Method for controlling a grass collecting device, control device and electronic device

Abstract

The application discloses a control method and device of a grass collecting device and electronic equipment. The control method of the grass collecting device comprises the following steps: obtaining a grass unloading instruction; controlling the grass collecting box to move from a first position to a second position in a first direction according to the grass unloading instruction, wherein the first position is a position where the grass collecting box is in a closed state, and the second position is a position where the grass collecting box reaches a maximum opening angle; and controlling the grass collecting box to swing according to swing parameters, wherein the swing parameters comprise a swing angle, and the swing angle is smaller than the maximum opening angle. By using the control method of the grass collecting device, most of the grass clippings can be unloaded after the grass collecting box is lifted, and different direction inertial forces can be generated in the swinging process of the grass collecting box, so that a small amount of residual grass clippings can be removed through vibration, the situation that the grass is not completely unloaded is avoided, the grass unloading efficiency and effect are improved, and manual unloading operation is saved.

Description

Technical Field

[0001] This application relates to the field of garden tools, and more particularly to a control method, control device and electronic equipment for a grass-collecting device. Background Technology

[0002] The grass collection box of a grass collection device is used to temporarily store grass clippings cut by the mower. Existing technology generally uses a tilting mechanism to flip the collection box to dispose of the clippings. However, in existing grass collection devices, some clippings remain in the collection box during the unloading process, requiring manual feeding, which reduces unloading efficiency and effectiveness. Summary of the Invention

[0003] In view of this, one object of the present invention is to provide a grass collection device and its control method, electronic device and computer-readable storage medium, so as to solve the technical problems of low grass unloading efficiency and low grass unloading effect in the prior art.

[0004] In a first aspect, embodiments of this application provide a control method for a grass collection device, comprising the following steps: obtaining a grass unloading command;

[0005] According to the unloading command, the grass collection box is controlled to open from a first position to a second position along a first direction; wherein, the first position is the position where the grass collection box is in a closed state, and the second position is the position where the grass collection box reaches the maximum opening and closing angle; and the grass collection box is controlled to swing according to swing parameters; wherein, the swing parameters include swing angle, and the swing angle is less than the maximum opening and closing angle.

[0006] Secondly, embodiments of this application provide a control device for a grass collection device, including an acquisition unit and a control unit. The control unit is connected to the acquisition unit. The control unit is used to: acquire a grass unloading command; and, according to the grass unloading command, control the grass collection box to open and move along a first direction from a first position to a second position; wherein, the first position is the position where the grass collection box is in a closed state, and the second position is the position where the grass collection box reaches its maximum opening and closing angle. The control unit is also used to control the grass collection box to swing according to swing parameters; wherein, the swing parameters include a swing angle, and the swing angle is less than the maximum opening and closing angle.

[0007] Thirdly, embodiments of this application provide an electronic device, including a processor and a memory, the processor and the memory being interconnected, wherein the memory is used to store a computer program, the computer program including program instructions, and the processor is configured to invoke the program instructions to execute the control method described above.

[0008] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program, the computer program including program instructions, which, when executed by a processor, cause the processor to perform the control method described above.

[0009] The control method, control device, electronic device, and computer-readable storage medium for the grass collection device provided in this application embodiment, on the one hand, triggers the opening movement of the grass collection box of the grass collection device based on the grass unloading command, so that most of the grass clippings in the grass collection box are automatically unloaded under the action of gravity; on the other hand, after the opening movement is completed, the grass collection box is controlled to swing at a preset angle based on the swing command, so that the grass collection box generates inertial forces in different directions during the reciprocating rotation process, and the grass collection box is shaken by the inertial force, so that the grass clippings attached to the grass collection box can be shaken off quickly, avoiding the situation of incomplete grass unloading, improving grass unloading efficiency and unloading effect, and thus saving manual feeding operations. Attached Figure Description

[0010] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 This is a schematic flowchart illustrating a control method for a grass-collecting device according to an embodiment of this application.

[0012] Figures 2A to 2E This is a schematic diagram illustrating the unloading process of a grass collection device provided in different embodiments of this application.

[0013] Figure 3 This is a schematic diagram of a grass collection system provided in an embodiment of this application.

[0014] Figure 4 This is a partial structural diagram of a grass-collecting device in a closed state, provided as an embodiment of this application.

[0015] Figure 5 This is a partial structural diagram of a grass collection device in the open state, provided as an embodiment of this application.

[0016] Figure 6 This is a block diagram of the unit composition of a control device for a grass collection device provided in an embodiment of this application.

[0017] Figure 7 This is a block diagram of the unit composition of an electronic device provided in an embodiment of this application.

[0018] Key reference numerals in the attached drawings: Mowing system - 1000; Mowing device - 100; Body - 11; Grass collection device - 200; Main body - 10; Receiving cavity - 12; Rotating structure - 14; Grass collection box - 20; Grass collection mechanism - 30; Tilting mechanism - 40; Rotating shaft - 41; Push rod - 42; Pointer - 43; Drive mechanism - 50; Drive component - 51; Worm gear - 52; Worm - 53; Sensing component - 80; First sensor - 810; Second sensor - 820; First sensor - 81; Second sensor - 82; Third sensor - 83; Control device - 300; Acquisition unit - 301; Control unit - 302; Processing unit - 303; Electronic device - 500; Processor - 510; Memory - 520; Communication interface - 530; Bus - 540.

[0019] The following detailed description, in conjunction with the accompanying drawings, will further illustrate this application. Detailed Implementation

[0020] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0021] It is understood that the terminology in the specification, claims, and accompanying drawings of this application is for describing specific embodiments only and is not intended to limit this application. The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Unless the context clearly states otherwise, the singular forms "a" and "described" are also intended to include the plural forms. The term "comprising," and any variations thereof, is intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices. Furthermore, this application can be implemented in many different forms and is not limited to the embodiments described herein. The purpose of providing the following specific embodiments is to facilitate a clearer and more thorough understanding of the disclosure of this application, wherein terms indicating orientation such as up, down, left, and right refer only to the position of the illustrated structure in the corresponding drawings. In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installed," "connected," "linked," and "set on" 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; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0022] The following description provides preferred embodiments for carrying out this application; however, this description is for the purpose of illustrating the general principles of this application and is not intended to limit the scope of this application. The scope of protection of this application shall be determined by the appended claims.

