Control method and device of mowing robot, mowing robot and storage medium

Abstract

The application discloses a control method and device of a mowing robot, the mowing robot and a storage medium. The control method comprises the following steps: controlling the mowing robot to perform a mowing task on a lawn in a first working mode; after the mowing task is completed, controlling the mowing robot to continue performing the mowing task in a second working mode in a to-be-mowed area, the to-be-mowed area being generated when the mowing robot operates in the first working mode; wherein at least one of a mowing path and cutter disc operating parameters of the mowing robot in the first working mode and the second working mode is different. In this way, the to-be-mowed area is generated when the mowing robot performs the mowing task on the lawn, so that different areas of the lawn can be divided; meanwhile, the mowing robot is controlled to complete the mowing task in the to-be-mowed area of the lawn by using the second working mode, so that when the lawn is mowed, the working mode of the mowing robot can be adjusted, and the efficiency and quality of the mowing robot in completing the mowing task can be ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mowing robots, and particularly relates to a control method and device of a mowing robot, the mowing robot and a storage medium. BACKGROUND

[0002] With the development of the social environment, the demand for the development and research of mowing robots gradually increases. At present, the mowing robots on the market mainly have two modes of random mowing and planning mowing. However, a single working mode cannot meet the demand of complex working environments.

[0003] For example, the planning mowing mode is usually adopted by the mowing robot in a wide lawn to improve the working efficiency. However, the mowing robot is prone to skidding when working on the slope area of the lawn, which leads to inaccurate positioning and causes the problem of missed mowing at the skidding position. For another example, the mowing robot is prone to poor working quality when working in the deep grass area of the lawn. SUMMARY

[0004] The present application provides a control method and device of a mowing robot, the mowing robot and a storage medium, and aims to solve the problem that a single working mode cannot meet the demand of complex working environments when the mowing robot works.

[0005] In a first aspect, the present application provides a control method of a mowing robot, which comprises the following steps:

[0006] controlling the mowing robot to perform a mowing task on a lawn in a first working mode;

[0007] after the mowing task is completed, controlling the mowing robot to continue performing the mowing task in a second working mode in a to-be-mowed area, the to-be-mowed area being generated when the mowing robot runs in the first working mode;

[0008] wherein at least one of the mowing path and the cutter head running parameter of the mowing robot in the first working mode and the second working mode is different.

[0009] Further, before the step of controlling the mowing robot to continue performing the mowing task in the second working mode in the to-be-mowed area after the mowing task is completed, the control method comprises the following steps:

[0010] controlling the mowing robot to identify the slope of the lawn during the performance of the mowing task;

[0011] in the case that the slope of the lawn is greater than a first preset threshold, controlling the mowing robot to perform an arc-shaped U-turn at the current position and mark the current position as a U-turn point;

[0012] generate the mowing area according to all the turn-back points.

[0013] Further, the step of controlling the mowing robot to continue performing the mowing task in the second working mode in the mowing area after the mowing task is completed, comprises:

[0014] controlling the mowing robot to continue performing the mowing task in the random mowing mode in the mowing area.

[0015] Further, the control method further comprises the following steps:

[0016] controlling the mowing robot to identify the slope of the mowing area;

[0017] when the slope of the mowing area remains less than the first preset threshold within a preset time length, re-determining the boundary of the mowing area according to the current position of the mowing robot.

[0018] Further, the control method further comprises the following steps:

[0019] determining the working time length of the mowing robot in the random mowing mode according to the area of the mowing area.

[0020] Further, before the step of controlling the mowing robot to continue performing the mowing task in the second working mode in the mowing area after the mowing task is completed, the control method comprises the following steps:

[0021] controlling the mowing robot to acquire the cutterhead load during the execution of the mowing task;

[0022] in the case that the cutterhead load remains greater than a second preset threshold within a predetermined time length, controlling the mowing robot to perform an arc-shaped turn-back at the current position and marking the current position as a turn-back point;

[0023] generate the mowing area according to all the turn-back points.

[0024] Further, the step of controlling the mowing robot to continue performing the mowing task in the second working mode in the mowing area after the mowing task is completed, comprises:

[0025] adjusting the cutterhead of the mowing robot from an initial height to a preset height;

[0026] controlling the mowing robot to perform a first round of mowing task in the mowing area;

[0027] after the completion of the first round of mowing task, restoring the cutterhead of the mowing robot to the initial height;

[0028] controlling the mowing robot to perform a second round of mowing task in the mowing area.

