A gardening machine, control method and related apparatus

Abstract

The application discloses a gardening machine, a control method and related equipment, and relates to the field of gardening machines. The gardening machine comprises a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit, a mowing unit

Description

Technical Field

[0001] This specification relates to the field of horticultural machinery, and more specifically, this application relates to a horticultural machine, a control method, and related equipment. Background Technology

[0002] Conventional lawnmower planning only requires the route to cover the entire work area, distinguishing between the mowing sections in the work area and the non-work area where the mower simply moves without cutting. While this method can effectively accomplish basic lawn mowing tasks to some extent, it has some significant limitations. For those who want to create specific patterns or designs on the lawn, the planning method of conventional lawnmowers cannot provide sufficient precision and control. The flatness of the grass after simple mowing is limited, and the visual effect is generally mediocre. Summary of the Invention

[0003] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This summary section is not intended to limit the key and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0004] In a first aspect, this application proposes a gardening machine, the above method comprising:

[0005] The lawn mowing unit is used to perform lawn mowing operations according to lawn mowing instructions;

[0006] The grass-pressing unit is used to perform grass-pressing operations according to grass-pressing instructions. In the case where both grass-cutting and grass-pressing operations exist simultaneously in the same area, the grass-pressing operation is performed after the grass-cutting operation.

[0007] A motion unit is used to perform motion operations according to a planned path, wherein the motion operations include displacement motion and rotational motion;

[0008] The control unit is used to generate the above-mentioned planned path, the above-mentioned mowing instructions, and the above-mentioned grass-pressing instructions according to the mowing task.

[0009] The positioning unit is used to acquire the real-time location information of the gardening machine and send the real-time location information to the control unit.

[0010] In one feasible implementation, the above-mentioned mowing unit includes a mowing blade, a mowing power module, a telescopic mechanism, an upper housing, and a lower housing;

[0011] The aforementioned upper shell and the aforementioned lower shell are connected to form an accommodating space;

[0012] The aforementioned lawnmower power module, the aforementioned telescopic mechanism, and part of the aforementioned lawnmower power module are located within the aforementioned accommodating space;

[0013] The aforementioned lawnmower blades are connected to the output terminal of the aforementioned lawnmower power module;

[0014] The aforementioned lawn mowing power module is connected to the first end of the aforementioned telescopic mechanism, the second end of the aforementioned telescopic mechanism is connected to the aforementioned upper housing, and the output end of the aforementioned lawn mowing power module extends at least partially through the opening of the aforementioned lower housing to the aforementioned accommodating space.

[0015] In one feasible implementation, the above-mentioned grass-pressing unit includes a grass-pressing wheel, a grass-pressing connecting rod, a transmission gear set, a grass-pressing power module, and a gear locker;

[0016] The first end of the aforementioned grass-pressing linkage is connected to the aforementioned grass-pressing wheel, the second end of the aforementioned grass-pressing linkage is connected to the torque output end of the aforementioned transmission gear set, the power input of the aforementioned grass-pressing power module is sent to the torque input end of the aforementioned transmission gear set, and the aforementioned gear lock is correspondingly provided with the aforementioned torque output end.

[0017] Secondly, this disclosure also proposes a control method for the gardening machine described in the first aspect, comprising:

[0018] The above-mentioned mowing task is sent to the control unit, so that the control unit generates the above-mentioned planned path, the above-mentioned mowing command and the above-mentioned grass pressing command, and sends the above-mentioned planned path, the above-mentioned mowing command and the above-mentioned grass pressing command to the above-mentioned motion unit, the above-mentioned mowing unit and the above-mentioned grass pressing unit respectively;

[0019] The aforementioned motion units are controlled to execute the aforementioned displacement and rotational movements based on the aforementioned planned path;

[0020] The above-mentioned mowing unit is controlled to perform mowing operations according to the above-mentioned mowing instructions, and the above-mentioned matting unit is controlled to perform matting operations according to the above-mentioned matting instructions.

[0021] In one feasible implementation, the above method further includes:

[0022] Obtain a preset number of grid cells corresponding to the above-mentioned trimming pattern, wherein the preset number of grid cells includes all grid cells corresponding to the above-mentioned trimming pattern and the outermost grid cell of the above-mentioned trimming pattern;

[0023] The initialization path is obtained from the aforementioned preset number of grid cells using a reciprocating path method;

[0024] Insert adjacent grid cells in the direction of the grass compaction direction in front of all grid cells that need to be compacted, as path adjustment points;

[0025] The planned path is determined based on all the aforementioned path adjustment points and the aforementioned initial path.

[0026] In one feasible implementation, the mowing unit includes mowing blades, and the pressing unit includes pressing wheels.

