A method for mowing lawns using a robot, a lawn-mowing robot, and a storage medium.

Abstract

This application discloses a method for mowing lawns with a robot, a lawn-mowing robot, and a storage medium, applicable to the field of robotics. The method includes: acquiring the robot's mowing conditions and a preset mowing height value, where the preset mowing height value is the height of plants in a preset mowing area after the robot completes mowing; comparing the mowing conditions with the preset mowing conditions to obtain a comparison result, wherein the preset mowing conditions indicate the mowing frequency corresponding to different mowing conditions; setting a target mowing frequency within the preset mowing height value based on the comparison result; and mowing the plants in the preset mowing area where the robot is located according to the target mowing frequency. In this application embodiment, the target mowing frequency is determined based on the comparison result between the robot's mowing conditions and the preset mowing conditions, ensuring that the obtained target mowing frequency matches the robot's mowing conditions. This accurately obtains the corresponding mowing frequency of the robot under different mowing conditions, improving the robot's mowing effect.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a method for mowing lawns, a lawn-mowing robot, and a storage medium. Background Technology

[0002] A lawnmower robot is a device used to perform outdoor lawn mowing. After boundary lines are buried in the lawn, electromagnetic sensors in the lawnmower robot identify the signals of the boundary lines and use them for positioning. This allows the lawnmower robot to move autonomously within the area enclosed by the boundary lines. In the current lawnmower robot process, the user generally sets a mowing height in the program to make the lawnmower robot directly mow the grass, and the mowing is based on the timetable set in the program. The timetable only instructs the lawnmower robot when to mow the grass, or the user determines whether to start the lawnmower robot by touching the button on the lawnmower robot and manually limits the height of the lawnmower robot's blade.

[0003] Existing lawn mowing robots simply cut grass according to instructions, failing to intelligently consider the growth status of plants in the pre-defined mowing area and the current mowing time. This lack of intelligent mowing processes hinders the robot's normal operation, and the plant debris cut by the robot is not suitable for recycling as fertilizer. Furthermore, manually set mowing heights may not be precise enough for the current area, requiring manual assessment of plant growth beforehand. Conversely, setting the mowing height too low can damage plants that do not require mowing.

[0004] It is evident that existing lawnmowers fail to perform lawnmowering intelligently, resulting in poor mowing performance.

[0005] Therefore, those skilled in the art urgently need to find a technical solution to solve the above problems. Summary of the Invention

[0006] This application provides a method for mowing lawns, a lawn mowing robot, and a storage medium, which can accurately obtain the mowing frequency of the robot under different mowing conditions and improve the mowing effect of the robot.

[0007] This application provides a method for mowing lawns using a robot, including:

[0008] The robot's mowing conditions and preset mowing height value are obtained, wherein the mowing conditions are the mowing situation when the robot performs the mowing task, and the preset mowing height value is the plant height in the preset mowing area after the robot completes the mowing.

[0009] The mowing conditions are compared with preset mowing conditions to obtain a comparison result, wherein the preset mowing conditions indicate the mowing frequency corresponding to different mowing conditions;

[0010] Based on the comparison results, a target mowing frequency is set within the preset height mowing value;

[0011] The robot mows the plants in the preset mowing area according to the target mowing frequency.

[0012] Furthermore, obtaining the preset mowing height value includes:

[0013] The real-time height of plants in the preset mowing area is obtained, and the average height of plants in the preset mowing area is determined based on the real-time height of plants in the preset mowing area.

[0014] The minimum mowing value in the preset mowing area is determined based on the average height;

[0015] The preset height mowing value is set based on the minimum mowing value.

[0016] Furthermore, the mowing conditions include mowing time, and the preset mowing conditions include preset mowing time;

[0017] The comparison of the mowing conditions with preset mowing conditions to obtain the comparison results includes:

[0018] The mowing time is compared with the preset mowing time to determine the target time point corresponding to the preset mowing time; wherein, each time point in the preset mowing time has a corresponding mowing frequency;

[0019] The step of setting the target mowing frequency within the preset height mowing value based on the comparison result includes:

[0020] Based on the mowing frequency corresponding to the target time point, the target mowing frequency is set within the preset height mowing value.

[0021] Furthermore, the mowing conditions include historical mowing difficulty levels, and the preset mowing conditions include preset mowing difficulty levels;

[0022] The comparison of the mowing conditions with preset mowing conditions to obtain the comparison results includes:

[0023] The historical mowing difficulty level is compared with the preset mowing difficulty level to determine the target mowing difficulty level corresponding to the historical mowing difficulty level; wherein, each difficulty level in the preset mowing difficulty level has a corresponding mowing frequency.

[0024] The step of setting the target mowing frequency within the preset height mowing value based on the comparison result includes:

[0025] Based on the mowing frequency corresponding to the target mowing difficulty level, a target mowing frequency is set within the preset height mowing value.

[0026] Furthermore, the mowing conditions include the plant growth status, and the preset mowing conditions include the preset plant growth status;

[0027] The conditions for obtaining the robot's lawn-mowing capabilities include:

[0028] Based on the growth factors of plants in the preset mowing area, the preset mowing area is classified into multiple classification areas;

[0029] Determine the growth status of plants in each of the aforementioned classification regions;

[0030] The comparison of the mowing conditions with preset mowing conditions to obtain the comparison results includes:

[0031] The growth status of plants in the classified area is compared with the preset growth status of the plants to determine the target plant growth density or growth rate in the classified area; wherein, each plant growth density or growth rate in the preset growth status of the plants has a corresponding mowing frequency.

[0032] The step of setting the target mowing frequency within the preset height mowing value based on the comparison result includes:

[0033] Based on the mowing frequency corresponding to the target plant growth density or growth rate, a target mowing frequency is set within the preset height mowing value.

[0034] Furthermore, the mowing conditions include plant growth location information, and the preset mowing conditions include preset plant growth location information;

[0035] The comparison of the mowing conditions with preset mowing conditions to obtain the comparison results includes:

[0036] The plant's growth location information is compared with the plant's preset growth location information to determine that the plant's growth location information corresponds to the target sunny location information of the plant's preset growth location information; wherein, each sunny location information in the plant's preset growth location information has a corresponding mowing frequency.

