A lawnmower control method

Abstract

This invention provides a lawnmower control method, which acquires the real-time current value A of the lawnmower's motor, and determines whether the lawnmower is in mowing or idling state based on the magnitude of the real-time current value A; when the lawnmower is in idling state, the continuous idling time t is calculated, and the magnitude of the continuous idling time t is used to determine whether the mowing work in the work area has been completed; based on the environmental information of the work area and the current date of the lawnmower, the number of days D required to wait after the completion of this mowing work is calculated. 0 Based on the date the lawn mowing is completed and the number of days (D) required after the completion of the lawn mowing. 0 The method calculates the start date of the next lawn mowing session to address the poor practicality of existing methods for setting the working time of smart lawn mowers.

Description

A lawnmower control method Technical Field

[0001] This invention relates to the field of lawnmower technology, and more specifically, to a lawnmower control method. Background Technology

[0002] In existing technologies, there are two methods for setting the working time of intelligent lawnmowers:

[0003] (1) The user sets the working days and working hours of the smart lawnmower, which is more flexible, but the operation is more complicated. The user needs to modify the working time of the smart lawnmower multiple times according to the condition of the lawn. In addition, if the working time is set to daytime when the weather is hot in summer, the working time may be invalid because the machine is in high temperature during the set working time and cannot go out to work, so it cannot reach the required working time. This leads to the problem that this method is not very practical.

[0004] (2) After the user sets the size of the lawn, the smart lawnmower sets a fixed working time according to the size of the lawn. This is relatively simple to operate. However, the growth of grass is different in different seasons, while the working cycle and working time of the smart lawnmower are fixed. At the same time, if the area of ​​the lawn set by the user is too large and the grass growth cycle is too long, the smart lawnmower will spend a lot of time doing ineffective work, which leads to the problem that this method is not very practical. Summary of the Invention

[0005] The main objective of this invention is to provide a lawnmower control method to solve the problem of poor practicality of existing methods for setting the working time of intelligent lawnmowers.

[0006] To achieve the above objectives, the present invention provides a lawnmower control method, comprising: acquiring the real-time current value A of the lawnmower's motor; determining whether the lawnmower is in a mowing state or an idling state based on the magnitude of the real-time current value A; when the lawnmower is in an idling state, calculating the continuous idling time t of the lawnmower; determining whether the mowing work in the work area has been completed based on the magnitude of the continuous idling time t; calculating the number of days D0 required to wait after the completion of the current mowing work based on the environmental information of the work area and the current date of the lawnmower; and calculating the start date of the next mowing work based on the date of completion of the current mowing work and the number of days D0 required to wait after the completion of the current mowing work.

[0007] Furthermore, the specific steps for determining whether the lawnmower is in mowing or idling state based on the magnitude of the real-time current value A include: determining whether the real-time current value A is greater than the preset current value A0; when the real-time current value A is greater than the preset current value A0, determining that the lawnmower is in mowing state; when the real-time current value A is less than or equal to the preset current value A0, determining that the lawnmower is in idling state.

[0008] Furthermore, the specific steps for determining whether the mowing work in the work area is completed based on the magnitude of the continuous idling time t include: determining whether the continuous idling time t is less than the preset idling time t0; when the continuous idling time t is less than the preset idling time t0, determining that the mowing work in the work area is not completed; when the continuous idling time t is greater than or equal to the preset idling time t0, determining that the mowing work in the work area is completed.

[0009] Furthermore, when the lawnmower is in an idling state, the specific steps for calculating the continuous idling time t of the lawnmower and determining whether the mowing work in the work area is completed based on the magnitude of the continuous idling time t include: calculating the continuous idling time t based on the actual number of discharge cycles N when the lawnmower is in a continuous idling state, so as to determine whether the mowing work in the work area is completed based on the actual number of discharge cycles N when the lawnmower is in a continuous idling state.

[0010] Furthermore, the specific steps for determining whether mowing work in the work area is completed based on the actual number of discharge cycles N when the lawnmower is continuously idling also include: determining whether the actual number of discharge cycles N when the lawnmower is continuously idling is less than the preset number of discharge cycles N0; when the actual number of discharge cycles N is less than the preset number of discharge cycles N0, it is determined that the mowing work in the work area is not completed; when the actual number of discharge cycles N is greater than or equal to the preset number of discharge cycles N0, it is determined that the mowing work in the work area is completed; wherein, the preset number of discharge cycles N0 is calculated based on the planned area of ​​the work area.

