Mowing method and related devices
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SHENZHEN MAMMOTION INNOVATION CO LTD
- Filing Date
- 2024-05-28
- Publication Date
- 2026-07-21
Smart Images
Figure CN118476373B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of lawnmower technology, and more particularly to a lawnmower method and related apparatus. Background Technology
[0002] As the pace of greening increases, people often hope to enhance the attractiveness of lawns through patterns. Currently, people often use lawnmowers and other mowing devices to autonomously create patterns. However, because the control functions of current mowing devices are relatively simple, they cannot achieve arbitrary patterns according to user preferences, nor can they reasonably plan the mowing area, resulting in patterns that do not fully match the expected designs. Summary of the Invention
[0003] This application provides a lawn mowing method and related apparatus to ensure the cutting effect of the pattern and improve lawn mowing efficiency.
[0004] In a first aspect, embodiments of this application provide a lawn mowing method, including:
[0005] Obtain lawn map information, which includes multiple lawn patterns and a lawn map;
[0006] Obtain the shortest distance between any two adjacent lawn patterns from the plurality of lawn patterns to obtain multiple interval distances;
[0007] Obtain the cutting width of the lawnmower;
[0008] The difference between each of the multiple interval distances and the cutting width is obtained to obtain multiple target differences;
[0009] The work area is determined based on the plurality of target differences, and the work area is used to indicate the area where mowing operations need to be performed; wherein, when all of the plurality of target differences are not less than zero, the non-patterned area is determined as the work area, and the non-patterned area is the area in the lawn map other than the area where the plurality of lawn patterns are located.
[0010] Secondly, embodiments of this application provide a lawn mowing device, comprising:
[0011] The first acquisition unit is used to acquire lawn map information, which includes multiple lawn patterns and a lawn map.
[0012] The second acquisition unit is used to acquire the shortest distance between any two adjacent lawn patterns among the plurality of lawn patterns, and obtain multiple interval distances;
[0013] The third acquisition unit is used to acquire the cutting width of the mowing device;
[0014] The fourth acquisition unit is used to acquire the difference between each of the plurality of interval distances and the cutting width, thereby obtaining a plurality of target differences;
[0015] A determining unit is configured to determine a work area based on the plurality of target differences, wherein the work area is used to indicate the area where mowing operations need to be performed; wherein, when all of the plurality of target differences are not less than zero, a non-patterned area is determined as the work area, wherein the non-patterned area is an area in the lawn map other than the areas where the plurality of lawn patterns are located.
[0016] Thirdly, embodiments of this application provide an electronic device, including a processor and a memory storing execution instructions, the memory storing one or more programs; when the processor executes the execution instructions stored in the memory, the processor executes the method described in the first aspect.
[0017] Fourthly, embodiments of this application provide a computer-readable storage medium for storing a computer program for electronic data interchange, including execution instructions, which, when executed by a processor of an electronic device, perform the method described in the first aspect.
[0018] Fifthly, embodiments of this application provide a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps described in the first aspect of embodiments of this application. The computer program product may be a software installation package.
[0019] As can be seen, in this embodiment, lawn map information is first obtained, which includes multiple lawn patterns; the distance between any two adjacent lawn patterns is obtained, resulting in multiple interval distances; the cutting width of the mowing device is obtained; the difference between each interval distance and the cutting width is obtained, resulting in multiple target differences; and a work area is determined based on the multiple target differences, which indicates the area where mowing operations need to be performed. By rationally planning the display type of the lawn patterns through interval distances and cutting widths, and matching the mowing area according to different display types, the cutting effect of the patterns is ensured, and mowing efficiency is improved. Attached Figure Description
[0020] 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.
[0021] Figure 1 This application provides a system architecture diagram of a lawn mowing system.
