A parking control method and related device

Abstract

The application provides a parking control method, which can be applied to the technical field of lawn mowers. The method is applied to a lawn mower. The lawn mower comprises a cutter head. The method comprises the following steps: acquiring a shutdown instruction, controlling the cutter head to descend according to the shutdown instruction, and controlling the lawn mower to shut down according to the shutdown instruction after the descending of the cutter head is completed. The application can control the cutter head of the lawn mower to descend to resist the ground before the lawn mower is shut down, so that the cutter head can be clamped to the ground, the contact area between the lawn mower and the ground can be increased, the friction between the lawn mower and the ground can be increased, and the lawn mower can be prevented from sliding on a slope.

Description

Technical Field

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

[0002] With the rapid development of intelligent society, people's demand for automated lawn maintenance is increasing. Manual lawnmowers can no longer meet the requirements of high efficiency and strong controllability. Under these circumstances, intelligent lawnmowers are constantly being improved. At present, most intelligent lawnmowers use electrically controlled wheels to complete forward, backward, and turning movements during operation.

[0003] Although this smart lawnmower can achieve full coverage and no blind spots on flat ground, on slopes, hills and other complex terrains, the wheels can still roll freely after the motor is powered off. This can easily cause the lawnmower to slip and cause serious safety accidents. Summary of the Invention

[0004] To address the aforementioned issues, this application provides a parking control method and related equipment that enables safe parking of a lawnmower.

[0005] Firstly, a parking control method is provided for a lawnmower, which includes a blade head. The method includes: acquiring a shutdown command; controlling the blade head to descend according to the shutdown command; and after the blade head has descended, controlling the lawnmower to shut down according to the shutdown command. The shutdown command is used to instruct the lawnmower to shut down.

[0006] In the above scheme, before the lawnmower is turned off, the cutter head of the lawnmower is lowered to touch the ground, so that the cutter head can be stuck to the ground. In this way, on complex terrain such as slopes and hills, the contact area between the lawnmower and the ground can be increased, the friction between the lawnmower and the ground can be increased, and the lawnmower can be prevented from slipping.

[0007] In some possible implementations, the lawnmower includes a first motor. The first motor drives the blade disc to rise or fall. Controlling the blade disc to fall according to a shutdown command includes controlling the first motor to drive the blade disc to fall until the first motor stalls or the blade disc falls to a target position. The target position indicates the lowest height the blade disc can fall to.

[0008] In some possible implementations, the lawnmower includes wheels. After the blades have lowered as described above, and before the lawnmower is turned off according to the shutdown command, the method further includes: controlling the wheels to enter a freely rotatable state, wherein the freely rotatable state indicates the state in which the wheels are not restricted from rotating by the lawnmower.

[0009] The above-mentioned control of the lawn mower to shut down according to the shutdown command includes: if the wheels are in a state of free rotation and the lawn mower remains stationary, then control the lawn mower to shut down according to the shutdown command.

[0010] In some possible implementations, after the control wheel enters a freely rotatable state, the method further includes: monitoring whether the wheel rotates in the freely rotatable state. If the wheel does not rotate, it is determined that the lawnmower remains stationary.

[0011] In some possible implementations, the lawnmower includes a second motor. The second motor drives the wheels to rotate. Controlling the wheels to enter a freely rotatable state includes: de-energizing the second motor to allow the wheels to rotate freely.

[0012] In some possible implementations, the method further includes: if the lawnmower is moving while the wheels are freely rotating, monitoring whether the lawnmower has stopped moving. If the lawnmower has stopped moving, controlling the lawnmower to shut down according to a shutdown command.

[0013] In some possible implementations, the above method also includes: performing a reminder operation while the lawnmower is still moving.

[0014] In some possible implementations, the lawnmower includes a second motor. The second motor drives the wheels to rotate. The method further includes: if the lawnmower is moving while the wheels are freely rotating, controlling the second motor to output power to the wheels; monitoring whether the magnitude of this power is a first value; and if the magnitude of this power is the first value, controlling the lawnmower to shut down according to a shutdown command.

[0015] In some possible implementations, the above method also includes: if the lawnmower moves while the wheels are in a freely rotating state, then controlling the blade to rise.

