Lawn humidity-based mowing robot control method and chip

Abstract

The application discloses a lawn mower robot control method and a chip based on lawn humidity, and the method comprises the following steps: a lawn mower acquires humidity information of each lawn area; each lawn area is divided into a first working area or a second working area according to the humidity information of each lawn area, and is correspondingly stored in a corresponding first working area list or a second working area list; the lawn mower executes a first working procedure on the first working area in the first working area list, and executes a second working procedure on the second working area in the second working area list. Based on the humidity information of each lawn area, the lawn is divided into multiple different working areas, so that the lawn mower can execute the corresponding working procedure for each small working area, improve the mowing work efficiency of the lawn mower in the case that the humidity condition of part of the lawn area is poor, and optimize the working procedure of the lawn mower.

Description

Technical Field

[0001] This application relates to the field of lawn mowing robot technology, specifically to a lawn mowing robot control method and chip based on lawn humidity. Background Technology

[0002] The blades on the mowing devices of lawnmower robots are prone to rusting due to humidity. Therefore, when mowing robots operate on lawns with high humidity, the blades are easily rusted by the lawn's moisture. Thus, it is necessary to detect the humidity of the lawn before the robot begins mowing in damp conditions. Current technology mainly uses a single humidity detection device to measure the humidity of the entire lawn. However, the humidity detection results have limitations in covering all areas of the lawn. Stopping the lawnmower robot based solely on the overall humidity reading can lead to situations where only some areas of the lawn are damp, while others still meet the conditions for mowing, thus affecting the robot's mowing efficiency. Summary of the Invention

[0003] This application provides a lawn mowing robot control method and chip based on lawn moisture, and the specific technical solution is as follows:

[0004] A lawn mowing robot control method based on lawn humidity includes: the lawn mowing robot acquiring humidity information of each lawn area; dividing each lawn area into a first working area or a second working area according to the humidity information of each lawn area, and storing them in the corresponding first working area list or second working area list; the lawn mowing robot executing a first working process on the first working area in the first working area list, and executing a second working process on the second working area in the second working area list.

[0005] Furthermore, the method for the lawn mowing robot to obtain humidity information of each lawn area specifically includes: the lawn mowing robot traversing each lawn area and obtaining humidity information of each lawn area based on the humidity detection device of the lawn mowing robot.

[0006] Furthermore, the method for the lawn mowing robot to obtain humidity information of each lawn area specifically includes: the lawn mowing robot receiving humidity information of each lawn area transmitted by humidity detection devices set in each lawn area.

[0007] Furthermore, the step of dividing each lawn area into a first working area or a second working area based on the humidity information of each lawn area specifically includes: determining whether the humidity information of the lawn area meets a first preset humidity condition; if the humidity information of the lawn area meets the first preset humidity condition, then the lawn area is divided into a first working area; if the humidity information of the lawn area does not meet the first preset humidity condition, then the lawn area is divided into a second working area.

[0008] Furthermore, the step of dividing each lawn area into a first working area or a second working area based on the humidity information of each lawn area also includes: merging adjacent first working areas into a single first working area, and merging adjacent second working areas into a single second working area.

[0009] Furthermore, the lawn mowing robot executes a first workflow for the first working area in the first working area list, specifically including: Step A1: The lawn mowing robot traverses the first working area list to select a first working area as the current first working area; Step A2: The lawn mowing robot performs lawn mowing work in the current first working area according to the lawn mowing strategy corresponding to the current first working area; When the lawn mowing robot completes the lawn mowing work in the current first working area, it returns to step A1 and reselects the current first working area.

[0010] Furthermore, the lawn mowing robot control method based on lawn humidity also includes: when the lawn mowing robot completes the first workflow corresponding to the current first working area, the lawn mowing robot deletes the current first working area from the first working area list and updates the first working area list.

[0011] Furthermore, the lawn mowing robot control method based on lawn humidity also includes: when a first working area exists in the first working area list, controlling the lawn mowing robot to first execute a first working process on the first working area in the first working area list until the first working area list is updated to an empty list, and then the lawn mowing robot to execute a second working process on the second working area in the second working area list.