[0027] The above methods also include:

[0028] The grid unit size is determined based on the aforementioned mowing blades and grass-pressing wheels;

[0029] The grid cells are divided according to the grid size and the trimming pattern size corresponding to the trimming task to obtain a preset number of grid cells corresponding to the trimming pattern.

[0030] In one feasible implementation, the above-mentioned mowing command includes a mowing height command, and the above-mentioned mowing unit includes a telescopic mechanism.

[0031] Adjust the extension / retraction amount of the telescopic mechanism according to the above-mentioned lawn mowing height command.

[0032] Thirdly, embodiments of this application provide a control device, including:

[0033] The generation unit is used to send the mowing task to the control unit so that the control unit generates the planned path, the mowing command and the pressing command, and sends the planned path, the mowing command and the pressing command to the motion unit, the mowing unit and the pressing unit respectively.

[0034] A motion control unit is used to control the motion unit to perform the displacement and rotational movements based on the planned path.

[0035] The mowing and pressing control unit is used to control the mowing unit to perform mowing operations according to the mowing instructions, and to control the pressing unit to perform pressing operations according to the pressing instructions.

[0036] Fourthly, an electronic device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program stored in the memory to implement the control method of any of the first aspects described above.

[0037] Fifthly, this application also proposes a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the control method of any one of the first aspects.

[0038] In summary, this disclosure proposes a gardening machine, comprising: a mowing unit for performing mowing operations according to mowing instructions; a matting unit for performing matting operations according to matting instructions, wherein, in the case of simultaneous mowing and matting operations in the same area, the matting operation follows the mowing operation; a motion unit for performing motion operations according to a planned path, wherein the motion operations include displacement motion and rotational motion; a control unit for generating the planned path, mowing instructions, and matting instructions according to the mowing task; and a positioning unit for acquiring real-time position information of the gardening machine and sending the real-time position information to the control unit. This disclosure, by comprehensively using the mowing and matting units, enables the creation of specific patterns or designs on the lawn. Unlike traditional lawnmowers that can only complete basic mowing tasks, this disclosure, through precise control of the direction, height, and position of mowing and matting, makes it possible to achieve complex and aesthetically pleasing patterns on the lawn. The matting unit flattens or smooths the cut lawn surface after the mowing operation, not only improving the visual effect of the lawn but also increasing its flatness. The control unit optimizes the mowing path and operation sequence, ensuring efficient and uniform mowing of the entire lawn. Compared to traditional lawnmowers, this intelligent path planning reduces unnecessary repetitive coverage and omissions, improving operational efficiency. The integrated control unit allows the gardening machine to automatically perform mowing and pressing operations according to pre-defined mowing tasks, while also providing interaction capabilities with a user interface or other systems. Users can more easily set mowing tasks, including lawn size, shape, and specific mowing requirements, enabling more personalized and precise lawn maintenance. Through precise control of the motion unit, the gardening machine of this disclosure can adapt to different terrains and obstacles, effectively avoiding potential obstacles and ensuring efficient mowing even in complex environments. Integrating mowing and pressing operations into a single gardening machine not only simplifies lawn maintenance but also improves operational consistency and speed of completion. In summary, this disclosure provides a highly automated and intelligent lawn maintenance solution that meets more diverse and higher-standard lawn beautification needs, significantly improving performance relative to traditional lawnmowers in terms of efficiency, effectiveness, and user experience.

[0039] The gardening machine and its control method proposed in this application, along with other advantages, objectives and features of this application, will be partly apparent from the following description and partly understood by those skilled in the art through study and practice of this application. Attached Figure Description

[0040] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit this specification. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0041] Figure 1 This is a structural schematic diagram of a gardening machine provided in an embodiment of this application;

[0042] Figure 2 This is a schematic diagram of another gardening machine structure provided in an embodiment of this application;

[0043] Figure 3 This is a structural schematic diagram of the mowing unit of a gardening machine provided in an embodiment of this application;

[0044] Figure 4 This is a structural schematic diagram of the grass-pressing unit of a gardening machine in a non-grass-pressing state, provided in an embodiment of this application.

[0045] Figure 5 This is a structural schematic diagram of the grass-pressing unit of a gardening machine in the grass-pressing state, provided in an embodiment of this application.

[0046] Figure 6 This is a flowchart illustrating a method for controlling a gardening machine, as provided in an embodiment of this application.

