A mower working method, system, storage medium and intelligent terminal

Abstract

The application relates to a lawnmower working method, system, storage medium and intelligent terminal, relates to the field of lawnmower control technology, and comprises the following steps: acquiring a current time; when a working command is received, performing mowing according to a mowing path, acquiring a mowing current and a mowing duration, forming a mowing curve, determining a mowing current average value based on the mowing curve, searching for a vegetation growth rate from a detection database based on the mowing current average value, searching for a mowing plan interval duration from a frequency database based on the vegetation growth rate, calculating an expected mowing time based on the current time, the mowing duration and the mowing plan interval duration, and updating the mowing plan interval duration to be stored in the detection database, forming a working command at the expected mowing time and continuing to receive, and updating the expected mowing time to be the current time. The application has the effect that the mowing time of the next time is determined through calculation of the current of the current mowing, over-frequent mowing is prevented, resource waste is avoided, and the mowing efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of lawn mower control technology, in particular to a lawn mower working method, system, storage medium and intelligent terminal. BACKGROUND

[0002] The lawn mower is also called grass trimmer, grass cutter, lawn trimmer, etc. The lawn mower is a mechanical tool for trimming lawns, vegetation, etc.

[0003] In the prior art, it is composed of a chassis, a mower body, a cutter head assembly, a walking mechanism, a handrail and a control part. The traditional lawn mower needs to be manually operated, which is labor-intensive. In recent years, automatic lawn mowers and lawn mower robots have appeared, which basically realize automatic mowing. With the development of automatic lawn mowers, intelligent lawn mowers have gradually appeared. When a user uses an intelligent lawn mower, only needs to set the interval time between two adjacent mowing operations and other operation parameters, and the intelligent mowing can be completed.

[0004] In the prior art, there are the following problems. Due to different seasons and weather conditions, the growth cycle of grass is different. In the period when the grass grows slowly, the same interval time is used for mowing operation, which leads to too frequent work of the intelligent lawn mower, causing resource waste, and there is still room for improvement. SUMMARY

[0005] In order to improve the problem that the same interval time is used for mowing operation, which leads to too frequent work of the intelligent lawn mower, causing resource waste, the present application provides a lawn mower working method, system, storage medium and intelligent terminal.

[0006] In a first aspect, the present application provides a lawn mower working method, which adopts the following technical solution:

[0007] A lawn mower working method, comprising:

[0008] obtaining a current time;

[0009] when a preset working command is received, mowing according to a preset mowing path and obtaining a mowing current and a mowing time length;

[0010] forming a mowing curve of the mowing path and the mowing current;

[0011] determining a mowing current average based on the mowing curve;

[0012] finding a corresponding vegetation growth rate from a preset detection database based on the mowing current average;

[0013] finding a corresponding mowing plan interval time length from a preset frequency database based on the vegetation growth rate;

[0014] calculating the expected mowing time based on the current time, the mowing time length and the mowing plan interval time length, and updating the mowing plan interval time length stored in the detection database;

[0015] forming a work command at the expected mowing time and continuing to receive, and updating the expected mowing time to the current time.

[0016] By using the above technical solution, the growth of the grass on the lawn is estimated by calculating the current during the mowing, so that the next mowing time is determined according to the growth, on the one hand, to prevent excessive frequent mowing from causing resource waste, and on the other hand, to avoid the situation that the grass on the lawn is too high and the mowing is laborious, thereby improving the mowing efficiency.

[0017] Optionally, the method for obtaining the mowing current comprises:

[0018] mowing according to the preset first altitude when mowing according to the mowing path;

[0019] defining the mowing current obtained by mowing according to the mowing path as a forward mowing current;

[0020] forming a reverse mowing path based on the mowing path;

[0021] mowing according to the reverse mowing path and a calibrated mowing height and obtaining a reverse mowing current, the calibrated mowing height being an altitude lower than the first altitude and being a set altitude;

[0022] determining a current mapping relationship of the forward mowing current and the reverse mowing current based on the mowing path;

[0023] finding a corresponding vertical mowing current from a preset theoretical database based on the current mapping relationship, and updating the mowing current for output.

[0024] By using the above technical solution, the frequency of mowing is increased and the power of mowing is reduced by mowing twice, so that the mower is not damaged; secondly, the current size when the grass is in a vertical state is determined by forward and reverse mowing, so that the real situation of grass growth is determined, and the accuracy of the mower in judging the growth of the lawn is improved.