[0029] In a second aspect, the application provides a control device of a mowing robot, the control device comprising:

[0030] a first control module configured to control the mowing robot to perform a mowing task on the lawn in a first working mode;

[0031] a second control module configured to control the mowing robot to continue performing the mowing task in a second working mode in a to-be-mowed area after the mowing task is completed, the to-be-mowed area being generated when the mowing robot operates in the first working mode;

[0032] wherein at least one of a mowing path and a cutter head operating parameter of the mowing robot in the first working mode and the second working mode is different.

[0033] In a third aspect, the application provides a mowing robot, comprising a memory and a processor, the memory being configured to store a computer program, and the processor being configured to execute the computer program to implement the control method of the mowing robot according to the first aspect.

[0034] In a fourth aspect, the application also provides a storage medium, the storage medium storing program instructions, the program instructions being configured to execute the control method according to the first aspect.

[0035] The application has the following advantages: by generating a to-be-mowed area when the mowing robot performs a mowing task on the lawn, different areas of the lawn can be divided; and by controlling the mowing robot to complete the mowing task in the to-be-mowed area of the lawn using the second working mode, the working mode of the mowing robot can be adjusted when the lawn is mowed, thereby ensuring the efficiency and quality of the mowing robot in completing the mowing task. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 a flowchart of an embodiment of the control method of the mowing robot according to the application;

[0037] Figure 2 a schematic diagram of a scenario in which the mowing robot according to the application performs a mowing task;

[0038] Figure 3 a schematic diagram of another scenario in which the mowing robot according to the application performs a mowing task;

[0039] Figure 4 a flowchart of an embodiment of the control method of the mowing robot according to the application before step S2;

[0040] Figure 5 a flowchart of a specific embodiment of step S2 of the control method of the mowing robot according to the application;

[0041] Figure 6 Flow chart of another embodiment of the control method of the lawn mowing robot of the present application;

[0042] Figure 7 Flow chart of another embodiment of the control method of the lawn mowing robot of the present application;

[0043] Figure 8 Flow chart of another embodiment of the control method of the lawn mowing robot of the present application before step S2;

[0044] Figure 9 Flow chart of another embodiment of the control method of the lawn mowing robot of the present application before step S2;

[0045] Figure 10 Structure schematic diagram of the control device of the lawn mowing robot of the present application;

[0046] Figure 11 Module schematic diagram of the lawn mowing robot of the present application.

[0047] Main element symbol explanation:

[0048] Lawn mowing robot 100, processor 11, memory 12, control device 200, first control module 21, second control module 22. EMBODIMENTS

[0049] The embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings. The embodiments described below by referring to the accompanying drawings are exemplary, only for explaining the present application, and cannot be understood as a limitation of the present application.

[0050] In the description of the present application, unless otherwise explicitly limited, the words such as setting, connection, etc. should be broadly understood, and the person skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical solution.

[0051] In the technical solution of the present application, the lawn mowing robot is controlled to generate the to-be-mowed area when performing the mowing task on the lawn, so that different areas of the lawn can be divided; at the same time, the lawn mowing robot is controlled to use the second working mode to complete the mowing task in the to-be-mowed area of the lawn, so that when mowing the lawn, the working mode of the lawn mowing robot can be adjusted to ensure the efficiency and quality of the lawn mowing robot to complete the mowing task.

[0052] Embodiment one

[0053] Please refer to Figure 1 The control method of the lawn mowing robot of the present application comprises the following steps:

[0054] S1, control the lawn mowing robot to perform a mowing task on the lawn in a first working mode;

[0055] S2, after the mowing task is completed, control the lawn mowing robot to continue performing the mowing task in a second working mode in the to-be-mowed area generated when the lawn mowing robot operates in the first working mode;

[0056] wherein at least one of the mowing path and the cutter head operating parameter of the lawn mowing robot in the first working mode and the second working mode is different.