[0023] Please see Figure 1 , Figure 1 This is a schematic flowchart illustrating a control method for a grass-collecting device provided in an embodiment of this application. The control method for the grass-collecting device may include the following steps S101-S105.

[0024] Step S101: Obtain the unloading instruction.

[0025] In one possible implementation, the unloading command is generated when the mowing device completes its mowing work. After the mowing device finishes its mowing task, it sends an unloading command to the control unit of the grass collection device to unload the grass. Completing the mowing work may include the mowing device stopping its mowing operation; or the mowing device completing the mowing of a designated area; or the grass clippings collected by the grass collection box reaching a preset amount, etc., and this application embodiment does not limit these aspects.

[0026] In one possible implementation, the unloading command is generated when the detector detects that the grass collection parameters of the grass collection box meet preset parameters. The detector includes, but is not limited to, a visual detector, a pressure detector, a gravity sensor, etc. The grass collection parameters include, but are not limited to, at least one of the following: grass collection volume, grass collection weight, grass collection height, etc. For example, when the detector is a visual detector, it can acquire image data of the grass collection box and determine whether the collected grass clippings have reached a preset amount based on the image data. Therefore, when the collected grass clippings reach the preset amount, the grass collection device is triggered to generate the unloading command.

[0027] In one possible implementation, the unloading command can also be triggered by the user. For example, the grass collection device can generate the unloading command in response to the user's opening operation of the unloading switch. This increases the flexibility of the unloading operation of the grass collection device.

[0028] In one possible implementation, the unloading command can also be jointly determined by the grass collection device and the user. For example, after the grass collection device initially determines that the grass collection box needs to be unloaded according to the above method, it sends a prompt message to the user, who then confirms whether to perform the unloading operation. The prompt message is used to prompt the user whether to start the unloading operation of the grass collection box. The prompt message may include at least one of sound signals, light signals, text messages, and vibration messages, and this application embodiment does not impose any limitations on this.

[0029] Step S103: According to the unloading command, control the grass collection box to open from the first position to the second position along the first direction; wherein, the first position is the position where the grass collection box is in a closed state, and the second position is the position where the grass collection box reaches the maximum opening angle.

[0030] The grass collection device operates in two modes: a grass collection mode and a grass unloading mode. In the grass collection mode, the grass collection box is closed, allowing it to temporarily store the grass clippings cut by the mower. Upon receiving a grass unloading command, the grass collection device triggers the opening of the grass collection box, thus placing it in the grass unloading mode. In the grass unloading mode, the grass collection box tilts and opens, dumping the collected grass clippings. The clippings then fall from the tilted box under gravity. Understandably, a larger opening angle of the grass collection box results in better grass clipping disposal. The maximum opening angle of the grass collection box ranges from 30° to 70°. The maximum opening angle can be, but is not limited to, 30°, 35°, 40°, 45°, 50°, 55°, 60°, 65°, 70°, etc. For example, in this embodiment, the maximum opening angle of the grass collection box is 60°. When the grass collection box is rotated to the first position, the opening angle of the grass collection box is 0°; when the grass collection box is rotated to the second position, the opening angle of the grass collection box is 60°. At this time, the grass collection box is opened to the maximum angle, so that the grass clippings can be poured out of the grass collection box more effectively under the action of gravity.

[0031] In one possible implementation, controlling the grass collection box to open from a first position to a second position along a first direction specifically includes: controlling the grass collection box to rotate from the first position to the second position along the first direction. This opens the grass collection box to its maximum angle, allowing grass clippings to be more effectively dumped out of the box under gravity, reducing the amount of subsequent oscillation movement of the grass collection box, thus reducing power consumption. Furthermore, when the grass collection box is rotated to its extreme position, it can impact and vibrate, thereby better shaking out the grass clippings inside.

[0032] In one possible implementation, controlling the grass collection box to open from a first position to a second position along a first direction specifically includes: controlling the grass collection box to rotate from the first position to a third position along the first direction; wherein the third position is located between the first position and the second position, and is different from the first position and the second position. Thus, the grass collection device can swing after the grass collection box opens to a preset angle, so that grass clippings are effectively dumped out of the grass collection box under the action of gravity and shaking, improving the grass unloading effect and efficiency, and facilitating reasonable control of the swing area of ​​the grass collection box to be below the second position, so as to avoid the grass collection box exceeding the flipping limit position under the action of different inertial forces and damaging the grass collection box, drive mechanism, or other components.

[0033] Step S105: Control the grass collection box to swing according to the swing parameters.

[0034] In one possible implementation, when the grass collection box is determined to be at the swing initiation position, the grass collection box is controlled to swing according to the swing parameters. The swing initiation position can be configured as either the second position or the third position.

[0035] The grass collection box can be controlled by the grass collection device to rotate directly from a first position to the swing start position after receiving a grass unloading command. For example, when the swing start position is configured as a second position, the grass collection device controls the grass collection box to rotate from the first position to the second position along a first direction according to the grass unloading command. When the swing start position is configured as a third position, the grass collection device controls the grass collection box to rotate from the first position to the third position along a first direction according to the grass unloading command; or, the grass collection device controls the grass collection box to first rotate from the first position to the second position along a first direction according to the grass unloading command, and then controls the grass collection box to rotate from the second position to the third position along a second direction, wherein the second direction is opposite to the first direction.

[0036] It should be noted that the position of the grass collection box can be detected by sensors or determined by the rotation parameters of the grass collection device, such as the operating speed and time of the drive mechanism. For example, in this embodiment, the sensor can be a Hall effect sensor, thereby simplifying the program instructions for the grass collection device and reducing management difficulty. In some embodiments, the sensor may also include, but is not limited to, distance sensors, optical couplers, pressure sensors, angle sensors, etc. Distance sensors include, but are not limited to, displacement sensors, proximity sensors, and ultrasonic sensors.