[0012] Furthermore, the lawn mowing robot control method based on lawn humidity also includes: during the process of the lawn mowing robot moving from the current first working area to the next current first working area, if the movement path of the lawn mowing robot needs to pass through the second working area, the height of the mowing blade is controlled to be increased so that the mowing blade does not touch the lawn.

[0013] Further, the lawnmower robot executes a second workflow on the second working areas in the second working area list, specifically including: Step B1: The lawnmower robot traverses the second working area list to select a second working area as the current second working area; Step B2: The lawnmower robot obtains the current humidity information of the current second working area; Step B3: It determines whether the current humidity information of the current second working area meets the second preset humidity condition. If the current humidity information of the current second working area meets the second preset humidity condition, it proceeds to Step B4; if the current humidity information of the current second working area does not meet the second preset humidity condition, it proceeds to Step B5; Step B4: The current second working area is deleted from the second working area list, and the current second working area is divided into the first working area, updating the first working area list and the second working area list; Step B5: Return to Step B1 and reselect the current second working area.

[0014] Furthermore, when the lawnmower robot has completed the second workflow by traversing all the second work areas in the second work area list, and the updated first work area list is empty while the second work area list is not empty, the lawnmower robot is controlled to execute the second workflow on the second work areas in the second work area list again after a preset time interval.

[0015] Furthermore, the lawn mowing robot control method based on lawn humidity also includes: controlling the height of the mowing blades to rise before the mowing robot executes the second workflow, so that the mowing blades do not touch the lawn.

[0016] This application also discloses a chip that stores a computer program inside, which is executed by a processor to perform the lawn mowing robot control method based on lawn humidity as described above.

[0017] The lawn mowing robot control method and chip based on lawn humidity described in this application control the lawn mowing robot to obtain humidity information of each lawn area, divide the lawn into multiple small areas, and divide each small area into different work areas. The workflow is allocated for each small work area, so that the lawn mowing robot can execute the corresponding workflow for each small work area, improve the mowing efficiency of the lawn mowing robot when there are some lawn areas with poor humidity conditions, and optimize the workflow of the lawn mowing robot. Attached Figure Description

[0018] Figure 1 This is a flowchart illustrating a lawn mowing robot control method based on lawn humidity according to one embodiment of this application. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this application clearer, the application is described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application.

[0020] Obviously, the accompanying drawings described below are merely some examples or embodiments of this application. Those skilled in the art can apply this application to other similar scenarios based on these drawings without any creative effort. Furthermore, it is understood that although the efforts made in this development process may be complex and lengthy, for those skilled in the art related to the content disclosed in this application, any changes to the design, manufacturing, or production based on the technical content disclosed in this application are merely conventional technical means and should not be construed as insufficient disclosure of the content of this application.

[0021] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms “a,” “an,” “an,” “the,” and similar words used in this application do not indicate quantity limitation and may represent singular or plural. The terms “comprising,” “including,” “having,” and any variations thereof used in this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or modules is not limited to the listed steps or units but may also include steps or units not listed, or may include other steps or units inherent to such processes, methods, products, or apparatus. The terms “first,” “second,” and “third” used in this application are merely to distinguish similar objects and do not represent a specific ordering of objects.

[0022] The first embodiment of this application provides a lawn mowing robot control method based on lawn humidity. This method aims to subdivide the lawn into different working areas according to lawn humidity and execute corresponding workflows for each area, thus avoiding the problem of lawn mowing blades rusting due to the high humidity of the lawn when the robot is working on lawns with high humidity. Specifically, as... Figure 1As shown, the lawn mowing robot control method based on lawn humidity includes: the lawn mowing robot acquiring humidity information of each lawn area; dividing each lawn area into a first working area or a second working area according to the humidity information of each lawn area, and storing the lawn areas that are divided into the first working area into a first working area list and the lawn areas that are divided into the second working area into a second working area list accordingly; the lawn mowing robot executing a first working process on the first working area in the first working area list, and the lawn mowing robot executing a second working process on the second working area in the second working area list.

