Mowing control method and autonomous mowing machine

Abstract

The embodiment of the application provides a mowing control method and an automatic mower, the method comprises the following steps: receiving a lawn map provided with a pattern, determining a display mode of the pattern, determining a mowing program of the automatic mower according to the display mode, and controlling the automatic mower to mow the lawn of a working area according to the determined mowing program, so that a preset pattern is mowed, the diversity and interest of lawn mowing are increased, and the mowing program can be formulated according to different pattern display types, so that the mowing effect of the pattern is guaranteed.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of self-moving robots, and particularly relates to a mowing control method and an automatic mower. BACKGROUND

[0002] The automatic mower is a lawn maintenance robot capable of automatically performing mowing, which can liberate people from lawn maintenance work and is very popular. The existing automatic mower basically cuts the lawn to a single set height, and lacks the function of pattern cutting of the lawn.

[0003] Therefore, it is necessary to improve the prior art to overcome the defects in the prior art. SUMMARY

[0004] Therefore, the present application solves the technical problem that the existing automatic mower does not fully exploit the mowing diversity and pattern calculation capability of the automatic mower.

[0005] To solve the above technical problems, the present application provides a mowing control method, comprising:

[0006] receiving a lawn map provided with a pattern; wherein the lawn map is a map of a working area to be cut, the lawn map comprises a pattern area and a non-pattern area, the mowing height of the non-pattern area is a first preset cutting height, the mowing height of the pattern area is a second preset cutting height, and the first preset cutting height is different from the second preset cutting height;

[0007] determining a display mode of the pattern according to the size relationship between the first preset cutting height and the second preset cutting height; the display mode comprises a highlight mode and a recess mode;

[0008] determining a cutting program of the automatic mower according to the display mode;

[0009] controlling the automatic mower to mow the lawn of the working area according to the determined cutting program.

[0010] In one embodiment, the determination of the display mode of the pattern according to the size relationship between the first preset cutting height and the second preset cutting height comprises:

[0011] If the first preset cutting height is greater than the second preset cutting height, the display mode is determined as the recess mode, and if the first preset cutting height is less than the second preset cutting height, the display mode is determined as the highlight mode.

[0012] In one embodiment, the determination of the cutting program of the automatic mower according to the display mode comprises:

[0013] If the display mode is the concave display mode, controlling the automatic mower to mow the whole working area according to the first preset cutting height;

[0014] After the working area mowing is completed, controlling the automatic mower to mow the pattern area according to the second preset cutting height.

[0015] In one embodiment, the method further comprises:

[0016] If the display mode is the convex display mode, controlling the automatic mower to mow the pattern area according to the second preset cutting height, and then controlling the automatic mower to mow the non-pattern area according to the first preset cutting height; or,

[0017] controlling the automatic mower to mow the non-pattern area according to the first preset cutting height, and then controlling the automatic mower to mow the pattern area according to the second preset cutting height.

[0018] In one embodiment, the method further comprises:

[0019] controlling the automatic mower to mow the reserved area according to the first preset cutting height.

[0020] In one embodiment, the pattern area comprises one or more scattered sub-pattern areas, and the method further comprises:

[0021] controlling the automatic mower to mow along the outer contour of the sub-pattern area according to the second preset cutting height for at least one round;

[0022] controlling the automatic mower to mow inside the sub-pattern area according to the second preset cutting height.

[0023] In one embodiment, the method further comprises:

[0024] planning a mowing path of the sub-pattern area according to the shape of the sub-pattern area;

[0025] controlling the automatic mower to mow inside the sub-pattern area according to the planned mowing path and the second preset cutting height.

[0026] In one embodiment, after the sub-pattern area cutting is completed, the method further comprises:

[0027] acquiring an image of the sub-pattern area;

[0028] determining matching data of the image and the preset sub-pattern area shape;

[0029] determining whether the contour of the image meets a preset matching condition according to the matching data, and if not, controlling the automatic mower to perform secondary mowing at the contour position that does not meet the preset matching condition;

[0030] wherein the mowing height of the secondary mowing is the smaller one of the first preset cutting height and the second preset cutting height.