[0047] Figure 7 A scene diagram of grid cell division provided in an embodiment of this application;

[0048] Figure 8 This is a schematic diagram illustrating the principle of the reciprocating path used in related technologies;

[0049] Figure 9 This is a partially enlarged schematic diagram of an optimized path provided in an embodiment of this application;

[0050] Figure 10 This is a structural schematic diagram of a control device provided in an embodiment of this application;

[0051] Figure 11 This is a schematic diagram of the electronic device structure provided in the embodiments of this application;

[0052] Figures 1 to 5 The correspondence between the names of the appendices and the reference numerals in the figures is as follows:

[0053] 10. Gardening machine; 101. Mowing unit; 102. Pressing unit; 103. Motion unit; 104. Control unit; 105. Positioning unit; 1011. Mowing blade; 1012. Mowing power module; 1013. Telescopic mechanism; 1014. Upper housing; 1015. Lower housing; 1021. Pressing wheel; 1022. Pressing linkage; 1023. Transmission gear set; 1024. Pressing power module; 1025. Gear locker; 10131. First end of telescopic mechanism; 10132. Second end of telescopic mechanism; 10231. Torque output end; 10232. Torque input end. Detailed Implementation

[0054] The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus. The technical solutions of the embodiments of this application will now be clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them.

[0055] Please see Figure 1 and Figure 2 The diagram below shows a structural schematic of a gardening machine provided in an embodiment of this application, comprising:

[0056] The lawn mowing unit 101 is used to perform lawn mowing operations according to lawn mowing instructions;

[0057] The grass-pressing unit 102 is used to perform grass-pressing operations according to grass-pressing instructions. In the case where both grass-cutting and grass-pressing operations exist in the same area, the grass-pressing operation is performed after the grass-cutting operation.

[0058] The motion unit 103 is used to perform motion operations according to the planned path, wherein the motion operations include displacement motion and rotational motion;

[0059] Control unit 104 is used to generate the above-mentioned planned path, the above-mentioned mowing instructions and the above-mentioned grass pressing instructions according to the mowing task;

[0060] The positioning unit 105 is used to acquire the real-time location information of the gardening machine and send the real-time location information to the control unit 104.

[0061] For example, the lawn mowing unit 101 is responsible for the actual lawn mowing. It performs the lawn mowing operation based on mowing instructions received from the control unit 104. This involves using rotating blades or other cutting mechanisms to cut the tops of the grass to a set height.

[0062] After the mowing operation is completed, the matting unit 102 operates according to the matting command sent by the control unit 104. Its main function is to flatten or shape the surface of the cut lawn. Matting includes different matting directions. Through mowing operations in different directions and at different heights, a lawn pattern can be formed overall.

[0063] The motion unit 103 is responsible for the robot's movement and positioning. It executes displacement and rotational movements according to the planned path generated by the control unit 104, enabling the robot to cover the entire work area and perform mowing and pressing operations along a predetermined path. This unit may include components such as wheels, tracks, motors, and sensors to achieve precise movement control.

[0064] The control unit 104 generates a planned path, mowing instructions, and matting instructions based on a predetermined mowing task, such as the size and shape of the lawn and specific mowing requirements. It optimizes the mowing path and operation sequence to ensure efficient and uniform mowing results. The control unit 104 may include a processor, memory, and a communication interface to process data, store instructions, and interact with a user interface or other systems.

[0065] The positioning unit 105 is a key component of the gardening machine, its main function being to acquire the machine's real-time location information. This unit can be implemented using various technologies, such as GPS satellite positioning, camera visual positioning, laser positioning, IMU and wheel speed odometer positioning, and combinations thereof. The data from the positioning unit is crucial to the operation of the entire gardening machine, as it ensures that the machine accurately knows its location within the garden. During the operation of the gardening machine, the location information provided by the positioning unit 105 is sent to the control unit 104. The control unit 104 uses this information to generate the machine's movement route and to arrange the working sequence and specific locations of the mowing unit 101 and the matting unit 102.

[0066] In summary, this disclosure, through the integrated use of the mowing unit 101 and the matting unit 102, enables the creation of specific patterns or designs on the lawn. Unlike traditional lawnmowers that can only perform basic mowing tasks, this disclosure makes it possible to achieve complex and aesthetically pleasing patterns on the lawn by precisely controlling the direction, height, and position of mowing and matting. The matting unit 102 flattens or smooths the cut lawn surface after mowing, improving not only the visual appeal of the lawn but also its smoothness. The control unit 104 optimizes the mowing path and operation sequence, ensuring efficient and uniform mowing of the entire lawn. Compared to traditional lawnmowers, this intelligent path planning reduces unnecessary repetitive coverage and omissions, improving operational efficiency. The integration of the control unit 104 allows the gardening machine 10 to automatically perform mowing and matting operations according to predetermined mowing tasks, while also providing the ability to interact with a user interface or other systems. Users can more easily set mowing tasks, including the size, shape, and specific mowing requirements of the lawn, thereby achieving more personalized and precise lawn maintenance. Through precise control of the motion unit 103, the gardening machine 10 of this disclosure can adapt to different terrains and obstacles, effectively avoid potential obstacles, and ensure efficient mowing even in complex environments. Integrating mowing and matting operations into the same gardening machine 10 not only simplifies lawn maintenance but also improves operational consistency and job completion speed. In summary, this disclosure provides a highly automated and intelligent lawn maintenance solution that can meet more diverse and high-standard lawn beautification needs, significantly improving performance compared to traditional lawnmowers in terms of efficiency, effectiveness, and user experience.