[0025] Optionally, it further comprises an adjustment method of the mowing curve, which comprises:

[0026] defining the corresponding segmented path in the corresponding mowing path as a zero-resistance segmented path when the mowing current is a preset zero-resistance current;

[0027] The zero-resistance segmented path is matched with preset historical mowing curves stored in the historical database to obtain a historical segmented mowing curve corresponding to the zero-resistance segmented path.

[0028] The zero-resistance segmented path is deleted from the mowing path and the mowing curve is updated when the mowing current corresponding to the historical segmented mowing curve is zero-resistance current.

[0029] No adjustment is performed when the mowing current corresponding to the historical segmented mowing curve is not zero-resistance current.

[0030] By using the above technical solution, if a region in the mowing curve is not detected to have vegetation for multiple times, it is determined that there is no vegetation or the vegetation has died, and if the region is included in the next mowing plan, the next mowing plan will be delayed in fact. Therefore, the current of the region is deleted, so that the growth of the vegetation is truly reflected, and the accuracy of the determination of the growth of the vegetation is improved.

[0031] Optionally, the method further comprises a method for establishing the historical database, which comprises:

[0032] The segmented historical database is formed based on the preset segmented path, and the segmented historical database is used to store only the mowing curve whose mowing current corresponding to the segmented path is zero-resistance current.

[0033] The mowing curve is defined as an abnormal mowing curve when the mowing current is zero-resistance current.

[0034] The zero-resistance segmented path is matched with the segmented path corresponding to the segmented historical database to obtain a matched segmented historical database, and the matched segmented historical database is defined as a matching segmented historical database.

[0035] The abnormal mowing curve is stored in the matching segmented historical database, data stored in other historical segmented databases except the matching segmented historical database is emptied, and the number of abnormal mowing curves accumulated in the matching historical database is counted.

[0036] The matching segmented historical database is output as the historical database when the number of abnormal mowing curves is greater than or equal to a preset reference determination number.

[0037] No output is performed when the number of abnormal mowing curves is less than the reference determination number.

[0038] The mowing curve is not adjusted when the historical database is not output.

[0039] Optionally, the method for mowing by the mowing machine according to the mowing path comprises:

[0040] The current mowing height and the height of the mowing machine are obtained.

[0041] maintaining the current mowing height unchanged and continuing to mow along the mowing path when the current mowing height is the first altitude;

[0042] calculating an adjustable height range based on the mowing machine height and a preset relative adjustment range when the current mowing height is not the first altitude;

[0043] controlling the current mowing height of the mowing machine to adjust to the calibration mowing height when the first altitude falls within the adjustable height range;

[0044] outputting an alarm signal when the first altitude does not fall within the adjustable height range.

[0045] By adopting the above technical solution, when the mowing height of the mowing machine fluctuates due to the bumps on both sides, the height of mowing can be changed to ensure that the upper end of the grass on the entire lawn is on a plane, thereby ensuring the aesthetics of the lawn.

[0046] Optionally, the method further comprises a mowing path adjustment method, which comprises:

[0047] obtaining a detection thrust detected by a detection device in front of the mowing machine, and forming a resistance curve, wherein the resistance curve is a curve of the mowing path and the detection thrust;

[0048] analyzing the resistance curve to obtain a resistance curve category;

[0049] continuing to move forward along the mowing path when the resistance curve category is a preset non-obstacle category;

[0050] not changing the mowing path and continuing to move forward along the mowing path when the resistance curve category is a preset movable obstacle category;

[0051] determining a lateral avoidance path based on the mowing path and marking the lateral avoidance path when the resistance curve category is a preset immovable obstacle category;

[0052] continuing to obtain the resistance curve after moving along the lateral avoidance path until the resistance curve category is a non-obstacle category or a movable obstacle category, or continuing to generate and move along the lateral avoidance path.

[0053] By adopting the above technical solution, the resistance curve is used to determine whether there is an obstacle in front and whether it can be moved. If it cannot be moved, avoidance is performed, thereby improving the smoothness of mowing.