[0031] In one embodiment, the automatic mower mows the pattern area according to the second preset cutting height, comprising:

[0032] determining the current position coordinates of the automatic mower;

[0033] controlling the automatic mower to walk to the outer contour of the nearest sub-pattern area;

[0034] controlling the automatic mower to walk and mow around the outer contour of the sub-pattern area for at least one round.

[0035] In one embodiment, the method further comprises:

[0036] confirming the difference between the first preset cutting height and the second preset cutting height; wherein the values of the first preset cutting height and the second preset cutting height are within a preset height range;

[0037] if the difference is less than a preset threshold, issuing a warning signal that the cutting height setting is unreasonable.

[0038] In one embodiment, the method further comprises:

[0039] acquiring lawn height data of the area to be cut;

[0040] judging the relationship between the lawn height data and the larger one of the first preset cutting height and the second preset cutting height, and if the lawn height data is less than the larger one of the first preset cutting height and the second preset cutting height, issuing a warning signal that the cutting height setting is unreasonable.

[0041] In addition, the present application also provides an automatic mower, comprising:

[0042] a body;

[0043] A cutting mechanism is arranged in the machine body and includes a cutting motor and a cutting piece, the cutting motor drives the cutting piece to rotate to cut the grass on the lawn;

[0044] An adjusting mechanism includes an adjusting motor for adjusting the cutting height of the cutting piece, and the adjusting motor is in transmission connection with the cutting piece.

[0045] A communication module is configured to receive a lawn map provided with a pattern, wherein the lawn map is a map of a working area to be cut, the lawn map includes a pattern area and a non-pattern area, the cutting height of the non-pattern area is a first preset cutting height, the cutting height of the pattern area is a second preset cutting height, and the first preset cutting height is different from the second preset cutting height.

[0046] A display mode determination module is configured to determine a display mode of the pattern according to the size relationship between the first preset cutting height and the second preset cutting height, and the display mode includes a highlight mode and a recess mode.

[0047] A cutting program determination module is configured to determine a cutting program of the automatic lawn mower according to the display mode.

[0048] A control module is configured to control the automatic lawn mower to cut the lawn of the working area according to the determined cutting program.

[0049] The technical solution provided by the present application has the following advantages:

[0050] The cutting control method and the automatic lawn mower provided by the embodiment of the present application receive a lawn map provided with a pattern, determine a display mode of the pattern, determine a cutting program of the automatic lawn mower according to the display mode, and control the automatic lawn mower to cut the lawn of the working area according to the determined cutting program, so as to cut a preset pattern, thereby increasing the diversity and interest of lawn trimming, and also enabling a matching cutting program to be formulated according to different pattern display types, and ensuring the cutting effect of the pattern. BRIEF DESCRIPTION OF DRAWINGS

[0051] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0052] Figure 1 The flowchart of the cutting control method of the automatic lawn mower provided by an embodiment of the present application is shown in the figure.

[0053] Figure 2 An application scenario diagram of the mowing control method provided by an embodiment of the present application is shown in the following figure.

[0054] Figure 3 Another application scenario diagram of the mowing control method provided by an embodiment of the present application is shown in the following figure.

[0055] Figure 4 A structural diagram of the automatic mowing machine provided by an embodiment of the present application is shown in the following figure. DETAILED DESCRIPTION

[0056] The technical solutions of the present application will be described clearly and completely below with reference to the accompanying drawings. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0057] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence.

[0058] In the present application, the examples to be introduced next are only specific examples and do not limit the embodiments of the present application to the following specific steps, values, conditions, data, sequences, etc. without the opposite description. Those skilled in the art can use the concept of the present application to construct more embodiments not mentioned in the specification by reading the specification.