[0067] In one feasible implementation, the above-mentioned lawn mowing unit 101 includes a lawn mowing blade 1011, a lawn mowing power module 1012, a telescopic mechanism 1013, an upper housing 1014, and a lower housing 1015;

[0068] The upper housing 1014 and the lower housing 1015 are connected to form an accommodating space;

[0069] The aforementioned lawn mowing power module 1012, the aforementioned telescopic mechanism 1013, and a portion of the aforementioned lawn mowing power module 1012 are located within the aforementioned accommodating space;

[0070] The aforementioned lawnmower blade 1011 is connected to the output terminal of the aforementioned lawnmower power module 1012;

[0071] The lawn mowing power module 1012 is connected to the first end 10131 of the telescopic mechanism, the second end 10132 of the telescopic mechanism is connected to the upper housing 1014, and the output end of the lawn mowing power module 1012 extends at least partially through the opening of the lower housing 1015 to the outside of the accommodating space.

[0072] For example, Figure 3 This is a structural schematic diagram of the mowing unit 101 of a gardening machine 10 provided in an embodiment of this application; the mowing blade 1011 is the direct tool for performing the mowing operation, and it is connected to the output end of the mowing power module 1012. The design of the blade may vary depending on the cutting efficiency and lawn type to ensure that the lawn surface can be cut smoothly and accurately.

[0073] The lawn mowing power module 1012 provides power to drive the lawn mowing blades 1011 to rotate or perform other necessary actions to complete the mowing task. It can be an electric motor or other type of power unit, providing sufficient speed and torque as required by the design.

[0074] The telescopic mechanism 1013 connects the lawn mowing power module 1012 and the upper housing 1014, allowing the lawn mowing unit 101 to adjust its height or position within a certain range. This design enables the gardening machine 10 to adapt to lawns of different heights or avoid obstacles when necessary.

[0075] The upper housing 1014 and the lower housing 1015 combine to form the outer shell of the lawn mowing unit 101, providing protection and support. The housing contains components of the lawn mowing power module 1012 and the telescopic mechanism 1013, while the lawn mowing blade 1011 extends at least partially beyond the outer shell to contact and cut the lawn.

[0076] The opening in the lower housing 1015 allows a portion of the mowing blade 1011 to extend outside the receiving space and contact the lawn for mowing operations. The components installed inside the receiving space are protected by the housing to prevent the intrusion of dust, debris, and moisture, ensuring the stable operation of the robot.

[0077] In summary, the gardening machine 10 proposed in this embodiment achieves precise lawn mowing through a flexible telescopic mechanism and efficient power transmission. The telescopic mechanism 1013 not only increases the flexibility of robot operation but also improves its ability to adapt to different environments. The structural design of the upper housing 1014 and lower housing 1015 ensures the safety of internal components and supports the stable operation of the entire lawn mowing unit 101.

[0078] In one feasible implementation, the above-mentioned grass pressing unit 102 includes a grass pressing wheel 1021, a grass pressing connecting rod 1022, a transmission gear set 1023, a grass pressing power module 1024, and a gear locker 1025.

[0079] The first end of the aforementioned grass-pressing link 1022 is connected to the aforementioned grass-pressing wheel 1021, and the second end of the aforementioned grass-pressing link 1022 is connected to the torque output end 10231 of the aforementioned transmission gear set 1023. The power input of the aforementioned grass-pressing power module 1024 is sent to the torque input end 10232 of the aforementioned transmission gear set 1023. The aforementioned gear lock is correspondingly provided with the aforementioned torque output end 10231.

[0080] For example, the grass roller 1021 is the part of the grass roller unit 102 that directly contacts the lawn, used to flatten and shape the cut grass surface and press the grass in a predetermined direction as specified. The surface of the grass roller 1021 may have a specific texture or hardness to maximize the flattening effect, or it may be flat.