[0011] Furthermore, when the lawnmower is in an idling state, the continuous idling time t of the lawnmower is calculated. The specific steps to determine whether the mowing work in the working area is completed based on the magnitude of the continuous idling time t include: determining whether the real-time current value A is less than or equal to the preset current value A0 in a single discharge cycle; when the real-time current value A is greater than the preset current value A0 in a single discharge cycle, it is determined that the lawnmower is in the mowing state.

[0012] Furthermore, when the lawnmower is idling, the specific steps for calculating the continuous idling time t of the lawnmower and determining whether the mowing work in the working area has been completed based on the magnitude of the continuous idling time t also include: obtaining the real-time voltage value V of the lawnmower's battery pack, and determining whether the real-time voltage value V is lower than the preset voltage value V0; when V > V0, controlling the lawnmower's motor to continue rotating; when V ≤ V0, controlling the lawnmower's motor to stop rotating and charging the battery pack.

[0013] Furthermore, when the lawnmower is idling, the specific steps for determining whether the mowing work in the working area is completed based on the continuous idling time t include: when the real-time current value A is less than or equal to the preset current value A0 in a single discharge cycle, it is determined whether the real-time current value A is less than or equal to the preset current value A0 in N0 consecutive discharge cycles, where N0 is the preset number of discharge cycles; when the real-time current value A is less than or equal to the preset current value A0 in N0 consecutive discharge cycles, it is determined that the mowing work of the lawnmower is completed, the lawnmower is controlled to stop working, and the date D1 of the completion of this mowing work is recorded; otherwise, the lawnmower is controlled to continue working.

[0014] Furthermore, the value of N0 is calculated using the following formula: N0 = S0 / 200 + 1, where S0 is the planned area of ​​the work area in square meters. 2 .

[0015] Furthermore, the specific steps for calculating the start date of the next mowing job based on the number of days D0 required after the current mowing job is completed and the date the current mowing job is completed include: obtaining the date D1 when the current mowing job is completed and the current date D2 of the mower; calculating the number of days D0 required after the current mowing job is completed; determining whether the sum of the date D1 when the current mowing job is completed and the number of days D0 required after the current mowing job is completed, D1+D0, is greater than the current date D2 of the mower; when D1+D0≤D2, the mower remains in a non-working state; when D1+D0>D2, the mower begins the next mowing job.

[0016] Furthermore, the specific method for calculating the number of days D0 required to wait after the completion of this lawn mowing work, based on the environmental information of the work area and the current date of the lawnmower, includes the following formula: D0 = S0 × (T0 + T0 × R0) / 2; where, T0 = T × T 01 Where T is the ambient temperature of the working area, T 01 The temperature coefficient corresponding to the ambient temperature; S0 = S × S 01 Where S is the planned area of ​​the work area, S 01The area coefficient corresponding to the planned area; R0 = R × R 01 Where R is the duration of rainfall in the work area, R 01 This is the duration coefficient corresponding to the duration of rainfall.

[0017] Applying the technical solution of this invention, the lawnmower control method of this invention includes: acquiring the real-time current value A of the lawnmower's motor, and determining whether the lawnmower is in a mowing state or an idling state based on the magnitude of the real-time current value A; when the lawnmower is in an idling state, calculating the continuous idling time t of the lawnmower, and determining whether the mowing work in the work area has been completed based on the magnitude of the continuous idling time t; calculating the number of days D0 required to wait after the completion of the current mowing work based on the environmental information of the work area and the current date of the lawnmower; and calculating the start date of the next mowing work based on the date of completion of the current mowing work and the number of days D0 required to wait after the completion of the current mowing work. Thus, in the lawnmower control method of the present invention, the user only needs to set the size of the lawn (i.e., the planned area of ​​the work area), and the lawnmower will automatically set the working time according to the size of the lawn and calculate the start date of the next mowing work according to the environmental information of the work area and the current date of the lawnmower. This makes the mowing work simple and convenient, with good coverage, and energy-saving and environmentally friendly, avoiding energy waste and greatly reducing the time of ineffective work. It solves the problem of low mowing efficiency of intelligent lawnmowers and the problem of poor practicality of the working time setting method of existing intelligent lawnmowers. Attached Figure Description

[0018] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0019] Figure 1 shows a schematic diagram of the lawnmower control method according to the present invention;

[0020] Figure 2 shows a schematic diagram illustrating the calculation of the number of days required after the completion of this lawn mowing work, as illustrated in the method diagram shown in Figure 1.