[0037] The step of setting the target mowing frequency within the preset height mowing value based on the comparison result includes:

[0038] Based on the mowing frequency corresponding to the target sunny location information, a target mowing frequency is set within the preset height mowing value.

[0039] Furthermore, the step of mowing the plants in the preset mowing area where the robot is located according to the target mowing frequency includes:

[0040] Based on the target number of mowing times corresponding to the target mowing frequency, the robot begins to mow the plants in the preset mowing area where it is located multiple times.

[0041] After each mowing, determine whether the number of mowings has reached the target number of mowings, and / or determine the height relationship between the current real-time height of the plants in the preset mowing area and the preset height mowing value;

[0042] If the number of mowing operations reaches the target number of mowing operations, or the real-time height is not higher than the preset mowing height value, then control the robot to stop mowing.

[0043] If the number of mowing attempts does not reach the target number of mowing attempts, and / or the real-time height is higher than the preset mowing height value, then the robot is controlled to perform the next mowing attempt.

[0044] If the number of mowing operations reaches the target number of mowing operations, a new number of mowing operations is determined based on the height relationship between the current real-time height and the preset mowing height value, and each mowing operation is performed using the new number of mowing operations.

[0045] Furthermore, the method also includes:

[0046] When mowing grass in the preset mowing area at the preset height value, the robot determines whether it can cut the plant within the preset mowing time period by detecting the relationship between the real-time height of the plant and its original growth height.

[0047] When the relationship between the real-time height and the original growth height is different, it is determined that the robot can cut the plant within the preset mowing time period;

[0048] When the height relationship between the real-time height and the original growth height is the same, the height of the cutter head in the robot is adjusted and the cutting work continues. Then, it is determined again whether the robot can cut the plant within the preset mowing time period.

[0049] This application also provides a lawn mowing robot, including: a processing device and a cutting device;

[0050] The processing device, which is communicatively connected to the cutting device, is configured as follows:

[0051] The robot's mowing conditions and preset mowing height value are obtained, wherein the mowing conditions are the mowing situation when the robot performs the mowing task, and the preset mowing height value is the plant height in the preset mowing area after the robot completes the mowing.

[0052] The mowing conditions are compared with preset mowing conditions to obtain a comparison result, wherein the preset mowing conditions indicate the mowing frequency corresponding to different mowing conditions;

[0053] Based on the comparison results, a target mowing frequency is set within the preset height mowing value;

[0054] Based on the target mowing frequency, the cutting device is controlled to mow the plants in the preset mowing area where the robot is located.

[0055] This application also provides a computer-readable storage medium including instructions that, when executed on a computer, cause the computer to perform the processing method described above.

[0056] It can be seen from the above technical solutions that the embodiments of the present application have the following advantages:

[0057] The method in this embodiment includes: acquiring the robot's mowing conditions and a preset mowing height value, wherein the mowing conditions refer to the mowing situation when the robot performs the mowing task, and the preset mowing height value is the height of the plants in a preset mowing area after the robot completes mowing; comparing the mowing conditions with the preset mowing conditions to obtain a comparison result, wherein the preset mowing conditions indicate the mowing frequency corresponding to different mowing situations; setting a target mowing frequency within the preset mowing height value based on the comparison result; and mowing the plants in the preset mowing area where the robot is located according to the target mowing frequency. In this embodiment, the target mowing frequency is determined based on the comparison result between the robot's mowing conditions and the preset mowing conditions, so that the obtained target mowing frequency matches the robot's mowing conditions, accurately obtaining the mowing frequency corresponding to the robot under different mowing conditions, and improving the robot's mowing effect. Attached Figure Description

[0058] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0059] Figure 1 This is a flowchart of a robot's lawn mowing process disclosed in an embodiment of this application;

[0060] Figure 2This is a flowchart of a lawn mowing process based on mowing time, as disclosed in an embodiment of this application.

[0061] Figure 3 This is a flowchart of a lawn mowing process based on the difficulty of mowing, as disclosed in an embodiment of this application.

[0062] Figure 4 This is a flowchart of a lawn mowing process based on plant growth conditions, as disclosed in an embodiment of this application.

[0063] Figure 5 This is a flowchart of a lawn mowing process based on plant growth location information, as disclosed in an embodiment of this application.

[0064] Figure 6 This is a schematic diagram of a lawnmower robot device disclosed in an embodiment of this application;

[0065] Figure 7 This is a diagram of a robot lawn mowing device disclosed in an embodiment of this application. Detailed Implementation

[0066] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0067] In the description of the embodiments of this application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0068] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0069] Example 1:

[0070] Existing lawnmower robots perform lawnmowing according to commands, failing to intelligently mow based on the growth status of plants in the pre-defined mowing area and the current mowing time. This lack of intelligent mowing processes hinders the robot's normal operation, and the plant debris cut by the robot is not easily recycled as fertilizer. Furthermore, manually set mowing heights may not be precise enough for the current area and require manual assessment of plant growth beforehand. Conversely, setting the mowing height too low can damage plants that do not require mowing. Therefore, this application provides a robotic lawnmowing method that accurately determines the mowing frequency under different conditions, improving the robot's mowing efficiency. Figure 1 As shown, it specifically includes steps 101 to 104.

[0071] 101. Obtain the robot's mowing conditions and preset mowing height value.

[0072] In this embodiment, before the robot performs the lawn mowing task, it is necessary to obtain the robot's mowing conditions and preset mowing height values. The mowing conditions refer to the mowing status of the area to be mowed when the robot performs the task. These conditions can be varied, including the mowing time of the area to be mowed or the growth status of the plants in that area; specific conditions are not limited here. The area to be mowed includes multiple preset mowing areas, which refer to areas of a preset size, such as several square meters, where the height difference of the plants within the preset area is not significant. It is understood that the plants cut in the area to be mowed by the robot can be grass or other vegetation; specific conditions are not limited here. The robot can be a lawnmower or a garden robot; specific conditions are not limited here.