[0016] Secondly, a parking control device is provided, comprising: an acquisition unit, a first control unit, and a second control unit. The acquisition unit acquires a shutdown command, which instructs the lawnmower to shut down. The first control unit controls the lawnmower's blades to descend according to the shutdown command. The second control unit, after the first control unit has completed the blade descent, controls the lawnmower to shut down according to the shutdown command.

[0017] In some possible implementations, the first control unit is specifically used to control the first motor of the aforementioned lawnmower to drive the cutter head downwards until the first motor stalls or the cutter head descends to a target position. The first motor is used to drive the cutter head to rise or fall. The target position indicates the lowest height the cutter head can descend to.

[0018] In some possible implementations, the second control unit is also used to control the wheels of the lawnmower to enter a freely rotatable state after the first control unit completes the lowering of the cutter head. The freely rotatable state indicates the state in which the wheels are not restricted from rotating by the lawnmower. The second control unit is also used to control the lawnmower to shut down according to a shutdown command when the lawnmower remains stationary while the wheels are in the freely rotatable state.

[0019] In some possible implementations, the second control unit is also used to monitor whether the wheels are rotating in the freely rotatable state after the wheels have been brought into that state. The second control unit is also used to determine that the lawnmower remains stationary if the wheels are not rotating.

[0020] In some possible implementations, the second control unit is specifically used to de-energize the second motor of the aforementioned lawnmower, thereby allowing the wheels to rotate freely. The second motor is used to drive the wheels to rotate.

[0021] In some possible implementations, the second control unit is also used to monitor whether the lawnmower has stopped moving when the wheels are in a freely rotating state. The second control unit is also used to control the lawnmower to shut down according to a shutdown command when the lawnmower has stopped moving.

[0022] In some possible implementations, the second control unit is also used to perform a reminder operation if the lawnmower does not stop moving.

[0023] In some possible implementations, the second control unit is further configured to: control the second motor of the lawnmower to output power to the wheels when the wheels are in a freely rotating state and the lawnmower is moving; monitor whether the magnitude of this power is a first value; and, if the magnitude of this power is the first value, control the lawnmower to shut down according to a shutdown command. The second motor is used to drive the wheels to rotate.

[0024] Thirdly, a controller is provided, including a processor and a memory for storing instructions, the processor for executing the instructions, and, when the processor executes the instructions, implementing the method of any of the first aspects.

[0025] Fourthly, a mobile device is provided, including a controller and a blade head, the controller performing the method as described in any of the first aspects.

[0026] Fifthly, a computer program product comprising instructions is provided, which, when executed by a computing device, cause the computing device to perform the method as described in any of the first aspects.

[0027] A sixth aspect provides a computer-readable storage medium including computer program instructions that, when executed by a computing device, perform the method of any of the first aspects. Attached Figure Description

[0028] Figure 1 This is a schematic flowchart of a parking control method provided in an embodiment of this application;

[0029] Figure 2 This is a schematic diagram of a lawnmower blade touching the ground, provided in an embodiment of this application.

[0030] Figure 3 This is a schematic diagram of the structure of a parking control device provided in an embodiment of this application;

[0031] Figure 4 This is a schematic diagram of the structure of a controller provided in an embodiment of this application. Detailed Implementation

[0032] The embodiments of this application are described below with reference to the accompanying drawings.

[0033] To facilitate understanding of the embodiments of this application, the lawnmower involved in this application will be introduced first.

[0034] A lawnmower is a mechanical tool used for trimming lawns, vegetation, etc., such as drum mowers, rotary mowers, and wheel mowers. A lawnmower consists of components such as a mowing motor, circuit board, blade lift motor, blades, wheels, and drive motor. The drive motor is the power source of the lawnmower and can be a hub motor. The drive motor provides power to the wheels to drive the lawnmower. The circuit board (including the drive board) is the control center of the lawnmower, used to send commands to the blade lift motor, drive motor, and other electrical equipment to make them operate according to the commands. The circuit board also receives signals from sensors on the lawnmower, monitors the lawnmower's status, and performs corresponding controls. The blade lift motor drives the blades to rise or fall, thus determining the mowing height. The blades are the components that mount the blades and are used to perform the mowing operation. The wheels are the moving parts of the lawnmower, used to move the lawnmower. Typically, the blades are mounted on the bottom of the lawnmower, and the mowing motor drives the blades to rotate. When the blades rotate at high speed, they cut away excess grass blades from the lawn, thus completing the mowing task.