[0022] Figure 2 This is a flowchart illustrating a lawn mowing method provided in an embodiment of this application;
[0023] Figure 3 This is a schematic diagram of a lawn map provided in an embodiment of this application;
[0024] Figure 4 This is a schematic diagram of a pattern setting interface according to an embodiment of this application;
[0025] Figure 5 This is a schematic diagram of lawn mowing according to an embodiment of this application;
[0026] Figure 6 This is a schematic diagram of a lawn pattern provided in an embodiment of this application;
[0027] Figure 7 This is a schematic diagram of another lawn pattern provided in an embodiment of this application;
[0028] Figure 8 This is a functional unit block diagram of a lawn mowing device provided in an embodiment of this application;
[0029] Figure 9 This is a functional unit block diagram of another lawn mowing device provided in the embodiments of this application;
[0030] Figure 10 This is a schematic diagram of the structure of an electronic device proposed in an embodiment of this application. Detailed Implementation
[0031] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.
[0032] 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. 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 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 apparatuses.
[0033] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.
[0034] Current lawn mowing devices have relatively simple control functions, cannot achieve arbitrary trimming patterns according to user preferences, and cannot reasonably plan the mowing area.
[0035] To address the aforementioned problems, this application provides a lawn mowing method and related apparatus. The embodiments of this application will be described in detail below with reference to the accompanying drawings.
[0036] Please see Figure 1 , Figure 1 This is a system architecture diagram of a lawn mowing system provided in an embodiment of this application. Figure 1 As shown, the lawn mowing system 100 includes a pattern design module 10, a mowing device 20, and a mowing control module 30. These modules are interconnected. The pattern design module 10 is a platform for users to design patterns. For example, users can select a target pattern from existing patterns in the pattern design module 10 for combination or select a single pattern. They can also import patterns from external sources or enter a canvas interface to design patterns themselves. The mowing device 20 is used to mow the lawn according to the mowing path sent by the mowing control module 30. The mowing control module 30 is used to obtain the pattern designed by the pattern design module 10 and related pattern information, such as the size, position, and color of each pattern on the lawn, as well as related information of the mowing device 20, such as the cutting width of the mowing device. The obtained information is then analyzed to determine the display method of the lawn pattern, thereby determining the position where mowing operations need to be performed. Finally, the mowing path is determined according to the position where mowing is needed, so that the mowing device 20 mows the lawn based on the mowing path.
[0037] Please see Figure 2 , Figure 2This is a flowchart illustrating a lawn mowing method provided in an embodiment of this application. The method includes the following steps.
[0038] S210, Obtain lawn map information, which includes multiple lawn patterns.
[0039] Specifically, the lawn map information includes the lawn map itself. Obtaining the lawn map information includes: upon receiving a pattern setting instruction, activating the mowing pattern setting interface and displaying the lawn map on the mowing pattern setting interface. The mowing pattern setting interface is used for target users to customize pattern information, including pattern color, pattern shape, pattern area, pattern position, and pattern scale. The pattern color is used to indicate the height of its corresponding pattern. The process also involves receiving the pattern information and preprocessing the pattern information to obtain the lawn map information.
[0040] When the lawn mowing pattern settings interface is activated, it will display a lawn map based on the user-defined lawn image information. Please refer to [link to relevant documentation]. Figure 3 , Figure 3 This is a schematic diagram of a lawn map provided in an embodiment of this application, such as... Figure 3 As shown, the lawn map includes a first lawn 301, a second lawn 302, and a third lawn 303. The user can randomly select one of the three lawns (301, 302, and 303) to design a pattern. For example, if the user selects lawn 301 for pattern design, clicking on lawn 301 in the pattern settings interface will take them to the settings interface.