[0073] The preset mowing height value is the plant height in the preset mowing area after the robot completes mowing. In other words, after the robot finishes mowing the area, the plant height in the area to be mowed will be this preset mowing height value. This preset mowing height value can be 5 cm or 6 cm; the specific value is not limited here. It is understood that this preset mowing height value can be set by the user. For example, the user can set the mowing height value when the robot performs mowing work in the robot's corresponding terminal program; alternatively, historical mowing height values ​​stored in the robot can be used as the preset mowing height value. The specific value is not limited here.

[0074] In one method for obtaining a preset mowing height value, when the corresponding mowing area in the area to be mowed is small, the user can measure the average height of the plants in a certain mowing section of the area and set the preset mowing height value in the terminal program based on the average height. When the mowing area is large, the robot can walk in the area to be mowed beforehand. Using a plant height sensor in the robot, the robot obtains the plant height of the preset mowing area. The total plant height of the preset mowing area is divided by the number of plants in that area to obtain the average height of the preset mowing area. Based on the identified average height, the terminal program recommends the lowest mowing value for the plants, and the preset mowing height value is set based on this lowest value. The plant height sensor can be a pressure sensor; plant contact generates pressure on the pressure sensor, which causes the pressure sensor to generate sensor data indicating the grass height. Preferably, the pressure sensor is located at or near the front edge of the robot chassis to respond to the plant before cutting.

[0075] In one method for determining the plant height of a preset mowing area, when the robot is mowing the area, its blade can be preset to a relatively high mowing height. Sensors on the blade determine whether it can cut the plants in the preset mowing area. If the blade cannot cut the plants, the height of the blade is lowered until it can cut the plants. The plant height of the preset mowing area is determined based on the plants cut by the blade. In another method, when the robot is mowing the area, its blade is preset to a relatively low mowing height. Sensors on the blade determine whether it can cut the plants in the preset mowing area. Once the blade can cut the plants, the height of the blade is raised until it can no longer cut the plants. The plant height of the preset mowing area is determined based on the point where the blade just barely cuts the plants and the point where it cannot cut the plants. By determining the plant height of the preset mowing area using the cutter head on the robot, the entire area to be mowed can be mowed without having to cut the grass when the preset mowing height is determined.

[0076] In another method for obtaining a preset height mowing value, after determining the average height of plants in the preset mowing area of ​​the area to be mowed, the growth height of the current plant from the time the current height was determined to the mowing time can be determined through the mowing time in the mowing conditions. Based on the growth height, the preset height mowing value is then set. For example, if the actual mowing time is 6 months after the preset height mowing value is determined, then it is necessary to determine the growth height of the plants in the preset mowing area 6 months later, and adjust the preset height mowing value based on the growth height 6 months later to obtain the adjusted preset height mowing value.

[0077] In another method for obtaining a preset mowing height value, when mowing the plants in a preset mowing area where the robot is located, to ensure the cut plants are flat and aesthetically pleasing, it is necessary to determine the minimum mowing value within the preset mowing area and set this minimum mowing value as the preset mowing height value. Specifically, the real-time height of the plants in the preset mowing area can be obtained, that is, the average height of the plants in each area of ​​the preset mowing area can be obtained in real time, and then the average height of the plants in each area can be divided by the number of areas to obtain the average height of the plants in the preset mowing area. The minimum mowing value in the preset mowing area is determined based on the average height of the plants in the preset mowing area; the preset mowing height value is then set based on this minimum mowing value, that is, this minimum mowing value is used as the preset mowing height value. Understandably, this minimum mowing value refers to the minimum height of all plants in the area to be mowed after the robot completes the mowing task, equal to this minimum mowing value. If the average height of the plants in the preset mowing area is higher than a preset height threshold, it is determined that the real-time plant height is too high and the plant growth rate is too fast. In this case, the minimum mowing value can be set lower. If the average height of the plants in the preset mowing area is not higher than the preset height threshold, it is determined that the real-time plant height and plant growth rate are normal. In this case, the minimum mowing value can be set higher. After determining the minimum mowing value in the preset mowing area, mowing can be performed at the target mowing frequency based on the minimum mowing value. That is, the descent height of the blades is determined based on the minimum mowing value, so that the height of the blades at the last mowing is the minimum mowing value. It is understood that the minimum mowing value is the same for all preset mowing areas in the area to be mowed, to make the plants in the area to be mowed more even.

[0078] 102. Compare the mowing conditions with the preset mowing conditions to obtain the comparison results.

[0079] After obtaining the robot's mowing conditions, these conditions can be compared with preset mowing conditions to obtain the comparison results. These preset mowing conditions can be a preset mowing time point or a preset plant growth condition; the specifics are not limited here. These preset mowing conditions indicate the mowing frequency corresponding to different mowing conditions. For example, the mowing frequency differs at different mowing times and under different plant growth conditions. It is understood that the preset mowing conditions used for comparison will also differ under different mowing conditions. The mowing conditions used for comparison must correspond to the preset mowing conditions. For example, if the mowing condition is the mowing time of the area to be mowed, the preset mowing condition should also be the preset mowing time to determine that the mowing condition corresponds to the time point specified in the preset mowing conditions. In short, the mowing conditions are compared with the preset mowing conditions to determine the mowing situation corresponding to the current mowing condition within the preset mowing conditions.

[0080] 103. Based on the comparison results, set the target mowing frequency within the preset height mowing value.