[0021] Figure 3 shows a control flowchart of an embodiment of the lawnmower control method shown in Figure 1. Detailed Implementation

[0022] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0023] As shown in Figures 1 to 3, the present invention provides a lawnmower control method, comprising: acquiring the real-time current value A of the lawnmower's motor, and determining whether the lawnmower is in a mowing state or an idling state based on the magnitude of the real-time current value A; when the lawnmower is in an idling state, calculating the continuous idling time t of the lawnmower, and determining whether the mowing work in the work area has been completed based on the magnitude of the continuous idling time t; calculating the number of days D0 required to wait after the completion of the current mowing work based on the environmental information of the work area and the current date of the lawnmower; and calculating the start date of the next mowing work based on the date of completion of the current mowing work and the number of days D0 required to wait after the completion of the current mowing work.

[0024] Thus, in the lawnmower control method of the present invention, the user only needs to set the size of the lawn (i.e., the planned area of ​​the work area), and the lawnmower will automatically set the working time according to the size of the lawn and calculate the start date of the next mowing work according to the environmental information of the work area and the current date of the lawnmower. This makes the mowing work simple and convenient, with good coverage, and energy-saving and environmentally friendly, avoiding energy waste and greatly reducing the time of ineffective work. It solves the problem of low mowing efficiency of intelligent lawnmowers and the problem of poor practicality of the working time setting method of existing intelligent lawnmowers.

[0025] In the lawnmower control method of the present invention, the specific steps for determining whether the lawnmower is in a mowing state or an idling state based on the magnitude of the real-time current value A include: determining whether the real-time current value A is greater than the preset current value A0; when the real-time current value A is greater than the preset current value A0, determining that the lawnmower is in a mowing state; when the real-time current value A is less than or equal to the preset current value A0, determining that the lawnmower is in an idling state.

[0026] In the lawnmower control method of the present invention, the specific steps for determining whether the mowing work in the working area is completed based on the magnitude of the continuous idling time t include: determining whether the continuous idling time t is less than the preset idling time t0; when the continuous idling time t is less than the preset idling time t0, determining that the mowing work in the working area is not completed; when the continuous idling time t is greater than or equal to the preset idling time t0, determining that the mowing work in the working area is completed.

[0027] In the lawnmower control method of the present invention, when the lawnmower is in an idling state, the specific steps of calculating the continuous idling time t of the lawnmower and determining whether the mowing work in the working area is completed based on the magnitude of the continuous idling time t include: calculating the continuous idling time t based on the actual number of discharge cycles N when the lawnmower is in a continuous idling state, so as to determine whether the mowing work in the working area is completed based on the actual number of discharge cycles N when the lawnmower is in a continuous idling state.

[0028] In the lawnmower control method of the present invention, the specific steps of determining whether the mowing work in the working area is completed based on the actual number of discharge cycles N when the lawnmower is continuously idling further include: determining whether the actual number of discharge cycles N when the lawnmower is continuously idling is less than a preset number of discharge cycles N0; when the actual number of discharge cycles N is less than the preset number of discharge cycles N0, determining that the mowing work in the working area is not completed; when the actual number of discharge cycles N is greater than or equal to the preset number of discharge cycles N0, determining that the mowing work in the working area is completed; wherein, the preset number of discharge cycles N0 is calculated based on the planned area of ​​the working area, and the preset idling time t0 is calculated based on the preset number of discharge cycles N0.

[0029] In the lawnmower control method of the present invention, when the lawnmower is in an idling state, the specific steps of calculating the continuous idling time t of the lawnmower and determining whether the mowing work in the working area is completed based on the magnitude of the continuous idling time t include: determining whether the real-time current value A is less than or equal to the preset current value A0 in a single discharge cycle; when the real-time current value A is greater than the preset current value A0 in a single discharge cycle, it is determined that the lawnmower is in the mowing state.

[0030] In the lawnmower control method of the present invention, when the lawnmower is in an idling state, the specific steps of calculating the continuous idling time t of the lawnmower and determining whether the mowing work in the working area is completed based on the magnitude of the continuous idling time t further include: obtaining the real-time voltage value V of the lawnmower's battery pack, and determining whether the real-time voltage value V is lower than the preset voltage value V0; when V > V0, controlling the lawnmower's motor to continue rotating; when V ≤ V0, controlling the lawnmower's motor to stop rotating and charging the battery pack.