[0041] The lawn pattern settings interface includes several common lawn patterns. Specifically, it saves previously used and drawn patterns. When designing a lawn pattern, users can select from existing patterns, import external images, or access the canvas interface to design their own patterns. Users can also combine and stitch these patterns to achieve the final effect. Furthermore, users can customize the pattern's size, color, and its specific location on the lawn map. Please refer to [link to relevant documentation]. Figure 4 , Figure 4 This is a schematic diagram of a pattern setting interface according to an embodiment of this application, such as... Figure 4 As shown, the pattern settings interface 40 includes an import pattern 41, a custom pattern 42, and selectable patterns 43. The import pattern 41 is used by the user to import external patterns. The selectable patterns 43 include several common simple patterns, such as smiley faces, rectangles, suns, moons, and hearts, allowing users to directly select a pattern. Users can also click the custom pattern 42 button to enter the pattern drawing interface. Figure 4As shown, assuming the lawn is an irregular shape, it includes a non-lawn area 421, a moon pattern 422, a cloud pattern 423, and a drawn pattern 424. By allowing users to customize the lawn pattern, users can achieve any pattern of mowing according to their preferences.
[0042] Further, please refer to Figure 5 , Figure 5 This is a schematic diagram of lawn mowing according to an embodiment of this application, such as... Figure 5 As shown, the user has defined lawn patterns on the fourth lawn 51, including a heart pattern 53 and a wave pattern 52. Assuming the distance between the heart pattern 53 and the wave pattern 52 is less than the cutting width of the mowing device, the display mode of the heart pattern 53 and the wave pattern 52 is determined to be recessed. The positions of the heart pattern 53 and the wave pattern 52 are determined as the locations where mowing is required, and a mowing path is generated. The mowing device then mows the heart pattern 53 and the wave pattern 52 according to the generated mowing path. Figure 5 The arrows indicate the cutting direction of the lawnmower. Furthermore, different cutting heights can be set according to the different colors of the heart pattern 53 and the wave pattern 52.
[0043] The lawn map can feature unmowed lawns. When users customize patterns in the mowing pattern settings interface, they can directly set their designs on the lawn for easy viewing and modification if they are not satisfied with the result. The pattern can be viewed from multiple angles.
[0044] If users need to modify the pattern on the lawn, the lawn in the lawn map can also be a lawn with a lawn pattern. Therefore, when users customize the pattern in the lawn pattern settings interface, they need to design it in combination with the current height of the lawn and the current lawn pattern.
[0045] Specifically, the preprocessing of the pattern information includes: determining the lawn height range corresponding to each pattern color in the pattern colors; adjusting the pattern ratio when the pattern ratio is greater than a preset pattern ratio; and adjusting the pattern position when the pattern position exceeds a preset position.
[0046] Upon receiving a pattern uploaded by a user, the system first desaturates the pattern, for example, by converting the image to grayscale, and then obtains the corresponding grayscale value. Consistent grayscale values indicate the same color; for example, a higher grayscale value corresponds to a higher pattern height. Next, the image format is adjusted, for example, by determining whether the user-defined pattern ratio is appropriate based on a preset pattern ratio, where the preset ratio can be a reasonable range. The system can also determine whether the user-defined pattern position is appropriate based on a preset pattern position range.
[0047] As can be seen, by preprocessing user-defined patterns, the patterns can be placed within a reasonable range on the lawn, enhancing the aesthetics of the lawn pattern.
[0048] S220, obtain the distance between any two adjacent lawn patterns in the plurality of lawn patterns to obtain a plurality of interval distances;
[0049] Please refer to Figure 6 , Figure 6 This is a schematic diagram of a lawn pattern provided in an embodiment of this application, such as... Figure 6 As shown, the fifth lawn 60 contains four lawn patterns: a first lawn pattern 601, a second lawn pattern 602, a third lawn pattern 603, and a fourth lawn pattern 604. The distances between the first lawn pattern 601 and the second lawn patterns 602, 603, and 604 are obtained; the distances between the second lawn pattern 602 and the third and fourth lawn patterns 603 are also obtained; and the distance between the third lawn pattern 603 and the fourth lawn pattern 604 is obtained. The distance between the two lawn patterns can be the shortest distance between them without them touching other lawn patterns.
[0050] S230, Obtain the cutting width of the lawn mowing device;
[0051] S240, obtain the difference between each of the plurality of interval distances and the cutting width to obtain a plurality of target differences.
[0052] Examples include, for instance, such as Figure 6 As shown, six intervals are obtained based on four lawn patterns. The six intervals are then subtracted from the obtained cutting width to obtain six target differences.