[0081] After obtaining the comparison results between the current mowing conditions and the preset mowing conditions, a target mowing frequency can be set within the preset height mowing value based on the comparison results. It can be understood that the preset mowing conditions include multiple mowing frequencies corresponding to different mowing situations. The comparison result determines the mowing situation corresponding to the current mowing condition within the preset mowing conditions, thus determining the mowing frequency for that specific mowing situation. This mowing frequency is the number of mowing operations within a preset time period. Setting the target mowing frequency within the preset height mowing value means that when the mowing frequency is adjusted to reach the target mowing frequency, the height of the plants in the area to be mowed is the preset height mowing value. It can be understood that the mowing frequency is achieved by adjusting the height of the cutting disc. A faster mowing frequency results in a slower descent of the cutting disc. Specifically, after setting the preset height mowing value, the height of the cutting disc's descent in the robot can be the same or different each time, ultimately forming a mowing frequency with a height relationship, and the final height of the cut plants is the preset height mowing value. If the mowing frequency of plants of different heights that are all greater than the preset mowing height value is not consistent, when making multiple cuts directly, the height of each cut of taller plants can be smaller than that of shorter plants (but the total height of the cut of taller plants is generally greater than that of shorter plants). When making a single cut, the height of the cut of taller plants can be the same as that of shorter plants.

[0082] 104. Mow the plants in the preset mowing area where the robot is located according to the target mowing frequency.

[0083] After determining the target mowing frequency, the plants in the preset mowing area where the robot is located can be mowed according to the target mowing frequency. That is, the plants in the preset mowing area where the robot is located are mowed in the form of frequency. The target number of mowings corresponding to the target mowing frequency is determined. When each mowing is completed, the blade is lowered to the corresponding height until the number of mowings reaches the target number of mowings to complete the mowing.

[0084] As can be seen, the method in this embodiment includes: obtaining the robot's mowing conditions and a preset mowing height value, wherein the mowing conditions refer to the mowing situation when the robot performs the mowing task, and the preset mowing height value is the plant height in a preset mowing area after the robot completes mowing; comparing the mowing conditions with the preset mowing conditions to obtain a comparison result, wherein the preset mowing conditions indicate the mowing frequency corresponding to different mowing situations; setting a target mowing frequency within the preset mowing height value based on the comparison result; and mowing the plants in the preset mowing area where the robot is located according to the target mowing frequency. In this embodiment, the target mowing frequency is determined based on the comparison result between the robot's mowing conditions and the preset mowing conditions, so that the obtained target mowing frequency matches the robot's mowing conditions, accurately obtaining the mowing frequency corresponding to the robot under different mowing conditions, and improving the robot's mowing effect.

[0085] It is understood that the mowing conditions in the embodiments of this application can be mowing time, historical mowing difficulty, plant growth status, and plant growth location information. The mowing process will be different under different mowing conditions, as shown in Embodiments 2, 3, 4, and 5.

[0086] Example 2: When the mowing condition is the mowing time, the robot's mowing process is as follows: Figure 2 As shown, it specifically includes steps 201 to 204.

[0087] 201. Obtain the mowing time and preset mowing height value.

[0088] In this embodiment, the mowing time and preset mowing height of the robot can be obtained. The mowing time can be the time point at which the user expects the robot to perform mowing work; this time point can be arbitrarily set. Alternatively, instead of setting a specific time point, the robot's startup time can be obtained after startup and used as the mowing time. The specific process for obtaining the mowing time is not limited here. The mowing time can specifically be a month, week, day, season, weather, etc., and is not specifically limited here. The obtained mowing time can be used for analysis to determine the mowing frequency that meets the current mowing schedule.

[0089] The process of obtaining the preset mowing height value is similar to that in step 101 above, and will not be described in detail here.

[0090] 202. Compare the mowing time with the preset mowing time to determine the target time point corresponding to the preset mowing time.

[0091] After obtaining the mowing time, it can be compared with the preset mowing time to determine the target time point corresponding to the current mowing time. Each preset mowing time point has a corresponding mowing frequency. In essence, this preset mowing time corresponds to a pre-defined mowing time point for the robot, and each preset mowing time point has a corresponding mowing frequency. At each preset mowing time point, the impact of weather conditions on plant growth can be determined. If the weather promotes plant growth, the mowing frequency for that preset mowing time point will be set to more mowing operations; if the weather inhibits plant growth, the mowing frequency for that preset mowing time point will be set to fewer mowing operations. Specifically, the preset mowing time can be categorized by season, such as spring and summer when plant growth is vigorous, allowing for a higher mowing frequency, while autumn and winter when plant growth is slow, allowing for a lower mowing frequency. The preset mowing time can also be categorized by month, week, day, season, weather conditions, etc., but these are not specifically limited here.

[0092] Furthermore, the growth characteristics of plants differ under different preset mowing times. These characteristics are primarily determined by plant species, season, and weather. Specifically, after determining the plant species, the robot can obtain weather data for each preset mowing time point, including the season and weather conditions, through a network module. After filtering and aggregating the weather data, the corresponding mowing frequency for that preset mowing time point is determined. The current mowing time is then mapped and compared with the preset mowing times to determine the target time point within the preset mowing time, which corresponds to the mowing frequency.

[0093] 203. Set the target mowing frequency within the preset height mowing value based on the mowing frequency corresponding to the target time point.

[0094] After determining the target time point corresponding to the preset mowing time, the target mowing frequency can be set within the preset height mowing value based on the mowing frequency corresponding to the target time point. It's understandable that the mowing frequency differs for different target time points. For example, if a certain plant grows more vigorously in spring, the target time point will be spring, resulting in a higher mowing frequency with more mowing operations. Conversely, if the target time point is autumn, the target mowing frequency will have fewer mowing operations. The target mowing frequency includes the number of mowing operations at the target time point and the height of the cutter head during each mowing operation. The height of the cutter head during each mowing operation can be set within the preset height mowing value based on the target time point's mowing frequency. For instance, subtracting the preset height mowing value from the first mowing height and then dividing by the number of mowing operations at the target time point yields the height of the cutter head during each mowing operation. Understandably, the cutting disc can cut the grass to the average height of the plants in the area to be cut during the Nth mowing, so as to cut off excessively tall plants in the area after the Nth mowing, facilitating subsequent mowing work. Here, N is less than the number of mowing cycles, and N is greater than or equal to 2.

[0095] 204. Mow the grass according to the target mowing frequency and the real-time height of the current plants in the preset mowing area.