[0054] Optionally, the method of not changing the mowing path and continuing to move forward along the mowing path when the resistance curve category is a movable obstacle category comprises:

[0055] analyzing based on the resistance curve to obtain an end segment curve;

[0056] acquiring the current position when the end segment curve is a preset horizontal straight line;

[0057] determining the mowed area, the unmowed area and the current orientation based on the current position and the mowing path;

[0058] determining the pushing orientation based on the mowed area and the unmowed area;

[0059] determining the required rotation angle based on the current orientation and the pushing orientation;

[0060] controlling the mower to rotate around the stable position by the required rotation angle, then push the preset mowing width, and then return to the current position to continue advancing.

[0061] By using the above technical solution, if the current front obstacle is movable, it is moved into the area where the grass has been mowed, avoiding interference with the subsequent mowing path, and improving the smoothness of the mowing of the mower.

[0062] In a second aspect, the application provides a mower working system, which adopts the following technical solution:

[0063] A mower working system, comprising:

[0064] an acquisition module, configured to acquire the current time, the mowing current, the mowing time length, the forward mowing current, the reverse mowing current, the current mowing height, the mower height, the current position and the detected pushing force;

[0065] a memory, configured to store the program of the control method of any one of the above mower working methods;

[0066] a processor, the program in the memory can be loaded and executed by the processor and implement the control method of any one of the above mower working methods.

[0067] By using the above technical solution, the growth of the grass on the lawn is estimated by calculating the current during this mowing, so as to determine the next mowing time according to the growth, on the one hand, preventing over-frequent mowing from causing resource waste, and on the other hand, avoiding too long interval between mowing, so that the grass on the lawn is already very high and the mowing is relatively laborious, improving the mowing efficiency.

[0068] In a third aspect, the application provides an intelligent terminal, which adopts the following technical solution:

[0069] The intelligent terminal comprises a memory and a processor, and the memory stores a computer program capable of being loaded and executed by the processor to implement any one of the above mower working methods.

[0070] By adopting the technical scheme, the growth of the grass on the lawn is estimated by calculating the current during the mowing, and the mowing time of the next time is determined according to the growth, on the one hand, the resource waste caused by excessively frequent mowing is prevented, and on the other hand, the situation that the grass on the lawn is already very high and the mowing is laborious is avoided, and the mowing efficiency is improved.

[0071] In a fourth aspect, the application provides a computer storage medium, which can store a corresponding program and has the characteristics of large memory and fast data interaction.

[0072] The computer readable storage medium adopts the technical scheme as follows:

[0073] The computer readable storage medium stores a computer program capable of being loaded by a processor and executing the mowing machine working method.

[0074] By adopting the technical scheme, the growth of the grass on the lawn is estimated by calculating the current during the mowing, and the mowing time of the next time is determined according to the growth, on the one hand, the resource waste caused by excessively frequent mowing is prevented, and on the other hand, the situation that the grass on the lawn is already very high and the mowing is laborious is avoided, and the mowing efficiency is improved.

[0075] In summary, the application has the following at least beneficial technical effects:

[0076] 1. The mowing time of the next time is determined by calculating the current during the mowing, the resource waste caused by excessively frequent mowing is prevented, and the mowing efficiency is improved;

[0077] 2. The current size when the grass is in the vertical state is determined by forward and reverse mowing, the real growth of the grass is determined, and the accuracy of the mowing machine in judging the growth of the lawn is improved;

[0078] 3. Whether the front obstacle exists and whether it can be moved is determined by the resistance curve, if it cannot be moved, avoidance is performed, and the mowing fluency of the mowing machine is improved. BRIEF DESCRIPTION OF DRAWINGS

[0079] Figure 1 is a flowchart of a mowing machine working method in an embodiment of the application.

[0080] Figure 2 is a flowchart of a method for acquiring a mowing current in an embodiment of the application.

[0081] Figure 3 is a flowchart of a mowing curve adjustment method in an embodiment of the application.

[0082] Figure 4This is a flowchart of the method for establishing a historical database in an embodiment of this application.

[0083] Figure 5 This is a flowchart of the method by which a lawnmower mows grass according to a mowing path, as described in this application embodiment.

[0084] Figure 6 This is a flowchart of the method for adjusting the mowing path in the embodiments of this application.

[0085] Figure 7 This is a schematic diagram of the mowing path of the lawnmower in the embodiments of this application.