[0081] The tamp link 1022 is fixedly connected to the torque output end 10231 of the tamp wheel 1021 and the transmission gear set 1023. The transmission gear set 1023 is located between the tamp power module 1024 and the tamp link 1022, and is responsible for adjusting the angle of the tamp wheel 1021 to adjust the state of the gardening machine 10 to tamp or not tamp grass. The tamp power module 1024 drives the transmission gear set 1023 to rotate the output end of the transmission gear set 1023. The tamp wheel 1021, connected to the output end of the transmission gear set 1023, can make height and angle adjustments. When a preset position is reached, the gear lock will lock the gear. The preset position can include two positions: the tamp mode position and the non-tamp mode position. By rotating the tamp power module 1024 in both the forward and reverse directions, the tamp wheel 1021 is rotated to the corresponding position. After reaching the designated position, the gear lock is locked. When the tamp mode position and the non-tamp mode position are entered again, the gear lock is unlocked. Figure 4 and Figure 5 As shown, Figure 4 This is a structural schematic diagram of the gardening machine 10 proposed in this embodiment of the invention in a non-shoddy state. Figure 5 This is a structural schematic diagram of the gardening machine 10 proposed in the embodiments of this disclosure in the state of pressing grass.

[0082] The advantage of this design lies in its high degree of flexibility and adaptability, enabling the gardening machine 10 to adjust the working state of the lawn mowing wheel 1021 according to the working environment and task requirements. This not only improves work efficiency but also ensures the quality and appearance of lawn mowing. Through this mechanism, the robot can more intelligently cope with complex working conditions and achieve more precise lawn maintenance.

[0083] Secondly, such as Figure 6 The present disclosure also proposes a control method for the gardening machine described in the first aspect, comprising:

[0084] S210. The above-mentioned mowing task is sent to the control unit so that the control unit generates the above-mentioned planned path, the above-mentioned mowing command and the above-mentioned grass pressing command, and sends the above-mentioned planned path, the above-mentioned mowing command and the above-mentioned grass pressing command to the above-mentioned motion unit, the above-mentioned mowing unit and the above-mentioned grass pressing unit respectively.

[0085] For example, a mowing task is sent to the control unit. This task may include the size and shape of the lawn, the required grass height, the mowing pattern, etc. Based on the received mowing task information, the control unit calculates and generates an optimized planned path. This path is designed to ensure coverage of the entire area to be mowed, while minimizing over- or under-mowing and forming the predetermined pattern. The control unit generates specific mowing and pressing instructions, guiding the mowing and pressing units to perform their tasks at the appropriate times. The generated planned path, mowing instructions, and pressing instructions are then sent to the motion unit, mowing unit, and pressing unit, respectively, in preparation for execution.

[0086] S220. Control the above-mentioned motion unit to execute the above-mentioned displacement motion and rotational motion based on the above-mentioned planned path;

[0087] For example, the motion unit activities perform displacement and rotational movements based on the received planned path. This includes the robot moving to different locations on the lawn and adjusting its orientation as needed so that the mowing and pressing units can work effectively.

[0088] S230. Control the above-mentioned mowing unit to perform mowing operations according to the above-mentioned mowing instructions, and control the above-mentioned matting unit to perform matting operations according to the above-mentioned matting instructions.

[0089] For example, the mowing unit performs mowing operations according to the mowing instructions it receives, using mowing blades to trim the lawn at a specified height and pattern. Immediately following or simultaneously with the mowing operation, the matting unit performs matting operations according to the matting instructions it receives. The matting wheel flattens and shapes the grass surface to improve the overall aesthetics and uniformity of the lawn, and forms a corresponding matting pattern.

[0090] In summary, the gardening machine control method proposed in this disclosure ensures that the gardening machine can complete the mowing task in the optimal path and manner. This not only improves work efficiency and reduces the need for manual intervention, but also ensures that the mowed lawn meets high-quality standards. Through this method, the gardening machine can achieve highly automated and intelligent operation, meeting users' needs for both aesthetically pleasing and healthy lawns.

[0091] In one feasible implementation, the above method further includes:

[0092] Obtain a preset number of grid cells corresponding to the above-mentioned trimming pattern, wherein the preset number of grid cells includes all grid cells corresponding to the above-mentioned trimming pattern and the outermost grid cell of the above-mentioned trimming pattern;

[0093] The initialization path is obtained from the aforementioned preset number of grid cells using a reciprocating path method;

[0094] Insert adjacent grid cells in the direction of the grass compaction direction in front of all grid cells that need to be compacted, as path adjustment points;

[0095] The planned path is determined based on all the aforementioned path adjustment points and the aforementioned initial path.

[0096] For example, this embodiment introduces an advanced path planning technique specifically designed to achieve specific mowing patterns and optimize matting operations. This method utilizes grid cells to meticulously divide lawn areas, thereby generating a precise and efficient mowing and matting path.