[0035] Compared to manual mowing, lawnmowers use the high-speed rotation of blades on a cutting disc to cut grass. Therefore, using lawnmowers improves mowing efficiency, saves workers' time, and reduces manpower costs. Furthermore, lawnmowers reduce damage to lawns, increase the cleanliness of the lawn, and make it neater and more aesthetically pleasing. As a result, lawnmowers are widely used for lawn maintenance in homes, parks, stadiums, and other locations.

[0036] Although lawnmowers can achieve full coverage and no blind spots on flat ground, on slopes, hills, and other complex terrains, if the motor driving the lawnmower's wheels loses power, the wheels can still roll freely, which can easily cause the lawnmower to slip and lead to serious safety accidents.

[0037] To address the aforementioned issues, this application provides a parking control method and related equipment that enables safe parking of a lawnmower.

[0038] See Figure 1 , Figure 1 This is a flowchart illustrating a parking control method provided in an embodiment of this application. Figure 1 As shown, the parking control method provided in this application includes:

[0039] S101: Lawn mower receives shutdown command.

[0040] The shutdown command is used to instruct the lawnmower to turn off.

[0041] In some potential application scenarios, the shutdown command can be generated by the user directly pressing the shutdown button on the lawnmower or the shutdown button on the lawnmower's remote control. Alternatively, the shutdown command can be automatically generated by the lawnmower when the battery is low and it needs to shut down automatically. Or, the shutdown command can be generated by the user clicking the "shutdown" button in an application on a terminal device such as a personal computer, smartphone, or handheld device. Therefore, the lawnmower can receive shutdown commands or generate them itself.

[0042] S102: The lawnmower lowers the blade head according to the shutdown command so that the blade head touches the ground.

[0043] The blade disc is the component in a lawnmower used to perform the mowing operation.

[0044] In some possible implementations, the lawnmower controls the blade head to descend according to a shutdown command, so that the blade head touches the ground. This includes: after receiving the shutdown command, the lawnmower controls a first motor in the lawnmower to drive the blade head downwards until the first motor stalls or the blade head descends to a target position. The first motor is used to drive the blade head to rise or fall. The first motor can be the blade head lifting motor mentioned above in the lawnmower. The target position indicates the lowest height the blade head can descend to.

[0045] Specifically, after receiving the shutdown command, the lawnmower (such as the circuit board in the lawnmower) can generate a descent command to instruct the first motor to lower the cutter head, and then send the descent command to the first motor. After receiving the descent command, the first motor drives the cutter head to descend.

[0046] If the cutter head touches the ground during descent, it indicates that the cutter head has not yet reached the target position or has just reached the target position, which will cause the first motor to stall. When the first motor stalls, it should stop driving the cutter head to continue descending until the cutter head is at the height just touching the ground. Therefore, when the first motor stalls, it generates a stall signal indicating that it is stalling and sends this signal to the lawnmower (such as the circuit board in the lawnmower). After receiving the stall signal, the lawnmower (such as the circuit board in the lawnmower) generates a first stop command to instruct the first motor to stop running and sends the first stop command to the first motor. After receiving the first stop command, the first motor stops running, causing the cutter head to stop descending. At this point, the lawnmower has completed the descent of the cutter head.

[0047] See Figure 2 , Figure 2 This is a schematic diagram illustrating a scenario where the blade of a lawnmower is pressed against the ground, as provided in an embodiment of this application. Figure 2 As shown, when the lawnmower is on a slope, the control blade lowers so that it can touch the ground. Compared to only the lawnmower wheels contacting the ground, both the wheels and the blade contact the ground simultaneously, which increases the contact area between the lawnmower and the ground, increases the friction between the lawnmower and the ground, and prevents the lawnmower from slipping down the slope.

[0048] If the blade disc has descended to the target position but has not yet touched the ground, it indicates that the blade disc cannot touch the ground, and the first motor cannot drive the blade disc to continue descending. Therefore, when the blade disc descends to the target position, the first motor generates a first end signal to indicate that the blade disc descent is complete, and then sends the first end signal to the lawnmower (such as the circuit board in the lawnmower). After receiving the first end signal, the lawnmower (such as the circuit board in the lawnmower) generates a first stop command to indicate that the first motor should stop running, and then sends the first stop command to the first motor. After receiving the first stop command, the first motor stops running, causing the blade disc to stop descending. At this point, the lawnmower has completed the blade disc descent.