[0086] Figure 8 This is a flowchart of a method in this application embodiment for continuing to move along the mowing path without changing the mowing path when the resistance curve category is a pushable obstacle category.

[0087] Figure 9 This is a system module diagram of a lawnmower working method according to an embodiment of this application. Detailed Implementation

[0088] To make the purpose, technical solution, and advantages of this application clearer, the following description is provided in conjunction with the appendix. Figures 1-9 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the application.

[0089] This application discloses a method for operating a lawnmower. (Refer to...) Figure 1 A method of operating a lawnmower includes:

[0090] Step 100: Get the current time.

[0091] The current time is the present time. This time is obtained in real time and can be calculated using a timer.

[0092] Step 101: Upon receiving a preset work command, mow the grass according to the preset mowing path and obtain the mowing current and mowing duration.

[0093] The work command is the instruction that the lawnmower needs to start working. This command can be issued automatically by the system or manually. The current time can also be obtained after receiving the work command, reducing the need to constantly check the current time. The mowing path is the path set by the user according to the needs of the area to be mowed. The mowing current is the magnitude of the current fed back by the cutter head during mowing. It is generally related to the height and density of the grass being mowed and can be detected by a detection circuit installed in the cutter head. That is, the greater the resistance of the cutter head, the greater the resistance, and the smaller the feedback current. The mowing time is the time required for the lawnmower to mow along the mowing path.

[0094] Step 102: forming a mowing curve of the mowing path and the mowing current.

[0095] The mowing curve is a curve formed by the mowing path and the mowing current, that is, the horizontal coordinate of each point on the curve is the position on the mowing path, and the vertical coordinate is the current size at the position.

[0096] Step 103: determining the mowing current average based on the mowing curve.

[0097] The mowing current average is the average value of the current on the mowing curve. The average value is obtained by calculation.

[0098] Step 104: finding the corresponding vegetation growth rate from the preset detection database based on the mowing current average.

[0099] The vegetation growth rate is the growth speed of the vegetation at the current time. The detection database stores the mapping relationship between the mowing current average and the vegetation growth rate. Here, it is assumed that the previous mowing is calculated according to the preset time, so the mowing current average is directly related to the vegetation growth rate, which is recorded by the workers in the field according to the detected current when mowing different height and density of vegetation. When the system receives the corresponding mowing current average, it automatically finds the corresponding vegetation growth rate from the database and outputs it.

[0100] Step 105: finding the corresponding mowing plan interval duration from the preset frequency database based on the vegetation growth rate.

[0101] The mowing plan interval duration is the time interval between the next mowing and the current mowing. Here, it is assumed that the timing starts from the end of the current mowing. The database stores the mapping relationship between the vegetation growth rate and the mowing plan interval duration. The workers in the field set the frequency according to the actual situation and their own experience to obtain the required frequency. When the system receives the corresponding vegetation growth rate, it automatically finds the corresponding mowing plan interval duration from the database.

[0102] Step 106: calculating the predicted mowing time based on the current time, the mowing duration and the mowing plan interval duration, and updating the mowing plan interval duration stored in the detection database.

[0103] The expected mowing time is the time of the next mowing. The calculation is based on the current time plus the mowing duration and the mowing plan interval duration. The purpose of updating the mowing plan interval duration stored in the detection database is to replace the originally default mowing interval, thereby updating the detection database. The reason for updating is that the previous mowing plan interval duration cannot be determined, and only in this time can the mowing interval duration between the next mowing and the current mowing be obtained. Therefore, if there is no mowing plan interval duration, the default interval duration is used by default.

[0104] Step 107: Form a work command at the expected mowing time and continue to receive, and update the expected mowing time to the current time.

[0105] Referring to Figure 2 The method for obtaining the mowing current comprises:

[0106] Step 200: Mow according to the preset first elevation when mowing along the mowing path.

[0107] The first elevation is the height of the first mowing.

[0108] Step 201: Define the mowing current obtained by mowing along the mowing path as a forward mowing current.

[0109] Step 202: Form a reverse mowing path based on the mowing path.

[0110] The reverse mowing path is a path in the opposite direction of the mowing path, i.e., the same path but in the opposite direction.

[0111] Step 203: Mow according to the reverse mowing path and the designated mowing height and obtain a reverse mowing current.