[0059] The existing automatic mowing machine has a single cutting function, which is basically limited to cutting the lawn to a single fixed height. In recent years, people's spiritual life is becoming more and more rich, and sometimes they want to cut the lawn into the desired pattern to increase the interest and beauty of the lawn. For example, in some family gatherings, users want to display theme patterns related to the gathering on the lawn, such as for a birthday party, users want the lawn to display the text pattern of "Happy Birthday" or the shape pattern of a birthday cake. These patterns need to be drawn on the lawn in advance by the user, and then manually cut out the pattern, which consumes manpower and requires high operation requirements for cutting effect.

[0060] Please refer to Figure 1 In order to solve the above problems, the first embodiment of the present application provides a mowing control method applied to an automatic mowing machine 100.

[0061] Please refer to Figure 4As shown, in a specific application scenario, the automatic mower 100 includes a machine body 10, a cutting mechanism, a walking mechanism, and a height adjustment mechanism 18. The cutting mechanism is arranged on the machine body 10 and includes a cutting motor (not shown) and a cutting piece 12. The cutting motor drives the cutting piece 12 to rotate to mow the lawn that has been traveled. The walking mechanism includes a driving wheel 14 for driving the machine body 10 to walk. The walking mechanism further includes a universal wheel 15 to facilitate the turning of the automatic mower 100. The height adjustment mechanism 18 includes a height adjustment motor (not shown) for adjusting the mowing height of the cutting piece 12. The height adjustment motor is in transmission connection with the cutting piece, so that the automatic mower 100 can control the height adjustment motor to automatically adjust the mowing height of the cutting piece 12.

[0062] In a specific implementation, the above method can include the following contents:

[0063] S10: receiving a lawn map provided with a pattern; wherein the lawn map is a map of a working area to be cut, the lawn map includes a pattern area and a non-pattern area, the mowing height of the non-pattern area is a first preset cutting height, the mowing height of the pattern area is a second preset cutting height, and the first preset cutting height is different from the second preset cutting height;

[0064] S20: determining a display mode of the pattern according to the size relationship between the first preset cutting height and the second preset cutting height; the display mode includes a highlighting mode and a recessing mode;

[0065] S30: determining a cutting program of the automatic mower according to the display mode;

[0066] S40: controlling the automatic mower to mow the lawn of the working area according to the determined cutting program.

[0067] In the above step S10, the lawn map provided with a pattern is received. In a specific implementation scenario, please refer to Figure 2 As shown, the user sets the desired pattern on the lawn map 300 through the mobile terminal 200. The automatic mower 100 can communicate wirelessly with the handheld terminal 200, so as to receive the lawn map with the pattern set by the user on the handheld terminal.

[0068] Specifically, the pattern includes a star-shaped pattern 302 and a triangular pattern 303. The star-shaped pattern 302 and the triangular pattern 303 are arranged in a scattered manner and can be partially intersected and overlapped. The user can drag the position of each pattern, edit the size of the pattern, and perform intersection, union, difference, complement, and symmetric difference operations on multiple patterns, so as to obtain the desired pattern effect and increase the flexibility of user pattern editing.

[0069] In Figure 2In the illustrated implementation scenario, the lawn map 300 includes patterned regions 302 and 303 and a non-patterned region 301. The cutting height of the non-patterned regions 302 and 303 is a first preset cutting height, and the cutting height of the patterned region is a second preset cutting height 301. The first preset cutting height is different from the second preset cutting height. Specifically, the first preset cutting height of the non-patterned region is a single fixed value. For the patterned region, the first preset cutting height is a single fixed value for a single pattern, and the first preset cutting height can be the same or different for different patterns.

[0070] In addition to some preselected patterns of conventional shapes, the mobile terminal can also provide a port for importing an image, thereby facilitating the user to import an external image. The user can also manually draw a pattern on the lawn map, and thus the pattern setting of the lawn is flexible, and the user can freely design according to his own creativity.

[0071] In a specific implementation scenario, the mobile terminal 200 can be a mobile phone, a mobile computer, a tablet computer, or the like. Generally, the mobile terminal 200 is a mobile phone that the user already has.