[0057] In the control method of the lawn mowing robot of the present application, the to-be-mowed area is generated when the lawn mowing robot performs the mowing task on the lawn, so that different areas of the lawn can be divided; at the same time, the second working mode is used to complete the mowing task in the to-be-mowed area of the lawn, so that the working mode of the lawn mowing robot can be adjusted when mowing the lawn, thereby ensuring the efficiency and quality of the lawn mowing robot to complete the mowing task.

[0058] It can be understood that with the improvement of living standards, people's environmental awareness is becoming stronger and stronger, and green lawns can be seen everywhere in large and small cities. In order to meet the demand for mowing lawns, the research on lawn mowing robots has gradually attracted attention.

[0059] In particular, the lawn environment is often complex, for example, a lawn may have a certain slope area; or the height of the grass growing on the lawn is often not consistent, and there may be a deep grass area with very dense and high grass.

[0060] Currently, there are mainly two types of lawn mowing robots on the market, random and planning. In order to ensure the efficiency of mowing, the planning type mowing mode is often used by lawn mowing robots. It can be easily concluded that in the above two cases, the planning type mowing robot is prone to slipping on the slope when working on the slope, which causes inaccurate positioning. Inaccurate positioning will cause the lawn mowing robot to mark errors, marking the area on the slope that has not been mowed as having been mowed, resulting in missed mowing.

[0061] In order to improve the problem of slipping on the slope, some lawn mowing robots improve the walking mechanism, such as using four-wheel drive or using a track, which greatly increases the cost of the lawn mowing robot. In addition, in the deep grass area, the planning type mowing robot is also prone to poor quality of mowing task completion when working in the deep grass area, and the deep grass in the deep grass area cannot be effectively cleaned.

[0062] Therefore, the lawn mowing robot cannot meet the demand of complex working environment when using a single working mode.

[0063] In the control method of the mowing robot, without structural modification of the mowing robot, the demand of the mowing robot for high efficiency and high quality operation on the special area of the lawn can be met while saving cost.

[0064] In the implementation, in steps S1 and S2, the working process of the mowing robot is as follows:

[0065] After receiving the mowing task, the mowing robot operates in the first working mode on the lawn to perform the mowing task; and after the mowing robot operates in the first working mode to perform the mowing task, the mowing robot can generate a to-be-mowed area, and after the mowing task performed in the first working mode is completed, the mowing robot is controlled to continue to perform the mowing task in the to-be-mowed area in the second working mode.

[0066] That is, when the mowing robot performs the mowing task on the lawn to be mowed, it first operates in the first working mode, and in the running process, the to-be-mowed area is generated according to the relevant preset conditions. The to-be-mowed area can be an area with a more complex working environment on the lawn, such as a slope area, a deep grass area.

[0067] It can be understood that there can be multiple to-be-mowed areas at the same time. In the case of generating multiple to-be-mowed areas, the mowing robot can select the nearest to-be-mowed area to continue to perform the mowing task in the second working mode, thereby improving the mowing efficiency.

[0068] Specifically, in step S1, the first working mode can be a planned mowing mode to improve the working efficiency. In step S2, the second working mode can be different according to the to-be-mowed area.

[0069] In particular, at least one of the mowing path and the cutter head operating parameter of the mowing robot in the first working mode and the second working mode is different. The mowing path can be an arch-shaped path or a random-shaped path; and the cutter head operating parameter can be the height of the cutter head.

[0070] For example, in one scenario, the first working mode is a planned mowing mode, the mowing path of the mowing robot in the first working mode is an arch-shaped planned path, the to-be-mowed area is a slope area, and the second working mode can be a random mowing mode. Then, the mowing path of the mowing robot in the second working mode is a random shape.

[0071] At this time, due to the nature of the random mowing mode, the mowing robot will randomly walk in the slope area to perform mowing within a predetermined time, so as long as the predetermined time is properly set, the problem of inaccurate positioning and missing mowing caused by slipping of the mowing robot on the slope when using the planned mowing mode can be avoided.

[0072] For example, in another scenario, the first working mode is a planning mowing mode, the mowing path of the mowing robot in the first working mode is an arch-shaped planning path, and the region to be mowed is a deep grass region. The second working mode can be a random mowing mode or a planning mowing mode, and the selection of the mowing mode is not limited. The cutter head operating parameter can be the height of the cutter head. At this time, in the first working mode, the cutter head operating parameter is a default parameter, and in the second working mode, the cutter head height is adjusted correspondingly because the region to be executed is a deep grass region.