[0031] In the lawnmower control method of the present invention, when the lawnmower is in an idling state, the specific steps of calculating the continuous idling time t of the lawnmower and determining whether the mowing work in the working area is completed based on the magnitude of the continuous idling time t further include: when the real-time current value A is less than or equal to the preset current value A0 in a single discharge cycle, determining whether the real-time current value A is less than or equal to the preset current value A0 in N0 consecutive discharge cycles, where N0 is the preset number of discharge cycles; when the real-time current value A is less than or equal to the preset current value A0 in N0 consecutive discharge cycles, determining that the mowing work of the lawnmower is completed, controlling the lawnmower to stop working, and recording the date D1 of the completion of this mowing work; otherwise, controlling the lawnmower to continue working.

[0032] In the lawnmower control method of the present invention, the value of N0 is calculated by the following formula: N0 = S0 / 200 + 1, where S0 is the planned area of ​​the working area in m². 2 .

[0033] In the lawnmower control method of the present invention, the specific steps for calculating the start date of the next lawnmower operation based on the number of days D0 required after the current lawnmower operation is completed and the date of completion of the current lawnmower operation include: obtaining the date D1 of completion of the current lawnmower operation and the current date D2 of the lawnmower; calculating the number of days D0 required after the current lawnmower operation is completed; determining whether the sum of the date D1 of completion of the current lawnmower operation and the number of days D0 required after completion of the current lawnmower operation, D1+D0, is greater than the current date D2 of the lawnmower; when D1+D0≤D2, the lawnmower remains in a non-working state; when D1+D0>D2, the lawnmower begins the next lawnmower operation.

[0034] In the lawnmower control method of the present invention, the specific method for calculating the number of days D0 to wait after the completion of the current mowing work based on the environmental information of the work area and the current date of the lawnmower includes: calculating the number of days D0 to wait after the completion of the current mowing work using the following formula: D0 = S0 × (T0 + T0 × R0) / 2; where, T0 = T × T 01 Where T is the ambient temperature of the working area (unit: °C), T 01 The temperature coefficient corresponding to the ambient temperature; S0 = S × S 01 Where S is the planned area of ​​the work area (unit: m²) 2 ), S 01 The area coefficient corresponding to the planned area; R0 = R × R 01 Where R is the duration of rainfall in the work area (in hours), R 01 This is the duration coefficient corresponding to the duration of rainfall.

[0035] As shown in Figure 2, the ambient temperature T can be divided into multiple temperature ranges from low to high, including the first temperature range T1, the second temperature range T2, and the nth temperature range Tn. n Temperature coefficient T 01 This also includes the first temperature range T1, the second temperature range T2, and the nth temperature range T. n The first temperature coefficient T in one-to-one correspondence 11 Second temperature coefficient T 21 and the nth temperature coefficient T n1 When calculating the number of days D0 to wait after the completion of this lawn mowing work, different temperature coefficients need to be selected according to the temperature range to which the ambient temperature T belongs.

[0036] As shown in Figure 2, the planned area S can be divided into multiple area ranges according to the area from low to high, including the first area range S1, the second area range S2, and the nth area range Sn. n Area index S 01 It also includes the first area range S1, the second area range S2, and the nth area range S.n The first area coefficient S corresponds one-to-one 11 Second area coefficient S 21 and the nth area coefficient S n1 When calculating the number of days D0 to wait after the completion of this lawn mowing work, different area coefficients need to be selected according to the area range to which the planned area S belongs.

[0037] As shown in Figure 2, the rainfall duration R can be divided into multiple duration ranges according to the length from low to high, including the first duration range R1, the second duration range R2, and the nth duration range Rn. n Duration coefficient R 01 This also includes the first duration range R1, the second duration range R2, ..., the nth duration range R. n The first duration coefficient R in a one-to-one correspondence 11 Second duration coefficient R 21 …the nth duration coefficient R n1 When calculating the number of days D0 to wait after the completion of this lawn mowing work, different duration coefficients need to be selected according to the duration range to which the rainfall duration R belongs.

[0038] Specifically, the temperature coefficient T of the present invention 01 Area coefficient S 01 and duration coefficient R 01 The specific selection method is as follows:

[0039] When the temperature range is low, the corresponding temperature coefficient is greater than 2, the coefficient of rainfall will become a fixed maximum of 2, and the area coefficient will remain unchanged. This is because grass grows more slowly in low-temperature weather and is less affected by rainfall.