[0037] In one possible implementation, determining that the grass collection box is located at the swing start position includes: determining whether the grass collection box has rotated to the second position; and when the grass collection box is detected to have rotated to the second position, determining that the grass collection box is located at the swing start position.

[0038] In one possible implementation, determining that the grass collection box is located at the swing start position includes: determining whether the grass collection box has rotated to the second position; when the grass collection box is detected to have rotated to the second position, controlling the grass collection box to rotate from the second position to the third position along a second direction; and when the grass collection box is detected to have rotated to the third position, determining that the grass collection box is located at the swing start position.

[0039] In one possible implementation, determining that the grass collection box is located at the swing start position includes: determining whether the grass collection box has rotated to the second position; if the grass collection box is not detected to have rotated to the second position, but is detected to have rotated to the third position, determining that the grass collection box is located at the swing start position.

[0040] In one possible implementation, upon receiving a user's operation to open the swing switch, it is determined that the grass collection box is located at the swing start position.

[0041] In one possible implementation, when the grass collection device is in the swing initiation position and responds to the user's opening operation of the swing switch, the grass collection box is controlled to swing according to the swing parameters. This improves the flexibility of the grass unloading operation of the grass collection device. For example, when the grass collection device initially detects that the grass collection box is in the swing initiation position according to the above method, it issues a prompt message to the user, who then confirms whether to perform the swing operation on the grass collection box. The prompt message is used to prompt the user whether to initiate the swing operation of the grass collection box. The prompt message may include at least one of sound signals, light signals, text information, and vibration information; this application embodiment does not impose any limitations on this.

[0042] The control of the grass collection box to swing according to the swing parameters includes: determining the swing area based on the swing starting position and the swing angle; and controlling the grass collection box to swing within the swing area.

[0043] The swing angle can be user-defined or preset by default at the factory. The swing angle range is 3°-45°. Swing angles can be, but are not limited to, 3°, 5°, 10°, 15°, 20°, 25°, 30°, 35°, 40°, or 45°, etc. Understandably, an excessively large swing angle increases the energy consumption of the grass collection device; an excessively small swing angle can easily damage the drive mechanism and the grass collection box. For example, in this embodiment, the swing angle is 10°, thus balancing the smoothness of the grass collection box's swing and ensuring that grass clippings are thrown out of the grass collection box under the action of inertial forces in different directions, while saving energy consumption of the drive mechanism and extending the service life of the drive mechanism and the grass collection box. It should be noted that the swing angle is for illustrative purposes only, and the swing angle can be designed based on factors such as the maximum opening and closing angle of the grass collection box and the amount of grass clippings remaining in the grass collection box. In some embodiments, the swing area can also be preset by the user. User-set methods include, but are not limited to, setting multiple sensors within the opening and closing area of ​​the grass collection device. The position of the grass collection box is detected by a sensor to determine the swing area for the user to pre-set. Understandably, in some embodiments, the swing parameters may also include, but are not limited to, swing speed, number of swings, etc.

[0044] In one possible implementation, controlling the grass collection box to swing within the swing area includes controlling the grass collection box to swing between the second position and the third position. This allows the grass collection box to open to its maximum angle. On the one hand, under the influence of gravity and inertial forces in different directions, the grass clippings can be more effectively dumped from the grass collection box. On the other hand, the grass collection device can perform opening, swinging, and closing movements between the first, second, and third positions, reducing the difficulty of grass unloading management, simplifying the program instructions of the grass collection device, reducing costs, and improving unloading efficiency and speed. When the grass collection device receives a closing command, it controls the grass collection box to rotate from the third position to the first position.

[0045] In this configuration, one boundary of the swing region coincides with the second position, while another boundary of the swing region is spaced apart from the first position. For details, please refer to [link to relevant documentation]. Figure 2A When the grass collection device receives a grass unloading command, it controls the grass collection box to rotate from the first position P1 to the second position P2 along the first direction. When the grass collection device detects that the grass collection box has rotated to the second position P2, it controls the grass collection box to swing between the second position P2 and the third position P3. (See also...) Figure 2B When the grass collection device receives a grass unloading command, it controls the grass collection box to rotate from the first position P1 to the third position P3 along the first direction. When the grass collection device detects that the grass collection box has rotated to the third position P3, it controls the grass collection box to swing between the third position P3 and the second position P2. Finally, the grass collection device controls the grass collection box to perform a closing motion, that is, to rotate from the third position P3 to the first position P1; or, to control the grass collection box to rotate from the second position P2 to the first position P1.

[0046] In one possible implementation, controlling the grass collection box to swing within the swing area includes: controlling the grass collection box to swing between a third position and a fourth position; wherein the fourth position is located between the second position and the third position or between the first position and the third position. This controls the swing of the grass collection box between the first and second positions, thereby preventing the grass collection box from exceeding its overturning limit position under different inertial forces during the swinging process, thus avoiding damage to the grass collection box, drive mechanism, or other components.

[0047] The two boundaries of the swing region are both located between the line connecting the first position and the center of the swing, and the line connecting the second position and the center of the swing, and are spaced apart from the first and second positions. Please refer to [link / reference]. Figure 2CAfter the grass collection device controls the grass collection box to rotate from the first position P1 to the second position P2 along the first direction according to the grass unloading command, it then controls the grass collection box to rotate from the second position P2 to the third position P3 along the second direction. When the grass collection device determines that the grass collection box has rotated to the third position P3, it controls the grass collection box to swing between the third position P3 and the fourth position P4. (See also...) Figure 2D The grass collection device, upon receiving a grass-unloading command, controls the grass collection box to rotate along the first direction from the first position P1 to the third position P3. When the grass collection box reaches the third position P3, the device controls it to swing between the third position P3 and the fourth position P4. Finally, the device controls the grass collection box to perform a closing motion, either rotating it from the third position P3 back to the first position P1, or rotating it from the fourth position P4 back to the first position P1.

[0048] In one possible implementation, controlling the hay collection box to swing within the swing area includes: counting the number of times the hay collection box swings within the swing area; and controlling the hay collection box to swing within the swing area at the swing amplitude corresponding to the current number of swings, based on the correspondence between the number of swings and the swing amplitude. This increases the swing frequency of the hay collection box, increases the vibration force on the hay collection box, and improves the hay unloading effect and efficiency.