[0072] The above-mentioned "lawn map" is pre-stored in the automatic lawn mower, and the lawn map can be a lawn map autonomously established by the automatic lawn mower in a previous mowing task or a lawn map edited by the user. Specifically, the lawn map edited by the user includes a map saved after the user performs operations such as marking the lawn map and setting a forbidden region. The lawn map reflects the physical map of the current working region to be cut, and the automatic lawn mower can navigate according to the map to determine the position region of the pattern.

[0073] In a specific implementation, the automatic lawn mower combines multiple navigation and positioning methods, such as GPS, Beidou, wheel speed meter, and inertial navigation, to ensure the accuracy of the positioning of the automatic lawn mower and thus improve the matching degree of the cutting pattern and the preset pattern.

[0074] The pattern set on the map has two display modes, namely, a highlighted mode and a recessed mode, and the display mode can be determined according to the size relationship between the first preset cutting height and the second preset cutting height. The method provided in this embodiment determines the display mode of the pattern according to the size relationship between the first preset cutting height and the second preset cutting height, determines the cutting program of the automatic lawn mower according to the display mode, and controls the automatic lawn mower to cut the lawn in the region according to the determined cutting program. Specifically, if the first preset cutting height is greater than the second preset cutting height, the display mode is determined to be the recessed mode, and if the first preset cutting height is less than the second preset cutting height, the display mode is determined to be the highlighted mode.

[0075] When the pattern is the highlight mode, the automatic mower determines a highlight cutting procedure; when the pattern is the recess mode, the automatic mower determines a recess cutting procedure. The highlight cutting procedure is different from the recess cutting procedure. Thus, the grass cutting control method provided in this embodiment can formulate a matching cutting procedure according to different pattern display types, and guarantee the cutting effect of the pattern.

[0076] It should be noted that the cutting procedure is understood as the cutting logic of the lawn in the working area. The following will be described in combination with specific embodiments.

[0077] In a specific embodiment, the cutting procedure of the automatic mower determined according to the display mode comprises:

[0078] If the display mode is the recess mode, the automatic mower is controlled to perform traversal grass cutting on the entire working area according to a first preset cutting height;

[0079] After completing the traversal grass cutting on the working area, the automatic mower is controlled to perform grass cutting on the pattern area according to a second preset cutting height.

[0080] That is, when the display of the pattern is the recess mode, the automatic mower is controlled to perform traversal coverage grass cutting on the entire working area, so as to cut the lawn to a uniform first preset cutting height. After cutting the entire working area, the pattern area is cut according to a second preset cutting height. After completing the traversal of the working area, the automatic mower can obtain the current map information of the working area, can compare the current map of the working area with the received lawn map, and determine the relative position of the pattern in the current obtained map of the working area during actual cutting according to the relative position relationship of the pattern on the received lawn map, so as to control the automatic mower to cut according to the current obtained map of the working area and the relative position relationship of the pattern. For the case that the lawn map changes, the automatic mower can be adjusted appropriately. For example, the position of the pattern on the lawn map is newly added with a flower bed, so that the flower bed position cannot display the pattern. Through the above cutting logic, the display position of the pattern can be adjusted appropriately according to the updated map information, such as deviating from the flower bed position, so that the pattern can be displayed completely.

[0081] In some embodiments, the automatic mower also sends a message to the user to ask for adjustment of the pattern. If the user agrees, the cutting is planned according to the adjusted pattern position. If the user disagrees, a window is popped up to allow the user to adjust the pattern according to the current working area map.

[0082] In a specific embodiment, the cutting procedure of the automatic mower determined according to the display mode comprises the following steps:

[0083] If the display mode is the highlighting mode, the automatic mower is controlled to mow the pattern region according to the second preset cutting height, and then the automatic mower is controlled to mow the non-pattern region according to the first preset cutting height; or

[0084] The automatic mower is controlled to mow the non-pattern region according to the first preset cutting height, and then the automatic mower is controlled to mow the pattern region according to the second preset cutting height.