[0073] As shown in Figure 2 , Fig. 2 is a schematic diagram of a scenario in which the mowing robot 100 executes a mowing task when the region to be mowed is a slope region. Figure 2

[0074] In the scenario, the mowing robot 100 executes a mowing task on a lawn using a first working mode. Before the mowing robot 100 operates, the lawn, as shown in Figure 2 (a), has slopes and flat ground, and it can be easily seen that Figure 2 the slopes and the flat ground are separated by a dashed line; after the mowing robot 100 operates the first working mode to complete the mowing task, the grass on the flat ground is mowed, and three slope regions, as shown in Figure 2 (b), are generated; then the mowing robot 100 is controlled to execute a mowing task in a second working mode in the slope regions, wherein the slope region in which the mowing task is executed first can be determined according to the distance of the mowing robot 100 from the three slope regions, and finally the mowing effect, as shown in Figure 2 (c), is achieved.

[0075] At this time, the first working mode can be a planning mowing mode, and the second working mode can be a random mowing mode.

[0076] As shown in Figure 3 , Fig. 3 is a schematic diagram of a scenario in which the mowing robot 100 executes a mowing task when the region to be mowed is a deep grass region. Figure 3

[0077] In the scenario, the mowing robot 100 executes a mowing task on a lawn using a first working mode. Before the mowing robot 100 operates, the lawn, as shown in Figure 3 (a), has deep grass and shallow grass, and it can be easily seen that Figure 3 the deep grass and the shallow grass are separated by a dashed line, and there can be a part of the shallow grass surrounded by the deep grass in the deep grass region; after the mowing robot 100 operates the first working mode to complete the mowing task, most of the shallow grass is mowed except for the shallow grass that can be surrounded by the deep grass, and then a deep grass region, as shown in Figure 3 ​​(b) shows the area of ​​deep grass; then, the lawnmower robot 100 is controlled to perform the mowing task in the sloping area in the second working mode. At this time, according to the specific implementation of the second working mode, the lawnmower robot 100 can first perform one round of mowing, cutting the height of the deep grass to the height of the shallow grass, forming as shown in (b). Figure 3 (c) shows a shallow grass scene, and then the lawnmower robot 100 performs another round of mowing, ultimately achieving the effect shown in image (c). Figure 3 (d) shows the mowing effect.

[0078] exist Figure 3 In the scenario shown, the first working mode can be either a random mowing mode or a planned mowing mode, and the second working mode can also be either a random mowing mode or a planned mowing mode. However, it is necessary that the cutter head operating parameters of the first working mode are different from those of the second working mode.

[0079] Example 2

[0080] Please see Figure 2 Prior to step S2 of the control method for the lawnmower robot, the control method includes the following steps:

[0081] S01. Control the lawnmower robot to identify the slope of the lawn during the lawnmower task;

[0082] S02. If the slope of the lawn is greater than the first preset threshold, control the lawn mowing robot to turn back in an arc at the current position and mark the current position as the turning point;

[0083] S03. Generate the area to be cut based on all turnaround points.

[0084] In this way, the area to be cut can be generated simply and accurately as a slope region.

[0085] In specific implementation, in step S01, the slope of the lawn can be measured by the inertial measurement unit set on the lawn mowing robot, or the slope of the lawn can be identified by taking pictures of the lawn, or the slope of the lawn can be confirmed by judging the angle between the chassis and the lawn. This application does not impose any inherent limitations on the specific method of slope identification.

[0086] In step S02, the first preset threshold can be the angle at which the lawnmower robot slips, such as 15°, or any other angle, which can be determined based on the performance of the lawnmower robot and the actual needs of mowing. If the slope of the lawn is greater than the first preset threshold, it is determined that the lawnmower robot is prone to slipping. The lawnmower robot is then controlled to make an arc-shaped turn at the current position to avoid the area, and this position is marked as a point that forms part of the slope area for subsequent processing.

[0087] In step S03, after step S01 and step S02, the to-be-mowed region generated according to all the turning points can be that all the obtained turning points are fitted, or the turning points are clustered first and then fitted, so as to generate the to-be-mowed region.