[0049] It should be noted that after the hay collection box begins to swing from its initial position along either the first or second direction, the number of reversals is counted as one. The more reversals, the larger the swing amplitude; conversely, the fewer the reversals, the smaller the swing amplitude. When the number of reversals is one, the swing amplitude is the angle corresponding to the two boundaries of the swing area.

[0050] In one possible implementation, controlling the grass collection box to swing within the swing range according to the swing amplitude corresponding to the current number of reversals includes: when determining whether the current swing amplitude is less than or equal to a preset swing amplitude, controlling the grass collection box to swing within the swing range according to the current swing amplitude. This avoids the problem of excessive swing frequency of the grass collection box due to too many reversals, which could damage the motor or the grass collection box.

[0051] Please see Figure 2EFor example, in this embodiment, the second position P2 is configured as the starting position of the swing, and the swing area is the area corresponding to the line connecting the second position P2 and the third position P3 with the swing center O. The swing area also includes a plurality of intermediate positions located between the second position P2 and the third position P3. For example, the plurality of intermediate positions are a first intermediate position P11, a second intermediate position P12, a third intermediate position P13, and a fourth intermediate position P14. The grass collecting device controls the grass collecting box to rotate along the first direction from the first position P1 to the second position P2 according to the grass unloading command. When the grass collection device determines that the grass collection box is in the second position P2, it controls the grass collection box to rotate from the second position P2 to the third position P3 along the second direction. Then, it controls the grass collection box to swing between the third position P3 and the first intermediate position P11 along the first direction. Next, it controls the grass collection box to swing between the first intermediate position P11 and the second intermediate position P12 along the second direction. Then, it controls the grass collection box to swing between the second intermediate position P12 and the third intermediate position P13 along the first direction. Finally, it controls the grass collection box to swing between the third intermediate position P13 and the fourth intermediate position P14 along the second direction. Understandably, the swing amplitude of the grass collection box decreases with the increase in the number of reversals. When the swing amplitude is less than or equal to a preset swing amplitude, for example, the angle between the third intermediate position P13 and the fourth intermediate position P14 and the swing center O is less than or equal to the preset swing amplitude, the grass collection box is controlled to swing back and forth between the third intermediate position P13 and the fourth intermediate position P14. Finally, the grass collection device controls the grass collection box to perform a closing motion, that is, controls the grass collection box to rotate from the third intermediate position P13 or the fourth intermediate position P14 to the first position P1.

[0052] In one possible implementation, the swing parameter further includes a swing speed equal to the opening speed of the grass collection box. Thus, on the one hand, the grass collection box can rotate alternately in the first and second directions and generate inertial forces in different directions to shake the grass collection box, so that the grass clippings attached to the grass collection box can be thrown out under the action of gravity and shaking force. On the other hand, there is no need to change the rotation speed of the drive mechanism, which reduces the control difficulty of the drive mechanism, simplifies the program instructions of the grass collection device, and reduces the management difficulty.

[0053] In one possible implementation, the swing parameter further includes a swing speed greater than the opening speed of the hay collection box. This increases the kinetic energy of the hay collection box during swinging, resulting in more work done to overcome inertial resistance when the hay collection box changes direction. Consequently, the hay collection box is subjected to inertial forces in different directions, which enhances the shaking effect of the hay collection box and improves the unloading effect and efficiency.

[0054] In one possible implementation, the swing region includes a first boundary away from the second position and a second boundary closer to the second position. Controlling the grass collection box to swing within the swing region includes: obtaining the angle between the second boundary and the second position; and controlling the grass collection box to swing within the swing region at a swing speed corresponding to the angle between the current position of the second boundary and the second position, based on a predefined correspondence between the angle and the swing speed of the grass collection box. Specifically, the closer the second boundary is to the second position, the lower the swing speed; the closer the second boundary is to the first position, the higher the swing speed, thereby ensuring good grass unloading effect and efficiency while reducing the energy consumption of the drive mechanism.

[0055] In one possible implementation, the swinging area includes a first boundary away from the second position and a second boundary close to the second position. Controlling the grass collection box to swing within the swinging area includes: controlling the grass collection box to rotate from the first boundary towards the second boundary at a first speed; and controlling the grass collection box to rotate from the second boundary towards the first boundary at a second speed, wherein the first speed is less than the second speed. Therefore, since the angle between the first boundary and the first position is greater than the angle between the second boundary and the second position, by controlling the first speed to be greater than the second speed, when the grass collection box moves downwards to its limit position at a greater speed, it can generate a greater shaking force under the action of kinetic energy and speed, improving the grass unloading effect and efficiency; and preventing the grass collection box from continuing to move upwards when it moves upwards to its limit position at a greater speed, thus avoiding damage to the grass collection box, drive mechanism, and other components. Exemplarily, in this embodiment, the grass collection device can control the rotational speed of the grass collection box by controlling the rotational speed of the drive mechanism. In some embodiments, the grass collection device can also control the opening movement and swinging of the grass collection box through different drive structures. In one possible implementation, the first speed is equal to the second speed, thereby eliminating the need to adjust the rotational speed of the drive mechanism. Instead, the forward and reverse rotation of the drive mechanism is controlled, reducing the control difficulty of the drive mechanism and improving the reliability of the grass collection box rotation.

[0056] In one possible implementation, before controlling the grass collection box to swing according to the swing parameters, the control method includes: when determining that the grass collection box is at the swing start position, acquiring distribution data of grass clippings in the grass collection box, wherein the distribution data includes at least one of mass distribution parameters and morphological distribution data; and acquiring the swing parameters based on the distribution data and the swing start position.