[0085] That is, when the display mode of the pattern is the highlighting mode, the pattern region and the non-pattern region can be mowed in turn. The cutting sequence of the pattern region and the non-pattern region can be adjusted. Preferably, the pattern region is preferentially mowed in turn, and the advantage is that, when the mowing effect of the region is poor and needs to be trimmed, the boundary between the non-pattern region and the pattern region can be trimmed until the mowing effect of the pattern meets the quality requirement, because the lawn height of the pattern region is maintained at a high level.

[0086] In some implementation scenarios, the pattern region can include a reserved region. Please refer to Figure 3 As shown in the figure, the pattern region includes a star-shaped pattern, and the inside of the star-shaped pattern is a star-shaped reserved region 3021. The region between the outlines of the two star-shaped patterns is of the second preset cutting height, and the mowing height inside the star-shaped pattern is different from the second preset cutting height, so as to cut out the effect of the star-shaped ring. For example, if the display pattern is a letter, such as the letter "O". The region of the circle of the letter O is of the second preset cutting height, and the circular space inside the circle needs to be reserved, that is, the reserved region is inside the closed region of the O-shaped letter, and this region is different from the second preset cutting height of the circle of the letter.

[0087] In some embodiments, it is determined whether the pattern region includes a reserved region, and if the pattern region includes a reserved region, the method further includes:

[0088] The automatic mower is controlled to mow the reserved region according to the first preset cutting height.

[0089] That is, the mowing height of the reserved region is consistent with that of the non-pattern region, so that the lawn cutting effect is more neat and beautiful.

[0090] In some implementation scenarios, the pattern region includes one or more scattered sub-pattern regions. Please refer to Figure 2 As shown in the figure, the pattern includes a star-shaped pattern 302 and a triangular pattern 303, that is, the sub-pattern regions include two, which are the star-shaped pattern 302 and the triangular pattern 303, and the sub-pattern regions can also include multiple, and any two sub-pattern regions do not overlap. It can be understood that the sub-pattern regions can include multiple patterns that overlap with each other. The cutting effect of the outer contour of each sub-pattern region also determines the cutting effect of the entire pattern.

[0091] In order to guarantee the matching degree of the cut-out pattern and the preset pattern, in some embodiments, the step of controlling the automatic mower to cut the pattern region further includes the following contents:

[0092] controlling the automatic mower to mow along the outer contour of the sub-pattern region at a second preset cutting height for at least one round;

[0093] controlling the automatic mower to mow inside the sub-pattern region at the second preset cutting height.

[0094] That is, first mowing along the outer contour of the sub-pattern region for at least one round to cut out the outer contour of the entire pattern can guarantee the smoothness of the outer contour and improve the matching degree of the cut-out pattern.

[0095] After mowing along the outer contour for at least one round, the automatic mower is controlled to mow inside the sub-pattern region at the second preset cutting height.

[0096] In order to improve the cutting efficiency of the sub-pattern region, in an embodiment, the step of controlling the automatic mower to mow inside the sub-pattern region at the second preset cutting height further includes the following contents:

[0097] planning a mowing path of the sub-pattern region according to the shape of the sub-pattern region;

[0098] controlling the automatic mower to mow inside the sub-pattern region at the second preset cutting height according to the planned mowing path.

[0099] The mowing path matches the shape of the sub-pattern region, which can reduce the number of turns or reversals of the automatic mower, thereby shortening the time wasted by turning, and can improve the cutting efficiency inside the sub-pattern region. For example, if the sub-pattern region is a rectangle, the automatic mower is controlled to mow inside the rectangle using a plow cutting method along the longer side.

[0100] In order to guarantee the accuracy of the shape of the cut-out sub-pattern region, in some embodiments, after the sub-pattern region is cut, the method can further include the following steps:

[0101] obtaining an image of the sub-pattern region;

[0102] determining matching data of the image and the preset shape of the sub-pattern region;

[0103] determining whether the contour of the image meets a preset matching condition according to the matching data, and if not, controlling the automatic mower to mow again at the contour position that does not meet the preset matching condition;

[0104] The second mowing height of the second mowing is the smaller one of the first preset mowing height and the second preset mowing height.