[0088] When the turning points are taken as position coordinates during processing, in the case where the position coordinates of the turning points are close to each other, the to-be-mowed region can be generated only by fitting all the turning points. In the case where there is a large distance gap between the position coordinates of the turning points, it is considered that there can be multiple to-be-mowed regions, in which case, the position coordinates are clustered first, that is, by judging the position coordinates of different turning points, the turning points close to each other are classified into one category, and then the clustered turning points are fitted, so as to finally form multiple closed slope maps, that is, multiple to-be-mowed regions.

[0089] Embodiment three

[0090] Please refer to Figure 3 , Figure 3 As a specific implementation of step S2, step S2 includes the following steps:

[0091] S21, control the mowing robot to continue performing the mowing task in the to-be-mowed region in a random mowing mode.

[0092] In this way, the mowing quality of the to-be-mowed region can be ensured when the to-be-mowed region is a slope, and the problem of missed mowing of the mowing robot can be avoided.

[0093] In a specific implementation, in step S21, the second working mode is a random mowing mode, and the mowing path of the mowing robot in the second working mode is a path of random shape. Due to the nature of the random mowing mode, the mowing robot will randomly walk on the slope region to perform mowing within a predetermined time. Therefore, as long as the predetermined time is properly set, the mowing robot can avoid the problem of missed mowing caused by inaccurate positioning due to slipping on the slope when using the planned mowing mode when mowing the to-be-mowed region which is a slope.

[0094] Embodiment four

[0095] Please refer to Figure 4 , the control method further includes the following steps:

[0096] S3, control the mowing robot to identify the slope of the to-be-mowed region;

[0097] S4, when the slope of the to-be-mowed region remains less than a first preset threshold value within a preset time length, determine the current position of the mowing robot as the boundary of the to-be-mowed region.

[0098] In this way, the boundary determination of the to-be-mowed region can be avoided when the mowing robot works on the to-be-mowed region which is a slope due to the influence of the mowing robot slipping on the slope.

[0099] In actual implementation, in step S3, the slope of the mowing area can be measured by an inertial measurement unit arranged on the mowing robot, and the slope of the mowing area can also be determined by recognizing the image of the mowing area, obtaining the inclination angle of the gyroscope arranged on the mowing robot, or determining the inclination angle of the chassis and the lawn of the mowing area. In this application, the specific method for determining the slope of the mowing area is not limited.

[0100] It can be understood that when the mowing robot continues to perform the mowing task in the mowing area in the random mowing mode, the mowing robot can still have the problem of slipping, which affects the determination of the boundary of the mowing area by the mowing robot, thereby causing the possible missed mowing.

[0101] Therefore, in step S4, the first preset threshold is the same as the first preset threshold used when the mowing area is divided into a slope, which can be 15°, that is, the angle at which the mowing robot slips.

[0102] When the inclination angle between the mowing robot and the lawn is less than the angle at which the mowing robot slips for a continuous period of time, it means that the slope of the mowing area gradually slows down. When the slope of the mowing area is less than the first preset threshold within a preset time period, it can be considered that the mowing robot has reached the boundary of the mowing area. The preset time period can be set comprehensively according to the area of the mowing area, the working parameters and performance parameters of the mowing robot.

[0103] At this time, the boundary of the mowing area can be determined again according to the current position of the mowing robot to avoid the problem of slipping of the mowing robot, which affects the determination of the boundary of the mowing area by the mowing robot, thereby causing the possible missed mowing in the mowing area. After confirming that the boundary of the mowing area is reached, the mowing robot can be controlled to turn back in the direction of the slope at the current position to continue performing the mowing task.

[0104] Embodiment five

[0105] Please refer to Figure 5 The control method further comprises the following steps:

[0106] S5, determining the working time of the mowing robot in the random mowing mode according to the area of the mowing area.

[0107] In this way, when the mowing robot works in the mowing area in the random mowing mode, the mowing quality and efficiency of the mowing area can be ensured, and the missed mowing can be prevented.

[0108] In implementation, after the area of the mowing area to be mowed is determined in step S5, the working time of the mowing robot in the random mowing mode can be determined in combination with the efficiency of the random mowing algorithm used by the mowing robot, the working parameters of the mowing robot such as the cutting width and the speed of cutting walking, etc., so as to ensure the mowing quality and efficiency of the mowing area to be mowed and prevent the occurrence of missed mowing.