[0096] After determining the target mowing frequency, when mowing the plants in the preset mowing area where the robot is located, the mowing can be performed according to the target number of mowing operations corresponding to the target mowing frequency and the real-time height of the current plants in the preset mowing area. Specifically, the robot can start mowing the plants in the preset mowing area multiple times according to the target number of mowing operations corresponding to the target mowing frequency. That is, when the robot is mowing, it mows the plants in the preset mowing area according to the frequency, so as to complete the mowing work of all plants in the preset mowing area according to the mowing frequency. The relationship between the real-time height of the current plant and the preset height mowing value or whether the number of mowing operations has reached the target number of mowing operations is determined, and the mowing work is performed according to the determined results.

[0097] The mowing process is based on the target mowing frequency and the real-time height of the plants in the preset mowing area. Specifically, after each mowing session, it is determined whether the target number of mowing sessions has been reached, and / or the relationship between the real-time height of the plants in the preset mowing area and the preset mowing height value is determined. If the target number of mowing sessions has been reached, or the real-time height is not higher than the preset mowing height value, the robot stops mowing. That is, if the target number of mowing sessions is reached, the robot stops mowing; if the real-time height of the plants is lower than the preset mowing height value, the robot also stops mowing. If the target number of mowing sessions has not been reached, and / or the real-time height is higher than the preset mowing height value, the robot performs the next mowing session. It is understood that after setting the preset mowing height value, not all plants in the area to be mowed will necessarily be cut multiple times according to this preset mowing height value. If some plants in the area to be mowed were originally lower than the preset mowing height value, the robot does not need to mow those plants.

[0098] Furthermore, during mowing, based on the target mowing frequency and the real-time height of the plants in the preset mowing area, when the target number of mowings is reached, some plants in the preset mowing area may remain uncut. For example, if a moving obstacle blocks the robot's mowing during multiple cuts at the target mowing frequency, the robot will bypass the obstacle and continue mowing. At this time, the robot's mowing count is still being calculated. It's possible that after reaching the target number of mowings, some blocked plants may remain uncut. In this case, the robot needs to return to the obstruction location after reaching the target number of mowings to cut the blocked plants. Alternatively, during multiple cuts, the cutter head may jam or the robot's movement device may malfunction, resulting in some plants remaining uncut after reaching the target number of mowings. Therefore, when the target number of mowings is reached, a new number of mowings can be determined based on the relationship between the current real-time height and the preset mowing height, and each mowing session can be performed with this new number of mowings to cut the remaining uncut plants. The new number of mowing cycles is determined based on the relationship between the current real-time height and the preset mowing height. Specifically, if the current real-time height is higher than the preset mowing height, the new number of mowing cycles is greater than zero; if the current real-time height is not higher than the preset mowing height, the new number of mowing cycles is equal to zero; if the current real-time height is higher than the preset mowing height and reaches the preset height, the new number of mowing cycles is determined to be a large number. In other words, the higher the current real-time height, the greater the number of mowing cycles.

[0099] In one feasible approach, it can be determined whether the robot has cut the plant while mowing. Specifically, when mowing in a preset mowing area at a preset height, the robot can determine whether it can cut the plant within a preset mowing time period by detecting the relationship between the real-time height and the original growth height of the plant. If the relationship between the real-time height and the original growth height is different, it is determined that the robot can cut the plant within the preset mowing time period. If the relationship between the real-time height and the original growth height is the same, the height of the cutter head in the robot is adjusted and the cutting work continues, and the robot is again judged whether it can cut the plant within the preset mowing time period. Specifically, a plant height sensor in the robot can be used to preset the original growth height of the mowing area before the robot starts mowing. After the robot completes one mowing operation, the real-time height of the plant can be acquired again, and then compared with the original growth height to determine whether the robot can cut the plant. In one feasible approach, a contact sensor installed on the cutter head can be used to detect whether the cutter head has cut a plant within a preset time. Specifically, the contact sensor can be a touch sensor. If the touch sensor of the cutter head detects a change in resistance or voltage, it can be determined that the cutter head has cut a plant.

[0100] Example 3: When the mowing conditions are based on the historical mowing difficulty level, the robot's mowing process is as follows: Figure 3 As shown, it specifically includes steps 301 to 304.

[0101] 301. Obtain historical lawn mowing difficulty levels and preset lawn height values.

[0102] In this embodiment, historical mowing difficulty levels and preset mowing height values ​​can be obtained. The historical mowing difficulty level refers to the difficulty of cutting plants in the area to be cut over a historical period. This difficulty level can be determined by the robot cutting plants over the historical period, and different difficulty levels can be assigned to different plants. For example, some plants in the area to be cut may have excessive thickness near the roots, making them more difficult to cut, while those further away from the roots may have thinner thickness, making them easier to cut. Some plants may be too tall, making them more difficult to cut, while others may have thinner thickness near the roots, making them easier to cut. The historical mowing difficulty level can also be determined by the current value of the robot's motor. A higher motor current value during mowing indicates a greater difficulty level; that is, the thicker the plant, the higher the current value required for the robot to cut it. The process of obtaining the preset mowing height value is similar to step 101 above and will not be described in detail here.

[0103] 302. Compare the historical mowing difficulty level with the preset mowing difficulty level to determine the target mowing difficulty level corresponding to the historical mowing difficulty level.

[0104] After obtaining historical mowing difficulty levels, these levels can be compared with preset mowing difficulty levels to determine the target mowing difficulty level corresponding to the historical levels. Each preset mowing difficulty level has a corresponding mowing frequency. Essentially, the preset mowing difficulty level refers to the robot's mowing difficulty level, which includes multiple difficulty levels, each with a corresponding mowing frequency. The preset mowing difficulty level can be divided into multiple levels, such as high, medium, and low difficulty. The mowing frequencies for these levels can be arranged from highest to lowest. Each level also has a corresponding motor current range. For example, if the motor current value is greater than a first current threshold, the cutting difficulty is determined to be high; if the motor current value is greater than a second current threshold but less than the first current threshold, the cutting difficulty is determined to be medium; and if the motor current value is less than the second current threshold, the cutting difficulty is determined to be low. Specific current thresholds are not limited here. By comparing historical mowing difficulty levels with preset mowing difficulty levels, it is possible to determine the range of motor current values ​​that fall within the historical mowing difficulty levels, and thus determine the target mowing difficulty level corresponding to the preset mowing difficulty level.