[0023] Specifically, the method by which the lawnmower robot obtains humidity information for each lawn area may be, but is not limited to, obtaining it by traversing the lawn using a humidity detection device mounted on the lawnmower robot, or obtaining it using several humidity detection devices set on the lawn. If the information is obtained by traversing the lawn using a humidity detection device mounted on the lawnmower robot, the lawn area is divided by the area covered by each detection of the humidity detection device mounted on the lawnmower robot. For example, if each detection of the humidity detection device mounted on the lawnmower robot covers a lawn area of ​​1 square meter, then the lawn is divided into multiple lawn areas of 1 square meter each. If the information is obtained using several humidity detection devices set on the lawn, the lawn area is divided by the area covered by each detection of the several humidity detection devices set on the lawn.

[0024] The lawnmower control method provided in this embodiment obtains the humidity information of each lawn area by controlling the lawnmower, divides the lawn into multiple small areas, and divides each small area into different work areas. The workflow is allocated for each small work area, so that the lawnmower can execute the corresponding workflow for each small work area. This improves the lawnmower's mowing efficiency when there are some lawn areas with poor humidity conditions and optimizes the lawnmower's workflow.

[0025] In the lawn mowing robot control method based on lawn humidity provided in the second embodiment of this application, the step of dividing each lawn area into a first working area or a second working area according to the humidity information of each lawn area specifically includes: determining whether the humidity information of the lawn area meets a first preset humidity condition; if the humidity information of the lawn area meets the first preset humidity condition, then the lawn area is divided into a first working area; if the humidity information of the lawn area does not meet the first preset humidity condition, then the lawn area is divided into a second working area. The humidity information of the lawn area includes at least the average humidity value within the lawn area. The preset humidity condition is used to compare with the average humidity value within the lawn area to determine whether the waterproof performance and blade rust prevention performance of the lawn mowing robot support the lawn mowing robot to perform mowing work within the lawn area. The specific setting of the first preset humidity condition is related to the waterproof performance and blade rust prevention performance of the lawn mowing robot. This embodiment uses a method of comparing lawn humidity information with preset humidity conditions to divide the lawn area into a first working area and a second working area. This allows the lawn mowing robot to directly perform mowing work in the lawn area that meets the preset humidity conditions, and distinguishes the first working area from the second working area, effectively avoiding the problem that the lawn mowing robot's blades are easily affected by humidity.

[0026] In the lawn mowing robot control method based on lawn humidity provided in the third embodiment of this application, the step of dividing each lawn area into a first working area or a second working area according to the humidity information of each lawn area further includes: merging adjacent first working areas into a single first working area, and merging adjacent second working areas into a single second working area. Specifically, the adjacent first working areas refer to at least two lawn areas that have been divided into first working areas, and these at least two lawn areas have a boundary that is adjacent / connected. Similarly, the adjacent second working areas refer to at least two lawn areas that have been divided into second working areas, and these at least two lawn areas have a boundary that is adjacent / connected. This embodiment, by merging adjacent lawn areas that have been divided into the same working area into one working area, increases the lawn area area that the lawn mowing robot can perform a single task on, optimizes the smoothness of the lawn mowing robot's work execution, and improves the working efficiency of the lawn mowing robot.

[0027] In the lawn mowing robot control method based on lawn humidity provided in the fourth embodiment of this application, the lawn mowing robot executes a first workflow for a first work area in a first work area list, specifically including:

[0028] Step A1: The lawnmower robot iterates through the list of first working areas and selects one as the current first working area, then proceeds to step A2. It should be noted that in this step, the lawnmower robot selects the current first working area by iterating through the list. The first working areas are selected sequentially in a preset order. The preset order can be, but is not limited to: the order in which the first working areas are divided from first to last, or the order in which the first working areas are divided from last to first, or the order in which the humidity information of the first working areas is from high humidity to low humidity, or the order in which the humidity information of the first working areas is from low humidity to high humidity, etc.