[0097] The entire lawn area is subdivided into multiple grid units, such as Figure 7 The diagram shown illustrates a grid unit partitioning scenario provided in an embodiment of this application. To achieve a specific trimming pattern, all grid units corresponding to this pattern are first determined, including the grids that directly constitute the pattern and the nearest circumferential grid units that need to be considered to complete the overall pattern. By reserving the nearest circumferential grid units, sufficient movement space can be reserved for correcting the outermost pattern of the gardening machine. Next, based on a preset number of grid units, an initialization path is obtained using a reciprocating path method. For example... Figure 8 The diagram shown is a schematic representation of the reciprocating path principle used in related technologies. The reciprocating path is a simple and efficient coverage strategy that ensures that every grid cell is traversed while minimizing the travel distance.

[0098] To optimize the grass compaction effect, an adjacent grid cell pointing in the grass compaction direction is inserted in front of all grid cells that need grass compaction as a path adjustment point. This ensures that the robot can adjust its position and orientation before performing the grass compaction operation, so as to better complete the grass compaction task in a specific direction.

[0099] Finally, the final planned path is determined by combining all path adjustment points and the initial path. This planned path not only covers all grid cells corresponding to the trimming pattern, but also optimizes the execution of the grass pressing operation, ensuring both efficiency and conformity to the predetermined trimming pattern.

[0100] Specifically, discrete basic patterns are generated by combining mowing height and tamping methods, which serve as the basic patterns for drawing lawn patterns. The overall pattern is formed by mowing different areas of the lawn into different patterns.

[0101] The presentation of the pattern is affected by two factors: mowing height and mowing method. Assuming the mowing height is set from 1 to N, plus no mowing, there are N+1 mowing modes. Taking four-way mowing as an example, there are 5 modes: mowing upwards, mowing downwards, mowing leftwards, mowing rightwards, and no mowing (the mowing direction is referenced to the pattern direction; upwards / downwards mowing does not mean mowing vertically towards the sky / ground). The patterns that can be combined with this setting are shown in Table 1, totaling (N+1)*5 patterns.

[0102] Level 1 height 2 height settings ...... N gear height Do not mow the lawn Press the grass upwards S11 S12 ...... S1N S1(N+1) Press the grass down S21 S22 ...... S2N S2(N+1) Press the grass to the left S31 S32 ...... S3N S3(N+1) Press the grass to the right S41 S42 ...... S4N S4(N+1) Unpressed grass S51 S52 ...... S5N S5(N+1)

[0103] Table 1. Pattern Setting Combination Table

[0104] The drawing area is divided into an array of cells based on the grid units, such as... Figure 6 In addition to the grid division within the drawing area, an additional row of grids needs to be added to the top, bottom, left, and right sides of the drawing area to meet the needs of subsequent path planning.

[0105] Each grid within the drawing area is assigned a different pattern according to a preset design. Grids outside the drawing area can be uniformly set to the S5(N+1) pattern. Grids outside the drawing area only move and do not trim. The simple reciprocating mowing path used in related technologies cannot meet the needs of different directions of grass compaction when drawing patterns. A new path planning algorithm needs to be designed for this function.

[0106] This application's embodiments first obtain an initialization path using a reciprocating path method, such as... Figure 8 As shown, the trimming path is initialized using a traditional reciprocating path, and each raster cell in the path is marked as a positive raster, denoted as C. ij( P), meaning the raster in the i-th row and j-th column is a positive raster (rows and columns are counted starting from 0). This yields the initialization path C. 11 (P)->C 12 (P)->...->C 42 (P)->C 41 (P).

[0107] If a certain grid cell C ij If a specific tamping direction is specified, the tamping direction must be inserted before the initial path grid cell to extend to adjacent grid cells. Specifically, if tamping is upwards, insert C. (i+1)j If pressing the grass downwards, insert C. (i-1)j If the item is pressed to the left, then insert C. i(j+1) If you press the grass to the right, insert C. i(j-1) The inserted raster cell is denoted as a negative raster. If the inserted raster is the same as the preceding raster of the initial path, no insertion is necessary. Figure 9Optimize path local zoom-in image, grid C 12 If the direction of the grass compaction is downward, then the adjacent grid cell C above it will be compacted downward. 02 Insert path; raster C 13 The direction of the grass compaction is to the right, because the inserted grid is C. 12 With the initial path C 13 Since the preceding raster is the same, no insertion is needed. After this step, the local planning path is derived from the initial path C. 11 (P)->C 12 (P)->C 13 (P) is adjusted to C 11 (P)->C 02 (N)->C 12 (P)->C 13 (P). Similarly, local path adjustments are made for each grid cell with a specified grass-pressing direction.

[0108] When the machine reaches a grid, it performs corresponding mowing and pressing operations to draw the grid pattern based on its path attribute markers and the corresponding pattern. If the grid is marked as a negative grid, it only moves without mowing or pressing; if the grid is marked as a positive grid, it maps the mowing height setting and whether to press grass according to Table 1 through the pattern to be drawn. The pressing direction is determined by the planned path. In this mode, the mowing and pressing process ends when the machine reaches the end of the path.