[0105] 303. Set the target mowing frequency within the preset height mowing value based on the mowing frequency corresponding to the target mowing difficulty level.

[0106] After determining the target mowing difficulty level corresponding to the historical mowing difficulty level, the target mowing frequency can be set within the preset height mowing value based on the mowing frequency corresponding to the target mowing difficulty level. It can be understood that each mowing difficulty level in the preset mowing difficulty level has a corresponding mowing frequency. Once the target mowing difficulty level is determined, the target mowing frequency can be set within the preset height mowing value based on the mowing frequency corresponding to the target mowing difficulty level. The specific process of setting the target mowing frequency within the preset height mowing value is similar to step 203 above, and will not be repeated here.

[0107] 304. Mow the grass according to the target mowing frequency and the real-time height of the current plants in the preset mowing area.

[0108] It is understandable that step 304 is similar to step 204 above, and will not be described in detail here.

[0109] Example 4: When the mowing conditions are based on plant growth, the robot's mowing process is as follows: Figure 4 As shown, it specifically includes steps 401 to 404.

[0110] 401. Obtain the plant growth status and preset mowing height values ​​for each category area.

[0111] In this embodiment, the growth status of plants and a preset mowing height value are obtained in each classified area. The plant growth status can be the plant growth density or the plant growth rate, which is not limited here. Specifically, the preset mowing area can be classified according to the plant growth factors, resulting in multiple classified areas. For example, the preset mowing area can be classified based on the average growth height of plants. Specifically, the average growth height of plants per unit area in the preset mowing area can be calculated, and multiple units of area with similar average growth heights can be grouped into one classified area. Alternatively, soil moisture content and plant color can be obtained through sensors for area classification, such as grouping plants with similar colors into one classified area. Next, the plant growth status in each classified area is determined. This plant growth status is used to determine the mowing frequency of the classified area. The plant growth status can be soil conditions, such as moisture, pH value, and temperature.

[0112] The process of obtaining the preset height mowing value is similar to step 101 above, and the specifics are not limited here.

[0113] 402. Compare the growth status of plants in the classification area with the preset growth status of plants to determine the target plant growth density or growth rate in the classification area.

[0114] After determining the plant growth status in the classified areas, the plant growth status in the classified areas can be compared with the preset plant growth status to determine the target plant growth density or growth rate for the classified areas. Each plant growth density or growth rate in the preset growth status has a corresponding mowing frequency; the plant growth density can be the number of plants per unit area, and the plant growth rate can be the height of the plants per unit area per unit time. Different preset plant growth statuses have corresponding mowing frequencies; for example, if the plant growth density is lush, the mowing frequency can be set more frequently, and if the plant growth density is too sparse, the mowing frequency can be set less frequently; if the plant growth rate is faster, the mowing frequency can be set more frequently, and if the plant growth rate is slower, the mowing frequency can be set less frequently. By comparing the plant growth status in the classified areas with the preset plant growth status, the target plant growth density or growth rate for each classified area can be determined.

[0115] 403. Set the target mowing frequency within the preset height mowing value based on the mowing frequency corresponding to the target plant growth density or growth rate.

[0116] After determining the target plant growth density or growth rate for the classification area, a target mowing frequency can be set within a preset height range based on the mowing frequency corresponding to the target plant growth density or growth rate. This can be understood as using the plant's growth in the soil over a preset time as a preset mowing condition, and then determining the mowing frequency based on the plant's growth in the soil over that preset time. The more suitable the soil conditions for plant growth, the greater the number of mowing operations within the preset mowing frequency. Under the preset plant growth conditions, different target plant growth densities or growth rates have corresponding mowing frequencies.

[0117] In one feasible approach, the growth status of plants in the classified area can be represented by their growth duration, which can be used to determine the target mowing frequency. Specifically, the robot's mowing time can be compared with a preset growth time to obtain a first comparison result, determining the target growth duration of the plants. Different growth durations within the preset growth time correspond to different plant heights. Within the preset growth time, the robot can travel along a predetermined path within the area to be mowed, recording the plant height within the preset growth time. Next, the mowing conditions are compared with preset mowing conditions to determine the corresponding mowing frequency. For example, comparing the robot's mowing time with the preset mowing time yields a second comparison result, i.e., the mowing frequency. The target mowing frequency is then set based on the first and second comparison results at a preset height mowing value. After incorporating a preset growth time, the robot no longer needs to obtain the current growth height each time. It can calculate the estimated growth height after the preset growth time is reached based on historical data of the growth height at the preset growth time. Then, based on the plant growth height corresponding to the target growth time and the mowing frequency, a target mowing frequency is set within the preset height range. For example, if the preset growth time is 10 days before the current mowing time, when the current mowing time is obtained, the growth height corresponding to the preset growth time is obtained. Based on the growth height, plant growth characteristics, and growth time, the range of plant growth height is estimated. The robot then determines whether the mowing frequency needs adjustment based on the plant growth height and the preset growth height range. If adjustment is needed, the mowing frequency is adjusted according to the plant growth height corresponding to the target growth time to obtain the final mowing frequency. If the plant growth height is greater than the preset growth height range, the mowing frequency needs to be increased; if the plant growth height is less than the preset growth height range, the mowing frequency needs to be decreased.

[0118] 404. Mow the grass according to the target mowing frequency and the real-time height of the current plants in the preset mowing area.

[0119] It is understandable that step 404 is similar to step 204 above, and the details will not be repeated here.

[0120] Example 5: When the mowing condition is the plant growth location information, the robot's mowing process is as follows: Figure 5 As shown, it specifically includes steps 501 to 504.