[0049] S103: After the lawnmower completes the descent of the cutter head, it controls the lawnmower to shut down according to the shutdown command.

[0050] In some possible implementations, after the lawnmower completes step S102, it controls the lawnmower wheels to enter a freely rotating state. That is, after the cutter head lowers and before shutting down the lawnmower according to the shutdown command, the lawnmower controls the wheels to enter a freely rotating state. If the lawnmower remains stationary while the wheels are in a freely rotating state, the lawnmower shuts down according to the shutdown command, i.e., the lawnmower executes the shutdown command to put the lawnmower in a shutdown state. The "freely rotating state" indicates the state in which the wheels are not restricted from rotating by the lawnmower.

[0051] In one specific implementation, the lawnmower controls the wheels to enter a freely rotating state by: de-energizing the second motor within the lawnmower to allow the wheels to rotate freely. The second motor drives the wheels to rotate. This second motor can be the drive motor in the aforementioned lawnmower. Specifically, after the cutter head lowers, the lawnmower (e.g., via a circuit board) can generate a second stop command instructing the second motor to stop operating, and then send this command to the second motor. Upon receiving the second stop command, the second motor stops operating and disconnects its power, allowing the wheels to rotate freely. Alternatively, after the cutter head lowers, the lawnmower (e.g., via a circuit board) can generate a power-off command instructing the second motor to cut off its power supply, and then send this command to the second motor. Upon receiving the power-off command, the second motor disconnects its power, allowing the wheels to rotate freely.

[0052] In some possible implementations, after the wheels are brought into a freely rotatable state, the lawnmower can determine whether it remains stationary by monitoring whether the wheels are rotating in this state. If the wheels are not rotating, the lawnmower is determined to be stationary. If the wheels are rotating, the lawnmower is determined to be moving.

[0053] In one specific implementation, the lawnmower monitors whether the wheels are rotating freely based on their rotational speed. Specifically, the lawnmower uses sensors such as magnetic encoders, photoelectric sensors, and Hall effect sensors to obtain the wheel speed, thereby monitoring whether the wheels are rotating freely. Taking a magnetic encoder as an example...

[0054] If the lawnmower repeatedly detects that the wheel speed generated by the magnetic encoder is less than a first threshold within a preset time period, or if the lawnmower determines that the average wheel speed generated by the magnetic encoder within the preset time period is less than the first threshold, then the wheel is considered to be in a freely rotatable state and not rotating. If the lawnmower repeatedly detects that the wheel speed generated by the magnetic encoder is greater than or equal to the first threshold within a preset time period, or if the lawnmower determines that the average wheel speed generated by the magnetic encoder within the preset time period is greater than or equal to the first threshold, then the wheel is considered to be rotating in a freely rotatable state. For example, if the lawnmower repeatedly detects that the wheel speed generated by the magnetic encoder is less than 0.01 revolutions per minute (rpm) within 10 seconds, or if the lawnmower determines that the average wheel speed generated by the magnetic encoder within 10 seconds is less than 0.01 rpm, then the wheel is considered to be in a freely rotatable state and not rotating; otherwise, the wheel is considered to be rotating in a freely rotatable state.

[0055] In another specific implementation, the lawnmower monitors whether the wheels are rotating in a freely rotatable state based on the lawnmower's displacement. Specifically, the lawnmower uses a triaxial accelerometer to acquire the lawnmower's displacement, thereby monitoring whether the wheels are rotating in a freely rotatable state. First, the triaxial accelerometer acquires the lawnmower's current acceleration in three directions. Then, the acceleration in each of the three directions is integrated to obtain the lawnmower's velocity in each of the three directions. Next, the velocity in each of the three directions is integrated to obtain the lawnmower's displacement in each of the three directions. If the lawnmower's displacement in all three directions is less than a second threshold, the wheels are considered not rotating in a freely rotatable state; if the lawnmower's displacement in any direction is greater than or equal to the second threshold, the wheels are considered to be rotating in a freely rotatable state.

[0056] In some possible implementations, if the lawnmower detects that the wheels are rotating freely (i.e., the lawnmower is moving while the wheels are rotating freely), it controls the blades to rise. Specifically, the lawnmower controls the first motor to drive the blades to rise, so that the blades are positioned above the target position and do not touch the ground. The process of the lawnmower controlling the first motor to drive the blades to rise is similar to the process of the lawnmower controlling the first motor to drive the blades to fall; for the sake of brevity, it will not be elaborated further here.