[0109] The method proposed in this disclosure enables precise control of the mowing and pressing paths, allowing for complex mowing patterns while ensuring the neatness and aesthetics of the lawn. By meticulously planning each step of movement and operation, this method improves the quality and efficiency of mowing work, demonstrating the high level of intelligence and automation of gardening robots in lawn maintenance.

[0110] In one feasible implementation, the mowing unit includes mowing blades, and the pressing unit includes pressing wheels.

[0111] The above methods also include:

[0112] The grid unit size is determined based on the aforementioned mowing blades and grass-pressing wheels;

[0113] The grid cells are divided according to the grid size and the trimming pattern size corresponding to the trimming task to obtain a preset number of grid cells corresponding to the trimming pattern.

[0114] For example, since the diameter of the lawnmower blade and the width of the press wheel are fixed, they can be set to be equal, denoted as r. This determines the minimum granularity of the lawnmower's drawing. This minimum drawing granularity is set to the size of the grid cell, i.e., the grid cell is a square grid with a length and width equal to the diameter of the lawnmower blade.

[0115] In one feasible implementation, the above-mentioned mowing command includes a mowing height command, and the above-mentioned mowing unit includes a telescopic mechanism;

[0116] Adjust the extension / retraction amount of the telescopic mechanism according to the above-mentioned lawn mowing height command.

[0117] For example, a telescopic mechanism, part of the mowing unit, is responsible for adjusting the height of the mowing blades relative to the ground based on received mowing height instructions. This mechanism typically includes, but is not limited to, hydraulic systems, screw lifting systems, or electric lifting mechanisms, enabling precise control of the blade's movement. According to the mowing height instruction, the telescopic mechanism adjusts its extension / retraction, changing the blade height. If the instruction requires a lower cutting height, the telescopic mechanism shortens, lowering the blades; conversely, if a higher cutting height is required, the mechanism extends, raising the blade height. Once the specified height is reached, the mowing unit performs the cutting operation at that height. The advantage of this approach is that it provides precise control over the mowing height, meeting the specific requirements of different users and situations. This height adjustability not only enhances the robot's applicability and flexibility but also improves the overall quality of lawn mowing. Precise control of the mowing height ensures the lawn's aesthetics, and combined with the mowing height adjustment, it provides a wider range of pattern choices and more vivid pattern effects.

[0118] Please see Figure 10 The structural schematic diagram of a control device provided in this application embodiment may include:

[0119] The generation unit 21 is used to send the above-mentioned mowing task to the control unit so that the control unit generates the above-mentioned planned path, the above-mentioned mowing command and the above-mentioned grass pressing command, and sends the above-mentioned planned path, the above-mentioned mowing command and the above-mentioned grass pressing command to the above-mentioned motion unit, the above-mentioned mowing unit and the above-mentioned grass pressing unit respectively.

[0120] Motion control unit 22 is used to control the motion unit to perform the displacement motion and rotational motion based on the planned path.

[0121] The mowing and pressing control unit 23 is used to control the mowing unit to perform mowing operations according to the mowing instructions, and to control the pressing unit to perform pressing operations according to the pressing instructions.

[0122] like Figure 11 As shown, this application embodiment also provides an electronic device 300, including a memory 310, a processor 320, and a computer program 311 stored in the memory 310 and executable on the processor. When the processor 320 executes the computer program 311, it implements the steps of the above-mentioned control method.

[0123] Since the electronic device described in this embodiment is the device used to implement the control method in the embodiments of this application, those skilled in the art can understand the specific implementation method and various variations of the electronic device in this embodiment based on the method described in the embodiments of this application. Therefore, how the electronic device implements the method in the embodiments of this application will not be described in detail here. Any device used by those skilled in the art to implement the method in the embodiments of this application falls within the scope of protection of this application.

[0124] In practical implementation, when the computer program 311 is executed by the processor, it can achieve the following: Figure 1 Any of the corresponding implementation methods in the embodiments.

[0125] It should be noted that the descriptions of each embodiment in the above embodiments have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0126] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0127] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0128] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0129] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0130] This application also provides a computer program product, which includes computer software instructions. When the computer software instructions are run on a processing device, the processing device executes the process of identifying aerodynamic parameters of the first stage of a launch vehicle in the corresponding embodiment.

[0131] 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 may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions may 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 (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a server or data center that integrates one or more available media. The available medium may 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 disk (SSD)).

[0132] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0133] 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, or indirect coupling or communication connection between apparatuses or units, and may be electrical, mechanical, or other forms.

[0134] 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.