[0053] S250, determine the work area based on the plurality of target differences, the work area being used to indicate the area where mowing operations need to be performed.
[0054] Specifically, determining the work area based on the plurality of target differences includes: if there is a target difference less than zero among the plurality of target differences, determining the patterned area as the work area, wherein the patterned area is the area where the plurality of lawn patterns are located in the lawn map, and the lawn map information includes the lawn map; if none of the target differences are less than zero among the plurality of target differences, determining the non-patterned area as the work area, wherein the non-patterned area is the area in the lawn map other than the area where the plurality of lawn patterns are located.
[0055] In cases where the intervals are less than the cutting width, the lawn pattern should be recessed. If the pattern is highlighted, the width cut by the mower as it passes between the patterns will be much wider than the user's design, potentially affecting the shape of the pattern and resulting in a mowing effect that does not meet the user's expectations. When all intervals are at least equal to the cutting width, external mowing should be prioritized to ensure a neat and aesthetically pleasing lawn and enhance the overall landscape effect.
[0056] It is evident that when determining the mowing area, the cutting width of the mowing device and the distance between the patterns should be considered to facilitate mowing and improve the mowing effect on the patterns.
[0057] Specifically, before determining the non-patterned area as the work area, the method further includes: performing contour detection on the plurality of lawn patterns to obtain a first contour curve and a second contour curve for each lawn pattern; obtaining the line segment width between the first contour curve and the second contour curve; and determining the work area based on the line segment width.
[0058] Please refer to Figure 7 , Figure 7 This is a schematic diagram of another lawn pattern provided in an embodiment of this application, such as... Figure 7 As shown, when detecting the outline of a lawn pattern, lawn pattern A is formed by the inner contour curve 702 and the outer contour curve 701. Then, the width of lawn pattern A is determined based on the inner contour curve 702 and the outer contour curve 701. If the lawn pattern is irregular and has multiple line segment widths, the width of the narrowest line segment can be used to determine whether the lawn pattern is prominent or recessed.
[0059] Specifically, after obtaining the line segment width between the first contour curve and the second contour curve, the method further includes: determining a comparison result between the line segment width and the cutting width; based on the comparison result that the line segment width is greater than the cutting width, obtaining a first cutting path based on a first display mode, wherein the first display mode is to display the plurality of lawn patterns in recessed form on the lawn map; obtaining a second cutting path based on a second display mode, wherein the second display mode is to highlight the plurality of lawn patterns on the lawn map; determining the cutting path with the shortest distance between the first cutting path and the second cutting path as the target cutting path; and determining the work area based on the target cutting path.
[0060] After obtaining the line segment width, the system compares it with the cutting width. If the line segment width is less than or equal to the cutting width, the non-patterned area is designated as the mowing area to ensure the cutting effect of the pattern. If the line segment width is greater than the cutting width, different cutting paths can be determined according to different cutting methods based on the user-designed pattern. Without affecting the cutting effect, the area on the lawn map corresponding to the shortest cutting path is designated as the mowing area to improve the cutting efficiency of the mowing device.
[0061] In cases where the line segment width is greater than the cutting width, the number of colors present in the multiple designed lawn patterns can be determined. Each color corresponds to a cutting height; the more colors, the greater the cutting complexity. The mowing area is determined based on the number of colors in the lawn patterns. For example, if the number of colors in multiple lawn patterns exceeds a preset number of colors, the pattern location can be designated as the mowing area; if the number of colors in multiple lawn patterns is not greater than the preset number of colors, non-lawn pattern areas are prioritized for mowing to improve the overall landscape effect.
[0062] Specifically, before determining the non-patterned area as the work area, the method further includes: receiving a mowing command, the mowing command including a display method for each of the plurality of lawn patterns, the display method including highlighting or recessing the plurality of lawn patterns in the lawn map; and determining the work area according to the mowing command.