[0057] The morphological distribution data may include, but is not limited to, the total area of ​​grass clippings distributed within the grass collection box and the location of the grass clippings. Based on the grass clipping distribution data, the amount of residual grass in the grass collection box is estimated, and then the various parameters of the oscillation are determined based on the amount of residual grass, thereby ensuring the grass unloading effect and efficiency, and reducing the energy consumption of the grass collection device's oscillation. In some embodiments, the grass collection device can pre-establish a correspondence between distribution parameters and oscillation parameters. When the grass collection device performs grass unloading, it acquires the oscillation parameters corresponding to the current distribution data of the grass collection box at the oscillation start position, and oscillates according to the oscillation parameters. For example, when the amount of residual grass in the grass collection box is relatively large, parameters such as the oscillation speed and number of oscillations can be increased and / or the oscillation angle can be decreased; when the amount of residual grass in the grass collection box is relatively small, parameters such as the oscillation speed and number of oscillations can be decreased and / or the oscillation angle can be increased. Understandably, the smaller the oscillation angle, the greater the commutation frequency of the grass collection box, thereby increasing the shaking frequency of the grass collection box and improving the grass unloading effect and efficiency.

[0058] In one possible implementation, the swing parameter can be set by, but is not limited to, a specific parameter value that is manually or verbally input by the user, or by the user sliding or clicking to select a preset parameter value option from the system. This application does not impose any specific limitations on this.

[0059] In one possible implementation, controlling the grass collection box to swing according to the swing parameters includes: controlling the grass collection box to swing back and forth according to the swing parameters, thereby simplifying the algorithm and improving the swing stability. Understandably, the back-and-forth swing refers to the back-and-forth movement between the first and second boundaries of the swing area, where the displacement of the back-and-forth movement is zero.

[0060] In one possible implementation, the grass collecting device is connected to the tail end of the mowing device, and controlling the grass collecting box to swing according to swing parameters includes controlling the mowing device, together with the grass collecting device, to move in the backward direction of the mowing device. Thus, by coordinating the backward movement of the mowing device with the swinging of the grass collecting box, the shaking force generated by the grass collecting box under inertia is increased, improving the grass unloading efficiency and effect, thereby saving manual unloading operations.

[0061] In one possible implementation, the control method further includes: acquiring a closing command; and, according to the closing command, controlling the grass collection box to rotate in a second direction to the first position. This enables the grass collection and unloading device to perform its next grass collection and unloading operation, and reduces the likelihood of the grass collection box rubbing against external objects.

[0062] Understandably, the shut-off command is generated when the mowing device completes its unloading operation. After the mowing device completes its unloading task, it sends a shut-off command to the control unit of the grass collection device to shut it down. Completing the unloading operation may include the mowing device stopping its unloading operation; or the grass collection box completing an unloading operation with preset swing parameters; or the amount of grass clippings remaining in the grass collection box being less than or equal to a preset threshold, etc. This embodiment does not limit these possibilities. Thus, the intelligent unloading function of the grass collection device is realized.

[0063] In one possible implementation, the control method further includes generating a closing command when the number of swings of the grass collection box reaches a preset number. This achieves intelligent unloading operation of the grass collection device and improves unloading efficiency.

[0064] In one possible implementation, the control method further includes: acquiring image data of a designated area of ​​the grass collection box, and generating the closing command based on the image data. The grass collection device may include a video sensor, which acquires image data of the grass collection box, analyzes the image data, and identifies the amount of residual grass clippings in the grass collection box, thereby better ensuring the grass unloading effect and efficiency of the grass collection device.

[0065] In one possible implementation, the control method further includes generating the closing command in response to a user's release operation on the swing of the grass collection box. Thus, the grass collection device does not require additional video sensors or other sensors, simplifying the overall structural design, streamlining the program instructions of the grass collection device, and reducing production costs; simultaneously, the swing of the grass collection device ensures the grass unloading effect and efficiency.

[0066] In one possible implementation, prior to obtaining the closing command, the control method further includes generating the closing command in response to a user's closing operation on the grass collection box.

[0067] In one possible implementation, the closing command can also be jointly determined by the grass collection device and the user. For example, after the grass collection device initially determines that the grass collection box needs to be closed based on the above method, it sends a prompt message to the user, who then confirms whether to close the grass collection box. The prompt message is used to prompt the user whether to initiate the closing operation of the grass collection box. The prompt message may include at least one of sound signals, light signals, text messages, and vibration messages. This application embodiment does not limit this in any way. If the user finds that grass clippings remain in the grass collection box after swinging, the user can trigger the grass collection device to swing again to shake off the grass clippings in the grass collection box, thereby improving the flexibility of using the grass collection device.

[0068] In one possible implementation, controlling the grass collection box to swing according to the swing parameters includes: controlling the grass collection box to swing according to the swing parameters, and controlling a vibrator to shake the grass collection box.

[0069] Understandably, the shaking operation of the vibrator on the grass collection box and the swinging operation of the grass collection box can be performed synchronously, thereby more effectively shaking off the grass clippings attached to the grass collection box. In some embodiments, the shaking operation of the vibrator on the grass collection box can also be performed separately from the swinging operation of the grass collection box.

[0070] The control method for the grass collecting device provided in this application embodiment, on the one hand, triggers the opening movement of the grass collecting box of the grass collecting device based on the grass unloading command, so that most of the grass clippings in the grass collecting box are automatically unloaded under the action of gravity; on the other hand, after the opening movement is completed, the grass collecting box is controlled to swing at a preset angle based on the swing command, so that the grass collecting box generates inertial forces in different directions during the reciprocating rotation process, and the grass collecting box is shaken by the inertial force, so that the grass clippings attached to the grass collecting box can be shaken off quickly, avoiding the situation of incomplete grass unloading, improving grass unloading efficiency and unloading effect, and thus saving manual feeding operations.

[0071] The apparatus involved in the embodiments of this application is described below with reference to the accompanying drawings.

