and the like; fourth gear, the maximum rotation speed is 4150-4350 rpm when advancing, and can be any value between 4150-4350 rpm, such as 4150rpm, 4250rpm, 4350rpm, and the like. For example, the allowable error between the designed maximum rotational speed and the actual maximum rotational speed is ±40, for example, the designed maximum rotational speed for the fourth gear forward is 4250rpm, and the actual rotational speed may be 4250±40rpm. Illustratively, in the first traveling mode, the maximum rotational speed of the mower during the backward traveling may be any value between 1100 and 1300rpm, such as 1100rpm, 1200rpm, 1255rpm, 1300rpm, etc., and the allowable error between the maximum rotational speed and the actual rotational speed during the backward traveling may be ±40rpm, such as 1200rpm for the maximum rotational speed during the backward traveling, and the actual rotational speed may be 1200±40rpm. In other embodiments, the maximum rotational speed of the drive motor may be different when the mower is retracted in different gear positions, preferably the maximum rotational speed of the drive motor is the same when the mower is retracted in different gear positions.

Illustratively, in the second travel mode, the maximum rotational speed of the drive motor is different when the mower is advanced in different gear steps, wherein the maximum rotational speed is 550-750 rpm when in first gear step, and can be any value between 550-750 rpm, such as 550rpm, 650rpm, 685rpm, 750rpm, etc.; second gear, the maximum rotation speed is 800-1000 rpm when advancing, can be any value between 800-1000 rpm, such as 800rpm, 900rpm, 1000rpm, etc.; third gear, the maximum rotation speed is 1150-1350 rpm when advancing, and can be any value between 1150-1350 rpm, such as 1150rpm, 1250rpm, 1350rpm, etc.; illustratively, in the second travel mode, the maximum rotational speed of the drive motor is 550-750 rpm, and may be any value between 550-750 rpm, such as 550rpm, 625rpm, 650rpm, 750rpm, etc., when the mower is retracted in different gear positions, in other embodiments, the maximum rotational speed of the drive motor is different, preferably the maximum rotational speed of the drive motor is the same. For example, in the second traveling mode, the allowable error between the design value and the actual value of the maximum rotational speed for forward and reverse is ±40, and if the design maximum rotational speed for the third traveling is 1250rpm, the actual maximum rotational speed may be 1210 to 1290rpm.

In an embodiment, after the switch of the mowing motor is turned on, when any one of the signal of the second sensor, which is the traveling signal, and the signal of the first sensor, which is the first signal, is satisfied, the mowing motor is started; if the signal of the second sensor is the fourth signal and the signal of the first sensor is the second signal, the mowing motor is not started. In order to meet the mowing requirements under different conditions, the mowing motor can be started before the mower runs, or after the mower runs, if mowing is needed locally, a person stands on the pedal 510, the signal of the first sensor is a first signal, and at the moment, the switch of the mowing motor is started, so that the mowing motor can be started. If the mowing motor needs to be turned off, the switch of the mowing motor can be turned off directly, or when the signal of the first sensor is the second signal and the signal of the second sensor is the fourth signal, the mowing motor is also turned off directly. Further, the second sensor comprises a left second sensor and a right second sensor, when any signal of the two second sensors is in a driving signal, the switch of the mowing motor is turned on, the mowing motor can be started, the mowing motor can be controlled more conveniently, and mowing requirements under different conditions are met.

The control method of the mower has the beneficial effect of conveniently switching the operation mode of the mower according to the standing position of an operator. Therefore, the invention effectively overcomes some practical problems in the prior art, thereby having high utilization value and use significance. The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. Accordingly, it is intended that all equivalent modifications and variations of the invention be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.

Claims (20)

1. A method of controlling a lawnmower, the method comprising:

acquiring a control signal;

judging whether a triggering condition of a traveling mode is met or not according to the acquired control signal;

and if the triggering condition of the advancing mode is met, controlling the mower to operate in the corresponding advancing mode.

2. The method of claim 1, wherein the travel mode comprises a first travel mode, the control signal comprising a first signal configured to be generated when an operator reaches a ride position and/or when a mode selection is made; according to the acquired control signal, judging whether the triggering condition of the travelling mode is met comprises the following steps: and if the first signal is acquired, judging that the triggering condition of the first running mode is met.

3. The method of claim 2, wherein the travel mode comprises a second travel mode, the control signal comprising a second signal configured to be generated when the operator reaches the push position and/or when a mode selection is made; according to the acquired control signal, judging whether the triggering condition of the travelling mode is met comprises the following steps: and if the second signal is acquired or the first signal is not acquired, judging that the triggering condition of the second running mode is met.

4. A control method of a lawnmower as claimed in claim 3, wherein the maximum forward speed of the lawnmower when operating in the first travel mode is greater than the maximum forward speed of the lawnmower when operating in the second travel mode.

5. A control method of a lawnmower as claimed in claim 3, wherein the maximum retraction speed of the lawnmower when operating in the first travel mode is greater than the maximum retraction speed of the lawnmower when operating in the second travel mode.

6. The control method of a mower according to claim 2, wherein when the mower is operated in the first traveling mode, the traveling speed is set with four steps, wherein the first step has a maximum traveling speed of 3 to 5mph; second gear, the maximum advancing speed is 5-8 mph; third gear, the maximum advancing speed is 9-11 mph; fourth gear, the maximum advancing speed is 13-15 mph; the maximum backward speed of the mower is 3-5 mph when the mower runs in the first running mode.