[0040] When the temperature range is similar to that of early spring and late autumn, the corresponding temperature coefficient is 1.5, the area coefficient S01 decreases as the planned area S increases, and the duration coefficient decreases as the duration of rainfall increases; when the temperature range is between 20 and 27 degrees, the corresponding temperature coefficient is 1, and the duration coefficient decreases as the duration of rainfall increases.

[0041] When the temperature range is high, the corresponding temperature coefficient is 0.8, and the area coefficient S... 01 The area coefficient S decreases as the planned area S increases, and the duration coefficient decreases as the rainfall duration increases. Furthermore, in the formula for calculating the number of days D0 to wait after the lawn mowing is completed when the rainfall duration exceeds the preset duration, the square of the duration coefficient is used instead of its first power. This is because grass growth slows down under sustained high temperatures without rainfall, while high temperatures and rainfall cause grass growth to be exceptionally rapid, thus requiring a smaller coefficient. The larger the planned area of ​​the work zone, the higher the area coefficient S becomes. 01 Then it will.

[0042] As shown in the embodiment of Figure 3, the control flow of the lawnmower control method of the present invention is as follows:

[0043] Choose whether to enable planning mode;

[0044] When the planning mode is selected, obtain the voltage data of the lawnmower's battery pack;

[0045] Determine if the battery pack is fully charged based on the real-time voltage value V;

[0046] Once the battery pack is fully charged, it begins to determine whether the lawn mowing is complete.

[0047] Determine whether the real-time current value A is less than or equal to the preset current value A0 in a single discharge cycle;

[0048] When the real-time current value A is greater than the preset current value A0 within a single discharge cycle, the lawnmower is determined to be in the mowing state.

[0049] Obtain the real-time voltage value V of the lawnmower's battery pack and determine whether the real-time voltage value V is lower than the preset voltage value V0;

[0050] When V > V0, the lawnmower motor continues to rotate; when V ≤ V0, the lawnmower motor stops rotating and the battery pack is charged.

[0051] When the real-time current value A is less than or equal to the preset current value A0 in a single discharge cycle, it is determined whether the real-time current value A is less than or equal to the preset current value A0 in N0 consecutive discharge cycles, where N0 is the preset number of discharge cycles.

[0052] When the real-time current value A is less than or equal to the preset current value A0 for N0 consecutive discharge cycles, it is determined that the mower has completed its mowing work, the mower is stopped, and the date D1 of the completion of the mowing work is recorded; otherwise, the mower continues to work.

[0053] Get the date D1 when this lawn mowing job is completed and the current date D2 of the lawnmower; calculate the number of days D0 that need to be waited after this lawn mowing job is completed;

[0054] Determine whether the sum of the date D1 when the lawn mowing is completed and the number of days D0 that need to be waited after the lawn mowing is completed (D1+D0) is greater than the current date D2 of the lawnmower;

[0055] When D1+D0≤D2, the lawnmower remains in a non-working state; when D1+D0>D2, the lawnmower begins the next mowing operation.

[0056] As can be seen from the above description, the embodiments of the present invention achieve the following technical effects:

[0057] The lawnmower control method of the present invention includes: acquiring the real-time current value A of the lawnmower motor, and determining whether the lawnmower is in a mowing state or an idling state based on the magnitude of the real-time current value A; when the lawnmower is in an idling state, calculating the continuous idling time t of the lawnmower, and determining whether the mowing work in the work area has been completed based on the magnitude of the continuous idling time t; calculating the number of days D0 required to wait after the completion of the current mowing work based on the environmental information of the work area and the current date of the lawnmower; and calculating the start date of the next mowing work based on the date of completion of the current mowing work and the number of days D0 required to wait after the completion of the current mowing work. Thus, in the lawnmower control method of the present invention, the user only needs to set the size of the lawn (i.e., the planned area of ​​the work area), and the lawnmower will automatically set the working time according to the size of the lawn and calculate the start date of the next mowing work according to the environmental information of the work area and the current date of the lawnmower. This makes the mowing work simple and convenient, with good coverage, and energy-saving and environmentally friendly, avoiding energy waste and greatly reducing the time of ineffective work. It solves the problem of low mowing efficiency of intelligent lawnmowers and the problem of poor practicality of the working time setting method of existing intelligent lawnmowers.

[0058] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0059] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0060] In the description of this application, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms 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, and therefore should not be construed as a limitation on the scope of protection of this application; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0061] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0062] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be construed as limiting the scope of protection of this application.