[0057] In some possible implementations, if the lawnmower detects that the wheels are rotating freely (i.e., the wheels are rotating freely and the lawnmower is moving), it monitors whether the lawnmower should stop. If the lawnmower stops, it controls itself to shut off according to a shutdown command. If the lawnmower does not stop, it can also perform a reminder operation to make it stop more quickly. The reminder operations that the lawnmower can perform are varied. Optionally, the lawnmower can control a buzzer to sound, reminding the user to take measures to stop the lawnmower, such as moving the lawnmower to level ground and bringing it to a standstill. When the lawnmower stops, the buzzer stops sounding. Optionally, the lawnmower can also send a text message to the user's terminal device or an application message to the application on the user's terminal device, reminding the user to take measures to stop the lawnmower. When the lawnmower detects that it has stopped moving, it sends a text message to the user's device or an application message to the application on the user's device to inform the user that the lawnmower has stopped.

[0058] In some possible implementations, if the lawnmower detects that the wheels are rotating freely (i.e., the wheels are rotating freely while the lawnmower is moving), the lawnmower controls the second motor to output power to the wheels. The output power is precisely enough to keep the lawnmower stationary; that is, the lawnmower aims to stop on the slope, controlling the amount of power output from the second motor to the wheels. If the lawnmower continues to move, indicating it is rolling down the slope, the lawnmower continues to aim to stop on the slope, equivalent to continuing to aim for a stationary state, controlling the second motor to output power to the wheels. During the process of controlling the second motor to output power to the wheels, the lawnmower monitors whether the power magnitude is at a first value, where the first value is close to 0 or equal to 0. When the power magnitude is at the first value, it can be understood that the output power is close to 0 but still able to keep the lawnmower stationary. This indicates that the lawnmower remains stationary not because of any output power, but because it has moved to level ground and stopped moving. In this case, the lawnmower has achieved safe parking, and therefore, the lawnmower can be turned off according to the shutdown command.

[0059] In summary, by implementing the embodiments of this application, before the lawnmower is turned off, the cutter head is lowered to contact the ground, allowing it to lock into place. This increases the contact area between the lawnmower and the ground, increasing friction and preventing the lawnmower from rolling away, especially on slopes, hills, and other complex terrains. Furthermore, after the cutter head lowers, the movement of the lawnmower is determined by monitoring whether the wheels are rotating freely, effectively confirming whether the lawnmower is rolling away. This ensures the lawnmower is indeed stationary before being turned off, improving safety during parking. Moreover, if movement is confirmed, further measures are taken to move the lawnmower to level ground and ensure it remains stationary, thus achieving safe parking.

[0060] See Figure 3 , Figure 3 This is a schematic diagram of a parking control device provided in an embodiment of this application. The parking control device 200 can be used to implement the aforementioned... Figure 1 Parking control methods. For example... Figure 3 As shown, the parking control device 200 includes: an acquisition unit 201, a first control unit 202, and a second control unit 203.

[0061] The acquisition unit 201 is used to acquire a shutdown command, which is used to instruct the lawnmower to turn off.

[0062] The first control unit 202 is used to control the descent of the lawnmower's blade according to the shutdown command.

[0063] The second control unit 203 is used to control the lawn mower to shut down according to the shutdown command after the first control unit 202 has completed the descent of the cutter head.

[0064] In some possible implementations, the first control unit 202 is specifically used to control the first motor of the lawnmower to drive the cutter head downwards until the first motor stalls or the cutter head descends to a target position. The first motor is used to drive the cutter head to rise or fall. The target position indicates the lowest height the cutter head can descend to.

[0065] In some possible implementations, the second control unit 203 is further configured to control the lawnmower wheels to enter a freely rotatable state after the first control unit 202 has completed the descent of the cutter head. The freely rotatable state indicates the state in which the wheels are not restricted from rotating by the lawnmower. The second control unit 203 is also configured to control the lawnmower to shut down according to a shutdown command when the lawnmower remains stationary while the wheels are in the freely rotatable state.

[0066] In some possible implementations, the second control unit 203 is also configured to monitor whether the wheels are rotating in the freely rotatable state after the wheels have been controlled to rotate. The second control unit 203 is also configured to determine that the lawnmower remains stationary if the wheels are not rotating.