[0029] Step A2: The lawnmower robot performs mowing work within the current first working area according to the mowing strategy corresponding to that area. Once the robot completes mowing in the first working area, it returns to step A1 and reselects the current first working area. It should be noted that each first working area has a corresponding mowing strategy, and the mowing strategies for different first working areas can be the same or different. The mowing strategy can be determined based on, but is not limited to, one or more of the lawn parameters for each working area, such as lawn height, turf type, and lawn moisture.

[0030] This embodiment controls the mowing robot to traverse from the first work list to select the first work area as the current first work area, and controls the mowing robot to execute the corresponding mowing strategy on different current first work areas in a preset order, thereby increasing the diversity of mowing work of the mowing robot on different first work areas and making the mowing work more targeted.

[0031] In the lawn mowing robot control method based on lawn humidity provided in the sixth embodiment of this application, compared with the above embodiments, the lawn mowing robot control method based on lawn humidity further includes: when the lawn mowing robot completes the first workflow corresponding to the current first working area, the lawn mowing robot deletes the current first working area from the first working area list accordingly and updates the first working area list. Specifically, it should be noted that the lawn mowing robot completing the first workflow corresponding to the current first working area means that after selecting the current first working area from the first working list, the lawn mowing robot performs all the mowing work in the current first working area according to the corresponding mowing strategy. This embodiment optimizes the smoothness of the lawn mowing robot calling the current first working area to perform mowing work from the first working area list by deleting the first working area that has completed the first workflow from the first working area list, so that the first working area list only stores the first working areas that have not completed the first workflow, thereby improving the mowing efficiency of the lawn mowing robot.

[0032] The seventh embodiment of this application provides a lawn mowing robot control method based on lawn humidity. Compared with the above embodiments, the lawn mowing robot control method based on lawn humidity further includes: when a first working area exists in the first working area list, controlling the lawn mowing robot to first execute a first workflow on the first working area in the first working area list until the first working area list is updated to an empty list, and then the lawn mowing robot executes a second workflow on the second working area in the second working area list. This embodiment limits the order in which the lawn mowing robot executes the first workflow and the second workflow on the first working area list and the second working area list, so that the lawn mowing robot prioritizes mowing work on the first working area. In some embodiments of this application, the execution order of the lawn mowing robot depends on the positions of the first working area and the second working area, and does not limit the order in which the first workflow and the second workflow are executed on the first working area list and the second working area. For example, the execution order of the first workflow and the second workflow is determined based on the movement path of the lawn mowing robot. When the lawn mowing robot passes through the lawn area of ​​the first working area first on its movement path, the lawn mowing robot is controlled to execute the first workflow on the first working area, and then when the lawn mowing robot passes through the lawn area of ​​the second working area, the lawn mowing robot is controlled to execute the second workflow on the second working area. The switching between the first and second workflows of the lawnmower robot is determined by the area where the lawnmower robot is currently located.

[0033] The lawnmower control method based on lawn humidity provided in the eighth embodiment of this application, compared with the above embodiments, further includes: during the process of the lawnmower moving from the current first working area to the next current first working area, if the movement path of the lawnmower needs to pass through a second working area, the height of the lawnmower and its blades is increased to prevent the blades from contacting the lawn. The lawnmower control method provided in this embodiment, based on the original control method, limits the possibility that the lawnmower may passively pass through a second working area. By actively increasing the height of the blades, the method reduces the likelihood of the blades rusting due to lawn humidity when passing through a lawn area where the humidity does not meet the preset humidity conditions, thereby increasing the service life of the lawnmower blades.

[0034] The lawn mowing robot control method based on lawn humidity provided in the ninth embodiment of this application, specifically includes the method of the lawn mowing robot executing a second workflow on a second work area in a second work area list, comprising:

[0035] Step B1: The lawnmower robot iterates through the list of second working areas and selects one as the current second working area. It should be noted that in this step, the lawnmower robot selects the current second working area by iterating through the list of second working areas in a preset order. The preset order may be, but is not limited to: the order in which the second working areas are divided from first to last, or the order in which the second working areas are divided from last to first, or the order in which the humidity information of the second working areas is from high humidity to low humidity, or the order in which the humidity information of the second working areas is from low humidity to high humidity, or the order in which the distance between the location of the second working area and the current location of the lawnmower robot is from near to far.