[0109] Embodiment six

[0110] Please refer to Figure 6 Before step S2 of the control method, the control method comprises the following steps:

[0111] S04, controlling the mowing robot to acquire the cutterhead load during the execution of the mowing task;

[0112] S05, in the case where the cutterhead load remains greater than the second preset threshold value within a predetermined time length, controlling the mowing robot to make an arc-shaped U-turn at the current position and marking the current position as a U-turn point;

[0113] S06, generating a mowing area to be mowed according to all the U-turn points.

[0114] In this way, the mowing area to be mowed of the deep grass type can be simply and accurately generated.

[0115] In implementation, in step S04, the cutterhead load can be the working current of the motor of the mowing robot.

[0116] In step S05, the second preset threshold value can be determined according to the working performance of the mowing robot and the actual demand, for example, the working current at 80% full power is taken as the second preset threshold value, or 70%, 60%, etc. The preset time length can be 3 seconds, and the preset time length is an empirical parameter.

[0117] In the case where the cutterhead load is greater than the second preset threshold value, the mowing robot is first controlled to slow down, and in the case where the cutterhead load remains greater than the second preset threshold value within a predetermined time length, it is confirmed that the mowing robot encounters deep grass, the mowing robot is controlled to make an arc-shaped U-turn at the current position to avoid the place, and the position is marked as a point of the deep grass area, so as to facilitate subsequent processing.

[0118] In step S06, after step S04 and step S05, the generation of the mowing area to be mowed according to all the U-turn points can be fitting all the obtained U-turn points, or first clustering and then fitting, so as to generate the mowing area to be mowed.

[0119] In the process, the turning points are taken as position coordinates. In the case where the position coordinates of the turning points are close to each other, only fitting all the turning points can generate the region to be mowed. In the case where the position coordinates of the turning points have a large distance gap, it is considered that there are multiple regions to be mowed. At this time, the position coordinates are clustered first, that is, by judging the position coordinates of different turning points, the turning points with close distances are classified into one category, and then the clustered turning points are fitted, and finally multiple closed deep grass maps, that is, multiple regions to be mowed, are formed.

[0120] In addition, by using the parameter of the cutter load to divide the deep grass region on the lawn for special processing, the mowing efficiency and quality of the deep grass region can be ensured, and the problem of excessive cutter load, that is, excessive working current of the mowing robot, affecting the service life of the mowing robot, etc. can be avoided.

[0121] Embodiment Seven

[0122] Please refer to Figure 7 The step S2 of the control method can further include the following steps:

[0123] S22, adjusting the cutter of the mowing robot from the initial height to the preset height;

[0124] S23, controlling the mowing robot to perform a first round of mowing task in the region to be mowed;

[0125] S24, after the first round of mowing task is completed, restoring the cutter of the mowing robot to the initial height;

[0126] S25, controlling the mowing robot to perform a second round of mowing task in the region to be mowed.

[0127] In this way, by controlling the mowing robot to adjust the height of the cutter and perform two rounds of mowing in the region to be mowed, the mowing quality and efficiency in the region to be mowed as a deep grass region are ensured.

[0128] In a specific implementation, in one scenario, the initial height of the cutter is 40 mm. In step S22, the initial height of the cutter of the mowing robot can be set by the user or be the default setting of the factory, and is not limited in this regard according to actual use requirements. Then in step S22, the height of the cutter is adjusted from the initial height to the preset height, and the preset height can be set according to the height of the deep grass, for example, can be 60 mm.

[0129] In step S23, the mowing robot is controlled to perform a first round of mowing task in the region to be mowed. At this time, the arc planning mowing mode can be used to improve the mowing efficiency, and of course the random mowing mode can also be used.

[0130] In step S24, after the first round of mowing task is completed, the cutterhead of the mowing robot is restored to the initial height, i.e., restored to the initial setting of 40mm height.