[0063] Before determining the mowing area, if a user sends a mowing command for a specific lawn pattern, the system will mow the lawn according to the user's instructions. The system can also display the pattern in 3D on the lawn by allowing the user to select different display methods to preview the pattern's effect. The user's mowing command can also be selected from these display methods. By receiving user commands for mowing, the system enhances the user experience and makes the cutting effect more closely match the user's needs.
[0064] As can be seen, in this embodiment, the display type of the lawn pattern is reasonably planned by the interval distance and cutting width, and the mowing area is matched according to different display types to ensure the cutting effect of the pattern and improve the mowing efficiency.
[0065] For examples consistent with the above embodiments, please refer to... Figure 8 , Figure 8 This is a functional unit block diagram of a lawn mowing device provided in an embodiment of this application, such as... Figure 8 As shown, the lawn mowing device 80 includes: a first acquisition unit 81, used to acquire lawn map information, the lawn map information including multiple lawn patterns; a second acquisition unit 82, used to acquire the distance between any two adjacent lawn patterns among the multiple lawn patterns, to obtain multiple interval distances; a third acquisition unit 83, used to acquire the cutting width of the lawn mowing device; a fourth acquisition unit 84, used to acquire the difference between each interval distance and the cutting width among the multiple interval distances, to obtain multiple target differences; and a determination unit 85, used to determine the work area based on the multiple target differences, the work area being used to indicate the area where lawn mowing operations need to be performed.
[0066] In one possible embodiment, in determining the work area based on the plurality of target differences, the determining unit 85 is specifically configured to: determine a patterned area as the work area when there is a target difference less than zero among the plurality of target differences, wherein the patterned area is the area where the plurality of lawn patterns are located in the lawn map, and the lawn map information includes the lawn map; and determine a non-patterned area as the work area when all the target differences are not less than zero among the plurality of target differences, wherein the non-patterned area is the area in the lawn map other than the area where the plurality of lawn patterns are located.
[0067] In one possible embodiment, before determining the non-patterned area as the work area, the determining unit 85 is further configured to: perform contour detection on the plurality of lawn patterns to obtain a first contour curve and a second contour curve for each lawn pattern; obtain the line segment width between the first contour curve and the second contour curve; and determine the work area based on the line segment width.
[0068] In one possible embodiment, after obtaining the line segment width between the first contour curve and the second contour curve, the determining unit 85 is further configured to: determine a comparison result between the line segment width and the cutting width; based on the comparison result that the line segment width is greater than the cutting width, obtain a first cutting path based on a first display mode, wherein the first display mode is to display the plurality of lawn patterns in recessed form on the lawn map; obtain a second cutting path based on a second display mode, wherein the second display mode is to highlight the plurality of lawn patterns on the lawn map; determine the cutting path with the shortest distance between the first cutting path and the second cutting path as the target cutting path; and determine the work area based on the target cutting path.
[0069] In one possible embodiment, before determining the non-patterned area as the work area, the determining unit 85 is further configured to: receive a mowing instruction, the mowing instruction including a display method for each of the plurality of lawn patterns, the display method including highlighting or recessing the plurality of lawn patterns in the lawn map; and determine the work area according to the mowing instruction.
[0070] In one possible embodiment, in acquiring lawn map information, the first acquisition unit 81 is specifically configured to: the lawn map information includes the lawn map; upon receiving a pattern setting instruction, activate the mowing pattern setting interface and display the lawn map on the mowing pattern setting interface, the mowing pattern setting interface being used by the target user to customize pattern information, the pattern information including pattern color, pattern shape, pattern area, pattern position, and pattern scale, the pattern color being used to indicate the height of its corresponding pattern; receive the pattern information; and preprocess the pattern information to obtain the lawn map information.
[0071] In one possible embodiment, in terms of preprocessing the pattern information, the first acquisition unit 81 is further configured to: determine the range of lawn height corresponding to each pattern color in the pattern colors; adjust the pattern ratio if the pattern ratio is greater than a preset pattern ratio; and adjust the pattern position if the pattern position exceeds a preset position.