7. A control method of a mower according to claim 3, wherein when the mower is operated in the second traveling mode, the forward speed is set with three steps, wherein, the first step has a maximum forward speed of 1.75 to 2.75mph; second gear, the maximum advancing speed is 2.75-3.25 mph; third gear, the maximum advancing speed is 3.5-4.5 mph; the maximum retraction speed of the mower when operating in the second travel mode is 1.75-2.75 mph.

8. The method according to claim 1, wherein the control signal includes a third signal configured to be issued when the steering mechanism is in an out-of-park state and/or a mode selection is made, and determining whether a trigger condition of a travel mode is satisfied based on the acquired control signal includes: and if the third signal is acquired, judging that the trigger condition for entering or maintaining the running mode is met.

9. The method according to claim 7, wherein the control signal includes a fourth signal configured to be issued when the steering mechanism is in a parking state and/or a mode selection is made, and determining whether a trigger condition of a traveling mode is satisfied based on the acquired control signal includes: and if the fourth signal is acquired, judging that the triggering condition for entering or maintaining the running mode is not met.

10. The control method of a lawn mower according to claim 1, further comprising:

acquiring an operation signal of a mowing motor;

judging whether the operation condition of the mowing motor is met or not according to the control signal;

and if the operation condition of the mowing motor is met, the mowing motor is operated.

11. The method of claim 10, wherein the control signal comprises a first signal configured to be generated when an operator reaches a riding position and/or when a mode selection is made, and wherein determining whether an operating condition of the lawn mower motor is satisfied based on the control signal comprises: and if the first signal is received, judging that the operation condition of the mowing motor is met.

12. The method of claim 10, wherein the control signal comprises a third signal configured to be issued when the steering mechanism is in an out-of-park state and/or a mode selection is made; according to the control signal, judging whether the operation condition of the mowing motor is met comprises the following steps: and if the third signal is received, judging that the operation condition of the mowing motor is met.

13. A control method of a lawn mower, wherein a foot pedal is provided on the lawn mower, the foot pedal having at least a first position and a second position, the control method comprising:

acquiring the position of the pedal;

judging the position of the pedal, and judging that the triggering condition of the first running mode is met if the pedal is at the first position; and if the pedal is at the second position, judging that the triggering condition of the second running mode is met.

14. A control method of a lawn mower, wherein a first sensor is provided on the lawn mower, the first sensor being configured to detect whether an operator is on the lawn mower, the control method comprising:

acquiring a signal of the first sensor;

judging the signal of the first sensor, and if the first sensor is the first signal, judging that the triggering condition of the first running mode is met; and if the first sensor is a second signal, judging that the triggering condition of the second running mode is met.

15. A mower, the mower comprising:

a frame;

the cutting table assembly comprises a mowing motor and a cutting knife;

the travelling mechanism comprises a driving motor and travelling wheels;

A first sensor configured to detect whether an operator is on a lawn mower, the first sensor being a first signal if the operator is on the lawn mower, the lawn mower operating in a first travel mode; if the operator is not on the mower, the first sensor is a second signal and the mower operates in a second travel mode.

16. The mower of claim 15, wherein a fourth gear is provided when the mower is operated in a first travel mode, wherein the maximum rotation speed of the driving motor is 1150-1350 rpm when the mower is advanced in first gear; second gear, the maximum rotation speed of the driving motor is 2050-2250 rpm when advancing; third gear, the maximum rotation speed of the driving motor is 2950-3150 rpm when advancing; fourth gear, the maximum rotation speed of the driving motor is 4150-4350 rpm when the vehicle advances; when the mower runs in the first running mode, the maximum rotating speed of the driving motor is 1100-1300 rpm during backward movement.

17. The control method of a mower according to claim 15, wherein when the mower operates in the second traveling mode, three gears are provided, wherein the first gear is a gear, and the maximum rotation speed of the driving motor is 550-750 rpm when the mower is in the traveling mode; second gear, the maximum rotation speed of the driving motor is 800-1000 rpm when advancing; third gear, the maximum rotation speed of the driving motor is 1150-1350 rpm when advancing; and when the mower operates in the second advancing mode, the maximum rotating speed of the driving motor is 550-750 rpm during the backward movement.

18. The method of claim 15, wherein the mower comprises a steering mechanism comprising:

a lever that manipulates parking and travel of the mower;

a second sensor configured to detect whether the joystick is in a park state, the second sensor being a third signal if the joystick is in a non-park state, the mower entering or maintaining a travel mode; and dragging the control lever to be in a parking state, wherein the third sensor is a fourth signal, and the mower enters or maintains a parking mode.

19. The method according to claim 18, wherein after the switch of the mowing motor is turned on, the mowing motor is started when the second sensor is a third signal and/or the first sensor is a first signal; and if the second sensor is a fourth signal and the first sensor is a second signal, the mowing motor is not started.

20. The method according to claim 15, wherein the mower comprises a foot pedal rotatably mounted on the frame, the first sensor is a second signal when the foot pedal is in an initial state, and the first sensor is a first signal when the foot pedal is rotated to a preset angle toward the ground by an external force exceeding a preset threshold.