[0112] The designated mowing height is a height lower than the first elevation and is a set height. Here, the height of the entire lawn is not directly set as the designated mowing height, but is mowed twice, with the purpose of reducing the pressure on the mower and allowing subsequent detection of whether the grass on the lawn is tilted.

[0113] Step 204: Determine the current mapping relationship between the forward mowing current and the reverse mowing current based on the mowing path.

[0114] The current mapping relationship is the relationship between the forward mowing current and the reverse mowing current, which is associated through the mowing path, i.e., there is a current mapping relationship between the forward mowing current and the reverse mowing current at the same position on the mowing path.

[0115] Step 205: Find the corresponding vertical mowing current from the preset theoretical database based on the current mapping relationship, and update and output the mowing current.

[0116] The vertical mowing current is the theoretical mowing current when the grass is growing vertically. The current mapping relationship and the mapping relationship of the vertical mowing current are stored in the database. The current mapping relationship is obtained by testing the grass with different heights and different inclination degrees, and then the same grass is placed vertically and tested to obtain the vertical mowing current, and then the two are mapped to obtain the mapping relationship stored in the database.

[0117] Reference Figure 3 It also includes an adjustment method of the mowing curve, which comprises:

[0118] Step 300: Define the corresponding segmented path in the corresponding mowing path as the zero-resistance segmented path when the mowing current is the preset zero-resistance current.

[0119] The zero-resistance current is the detection current when the mower is idling without mowing the grass. It is obtained by idling detection.

[0120] Step 301: Match the zero-resistance segmented path and the historical mowing curve stored in the preset historical database to obtain the historical segmented mowing curve corresponding to the zero-resistance segmented path.

[0121] The historical mowing curve is the mowing curve in the past mowing process. The current curve is stored in the historical database every time mowing is performed. The historical segmented mowing curve is the curve part corresponding to the zero-resistance segmented path in the historical mowing curve. The matching method is to directly pass through any coordinate in the zero-resistance segmented path as the horizontal coordinate, and then correspond to the historical mowing curve to obtain the coordinate point set, which is the historical segmented mowing curve.

[0122] Step 302: Delete the zero-resistance segmented path from the mowing path and update the mowing curve when the mowing current corresponding to the historical segmented mowing curve is the zero-resistance current.

[0123] When the mowing current corresponding to the historical segmented mowing curve is the zero-resistance current, it means that there is no obstacle at this time, i.e. the grass does not grow to this position, so there is a high probability that there is no vegetation or the vegetation has died, so the zero-resistance segmented path is deleted from the mowing path and the mowing curve is updated to obtain the current of the real grass area. It should be noted that the mowing curve is only used this time, and the original mowing path and mowing curve are still stored in the historical database.

[0124] Step 303: Do not adjust when there is a mowing current corresponding to the historical segmented mowing curve that is not a zero-resistance current.

[0125] The fact that the mowing current corresponding to the historical segment mowing curve is not zero resistance current is only a sudden case, and in order to avoid false calculation, no adjustment is made.

[0126] Referring to Figure 4 The method also includes a method for establishing a historical database, which includes:

[0127] Step 400: Form a segment historical database based on a preset segment path.

[0128] The segment path is a path in the same vegetation or in the same environment. Here, segmentation can also be performed according to length, for example, 0-10 cm is the first segment path, and 10-20 cm is the second segment path. The segmentation is obtained according to human setting. The segment historical database is only used to store the mowing curve corresponding to the mowing current of zero resistance current for the segment path. Initially, no data exists in the segment historical database, and data is stored only in the subsequent process.

[0129] Step 401: Define the mowing curve as an abnormal mowing curve when the mowing current is zero resistance current.

[0130] Step 402: Match the zero resistance segment path with the segment path corresponding to the segment historical database to obtain a matching segment historical database, and define the segment historical database as a matching segment historical database.

[0131] Step 403: Store the abnormal mowing curve in the matching segment historical database, clear the data stored in the other historical segment databases except the matching segment historical database, and accumulate the number of abnormal mowing curves in the matching historical database.

[0132] The number of abnormalities is the number of abnormal mowing curves in the matching historical database.

[0133] When the mowing current is zero resistance current, it also reflects that the remaining segments are not zero, which indicates that the grass can still grow in the segment path of the region, and therefore the data stored in the other historical segment databases except the matching segment historical database is cleared.