[0121] 501. Obtain information on the plant's growth location and the preset mowing height.

[0122] In this application embodiment, the plant growth location information and the preset height mowing value are obtained; wherein, the plant growth location information refers to the location of the plant in the area to be mowed, such as flat area or slope area. In different locations, the amount of sunlight received by the plant is different, and the plant growth rate is different. For example, in flat area, the plant faces the sun and receives more sunlight, so the plant grows faster, while in shady slope area, the plant faces away from the sun and receives less sunlight, so the plant grows slower.

[0123] The process of obtaining the preset height mowing value is similar to step 101 above, and the specifics are not limited here.

[0124] 502. Compare the plant's growth location information with the preset growth location information to determine the target sun-facing location information of the plant.

[0125] After obtaining the plant's growth location information, it can be compared with preset growth location information to determine the plant's target sunny location. This involves comparing the plant's current growth location with the preset growth location information to determine the target sunny location corresponding to the plant's current growth location. Each sunny location in the preset growth location information has a corresponding mowing frequency. The mowing frequency can be set according to the plant's growth location information; for example, in flat areas where plants grow faster, a higher mowing frequency is needed, while in shady slope areas where plants grow slower, a lower mowing frequency is needed. By comparing the plant's current growth location information with the preset growth location information, the target sunny location of the plant can be determined, i.e., whether the plant is in a sunny slope area, a flat area, or a shady slope area.

[0126] 503. Based on the mowing frequency corresponding to the target sunny location information, set the target mowing frequency within the preset height mowing value.

[0127] After determining the target sun-facing location of the plants, a target mowing frequency can be set within a preset height range based on the mowing frequency corresponding to that location. Essentially, the target sun-facing location has a corresponding mowing frequency within the preset growth location information, which can be used as the mowing frequency corresponding to the plant's growth location. However, when determining the mowing frequency corresponding to the target sun-facing location, it's also necessary to consider the type of plant in that location. For example, if the plant species in that location has a high rate of sunlight absorption, such as sunflowers, then a higher mowing frequency is needed. Conversely, if the plant species has a low rate of sunlight absorption, such as ferns, then a lower mowing frequency is needed. In short, the mowing frequency corresponding to the target sun-facing location can be determined based on whether the plant faces or avoids sunlight and the plant species.

[0128] 504. Mow the lawn according to the target number of mowings corresponding to the target mowing frequency and the real-time height of the current plants in the preset mowing area.

[0129] It is understandable that step 504 is similar to step 204 above, and the specifics will not be repeated here.

[0130] As can be seen, in this embodiment, the target mowing frequency can be determined by one or more of the following methods: mowing time in the preset mowing area, mowing difficulty, plant growth status, and plant growth location information. Based on the target mowing frequency, the mowing is performed at a specific frequency, thereby realizing intelligent mowing by the robot, improving mowing efficiency, maximizing the utilization of the cut plants in the preset mowing area, and minimizing damage to the plants in the preset mowing area.

[0131] This application also provides a lawnmower robot, such as... Figure 6 As shown, it includes: a processing device 601 and a cutting device 602;

[0132] The processing device 601 is communicatively connected to the cutting device 602 and is configured as follows:

[0133] The robot's mowing conditions and preset mowing height value are obtained, wherein the mowing conditions are the mowing situation when the robot performs the mowing task, and the preset mowing height value is the plant height in the preset mowing area after the robot completes the mowing.

[0134] The mowing conditions are compared with preset mowing conditions to obtain a comparison result, wherein the preset mowing conditions indicate the mowing frequency corresponding to different mowing conditions;

[0135] Based on the comparison results, a target mowing frequency is set within the preset height mowing value;

[0136] Based on the target mowing frequency, the cutting device 602 is controlled to mow the plants in the preset mowing area where the robot is located.

[0137] This application also provides a robotic lawn mowing device 700, such as... Figure 7 As shown, the lawn mowing device 700 of the robot in this application embodiment may include one or more central processing units (CPUs) 701 and a memory 702, wherein the memory 702 stores one or more applications or data.

[0138] The memory 702 can be volatile or persistent storage. The program stored in the memory 702 can include one or more modules, each module including a series of instruction operations on the electronic device. Furthermore, the central processing unit 601 can be configured to communicate with the memory 702 and execute the series of instruction operations in the memory 702 on the robot's lawnmowing processing device 700.

[0139] The robot's lawn mowing device 700 may also include one or more power supplies 705, one or more wired or wireless network interfaces 704, one or more input / output interfaces 703, and / or one or more operating systems, such as Windows Server™, MacOSX™, Unix™, Linux™, FreeBSD™, etc.

[0140] The central processing unit 701 can perform the operations performed by the first aspect or any specific method embodiment of the first aspect, which will not be described in detail here.

[0141] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0142] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0143] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0144] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0145] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

Claims

1. A method for mowing lawns using a robot, characterized in that, include: The robot's mowing conditions and preset mowing height value are obtained, wherein the mowing conditions are the mowing situation when the robot performs the mowing task, and the preset mowing height value is the plant height in the preset mowing area after the robot completes the mowing. The mowing conditions are compared with preset mowing conditions to obtain a comparison result, wherein the preset mowing conditions indicate the mowing frequency corresponding to different mowing conditions; Based on the comparison results, a target mowing frequency is set within the preset height mowing value; The robot mows the plants in the preset mowing area where it is located according to the target mowing frequency. The mowing conditions include mowing time, and the preset mowing conditions include preset mowing time; The comparison of the mowing conditions with preset mowing conditions to obtain the comparison results includes: The mowing time is compared with the preset mowing time to determine the target time point corresponding to the preset mowing time; wherein, each time point in the preset mowing time has a corresponding mowing frequency; The step of setting the target mowing frequency within the preset height mowing value based on the comparison result includes: Based on the mowing frequency corresponding to the target time point, the target mowing frequency is set within the preset height mowing value; the target mowing frequency includes the number of mowing operations at the mowing frequency corresponding to the target time point and the height of the cutter head that descends for each mowing operation; The step of mowing the plants in the preset mowing area where the robot is located according to the target mowing frequency includes: If the number of mowings reaches the target number of mowings corresponding to the target mowing frequency, then a new number of mowings is determined based on the height relationship between the current real-time height and the preset mowing value, and each mowing is performed with the new number of mowings.