[0036] Step B2: The lawnmower obtains the current humidity information of the current second working area; specifically, the lawnmower obtains the current humidity information of the current second working area in the following ways: the lawnmower moves to the current second working area and obtains the current humidity information of the current second working area based on the humidity detection device mounted on the lawnmower, or the lawnmower receives the real-time humidity information transmitted by the humidity detection device located in the current second working area.

[0037] Step B3: Determine whether the current humidity information of the current second working area meets the second preset humidity condition. If the current humidity information of the current second working area meets the second preset humidity condition, proceed to step B4. If the current humidity information of the current second working area does not meet the second preset humidity condition, proceed to step B5. Specifically, the second preset humidity condition is used to determine whether the current humidity information of the current second working area meets the condition. The second preset humidity condition can be the same as or different from the first preset humidity condition used to divide the first working area and the second working area in the aforementioned lawnmower control method. When the first preset humidity condition and the second preset humidity condition are the same, based on the determination of whether the current humidity information of the current second working area meets the second preset humidity condition in this step, it can be determined whether the lawnmower can perform the first workflow in the current second working area.

[0038] Step B4: Delete the current second working area from the second working area list, divide the current second working area into the first working area, and update the first working area list and the second working area list; specifically, this step is based on the judgment result of whether the current humidity information meets the second preset humidity condition, and deletes the second working area whose current humidity information meets the second preset humidity condition from the second working area list, so that the lawn mowing robot no longer needs to obtain the current humidity information of the lawn area deleted from the second working area list.

[0039] Step B5: Return to step B1 and reselect the current second working area; specifically, based on the judgment result of whether the current humidity information meets the second preset humidity condition, this step retains the second working area whose current humidity information does not meet the second preset humidity condition in the second working area list, and selects the next current second working area, so that the division of the second working area is real-time and changeable.

[0040] In the lawn mowing robot control method based on lawn humidity provided in the tenth embodiment of this application, when the lawn mowing robot has completed the second workflow by traversing all the second work areas in the second work area list, and the updated first work area list is empty while the second work area list is not empty, the lawn mowing robot is controlled to execute the second workflow on the second work areas in the second work area list again after a preset time interval. Specifically, in this embodiment, the execution of the first working area and the second working area has a priority. The lawnmower robot prioritizes executing the first mowing process on the first working area. Only when the list of the first working areas is updated to be empty will the lawnmower robot execute the second working process on the second working areas in the list of the second working areas. After the lawnmower robot has traversed and selected all the second working areas in the list of the second working areas as the current second working area, a preset time interval is required, and the list of the first working areas is updated to be empty, and there are no first working areas to be executed on the first working process. Only then will the lawnmower robot traverse and select the current second working area again on the list of the second working areas. For each second working area in the list of the second working areas, the current humidity information is obtained again to realize the intermittent humidity detection of the second working area by the lawnmower robot, so that the first working process can be executed when the current humidity of the second working area meets the first preset humidity.

[0041] The lawn mowing robot control method based on lawn moisture provided in the eleventh embodiment of this application further includes: controlling the height of the mowing blades to rise before the mowing robot executes the second workflow, so that the mowing blades do not touch the lawn. This embodiment avoids the mowing blades from rusting due to lawn moisture after contact with the lawn by controlling the height of the mowing blades to rise before executing the second workflow.

[0042] The twelfth embodiment of this application provides a chip that internally stores a computer program. When the computer program stored internally in the chip is run by a processor, it executes the lawn mowing robot control method based on lawn humidity as described in any of the foregoing embodiments.

[0043] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the invention. The scope of the invention is defined by the appended claims and their equivalents. The above descriptions are merely preferred embodiments of the invention and are not intended to limit the invention. Various modifications and variations can be made to the invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the invention should be included within the scope of protection of the invention.