[0072] Please see Figure 3 , Figure 3 This is a schematic diagram of a lawn mowing system 1000 provided in an embodiment of this application. The lawn mowing system 1000 includes a mowing device 100 and a grass collecting device 200. Exemplarily, in this embodiment, the grass collecting device 200 is installed at the tail end of the mowing device 100. The grass collecting device 200 and the mowing device 100 can be detachably connected together by screws, clips, or other structures. Alternatively, the grass collecting device 200 and the mowing device 100 can be non-detachably connected together by welding, bonding, or other methods. The mowing device 100 can include, but is not limited to, hand-held, riding, and fully automatic intelligent lawn mowing devices 100, etc., and this application does not limit this. The mowing device 100 can move on the ground. For example, the mowing device 100 can move on the ground by being pushed by a user. Or, for example, the mowing device 100 itself has mobility and can move automatically on the ground via a drive mechanism 50. The mowing device 100 includes, but is not limited to, a body 11, a cutting mechanism, and a lifting mechanism. The grass collection device 200 is located at the rear of the machine body 11. The cutting mechanism and lifting mechanism are located on the machine body 11. The lifting mechanism is used to drive the cutting mechanism to move along the height direction of the mowing device 100. The cutting mechanism is used to cut the lawn.

[0073] Please refer to the following: Figures 3 to 5The grass collection device 200 includes a main body 10, a grass collection box 20, a grass collection mechanism 30, a tilting mechanism 40, and a drive mechanism 50. The main body 10 is connected to the body 11 of the mowing device 100. The main body 10 is provided with a receiving cavity 12. The top of the grass collection box 20 is rotatably connected to the tail of the main body 10. The top of the grass collection box 20 can be rotatably connected to the tail of the main body 10 via a rotating structure 14. The rotating structure 14 may include, but is not limited to, a hinge, a rotating shaft 41, etc. The grass collection mechanism 30 is disposed within the receiving cavity 12 and is used to collect the grass clippings cut by the mowing device into the grass collection box 20. The grass collection mechanism 30 is, for example, but not limited to, a roller brush. The grass collecting device 200 has a grass collecting mode and a grass unloading mode. In the grass collecting mode, the grass collecting box 20 is closed to the main body 10, and the grass collecting box 20 can be used to temporarily store the grass clippings cut by the mowing device 100. In the grass unloading mode, the grass collecting box 20 is flipped relative to the main body 10 to dump the grass clippings collected inside. The flipping mechanism 40 is disposed on the side wall of the main body 10 and is used to flip the grass collecting box 20 to dump the grass clippings collected inside, thereby realizing the automatic grass unloading function of the grass collecting device 200 and improving the grass unloading efficiency. In this embodiment, the flipping mechanism 40 is disposed at the rear of the main body 10, thereby facilitating the alignment and assembly of the flipping mechanism 40 and the grass collecting box 20 and better realizing the flipping performance of the flipping mechanism 40. The drive mechanism 50 is disposed on the side wall of the main body 10 and is used to drive the flipping mechanism 40 and the grass collecting box 20 to rotate synchronously, thereby realizing the opening, swinging and closing movements of the grass collecting box 20.

[0074] The drive mechanism 50 includes a drive member 51 and a transmission mechanism. The drive member 51 drives the transmission mechanism to rotate, thereby causing the flipping mechanism 40 and the grass collection box 20 to flip. Exemplarily, in this embodiment, the transmission mechanism includes a worm 53 and a worm wheel 52 meshing with the worm 53. The worm 53 is driveably connected to the drive member 51 and the worm wheel 52. One end of the flipping mechanism 40 is fixed to the worm wheel 52, and the other end of the flipping mechanism 40 contacts the grass collection box 20. The flipping mechanism 40 is used to drive the grass collection box 20 to flip. In some embodiments, the transmission mechanism includes multiple gears.

[0075] The flipping mechanism 40 includes a rotating shaft 41 driven by a worm gear 52 and a push rod 42 fixed to the rotating shaft 41. The rotating shaft 41 rotates synchronously with the worm gear 52 to drive the push rod 42 and the grass collection box 20 to flip. The flipping mechanism 40 also includes a pointer 43 fixed to the rotating shaft 41 to achieve synchronous rotation of the pointer 43 and the push rod 42 to indicate the flipping angle of the grass collection box 20. The pointer 43 and the push rod 42 are located at opposite ends of the rotating shaft 41, thereby optimizing the overall structural design.

[0076] In some embodiments, the grass collection device 200 further includes a sensing component 80. The sensing component 80 is used to sense the rotational position of the pointer 43 relative to the main body 10 and generate a sensing signal to control the driving operation of the drive component 51, thereby achieving precise control of the opening angle of the grass collection box 20, avoiding problems such as transmission mechanism failure or transmission gaps that reduce the user experience, while avoiding damage to the grass collection box 20 and the transmission mechanism, and improving the reliability and safety of the automatic flipping of the grass collection box 20.

[0077] The sensing component 80 includes a first sensor 810 and a second sensor 820. The first sensor 810 is disposed on the pointer 43, and the second sensor 820 is disposed on the main body 10. It should be noted that the opening and closing angle of the pointer 43 relative to the main body 10 is equal to the rotation angle of the grass collection box 20 relative to the main body 10. One of the first sensor 810 and the second sensor 820 is configured as a sensor element, and the other is configured as a sensor, which is used to sense the sensor element. Exemplarily, in this embodiment, the first sensor 810 is configured as a sensor element, and the second sensor 820 is configured as a sensor. The sensor may include, but is not limited to, a first sensor 81, a second sensor 82, and a third sensor 83. The first sensor 81 is configured to sense the grass collection box 20 rotating to the first position and generate a first position signal. The second sensor 82 is configured to sense the grass collection box 20 rotating to the second position and generate a second position signal. The third sensor 83 is configured to sense the grass collection box 20 rotating to the third position and generate a third position signal. The third position is spaced apart from the first and second positions, and is located between the first and second positions. In this embodiment, the first sensor 81, the second sensor 82, and the third sensor 83 are all configured as Hall sensors. In other embodiments, the sensors may also include, but are not limited to, distance sensors, optical couplers, pressure sensors, etc. Distance sensors include, but are not limited to, displacement sensors, proximity sensors, and ultrasonic sensors, etc.

[0078] Understandably, in some embodiments, the sensor may further include a fourth sensor. The fourth sensor is configured to sense that the grass collection box 20 has rotated to a fourth position, generating a fourth position signal. This fourth position is located between the third and second positions, or between the first and third positions. The number of sensors can be designed according to actual conditions, and this application does not impose a specific limitation. The sensor can be used to sense the position of the grass collection box 20 to determine the rotation angle of the grass collection box 20.