2. The lawn mowing method according to claim 1, characterized in that, The process of obtaining the preset height mowing value includes: The real-time height of plants in the preset mowing area is obtained, and the average height of plants in the preset mowing area is determined based on the real-time height of plants in the preset mowing area. The minimum mowing value in the preset mowing area is determined based on the average height; The preset height mowing value is set based on the minimum mowing value.

3. The lawn mowing method according to claim 1, characterized in that, The mowing conditions include historical mowing difficulty levels, and the preset mowing conditions include preset mowing conditions. The comparison of the mowing conditions with preset mowing conditions to obtain the comparison results includes: The historical mowing difficulty level is compared with the preset mowing difficulty level to determine the target mowing difficulty level corresponding to the historical mowing difficulty level; wherein, each difficulty level in the preset mowing difficulty level has a corresponding mowing frequency. The step of setting the target mowing frequency within the preset height mowing value based on the comparison result includes: Based on the mowing frequency corresponding to the target mowing difficulty level, a target mowing frequency is set within the preset height mowing value.

4. The lawn mowing method according to claim 1, characterized in that, The mowing conditions include the plant growth status, and the preset mowing conditions include the preset plant growth status. The conditions for obtaining the robot's lawn-mowing capabilities include: Based on the growth factors of plants in the preset mowing area, the preset mowing area is classified into multiple classification areas; Determine the growth status of plants in each of the aforementioned classification regions; The comparison of the mowing conditions with preset mowing conditions to obtain the comparison results includes: The growth status of plants in the classified area is compared with the preset growth status of the plants to determine the target plant growth density or growth rate in the classified area; wherein, each plant growth density or growth rate in the preset growth status of the plants has a corresponding mowing frequency. The step of setting the target mowing frequency within the preset height mowing value based on the comparison result includes: Based on the mowing frequency corresponding to the target plant growth density or growth rate, a target mowing frequency is set within the preset height mowing value.

5. The lawn mowing method according to claim 1, characterized in that, The mowing conditions include plant growth location information, and the preset mowing conditions include preset plant growth location information; The comparison of the mowing conditions with preset mowing conditions to obtain the comparison results includes: The plant's growth location information is compared with the plant's preset growth location information to determine that the plant's growth location information corresponds to the target sunny location information of the plant's preset growth location information; wherein, each sunny location information in the plant's preset growth location information has a corresponding mowing frequency. The step of setting the target mowing frequency within the preset height mowing value based on the comparison result includes: Based on the mowing frequency corresponding to the target sunny location information, a target mowing frequency is set within the preset height mowing value.

6. The lawn mowing method according to claim 1, characterized in that, The step of mowing the plants in the preset mowing area where the robot is located according to the target mowing frequency includes: Based on the target number of mowing times corresponding to the target mowing frequency, the robot begins to mow the plants in the preset mowing area where it is located multiple times. After each mowing, determine whether the number of mowings has reached the target number of mowings, and / or determine the height relationship between the current real-time height of the plants in the preset mowing area and the preset height mowing value; If the number of mowing operations reaches the target number of mowing operations, or the real-time height is not higher than the preset mowing height value, then control the robot to stop mowing. If the number of mowing attempts does not reach the target number of mowing attempts, and / or the real-time height is higher than the preset mowing height value, then the robot is controlled to perform the next mowing attempt.

7. The lawn mowing method according to claim 1, characterized in that, The method further includes: When mowing grass in the preset mowing area at the preset height value, the robot determines whether it can cut the plant within the preset mowing time period by detecting the relationship between the real-time height of the plant and its original growth height. When the relationship between the real-time height and the original growth height is different, it is determined that the robot can cut the plant within the preset mowing time period; When the height relationship between the real-time height and the original growth height is the same, the height of the cutter head in the robot is adjusted and the cutting work continues. Then, it is determined again whether the robot can cut the plant within the preset mowing time period.

8. A lawnmower robot, characterized in that, include: Processing and cutting devices; The processing device, communicatively connected to the cutting device, is configured to perform the lawn mowing method of claim 1, and is configured as follows: The robot's mowing conditions and preset mowing height value are obtained, wherein the mowing conditions are the mowing situation when the robot performs the mowing task, and the preset mowing height value is the plant height in the preset mowing area after the robot completes the mowing. The mowing conditions are compared with preset mowing conditions to obtain a comparison result, wherein the preset mowing conditions indicate the mowing frequency corresponding to different mowing conditions; Based on the comparison results, a target mowing frequency is set within the preset height mowing value; Based on the target mowing frequency, the cutting device is controlled to mow the plants in the preset mowing area where the robot is located; The mowing conditions include mowing time, and the preset mowing conditions include preset mowing time; The comparison of the mowing conditions with preset mowing conditions to obtain the comparison results includes: The mowing time is compared with the preset mowing time to determine the target time point corresponding to the preset mowing time; wherein, each time point in the preset mowing time has a corresponding mowing frequency; The step of setting the target mowing frequency within the preset height mowing value based on the comparison result includes: Based on the mowing frequency corresponding to the target time point, the target mowing frequency is set within the preset height mowing value; the target mowing frequency includes the number of mowing operations at the mowing frequency corresponding to the target time point and the height of the cutter head that descends for each mowing operation; The step of mowing the plants in the preset mowing area where the robot is located according to the target mowing frequency includes: If the number of mowings reaches the target number of mowings corresponding to the target mowing frequency, then a new number of mowings is determined based on the height relationship between the current real-time height and the preset mowing value, and each mowing is performed with the new number of mowings.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes instructions that, when executed on a computer, cause the computer to perform the processing method as described in any one of claims 1 to 7.

Images