[0067] In some possible implementations, the second control unit 203 is specifically used to de-energize the second motor of the lawnmower, thereby allowing the wheels to rotate freely. The second motor is used to drive the wheels to rotate.

[0068] In some possible implementations, the second control unit 203 is also used to monitor whether the lawnmower has stopped moving when the wheels are in a freely rotating state and the lawnmower is in motion. The second control unit 203 is also used to control the lawnmower to shut down according to a shutdown command when the lawnmower has stopped moving.

[0069] In some possible implementations, the second control unit 203 is also used to perform a reminder operation if the lawnmower does not stop moving.

[0070] In some possible implementations, the second control unit 203 is also used to control the second motor of the lawnmower to output power to the wheels when the lawnmower is moving and the wheels are in a freely rotating state; to monitor whether the magnitude of the power is a first value; and to control the lawnmower to shut down according to a shutdown command if the magnitude of the power is the first value. The second motor is used to drive the wheels to rotate.

[0071] The aforementioned acquisition unit 201, first control unit 202, and second control unit 203 can all be implemented in software or in hardware. For example, the implementation of the first control unit 202 will be described below. Similarly, the implementation of the acquisition unit 201 and the second control unit 203 can refer to the implementation of the first control unit 202.

[0072] As an example of a software functional unit, the first control unit 202 may include code running on a computing instance. The computing instance may include at least one of a physical host (computing device), a virtual machine, and a container. Further, the aforementioned computing instance may be one or more. For example, the first control unit 202 may include code running on multiple hosts / virtual machines / containers. It should be noted that the multiple hosts / virtual machines / containers used to run the code may be distributed in the same region or in different regions. Further, the multiple hosts / virtual machines / containers used to run the code may be distributed in the same availability zone (AZ) or in different AZs, each AZ including one or more geographically proximate data centers. Typically, a region may include multiple AZs.

[0073] Similarly, multiple hosts / virtual machines / containers used to run this code can be distributed within the same Virtual Private Cloud (VPC) or across multiple VPCs. Typically, a VPC is set up within a region. Communication between two VPCs within the same region, as well as between VPCs in different regions, requires a communication gateway to be set up within each VPC to enable interconnection between VPCs.

[0074] As an example of a hardware functional unit, the first control unit 202 may include at least one computing device, such as a server. Alternatively, the first control unit 202 may also be a device implemented using an application-specific integrated circuit (ASIC) or a programmable logic device (PLD). The PLD may be implemented using a complex programmable logical device (CPLD), a field-programmable gate array (FPGA), generic array logic (GAL), or any combination thereof.

[0075] The multiple computing devices included in the first control unit 202 can be distributed in the same region or in different regions. Similarly, the multiple computing devices included in the first control unit 202 can be distributed in the same Availability Zone (AZ) or in different AZs. Likewise, the multiple computing devices included in the first control unit 202 can be distributed in the same Virtual Private Cloud (VPC) or in multiple VPCs. These multiple computing devices can be any combination of computing devices such as servers, ASICs, PLDs, CPLDs, FPGAs, and GALs.

[0076] It should be noted that, in other embodiments, the acquisition unit 201 can be used to execute any step in the parking control method, the first control unit 202 can be used to execute any step in the parking control method, and the second control unit 203 can be used to execute any step in the parking control method. The steps implemented by the acquisition unit 201, the first control unit 202, and the second control unit 203 can be specified as needed. By implementing different steps in the parking control method through the acquisition unit 201, the first control unit 202, and the second control unit 203, all functions of the parking control device 200 can be realized.

[0077] See Figure 4 , Figure 4 This is a schematic diagram of the structure of a controller provided in an embodiment of this application. Figure 4 As shown, the controller 300 provided in this application includes: a bus 301, a processor 302, a memory 303, and a communication interface 304. The processor 302, the memory 303, and the communication interface 304 communicate with each other via the bus 301. It should be understood that this application does not limit the number of processors and memories in the controller 300.

[0078] Bus 301 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of representation, Figure 4 The bus 301 may be represented by a single line, but this does not mean that there is only one bus or one type of bus. The bus 301 may include a path for transmitting information between various components of the controller 300 (e.g., memory 303, processor 302, communication interface 304).

[0079] Processor 302 may include any one or more processors such as a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor (MP), or a digital signal processor (DSP).

[0080] Memory 303 may include volatile memory, such as random access memory (RAM). Memory 303 may also include non-volatile memory, such as read-only memory (ROM), flash memory, hard disk drive (HDD), or solid state drive (SSD).