[0105] The automatic mowing machine 100 is further configured with a camera module 16 for acquiring an environmental image around the automatic mowing machine 100. In order to facilitate the acquisition of the image of the entire sub-pattern area, the camera module 16 is a panoramic camera module, which can take an environmental photo within a range of 360 degrees of the machine body. When the automatic mowing machine mows the sub-pattern area, the mowing effect of the sub-pattern area can be acquired in real time through the camera module 16, and the walking path of the automatic mowing machine is adjusted according to the mowing effect. After the automatic mowing machine completes the mowing of the sub-pattern area, the image of the entire sub-pattern area, i.e., the final mowing effect image, is acquired, the matching data of the acquired mowing effect image and the preset shape of the sub-pattern area is determined, and if the matching data does not meet the preset matching condition, the automatic mowing machine is controlled to perform secondary mowing at the contour position that does not meet the preset matching condition, so as to trim the shape of the sub-pattern area.

[0106] In order to improve the mowing efficiency of the automatic mowing machine and reduce the time spent on mowing the sub-pattern area, in some embodiments, the step of mowing the pattern area at the second preset mowing height further comprises:

[0107] determining the current position coordinates of the automatic mowing machine;

[0108] controlling the automatic mowing machine to walk to the outer contour of the nearest sub-pattern area;

[0109] controlling the automatic mowing machine to walk around the outer contour of the sub-pattern area for at least one round.

[0110] It can be understood that the display effect of the pattern area is affected by the mowing height, the larger the difference between the first preset mowing height and the second preset mowing height, the more obvious the pattern display, and when the difference is too small, the mowed pattern will not be displayed clearly.

[0111] In order to ensure the effect of pattern display, in some embodiments, the method further comprises:

[0112] confirming the difference between the first preset mowing height and the second preset mowing height; wherein the values of the first preset mowing height and the second preset mowing height are within a preset height range;

[0113] if the difference is less than a preset threshold, an unreasonable mowing height setting reminder signal is sent.

[0114] In some embodiments, the method further comprises:

[0115] acquire the lawn height data of the region to be cut;

[0116] determine the relationship between the lawn height data and the larger one of the first preset cutting height and the second preset cutting height, and if the lawn height data is smaller than the larger one of the first preset cutting height and the second preset cutting height, an unreasonable cutting height setting warning signal is sent out.

[0117] By the above method, the pattern region and the non-pattern region can be effectively cut to the preset cutting height, thereby improving the neatness of the cut lawn.

[0118] In addition, the application further provides an automatic mower 100, please see Figure 4 , comprising a machine body 10, a cutting mechanism, a walking mechanism and a height adjustment mechanism 18. The above structure has been introduced in the embodiment part of the above cutting control method, and can be referred to the embodiment content of the above cutting control method, and will not be repeated here.

[0119] The automatic mower further comprises a communication module for communicating with a mobile terminal to receive a lawn map provided with a pattern.

[0120] The automatic mower 100 further comprises a controller 17, and the controller 17 is used for the cutting control method provided in any of the above embodiments. Specifically, the controller 17 is integrated with a display mode determination module, a cutting program determination module and a control module.

[0121] The display mode determination module is used for determining the display mode of the pattern according to the size relationship between the first preset cutting height and the second preset cutting height, and the display mode comprises a highlighting mode and a recessing mode.

[0122] The cutting program determination module determines the cutting program of the automatic mower 100 according to the display mode.

[0123] The control module controls the automatic mower 100 to cut the lawn in the working region according to the determined cutting program.

[0124] In a specific embodiment, when determining the display mode of the pattern, the display mode determination module realizes by the following steps: if the first preset cutting height is greater than the second preset cutting height, the display mode is determined as the recessing mode, and if the first preset cutting height is smaller than the second preset cutting height, the display mode is determined as the highlighting mode.