[0134] Step 404: Output the matching segment historical database as a historical database when the number of abnormalities is greater than or equal to a preset reference judgment number.

[0135] The reference judgment number is a number set by a human being to judge whether the zero resistance current is caused by damage to the vegetation or absence of the vegetation, that is, when the number exceeds the number, it is determined that the vegetation is damaged or does not exist. When it is greater, it means that the vegetation is damaged, and therefore the historical database can be output.

[0136] Step 405: When the abnormal number is less than the reference judgment number, the output is not performed.

[0137] Step 406: When the history database does not output, the mowing curve is not adjusted.

[0138] Referring to Figure 5 , the method for mowing grass by the mower includes:

[0139] Step 500: Obtain the current mowing height and the mower height.

[0140] The current mowing height is the altitude of the cutter head. It can be obtained by setting an altimeter on the cutter head. The mower height is the altitude of the tires on both sides of the mower. It can be measured by the altimeter.

[0141] Step 501: When the current mowing height is the first altitude, maintain the current mowing height unchanged and continue mowing according to the mowing path.

[0142] When the current mowing height is the first altitude, it means that the requirement that the upper ends of the grass on the lawn are all at the same level is met at this time, and no change is needed.

[0143] Step 502: When the current mowing height is not the first altitude, calculate the adjustable height range based on the mower height and the preset relative adjustment range.

[0144] The relative adjustment range is the range of the relative movement of the mower itself defined by the structure of the mower itself. The adjustable height range is the range of the height that the cutter head of the mower can reach. The calculation method is to add the relative adjustment range to the mower height.

[0145] Step 503: When the first altitude falls within the adjustable height range, control the current mowing height of the mower to adjust to the calibrated mowing height.

[0146] When the first altitude falls within the adjustable height range, it means that the cutter head on the mower can be adjusted to the calibrated mowing height, and the adjustment is performed.

[0147] Step 504: When the first altitude does not fall within the adjustable height range, output an alarm signal.

[0148] The alarm signal is a signal that the mower cannot meet the requirement that the upper ends of the grass on the lawn are all at the same level, and may appear raised or depressed, so as to let the user know. The output method can be in the form of flashing red light on the mower.

[0149] Referring to Figure 6 , the method for adjusting the mowing path includes:

[0150] Step 600: Obtain the detection thrust detected by the detection device in front of the lawnmower and generate a resistance curve.

[0151] The detected thrust is the thrust measured by a detection instrument located in front of the lawnmower. This thrust can be obtained from a pressure sensor. The resistance curve represents the mowing path and the detected thrust, with the horizontal axis representing the position along the mowing path and the vertical axis representing the magnitude of the detected thrust.

[0152] Step 601: Analyze the resistance curves to obtain the resistance curve category.

[0153] The resistance curve category is a classification of resistance curves, and there are three categories here: no obstacle, movable obstacle, and immovable obstacle. The no-obstacle category is for situations where there are no obstacles. The movable obstacle category is for situations where there is a movable obstacle in front of the resistance curve. The immovable obstacle category is for situations where there is an immovable obstacle in front of the resistance curve.

[0154] Step 602: Continue along the mowing path when the resistance curve category is the preset obstacle-free category.

[0155] When the category is "no obstacles," it means there are no obstacles ahead, and you can continue forward.

[0156] Step 603: When the resistance curve category is the preset pushable obstacle category, do not change the mowing path and continue to move along the mowing path.

[0157] When the resistance curve category is "pushable obstacle," it means that the obstacle does not affect the lawnmower's forward movement, so it continues to move forward.

[0158] Step 604: When the resistance curve category is a preset non-pushable obstacle category, determine the lateral avoidance path based on the mowing path and mark it.

[0159] The lateral avoidance path is the path taken to avoid an obstacle. For example, here... Figure 7 As shown, the lateral avoidance path is determined by moving laterally a set distance, then returning to the mowing path at a fixed tilt angle, and then continuing forward.

[0160] Step 605: After moving along the lateral avoidance path, continue to acquire resistance curves until the resistance curve category is either the obstacle-free category or the pushable obstacle category, or continue to generate and move along the lateral avoidance path.

[0161] Reference Figure 8 Methods for continuing along the mowing path without changing the mowing path when the resistance curve category is a pushable obstacle include:

[0162] Step 700: Analyze the resistance curve to obtain the end segment curve.