[0079] Please see Figure 6 , Figure 6This is a block diagram illustrating the unit composition of a control device 300 for a grass-collecting device 200 provided in an embodiment of this application. The control device 300 for the grass-collecting device 200 may include an acquisition unit 301 and a control unit 302. The acquisition unit 301 is used to acquire a grass-unloading command and a swinging command. The control unit 302 is used to trigger the opening movement of the grass-collecting box 20 of the grass-collecting device 200 according to the grass-unloading command, and control the grass-collecting box 20 to rotate along a first direction from a first position to a second position; wherein, the first position is the position where the grass-collecting box 20 is in a closed state, and the second position is the position where the grass-collecting box 20 reaches its maximum opening / closing angle; the control unit 302 is also used to control the grass-collecting box 20 to swing at a preset angle according to the swinging command; wherein, the preset angle is less than the maximum opening / closing angle.

[0080] Control unit 302 is also used to, according to Figure 1 The corresponding control method completes the opening, swinging and closing movements of the grass collection box 20.

[0081] It should be noted that the specific functional implementation of the grass collection device 200 can be found in [reference needed]. Figure 1 The corresponding methods and steps will not be elaborated here.

[0082] Please see Figure 7 , Figure 7 This is a block diagram illustrating the unit composition of an electronic device 500 provided in an embodiment of this application. The electronic device 500 may include, but is not limited to, a processor 510 and a memory 520. The processor 510 and the memory 520 are interconnected. In some embodiments, the electronic device 500 further includes a communication interface 530. The processor 510, the memory 520, and the communication interface 530 are connected via a bus 540, and the memory 520 is used to store computer programs. The computer program includes program instructions. The processor 510 is used to call the program instructions stored in the memory 520 to execute, for example... Figure 1 The corresponding control method and its steps.

[0083] The processor 510 executes the instructions stored in the memory 520 to control the communication interface 530 to receive and send signals, thus completing the steps in the above method. The memory 520 can be integrated into the processor 510 or disposed separately from it.

[0084] As one implementation method, the functionality of the communication interface 530 can be implemented through a transceiver circuit or a dedicated transceiver chip. The processor 510 can be implemented through a dedicated processing chip, processing circuit, processor 510, or a general-purpose chip.

[0085] As another implementation method, the electronic device 500 provided in this application embodiment can be implemented using a general-purpose computer. The program code that implements the functions of the processor 510 and the communication interface 530 is stored in the memory 520, and the general-purpose processor 510 implements the functions of the processor 510 and the communication interface 530 by executing the code in the memory 520.

[0086] For the concepts, explanations, detailed descriptions, and other steps related to the technical solutions provided in the embodiments of this application involved in the electronic device 500, please refer to the description of the method steps performed by the device in the foregoing method or other embodiments, which will not be repeated here.

[0087] As another implementation of this embodiment, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program. The computer program includes program instructions. When executed by the processor 510, the program instructions cause the processor 510 to perform the control method described in the above method embodiment.

[0088] As another implementation of this embodiment, a computer program product containing instructions is provided, which, when executed, perform the method in the above method embodiment.

[0089] Those skilled in the art will understand that, for ease of explanation, Figure 7 Only one memory 520 and processor 510 are shown in the illustration. In a real terminal or server, multiple processors 510 and memory 520 may exist. The memory 520 may also be referred to as a storage medium or storage device, etc., and this embodiment does not impose any limitations on this.

[0090] Understandably, in the embodiments of this application, the processor 510 may be a Central Processing Unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor, or the processor 510 may be any conventional processor. The processor 510 is the control center of the electronic device 500, connecting various parts of the electronic device 500 through various interfaces and lines.

[0091] Those skilled in the art should understand that the aforementioned Figure 7This is merely an example of electronic device 500 and does not constitute a limitation on electronic device 500. Electronic device 500 may include more than […]. Figure 7 The electronic device 500 may include more or fewer components, or combinations of certain components, or different components, such as input / output devices, network access devices, etc.

[0092] The memory 520 mentioned in this application embodiment can be volatile memory or non-volatile memory, or it can include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDR SDRAM), Enhanced Synchronous DRAM (ESDRAM), Synchlink DRAM (SLDRAM), and Direct Rambus RAM (DR RAM).

[0093] It should be noted that when the processor 510 is a general-purpose processor, DSP, ASIC, FPGA or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component, the memory 520 (memory module) is integrated into the processor 510.

[0094] It should be noted that the memory 520 described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0095] In addition to the data bus, bus 540 may also include a power bus, a control bus, and a status signal bus. However, for clarity, all buses are labeled as bus 540 in the diagram.

[0096] In implementation, each step of the above method can be completed by the integrated logic circuitry of the hardware in the processor 510 or by instructions in software form. The steps of the method disclosed in the embodiments of this application can be directly manifested as execution by the hardware processor 510, or by a combination of hardware and software modules in the processor 510. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The storage medium is located in the memory 520, and the processor 510 reads the information in the memory 520 and, in conjunction with its hardware, completes the steps of the above control method. To avoid repetition, detailed descriptions are not provided here.

[0097] In the various embodiments of this application, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0098] Those skilled in the art will recognize that the various illustrative logical blocks (ILBs) and steps described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this application.

[0099] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0100] 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.

[0101] In addition, 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.

[0102] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state drive), etc.

[0103] The embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A control method for a grass-collecting device, characterized in that, include: Obtain the unloading instruction; According to the unloading command, the grass collection box is controlled to open from a first position to a second position along a first direction; wherein, the first position is the position where the grass collection box is in a closed state, and the second position is the position where the grass collection box reaches its maximum opening angle; The grass collection box is controlled to swing back and forth according to the swing parameters to shake off the grass clippings attached to the grass collection box; wherein, the swing parameters include the swing angle, and the swing angle is less than the maximum opening and closing angle.

2. The control method as described in claim 1, characterized in that, The control mechanism for the grass collection box to open from a first position toward a second position along a first direction includes: Control the grass collection box to rotate from the first position to the second position along the first direction; or... The grass collection box is controlled to rotate from the first position to the third position along the first direction; wherein the third position is located between the first position and the second position, and is different from the first position and the second position.