Claims

1. A control method for a lawn mowing robot based on lawn moisture, characterized in that, The lawnmower control method includes: The lawnmower robot acquires humidity information for each lawn area; Based on the humidity information of each lawn area, each lawn area is divided into a first working area or a second working area, and stored in the corresponding first working area list or second working area list. The lawnmower robot executes a first workflow on the first work area in the first work area list, and the lawnmower robot executes a second workflow on the second work area in the second work area list. Specifically, dividing each lawn area into a first working area or a second working area based on the humidity information of each lawn area includes: Determine whether the humidity information of the lawn area meets the first preset humidity condition; If the humidity information of the lawn area meets the first preset humidity condition, then the lawn area is divided into the first working area. If the humidity information of the lawn area does not meet the first preset humidity condition, the lawn area will be divided into the second working area. The lawnmower robot executes a first workflow on a first work area in a first work area list, specifically including: Step A1: The lawnmower robot iterates through the list of first working areas and selects one as the current first working area; Step A2: The mowing robot performs mowing work in the current first working area according to the mowing strategy corresponding to the current first working area. When the mowing robot completes the mowing work in the current first working area, it returns to step A1 and reselects the current first working area. The lawn mowing robot control method based on lawn humidity further includes: when the lawn mowing robot finishes executing the first workflow corresponding to the current first working area, the lawn mowing robot deletes the current first working area from the first working area list and updates the first working area list. The lawn mowing robot control method based on lawn humidity further includes: when a first working area exists in the first working area list, controlling the lawn mowing robot to first execute a first working process on the first working area in the first working area list until the first working area list is updated to an empty list, and then the lawn mowing robot to execute a second working process on the second working area in the second working area list. The lawnmower robot performs a second workflow on the second work area in the second work area list, specifically including: Step B1: The lawnmower robot iterates through the list of second work areas and selects one as the current second work area; Step B2: The lawnmower robot acquires the current humidity information of the second working area; Step B3: Determine whether the current humidity information of the second working area meets the second preset humidity condition. If the current humidity information of the second working area meets the second preset humidity condition, proceed to step B4. If the current humidity information of the second working area does not meet the second preset humidity condition, proceed to step B5. Step B4: Delete the current second work area from the second work area list, divide the current second work area into the first work area, and update the first work area list and the second work area list; Step B5: Return to step B1 and reselect the current second working area; The lawn mowing robot control method based on lawn humidity further includes: controlling the height of the mowing blades to rise before the mowing robot executes the second workflow, so that the mowing blades do not touch the lawn.

2. The lawn mowing robot control method based on lawn humidity according to claim 1, characterized in that, The method for obtaining humidity information of each lawn area by a lawn mowing robot specifically includes: the lawn mowing robot traversing each lawn area and obtaining humidity information of each lawn area based on the humidity detection device of the lawn mowing robot.

3. The lawn mowing robot control method based on lawn humidity according to claim 1, characterized in that, The method for a lawn mowing robot to obtain humidity information for each lawn area specifically includes: the lawn mowing robot receiving humidity information for each lawn area transmitted by humidity detection devices set up in each lawn area.

4. The lawn mowing robot control method based on lawn humidity according to claim 1, characterized in that, The step of dividing each lawn area into a first working area or a second working area based on the humidity information of each lawn area also includes: merging adjacent first working areas into a single first working area, and merging adjacent second working areas into a single second working area.

5. The lawn mowing robot control method based on lawn moisture according to claim 1, characterized in that, The lawn mowing robot control method based on lawn humidity further includes: during the process of the lawn mowing robot moving from the current first working area to the next current first working area, if the movement path of the lawn mowing robot needs to pass through the second working area, the height of the mowing blade is controlled to be raised so that the mowing blade does not touch the lawn.

6. The lawn mowing robot control method based on lawn humidity according to claim 1, characterized in that, When the lawnmower robot has completed the second workflow by traversing all the second work areas in the second work area list, and the updated first work area list is empty while the second work area list is not empty, then the lawnmower robot is controlled to execute the second workflow on the second work areas in the second work area list again after a preset interval.

7. A chip internally storing a computer program, characterized in that, The computer program stored inside the chip is executed by the processor to perform the lawn mowing robot control method based on lawn humidity as described in any one of claims 1 to 6.

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