[0081] The memory 303 stores executable program code, and the processor 302 executes the executable program code to implement the functions of the aforementioned acquisition unit 201, the first control unit 202, and the second control unit 203, thereby achieving the aforementioned Figure 1 The parking control method in the memory 303. That is, the memory 303 stores the instructions for executing the parking control method.

[0082] The communication interface 304 uses transceiver modules such as, but not limited to, network interface cards and transceivers to enable communication between the controller 300 and other devices or communication networks.

[0083] This application also provides a mobile device, which includes a controller and a cutter head. The controller is used to implement the aforementioned... Figure 1 Parking control methods.

[0084] This application also provides a computer program product containing instructions. This computer program product may be a software or program product containing instructions, capable of running on a computing device or stored on any usable medium. When the computer program product runs on the computing device, it causes the computing device to perform the aforementioned parking control method.

[0085] This application also provides a computer-readable storage medium. The computer-readable storage medium can be any available medium capable of being stored by a computing device, or a data storage device such as a data center containing one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state drive). The computer-readable storage medium includes instructions that instruct the computing device to perform the aforementioned parking control method.

[0086] It should be understood that in the embodiments of the present invention, "when," "...when," and "if" all refer to the device making corresponding processing under certain objective circumstances, and are not limited to a time, nor do they require the device to make a judgment action, nor do they imply any other limitations.

[0087] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. 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 protection scope of the technical solutions of the embodiments of this application.

Claims

1. A parking control method, characterized in that, Applied to a lawnmower, the lawnmower including a blade disc and a first motor, the first motor being used to drive the blade disc to rise or fall, the method comprising: Obtain a shutdown command, the shutdown command being used to instruct the lawnmower to turn off; Controlling the cutter head to descend according to the shutdown command so that the cutter head touches the ground includes: controlling the first motor to drive the cutter head to descend until the first motor stalls; After the blade head has descended, the lawnmower is turned off according to the shutdown command.

2. The method according to claim 1, characterized in that, The lawnmower includes wheels, and after the blade lowering is completed but before the lawnmower is shut off according to the shutdown command, the method further includes: The wheel is controlled to enter a freely rotatable state, wherein the freely rotatable state is used to indicate the state in which the wheel is not restricted from rotating by the lawnmower; The step of controlling the lawnmower to shut down according to the shutdown command includes: If the lawnmower remains stationary while the wheels are in the freely rotating state, the lawnmower is turned off according to the shutdown command.

3. The method according to claim 2, characterized in that, After controlling the wheel to enter a freely rotatable state, the method further includes: The system monitors whether the wheels are rotating in the freely rotating state. If the wheels are not rotating, the system determines that the lawnmower remains stationary.

4. The method according to claim 2, characterized in that, The lawnmower includes a second motor, which drives the wheels to rotate. Controlling the wheels to enter a freely rotating state includes: The second motor is de-energized to allow the wheel to switch to the freely rotating state.

5. The method according to any one of claims 2 to 4, characterized in that, The method further includes: If the lawnmower moves while the wheels are in the freely rotating state, then monitor whether the lawnmower stops moving; When the lawnmower stops moving, the lawnmower is turned off according to the shutdown command.

6. The method according to claim 5, characterized in that, The method further includes: A reminder operation is performed while the lawnmower is still in motion.

7. The method according to claim 2 or 3, characterized in that, The lawnmower includes a second motor for driving the wheels to rotate, and the method further includes: If the lawnmower moves when the wheel is in the freely rotating state, the second motor is controlled to output power to the wheel; Monitor whether the magnitude of the power is the first value; When the power is at the first value, the lawnmower is turned off according to the shutdown command.

8. A controller, characterized in that, The controller includes a memory and a processor, the memory storing computer program instructions, and the processor executing the computer program instructions to cause the controller to perform the method as described in any one of claims 1 to 7.

9. A lawnmower, characterized in that, The lawnmower includes a controller and a blade, the controller being used to implement the method as described in any one of claims 1 to 7.

10. A computer program product containing instructions, characterized in that, When the instructions are executed by the computing device, the computing device performs the method as described in any one of claims 1 to 7.

11. A computer-readable storage medium, characterized in that, It includes computer program instructions, which, when executed by a computing device, cause the computing device to perform the method as described in any one of claims 1 to 7.

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