[0131] In step S25, the mowing robot is controlled to perform a second round of mowing task in the mowing area. It can be understood that due to the particularity of the deep grass area, the height of the deep grass is higher, and the cutterhead of the mowing robot is easy to cause problems such as stall when cutting the deep grass at the initial height of the cutterhead, and the efficiency and quality of mowing cannot meet the requirements. Therefore, after adjusting the height of the cutterhead to the preset height to perform the first round of mowing task through steps S22 and S23, and adjusting the height of the cutterhead to the initial height to perform the second round of mowing task through step S24, the mowing quality and efficiency in the deep grass area are guaranteed. At this time, the arc planning mowing mode can also be used to improve the mowing efficiency, and of course the random mowing mode can also be used.

[0132] In some other embodiments, it should be noted that the mowing height of the mowing robot can be 20mm to 100mm, and in other scenarios, the initial height can be 30mm, which can be set by the user or be a factory setting. At this time, if the preset height set according to the specific height of the deep grass is 60mm or even higher, the mowing robot needs to perform two or more rounds of mowing tasks.

[0133] For example, the mowing robot can adjust the cutterhead to 45mm to perform the second round of mowing task after performing the first round of mowing task at the cutterhead height of 60mm, and finally restore the cutterhead to 30mm height to perform the third round of mowing task.

[0134] Embodiment Eight

[0135] Please refer to Figure 8 , Figure 8 is a structural schematic diagram of an embodiment of the control device of the mowing robot of the present application, as an implementation of the control method of the mowing robot shown in Figure 1 , the present embodiment provides a control device of a mowing robot, which corresponds to the method embodiment shown in Figure 1 , the control device 200 comprises:

[0136] a first control module 21, configured to control the mowing robot to perform a mowing task on the lawn in a first working mode;

[0137] a second control module 22, configured to control the mowing robot to continue performing a mowing task in a second working mode in the mowing area after the mowing task is completed, the mowing area being generated when the mowing robot operates in the first working mode;

[0138] The mowing path and the cutter head operation parameter of the mowing robot in the first working mode and the second working mode are different at least in one aspect.

[0139] The control device 200 of the mowing robot in the embodiments of the present application has the same advantages as the control method of the mowing robot described above, and thus no further description is given herein.

[0140] Embodiment Nine

[0141] Please refer to Figure 9 The embodiments of the present application also provide a mowing robot 100, which comprises a memory 12 and a processor 11, the memory 12 is used for storing a computer program, and the processor 11 is used for executing the computer program to realize the control method of the mowing robot as described above.

[0142] The mowing robot 100 in the embodiments of the present application has the same advantages as the control method of the mowing robot described above, and thus no further description is given herein.

[0143] Embodiment Ten

[0144] The embodiments of the present application also provide a storage medium, which has program instructions stored thereon, and the program instructions are used for executing the control method of the mowing robot as described above.

[0145] The storage medium provided by the present application has the same advantages as the control method of the mowing robot described above, and thus no further description is given herein.

[0146] The specific embodiments of the present application are described above. Other embodiments are within the scope of the appended claims. In some cases, acts or steps recited in the claims can be performed in a different order than the order in which the acts or steps are recited in the embodiments. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve the desired results. In certain implementations, multitasking and parallel processing can be advantageous.

[0147] The program instructions include computer program code, which can be in the form of source code, object code, executable code, or some intermediate form. The storage medium includes any entity or device capable of carrying the computer program code, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution package, etc. It should be noted that the content included in the storage medium can be appropriately added or reduced according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the storage medium does not include electrical carrier signals and telecommunication signals.

[0148] It should be noted that, for the foregoing method embodiments, the purposes of brief description, they are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited to the order of the actions described, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0149] In the above embodiments, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0150] The embodiments of the present application are described in detail above in combination with the drawings, but the present application is not limited to the above embodiments, and various changes can be made within the knowledge range of ordinary skilled in the art without departing from the purpose of the present application.