[0072] It is understood that since the method embodiments and the device embodiments are different presentations of the same technical concept, the content of the method embodiment section in this application should be adapted to the device embodiment section in a synchronous manner, and will not be repeated here.
[0073] In the case of using integrated units, please refer to Figure 9 , Figure 9 This is a functional unit block diagram of another lawn mowing device provided in the embodiments of this application, such as... Figure 9As shown, the lawn mowing device 80 includes a processing module 902 and a communication module 901. The processing module 902 controls and manages the operation of the lawn mowing device 80, for example, executing the steps of the first acquisition unit 81, the second acquisition unit 82, the third acquisition unit 83, the fourth acquisition unit 84, and the determination unit 85, and / or performing other processes of the technology described herein. The communication module 901 is used for interaction between the lawn mowing device 80 and other devices. Figure 9 As shown, the lawn mowing device 80 may also include a storage module 903, which is used to store the program code and data of the lawn mowing device 80.
[0074] The processing module 902 can be a processor or controller, such as a central processing unit (CPU), a general-purpose processor, a digital signal processor (DSP), an ASIC, an FPGA, or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc. The communication module 901 can be a transceiver, RF circuitry, or a communication interface, etc. The storage module 903 can be a memory.
[0075] All relevant content in each scenario involved in the above method embodiments can be referenced from the functional descriptions of the corresponding functional modules, and will not be repeated here. The above-mentioned lawn mowing device 90 can perform the above-mentioned... Figure 2 The shown method of mowing grass.
[0076] Please see Figure 10 , Figure 10 This is a schematic diagram of the structure of an electronic device proposed in an embodiment of this application, as shown below. Figure 10 As shown, the electronic device 1000 includes a processor 1010, a memory 1020, a communication interface 1030, and one or more programs 1021. The one or more programs 1021 are stored in the memory and configured to be executed by the processor. When the program is executed, it includes some or all of the steps of any of the lawn mowing methods described in the above method embodiments. The processor, memory, and communication interface are interconnected and complete communication between them.
[0077] The memory can be volatile memory such as dynamic random access memory (DRAM) or non-volatile memory such as hard disk drive (HDD). The memory stores a set of executable program code, and the processor calls the executable program code stored in the memory to execute some or all of the steps of any of the lawn mowing methods described in the above lawn mowing method embodiments.
[0078] As can be seen, the electronic device 1000 described in this application embodiment first acquires lawn map information, which includes multiple lawn patterns; acquires the distance between any two adjacent lawn patterns to obtain multiple interval distances; acquires the cutting width of the mowing device; acquires the difference between each interval distance and the cutting width to obtain multiple target differences; and determines the work area based on the multiple target differences, the work area indicating the area where mowing operations need to be performed. By rationally planning the display type of the lawn patterns through interval distances and cutting widths, and matching the mowing area according to different display types, the cutting effect of the patterns is ensured, and mowing efficiency is improved.
[0079] This application also provides a computer storage medium storing a computer program for electronic data interchange, which causes a computer to perform some or all of the steps of any of the methods described in the above method embodiments, wherein the computer includes an electronic device.
[0080] This application also provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps of any of the methods described in the above method embodiments. The computer program product may be a software installation package, and the computer may include an electronic device.
[0081] It should be noted that, for the sake of simplicity, the aforementioned methods are described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are optional, and the actions and modules involved are not necessarily essential to this application.
[0082] In the above embodiments, the descriptions of each embodiment have their own emphasis. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.
[0083] In the several embodiments provided in this application, it should be understood that the disclosed apparatus 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 devices or units may be electrical or other forms.
[0084] 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, depending on actual needs.
[0085] 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 program module.
[0086] If the integrated unit is implemented as a software program module and sold or used as an independent product, it can be stored in a computer-readable storage device (CMD). 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 memory and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned memory includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.
[0087] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage device, which may include: flash drive, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.