[0163] The end segment curve is the curve of the last segment in the generated resistance curve. The length of this end segment can be set manually. That is, a curve of a set length is intercepted from the resistance curve starting from the farthest point and moving forward.

[0164] Step 701: Obtain the current position when the end segment curve is a preset horizontal straight line.

[0165] The horizontal line is a straight line. The current position is the current position of the lawnmower. When the end segment curve is a horizontal line, it means that the thrust remains stable and no debris is being generated ahead.

[0166] Step 702: Determine the mowed area, unmowed area, and current orientation based on the current location and mowing path.

[0167] The mowed area refers to the area where the lawn has already been mowed. For example... Figure 7 As shown, if the current position of the lawnmower is as follows: Figure 7 As shown, the areas below and to the left are mowed areas. The unmowed areas are those that have not yet been mowed. Figure 7 The image shows the area excluding the mowed areas. The current orientation is the current direction the lawnmower is moving, as shown below. Figure 7 The direction shown is upward.

[0168] Step 703: Determine the push direction based on the mowed and unmowed areas.

[0169] Push the grass in the direction from unmowed areas to mowed areas, such as... Figure 7 As shown, if the left side is the mowed area and the right side is the mowed area, then the pushing direction is to the left.

[0170] Step 704: Determine the required rotation angle based on the current orientation and the pushing orientation.

[0171] The required rotation angle is the angle by which the lawnmower needs to rotate around a stable position, such as... Figure 7 The angle shown is 90°.

[0172] Step 705: Control the lawnmower to rotate around the stable position by the required rotation angle, then push it to the preset mowing width, and then return to the current position to continue moving forward.

[0173] The mowing width is the width of a single mowing pass, such as... Figure 7 As shown, this represents the distance between the two dashed lines.

[0174] Based on the same inventive concept, embodiments of the present invention provide a lawnmower working system.

[0175] Referring to Figure 9 A mower working system comprises:

[0176] An acquisition module is configured to acquire a current time, a mowing current, a mowing time length, a forward mowing current, a reverse mowing current, a current mowing height, a mower height, a current position and a detected resistance;

[0177] A memory is configured to store a program of a control method of a mower working method;

[0178] A processor, the program in the memory can be loaded and executed by the processor and implement a control method of a mower working method.

[0179] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional modules is taken as an example, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the above-described system, device and unit can refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

[0180] The embodiment of the present application provides a computer readable storage medium, which stores a computer program capable of being loaded and executed by a processor to implement a mower working method.

[0181] The computer storage medium includes, for example, a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk and various program code storage media.

[0182] Based on the same inventive concept, the embodiment of the present application provides an intelligent terminal comprising a memory and a processor, the memory stores a computer program capable of being loaded and executed by the processor to implement a mower working method.

[0183] The above are preferred embodiments of the present application, and do not limit the protection scope of the present application, any feature disclosed in the specification (including the abstract and the drawings) can be replaced by other equivalent or similar purpose replacement features, unless specifically described. That is, unless specifically described, each feature is only an example of a series of equivalent or similar features.

Claims

1. A method for operating a lawnmower, characterized in that, include: Get the current time; Upon receiving a preset work command, the system performs mowing according to a preset mowing path and obtains the mowing current and mowing duration. The mowing curve forms the mowing path and the mowing current; The average mowing current was determined based on the mowing curve. The corresponding vegetation growth rate is found from a pre-set detection database based on the average mowing current. The corresponding mowing schedule interval is retrieved from a preset frequency database based on the vegetation growth rate. The estimated mowing time is calculated based on the current time, mowing duration, and planned mowing interval, and then updated to the planned mowing interval and stored in the detection database. Work orders are generated at the estimated mowing time and continue to be received, and the estimated mowing time is updated to the current time.

2. The method for operating a lawnmower according to claim 1, characterized in that, Methods for obtaining mowing current include: When mowing according to the mowing path, mowing should be carried out at the preset initial elevation. The mowing current obtained by mowing according to the mowing path is defined as the positive mowing current. Reverse mowing paths are generated based on the mowing paths; Mowing is performed according to the reverse mowing path and the calibrated mowing height, and the reverse mowing current is obtained. The calibrated mowing height is a height lower than the initial altitude and is a set height. The current mapping relationship between the forward and reverse mowing currents is determined based on the mowing path. Based on the current mapping relationship, the corresponding vertical mowing current is found from the preset theoretical database and updated to the mowing current for output.