[0125] In a specific embodiment, the cutting program determination module determines the cutting program of the automatic mower 100 by the following steps: if the display mode is the concave display mode, the automatic mower is controlled to mow the entire working area according to the first preset cutting height; after the working area is mowed, the automatic mower is controlled to mow the pattern area according to the second preset cutting height.

[0126] In a specific embodiment, the cutting program determination module determines the cutting program of the automatic mower 100 by the following steps: if the display mode is the convex display mode, the automatic mower is controlled to mow the pattern area according to the second preset cutting height, and then the automatic mower is controlled to mow the non-pattern area according to the first preset cutting height; or, the automatic mower is controlled to mow the non-pattern area according to the first preset cutting height, and then the automatic mower is controlled to mow the pattern area according to the second preset cutting height.

[0127] In some embodiments, the pattern area includes one or more scattered sub-pattern areas, and the control module controls the automatic mower 100 to cut the pattern area by the following steps: the automatic mower is controlled to mow along the outer contour of the sub-pattern area according to the second preset cutting height for at least one round; the automatic mower is controlled to mow inside the sub-pattern area according to the second preset cutting height.

[0128] Further, the control module controls the automatic mower 100 to cut the sub-pattern area by the following steps:

[0129] According to the shape of the sub-pattern area, a mowing path of the sub-pattern area is planned;

[0130] The automatic mower is controlled to mow inside the sub-pattern area according to the planned mowing path and the second preset cutting height.

[0131] In some embodiments, the automatic mower further includes a camera module 16, and after the sub-pattern area is cut, the controller is further configured to: control the camera module to obtain an image of the sub-pattern area;

[0132] Determine matching data of the image and a preset sub-pattern area shape;

[0133] According to the matching data, it is determined whether the contour of the image meets a preset matching condition, and if not, the automatic mower is controlled to mow again at the contour position that does not meet the preset matching condition;

[0134] The mowing height of the second mowing is the smaller one of the first preset mowing height and the second preset mowing height.

[0135] Those skilled in the art will understand that embodiments of the present application can be provided as methods, systems, servers or computer program products. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, and the like) embodying computer-readable program code.

[0136] The present application is described in reference to the flowcharts and / or block diagrams of the methods, apparatus (systems), servers and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, a special purpose computer, an embedded processor or other programmable data processing apparatus to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing apparatus produce the functions specified in the flowcharts and / or block diagrams for implementing the flows and / or blocks in the flowcharts and / or block diagrams. Figure 1 The functions specified in one or more flows and / or blocks Figure 1 The functions specified in one or more flows and / or blocks

[0137] Obviously, the above described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments of the present application, those skilled in the art can make other different forms of changes or modifications without creative labor, and all of them should belong to the protection scope of the present application.

Claims

1. A mowing control method applied to an automatic mowing machine, characterized by, The method comprises: receiving a lawn map provided with a pattern; wherein the lawn map is a map of a working area to be cut, the lawn map comprises a pattern area and a non-pattern area, a mowing height of the non-pattern area is a first preset cutting height, a mowing height of the pattern area is a second preset cutting height, the first preset cutting height is different from the second preset cutting height; determining a display mode of the pattern according to a size relationship between the first preset cutting height and the second preset cutting height; the display mode comprises a highlighting mode and a recessing mode; determining a cutting program of the automatic mower according to the display mode; controlling the automatic mower to mow the lawn of the working area according to the determined cutting program; the pattern area comprises one or more sporadically distributed sub-pattern areas, and the control of the automatic mower to cut the pattern area comprises: controlling the automatic mower to mow along an outer contour of the sub-pattern area at the second preset cutting height for at least one round; planning a mowing path of the sub-pattern area according to a shape of the sub-pattern area; controlling the automatic mower to mow inside the sub-pattern area according to the planned mowing path and the second preset cutting height; after completing the cutting of the sub-pattern area, the method further comprises: obtaining an image of the sub-pattern area; determining matching data of the image and a preset shape of the sub-pattern area; determining whether a contour of the image meets a preset matching condition according to the matching data, and if not, controlling the automatic mower to perform secondary mowing at a position of the contour that does not meet the preset matching condition; wherein a mowing height of the secondary mowing is a smaller one of the first preset cutting height and the second preset cutting height.