[0135] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0136] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0137] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A control method, characterized in that, Applied to a gardening machine, the gardening machine including a mowing unit, a pressing unit, a motion unit, a control unit, and a positioning unit, the method includes: The mowing task is sent to the control unit, which generates a planned path, mowing instructions, and matting instructions, and then sends the planned path, mowing instructions, and matting instructions to the motion unit, the mowing unit, and the matting unit, respectively. The motion unit is controlled to perform displacement and rotational movements based on the planned path; The mowing unit is controlled to perform mowing operations according to the mowing instructions, and the matting unit is controlled to perform matting operations according to the matting instructions. Also includes: Obtain a preset number of grid cells corresponding to the trimming pattern, wherein the preset number of grid cells includes all grid cells corresponding to the trimming pattern and the outermost grid cell of the trimming pattern; The initialization path is obtained for the preset number of grid cells according to the reciprocating path method; Insert adjacent grid cells in the direction of the grass compaction direction in front of all grid cells that need to be compacted, as path adjustment points; The planned path is determined based on all the path adjustment points and the initial path; The mowing unit includes mowing blades, and the grass pressing unit includes grass pressing wheels; Also includes: The grid unit size is determined based on the mowing blade and the press wheel; The grid cells are divided according to the grid cell size and the trimming pattern size corresponding to the trimming task, so as to obtain a preset number of grid cells corresponding to the trimming pattern.

2. The control method according to claim 1, characterized in that, The mowing command includes a mowing height command, and the mowing unit includes a telescopic mechanism; The telescopic mechanism's extension / retraction amount is adjusted according to the lawn mowing height command.

3. A gardening machine for implementing the method according to any one of claims 1 to 2, characterized in that, include: The lawn mowing unit is used to perform lawn mowing operations according to lawn mowing instructions; The grass-pressing unit is used to perform grass-pressing operations according to grass-pressing instructions. In the case where both grass-cutting and grass-pressing operations exist simultaneously in the same area, the grass-pressing operation is performed after the grass-cutting operation. A motion unit is used to perform motion operations according to a planned path, wherein the motion operations include displacement motion and rotational motion; The control unit is used to generate the planned path, the mowing instructions, and the grass-pressing instructions based on the mowing task; The positioning unit is used to acquire the real-time location information of the gardening machine and send the real-time location information to the control unit.

4. The gardening machine according to claim 3, characterized in that, The mowing unit includes a mowing blade, a mowing power module, a telescopic mechanism, an upper housing, and a lower housing; The upper shell and the lower shell are connected to form an accommodating space; The lawn mowing power module, the telescopic mechanism, and part of the lawn mowing power module are located within the accommodating space; The lawnmower blade is connected to the output of the lawnmower power module; The lawn mowing power module is connected to the first end of the telescopic mechanism, the second end of the telescopic mechanism is connected to the upper housing, and the output end of the lawn mowing power module extends at least partially through the opening of the lower housing to the outside of the accommodating space.

5. The gardening machine according to claim 3, characterized in that, The grass-pressing unit includes a grass-pressing wheel, a grass-pressing connecting rod, a transmission gear set, a grass-pressing power module, and a gear locker; The first end of the grass-pressing linkage is connected to the grass-pressing wheel, the second end of the grass-pressing linkage is connected to the torque output end of the transmission gear set, the power input of the grass-pressing power module is sent to the torque output end of the transmission gear set, and the gear lock is correspondingly set to the torque output end.

6. A control device, characterized in that, include: The generation unit is used to send the mowing task to the control unit, so that the control unit generates the planning path, the mowing instruction and the pressing instruction, and sends the planning path, the mowing instruction and the pressing instruction to the motion unit, the mowing unit and the pressing unit respectively; A motion control unit is used to control the motion unit to perform displacement and rotational motion based on the planned path; The mowing and pressing control unit is used to control the mowing unit to perform mowing operations according to the mowing command, and to control the pressing unit to perform pressing operations according to the pressing command. Also includes: Obtain a preset number of grid cells corresponding to the trimming pattern, wherein the preset number of grid cells includes all grid cells corresponding to the trimming pattern and the outermost grid cell of the trimming pattern; The initialization path is obtained for the preset number of grid cells according to the reciprocating path method; Insert adjacent grid cells in the direction of the grass compaction direction in front of all grid cells that need to be compacted, as path adjustment points; The planned path is determined based on all the path adjustment points and the initial path; The mowing unit includes mowing blades, and the grass pressing unit includes grass pressing wheels; Also includes: The grid unit size is determined based on the mowing blade and the press wheel; The grid cells are divided according to the grid cell size and the trimming pattern size corresponding to the trimming task, so as to obtain a preset number of grid cells corresponding to the trimming pattern.

7. An electronic device, comprising: A memory and a processor, characterized in that the processor, when executing a computer program stored in the memory, implements the steps of the control method as described in any one of claims 1-2.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the control method as described in any one of claims 1-2.

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