3. The control method as described in claim 1, characterized in that, The control of the grass collection box to swing according to the swing parameters includes: When the grass collection box is determined to be in the swing starting position, the grass collection box is controlled to swing according to the swing parameters.

4. The control method as described in claim 3, characterized in that, Determining that the grass collection box is located at the swing start position includes: Upon receiving a user's operation to open the swing switch, determine that the grass collection box is located at the swing start position; or, When the grass collection box is detected to have rotated to the second position, it is determined that the grass collection box is located at the swing start position; or, When the grass collection box is detected to have rotated to the second position, the grass collection box is controlled to rotate from the second position to the third position along a second direction; and when the grass collection box is detected to have rotated to the third position, the grass collection box is determined to be located at the swing start position; wherein the second direction is opposite to the first direction, and the third position is located between the first position and the second position, and is different from the first position and the second position; or... If the grass collection box is not detected to rotate to the second position, but is detected to rotate to the third position, the grass collection box is determined to be at the swing starting position.

5. The control method as described in claim 3, characterized in that, The control of the grass collection box to swing according to the swing parameters includes: The swing area is determined based on the swing starting position and the swing angle; The grass collection box is controlled to swing within the swing area.

6. The control method as described in claim 5, characterized in that, The control of the grass collection box to swing within the swing area includes: Control the grass collection box to swing between the second and third positions; or, Control the grass collection box to swing between the third and fourth positions; The third position is located between the first position and the second position, and is different from the first position and the second position. The fourth position is located between the second position and the third position or between the first position and the third position.

7. The control method as described in claim 5, characterized in that, The control of the grass collection box to swing within the swing area includes: The number of times the grass collection box reverses direction during its swing within the swing area is counted; Based on the correspondence between the number of reversals and the swing amplitude, the grass collection box is controlled to swing within the swing area according to the swing amplitude corresponding to the current number of reversals.

8. The control method as described in claim 7, characterized in that, The control of the grass collection box to swing within the swing range according to the swing amplitude corresponding to the current number of reversals includes: When it is determined whether the current swing amplitude is less than or equal to the preset swing amplitude, the grass collection box is controlled to swing within the swing area according to the current swing amplitude.

9. The control method according to any one of claims 1-8, characterized in that, The swing angle range is 3°-45°.

10. The control method as described in claim 9, characterized in that, The swing angle is 10°.

11. The control method according to any one of claims 1-8, characterized in that, The swing parameters also include the swing speed, which is greater than or equal to the opening speed of the grass collection box.

12. The control method as described in claim 6, characterized in that, The swinging area includes a first boundary away from the second position and a second boundary near the second position, and controlling the hay collection box to swing within the swinging area includes: Obtain the angle between the second boundary and the second position; Based on a predefined correspondence between the included angle and the swing speed of the grass collection box, the grass collection box is controlled to swing within the swing area at a swing speed corresponding to the included angle between the current position of the second boundary and the second position.

13. The control method as described in claim 6, characterized in that, The swinging area includes a first boundary away from the second position and a second boundary near the second position, and controlling the hay collection box to swing within the swinging area includes: The grass collection box is controlled to rotate from the first boundary toward the second boundary at a first speed; The grass collection box is controlled to rotate from the second boundary toward the first boundary at a second speed, wherein the first speed is equal to or less than the second speed.

14. The control method as described in claim 3, characterized in that, Before controlling the grass collection box to swing according to the swing parameters, the control method includes: When the grass collection box is determined to be at the swing start position, the distribution data of grass clippings in the grass collection box is obtained, wherein the distribution data includes at least one of mass distribution parameters and morphological distribution data; The swing parameters are obtained based on the distribution data and the swing starting position.

15. The control method according to any one of claims 1-8, characterized in that, The grass collection device is connected to the tail of the mowing device, and controlling the grass collection box to swing according to the swing parameters includes: Control the grass-cutting device and the grass-collecting device to move in the backward direction of the grass-cutting device.

16. The control method according to any one of claims 1-8, characterized in that, The control method further includes: Get the shutdown command; According to the closing command, the grass collection box is controlled to rotate in the second direction to the first position.

17. The control method as described in claim 16, characterized in that, The control method further includes: When the number of swings of the hay collection box reaches a preset number, the closing command is generated; or, Acquire image data of a designated area of ​​the grass collection box, and generate the closing command based on the image data; or, The closing command is generated in response to the user's release operation on the swing of the grass collection box.

18. The control method according to any one of claims 1-8, characterized in that, Prior to obtaining the unloading instruction, the control method further includes: The unloading command is generated when the mowing device completes its mowing work; or, When the detector detects that the grass collection parameters of the grass collection box meet the preset parameters, the grass unloading command is generated; or, The unloading command is generated in response to the user's operation of opening the unloading switch.

19. The control method according to any one of claims 1-8, characterized in that, Controlling the grass collection box to swing at a preset angle includes: The grass collection box is controlled to swing according to the swing parameters, and the vibrator is controlled to shake the grass collection box.

20. A control device for a grass-collecting device, characterized in that, include: Acquisition unit, the acquisition unit is used to acquire the unloading instruction; Control unit, which is connected to the acquisition unit; The control unit is used to: control the grass collection box to open from a first position to a second position along a first direction according to the grass unloading command; wherein, the first position is the position where the grass collection box is in a closed state, and the second position is the position where the grass collection box reaches its maximum opening angle; The control unit is also used to control the grass collection box to swing back and forth according to the swing parameters to shake off the grass clippings attached to the grass collection box; wherein, the swing parameters include the swing angle, and the swing angle is less than the maximum opening and closing angle.

21. An electronic device, characterized in that, The device includes a processor and a memory interconnected thereto, wherein the memory is used to store a computer program, the computer program including program instructions, and the processor is configured to invoke the program instructions to execute the control method as described in any one of claims 1-19.

22. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, the computer program including program instructions that, when executed by a processor, cause the processor to perform the control method as described in any one of claims 1-19.

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