[0088] 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 above description of the 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 method for mowing lawns, characterized in that, include: Obtain lawn map information, which includes multiple lawn patterns and a lawn map; Obtain the shortest distance between any two adjacent lawn patterns from the plurality of lawn patterns to obtain multiple interval distances; Obtain the cutting width of the lawnmower; The difference between each of the multiple interval distances and the cutting width is obtained to obtain multiple target differences; The work area is determined based on the multiple target differences, and the work area is used to indicate the area where mowing operations need to be performed. The step of determining the work area based on the plurality of target differences includes: If any of the multiple target differences is less than zero, the patterned area is determined as the work area, and the patterned area is the area where the multiple lawn patterns are located in the lawn map; If all the target differences are not less than zero, the non-patterned area is determined as the working area. The non-patterned area is the area in the lawn map other than the area where the multiple lawn patterns are located.
2. The method according to claim 1, characterized in that, Before determining the non-patterned area as the working area, the method further includes: Contour detection is performed on the multiple lawn patterns to obtain a first contour curve and a second contour curve for each lawn pattern. Obtain the narrowest line segment width between the first contour curve and the second contour curve; Determine the comparison result between the line segment width and the cutting width; Based on the comparison result that the line segment width is greater than the cutting width, a first cutting path is obtained based on a first display method, wherein the first display method is to display the multiple lawn patterns in the lawn map. Obtain a second cutting path based on a second display method, wherein the second display method is to highlight the plurality of lawn patterns in the lawn map; The cutting path with the shortest distance between the first cutting path and the second cutting path is determined as the target cutting path; The work area is determined based on the target cutting path.
3. The method according to claim 1, characterized in that, Before determining the non-patterned area as the working area, the method further includes: Receive a mowing command, the mowing command including a display method for each of the plurality of lawn patterns, the display method including highlighting or recessing the plurality of lawn patterns in the lawn map; The work area is determined according to the mowing instructions.
4. The method according to claim 1, characterized in that, The acquisition of lawn map information includes: Upon receiving a pattern setting instruction, the lawn pattern setting interface is launched, and the lawn map is displayed on the lawn pattern setting interface. The lawn pattern setting interface is used by the target user to customize pattern information. The pattern information includes pattern color, pattern shape, pattern area, pattern position, and pattern scale. The pattern color is used to indicate the height of the corresponding pattern. Receive the pattern information; The pattern information is preprocessed to obtain the lawn map information.
5. The method according to claim 4, characterized in that, The preprocessing of the pattern information includes: Determine the range of lawn height corresponding to each pattern color in the pattern colors; If the pattern ratio is greater than the preset pattern ratio, adjust the pattern ratio. If the pattern position exceeds the preset position, adjust the position of the pattern.
6. A lawn mowing device, characterized in that, include: The first acquisition unit is used to acquire lawn map information, which includes multiple lawn patterns and a lawn map. The second acquisition unit is used to acquire the shortest distance between any two adjacent lawn patterns among the plurality of lawn patterns, and obtain multiple interval distances; The third acquisition unit is used to acquire the cutting width of the mowing device; The fourth acquisition unit is used to acquire the difference between each of the plurality of interval distances and the cutting width, thereby obtaining a plurality of target differences; A determining unit is configured to determine a work area based on the plurality of target differences, wherein the work area is used to indicate the area where mowing operations need to be performed. The step of determining the work area based on the plurality of target differences includes: If any of the multiple target differences is less than zero, the patterned area is determined as the work area, and the patterned area is the area where the multiple lawn patterns are located in the lawn map; If all the target differences are not less than zero, the non-patterned area is determined as the working area. The non-patterned area is the area in the lawn map other than the area where the multiple lawn patterns are located.
7. An electronic device, characterized in that, The method includes a processor and a memory storing execution instructions, the memory storing one or more programs; when the processor executes the execution instructions stored in the memory, the processor performs the method according to any one of claims 1-5.
8. A computer-readable storage medium, characterized in that, A computer program for storing electronic data interchange includes execution instructions that, when executed by a processor of an electronic device, perform the method according to any one of claims 1-5.