Claims

1. A control method of a mowing robot, characterized by, The control method comprises the following steps: controlling the lawn mowing robot to perform a mowing task on the lawn in a first working mode; after the mowing task is completed, controlling the lawn mowing robot to continue performing the mowing task in a second working mode in a to-be-mowed area generated when the lawn mowing robot runs in the first working mode; wherein at least one of the mowing path and the cutter head running parameter of the lawn mowing robot in the first working mode and the second working mode is different; before the step of controlling the lawn mowing robot to continue performing the mowing task in the second working mode in the to-be-mowed area after the mowing task is completed, the control method comprises the following steps: controlling the lawn mowing robot to identify the slope of the lawn during the performance of the mowing task; in the case that the slope of the lawn is greater than a first preset threshold, controlling the lawn mowing robot to perform an arc-shaped U-turn at the current position and marking the current position as a U-turn point; generating the to-be-mowed area according to all the U-turn points; the step of, in the case that the slope of the lawn is greater than a first preset threshold, controlling the lawn mowing robot to perform an arc-shaped U-turn at the current position and marking the current position as a U-turn point, specifically comprises: in the case that the slope of the lawn is greater than a first preset threshold, judging that the lawn mowing robot is prone to skidding at this time, controlling the lawn mowing robot to perform an arc-shaped U-turn at the current position to avoid the current position, and marking the current position as a point of the slope area.

2. The control method according to claim 1, characterized by, the step of controlling the lawn mowing robot to continue performing the mowing task in the second working mode in the to-be-mowed area after the mowing task is completed, comprises: controlling the lawn mowing robot to continue performing the mowing task in the to-be-mowed area in a random mowing mode.

3. The control method according to claim 2, characterized by, the control method further comprises the following steps: controlling the lawn mowing robot to identify the slope of the to-be-mowed area; when the slope of the to-be-mowed area remains less than the first preset threshold within a preset time length, re-determining the boundary of the to-be-mowed area according to the current position of the lawn mowing robot.

4. The control method according to claim 2, characterized by, the control method further comprises the following steps: determining the working time length of the lawn mowing robot in the random mowing mode according to the area of the to-be-mowed area.

5. The control method according to claim 1, characterized by, before the step of controlling the lawn mowing robot to continue performing the mowing task in the second working mode in the to-be-mowed area after the mowing task is completed, the control method comprises the following steps: controlling the lawn mowing robot to obtain the cutter head load during the performance of the mowing task; in the case that the cutter head load remains greater than a second preset threshold within a predetermined time length, controlling the lawn mowing robot to perform an arc-shaped U-turn at the current position and marking the current position as a U-turn point; generating the to-be-mowed area according to all the U-turn points.

6. The control method according to claim 5, characterized by the step of controlling the lawn mowing robot to continue performing the mowing task in the second working mode in the to-be-mowed area after the mowing task is completed, comprises: adjusting the cutter head of the lawn mowing robot from an initial height to a preset height; controlling the lawn mowing robot to perform a first round of mowing task in the to-be-mowed area; after the first round of mowing task is completed, restoring the cutter head of the lawn mowing robot to the initial height; controlling the lawn mowing robot to perform a second round of mowing task in the to-be-mowed area.

7. A control device of a mowing robot, characterized in that the control device comprises: a first control module, configured to control the lawn mowing robot to perform a mowing task on the lawn in a first working mode; The second control module is configured to control the lawn mowing robot to continue performing the lawn mowing task in the second working mode in a to-be-mowed area after the lawn mowing task is completed, the to-be-mowed area being generated when the lawn mowing robot runs in the first working mode; wherein at least one of a mowing path and a cutter head running parameter of the lawn mowing robot in the first working mode and the second working mode is different; The first control module is further configured to: control the lawn mowing robot to identify a slope of the lawn during the execution of the lawn mowing task; in a case where the slope of the lawn is greater than a first preset threshold, control the lawn mowing robot to perform an arc-shaped turn at a current position and mark the current position as a turn point; generate the to-be-mowed area according to all the turn points; The first control module is specifically further configured to: in a case where the slope of the lawn is greater than the first preset threshold, determine that the lawn mowing robot is prone to skidding at this time, control the lawn mowing robot to perform an arc-shaped turn at the current position to avoid the current position, and mark the current position as a point position constituting a slope area.

8. A mowing robot, characterized in that The lawn mowing robot comprises a memory and a processor, the memory is configured to store a computer program, and the processor is configured to execute the computer program to implement the control method of the lawn mowing robot according to any one of claims 1 to 6.

9. A storage medium, characterized by The storage medium has program instructions stored thereon, and the program instructions are used to execute the control method of the lawn mowing robot according to any one of claims 1 to 6.

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