2. The mowing control method according to claim 1, characterized by, The determination of the display mode of the pattern according to the size relationship between the first preset cutting height and the second preset cutting height comprises: if the first preset cutting height is greater than the second preset cutting height, determining that the display mode is the recessing mode, and if the first preset cutting height is less than the second preset cutting height, determining that the display mode is the highlighting mode.

3. The mowing control method according to claim 2, characterized by, The determination of the cutting program of the automatic mower according to the display mode comprises: if the display mode is the recessing mode, controlling the automatic mower to perform traversal mowing on the entire working area at the first preset cutting height; after completing the traversal mowing of the working area, controlling the automatic mower to mow the pattern area at the second preset cutting height.

4. The mowing control method according to claim 2, characterized by, The determination of the cutting program of the automatic mower according to the display mode comprises: if the display mode is the highlighting mode, controlling the automatic mower to perform traversal mowing on the pattern area at the second preset cutting height, and then controlling the automatic mower to perform traversal mowing on the non-pattern area at the first preset cutting height; or The automatic mower is controlled to mow the non-pattern region at the first preset mowing height, and then the automatic mower is controlled to mow the pattern region at the second preset mowing height.

5. The mowing control method according to claim 3 or 4, characterized in that, it is determined whether the pattern region includes a leave-out region, and if the pattern region includes the leave-out region, the method further includes: The automatic mower is controlled to mow the leave-out region at the first preset mowing height.

6. The grass-cutting control method according to claim 1, characterized by The method further includes: The difference between the first preset mowing height and the second preset mowing height is determined; wherein the values of the first preset mowing height and the second preset mowing height are within a preset height range; In the case where the difference is less than a preset threshold, a mowing height setting unreasonable reminding signal is sent out.

7. An automatic mower characterized by It includes: a machine body; a cutting mechanism arranged in the machine body, including a cutting motor and a cutting piece, the cutting motor driving the cutting piece to rotate to mow the lawn traveled; a height adjustment mechanism including a height adjustment motor for adjusting the mowing height of the cutting piece, the height adjustment motor being in transmission connection with the cutting piece; a communication module for receiving a lawn map provided with a pattern; wherein the lawn map is a map of a working region to be cut, the lawn map including a pattern region and a non-pattern region, the mowing height of the non-pattern region being a first preset mowing height, the mowing height of the pattern region being a second preset mowing height, the first preset mowing height being different from the second preset mowing height; a display mode determination module for determining the display mode of the pattern according to the size relationship between the first preset mowing height and the second preset mowing height, the display mode including a highlight mode and a recess mode; a cutting program determination module for determining the cutting program of the automatic mower according to the display mode; a control module for controlling the automatic mower to mow the lawn of the working region according to the determined cutting program; The pattern region includes one or more sporadically distributed sub-pattern regions, and the control module is further configured to control the automatic mower to mow along the outer contour of the sub-pattern region at the second preset mowing height for at least one round; a mowing path of the sub-pattern region is planned according to the shape of the sub-pattern region; the automatic mower is controlled to mow inside the sub-pattern region at the planned mowing path and the second preset mowing height; The automatic mower further includes a camera module, and after the cutting of the sub-pattern region is completed, the controller is further configured to: control the camera module to acquire an image of the sub-pattern region; determine matching data of the image and a preset sub-pattern region shape; determine whether the contour of the image meets a preset matching condition according to the matching data, and if not, control the automatic mower to perform secondary mowing at the contour position that does not meet the preset matching condition; wherein the mowing height of the secondary mowing is the smaller one of the first preset mowing height and the second preset mowing height.

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