[0063] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A lawnmower control method, characterized in that, include: The real-time current value A of the lawnmower motor is obtained, and the lawnmower is determined to be in mowing mode or idling mode based on the magnitude of the real-time current value A. When the lawnmower is in the idling state, the continuous idling time t is calculated, and the idling time t is used to determine whether the mowing work in the work area is completed. The number of days D0 required to wait after the completion of this mowing work is calculated based on the environmental information of the work area and the current date of the lawnmower. The start date of the next mowing work is calculated based on the completion date of this mowing work and the number of days D0 required to wait. The continuous idling time t is calculated based on the actual number of discharge cycles N when the lawnmower is continuously in the idling state, so as to determine whether the mowing work is completed within the work area. The actual number of discharge cycles N during the idling state is used to determine whether the mowing work in the working area is completed. Specific steps include: determining whether the actual number of discharge cycles N when the mower is continuously in the idling state is less than a preset number of discharge cycles N0; when the actual number of discharge cycles N is less than the preset number of discharge cycles N0, it is determined that the mowing work in the working area is not completed; when the actual number of discharge cycles N is greater than or equal to the preset number of discharge cycles N0, it is determined that the mowing work in the working area is completed; wherein, the preset number of discharge cycles N0 is calculated based on the planned area of ​​the working area.

2. The lawnmower control method according to claim 1, characterized in that, The specific steps for determining whether the lawnmower is in the mowing state or the idling state based on the magnitude of the real-time current value A include: determining whether the real-time current value A is greater than a preset current value A0; when the real-time current value A is greater than the preset current value A0, determining that the lawnmower is in the mowing state; when the real-time current value A is less than or equal to the preset current value A0, determining that the lawnmower is in the idling state.

3. The lawnmower control method according to claim 1, characterized in that, The specific steps for determining whether the mowing work in the work area is completed based on the magnitude of the continuous idling time t include: determining whether the continuous idling time t is less than a preset idling time t0; when the continuous idling time t is less than the preset idling time t0, determining that the mowing work in the work area is not completed; when the continuous idling time t is greater than or equal to the preset idling time t0, determining that the mowing work in the work area is completed.

4. The lawnmower control method according to claim 1, characterized in that, When the lawnmower is in the idling state, the specific steps for calculating the continuous idling time t of the lawnmower and determining whether the mowing work in the indicated working area is completed based on the magnitude of the continuous idling time t include: determining whether the real-time current value A is less than or equal to the preset current value A0 in a single discharge cycle; when the real-time current value A is greater than the preset current value A0 in the single discharge cycle, it is determined that the lawnmower is in the mowing state.

5. A lawnmower control method according to claim 4, characterized in that, When the lawnmower is in the idling state, the specific steps for calculating the continuous idling time t of the lawnmower and determining whether the mowing work in the working area is completed based on the magnitude of the continuous idling time t further include: obtaining the real-time voltage value V of the lawnmower's battery pack, and determining whether the real-time voltage value V is lower than a preset voltage value V0; when V > V0, controlling the motor of the lawnmower to continue rotating; when V ≤ V0, controlling the motor of the lawnmower to stop rotating and charging the battery pack.

6. A lawnmower control method according to claim 4 or 5, characterized in that, When the lawnmower is in the idling state, the specific steps for calculating the continuous idling time t of the lawnmower and determining whether the mowing work in the working area is completed based on the magnitude of the continuous idling time t further include: when the real-time current value A is less than or equal to the preset current value A0 in a single discharge cycle, determining whether the real-time current value A is less than or equal to the preset current value A0 in N0 consecutive discharge cycles, where N0 is the preset number of discharge cycles; when the real-time current value A is less than or equal to the preset current value A0 in N0 consecutive discharge cycles, determining that the mowing work of the lawnmower is completed, controlling the lawnmower to stop working, and recording the date D1 of the completion of this mowing work; otherwise, controlling the lawnmower to continue working.

7. The lawnmower control method according to claim 1, characterized in that, The specific steps for calculating the start date of the next mowing job based on the number of days D0 required after the current mowing job is completed and the date the current mowing job is completed include: obtaining the date D1 when the current mowing job is completed and the current date D2 of the mower; calculating the number of days D0 required after the current mowing job is completed; determining whether the sum of the date D1 when the current mowing job is completed and the number of days D0 required after the current mowing job is completed, D1+D0, is greater than the current date D2 of the mower; when D1+D0>D2, the mower remains in a non-working state; when D1+D0≤D2, the mower begins the next mowing job.

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