3. The method for operating a lawnmower according to claim 1, characterized in that, It also includes methods for adjusting the mowing curve, which include: When the mowing current is the preset zero-resistance current, the corresponding segment path in the mowing path is defined as the zero-resistance segment path. The zero-resistance segmented path is matched with the historical mowing curves stored in the preset historical database to obtain the historical segmented mowing curves corresponding to the zero-resistance segmented path. When the mowing current corresponding to the historical segmented mowing curves are all zero-resistance currents, the zero-resistance segmented path is deleted from the mowing path and the mowing curve is updated. No adjustment is made when there is a historical segmented mowing curve with a non-zero resistance current corresponding to the mowing current.

4. The method for operating a lawnmower according to claim 3, characterized in that, It also includes methods for establishing historical databases, which include: A segmented historical database is formed based on a preset segmented path. The segmented historical database is only used to store the mowing curves where the mowing current is zero resistance current corresponding to the segmented path. When the mowing current is zero resistance current, the mowing curve is defined as the abnormal mowing curve; Match the zero-resistance segmented path with the segmented historical database to obtain the successfully matched segmented historical database, and define the segmented historical database as the matched segmented historical database. Abnormal mowing curves are stored in the matching segment history database, and the data stored in other historical segment databases other than the matching segment history database is cleared. The number of abnormal mowing curves in the matching history database is accumulated. When the number of anomalies is greater than or equal to the preset number of reference judgments, the matching segmented historical database will be output as the historical database; No output is generated when the number of exceptions is less than the reference judgment number; The mowing curve is not adjusted when the historical database is not output.

5. The method for operating a lawnmower according to claim 1, characterized in that, Methods for lawnmowers to mow grass according to a mowing path include: Get the current mowing height and lawnmower height; If the current mowing height is the same as the initial elevation, maintain the current mowing height and continue mowing according to the mowing path; When the current mowing height is not the initial altitude, the adjustable height range is calculated based on the mower height and the preset relative adjustment range; When the altitude first falls within the adjustable height range, the current mowing height of the lawnmower is adjusted to the calibrated mowing height. An alarm signal is output when the altitude does not fall within the adjustable altitude range for the first time.

6. The method for operating a lawnmower according to claim 1, characterized in that, It also includes methods for adjusting the mowing path, which include: The detection thrust detected by the detection device in front of the lawnmower is obtained and a resistance curve is formed, wherein the resistance curve is the curve of the mowing path and the detection thrust. Analyze the resistance curves to determine their categories; Continue along the mowing path when the resistance curve category is the preset obstacle-free category; When the resistance curve category is a preset pushable obstacle category, the mowing path is not changed and the mowing path continues to move along the mowing path; When the resistance curve category is a preset non-pushable obstacle category, a lateral avoidance path is determined based on the mowing path and marked. After moving along the lateral avoidance path, continue to acquire resistance curves until the resistance curve category is either the obstacle-free category or the pushable obstacle category, or continue to generate and move along the lateral avoidance path.

7. A method for operating a lawnmower according to claim 6, characterized in that, At Methods for maintaining the mowing path and continuing along it when the resistance curve category is a pushable obstacle include: Analysis based on the resistance curve yields the end-piece segmented curve; The current position is obtained when the end segment curve is a preset horizontal straight line; Determine the mowed area, unmowed area, and current orientation based on the current location and mowing path; Determine the driving direction based on the mowed and unmowed areas; Determine the required rotation angle based on the current orientation and the driving orientation; Control the lawnmower to rotate around a stable position by the required rotation angle, then push it to the preset mowing width, and then return to the current position to continue moving forward.

8. A lawnmower operating system, characterized in that, include: The acquisition module is used to acquire current time, mowing current, mowing duration, forward mowing current, reverse mowing current, current mowing height, mower height, current position, and detection thrust. A memory for storing a program of a control method for a lawnmower operating method as described in any one of claims 1 to 7; The processor and the program in the memory are capable of being loaded and executed by the processor to implement the control method for the operation of a lawnmower as described in any one of claims 1 to 7.

9. A smart terminal, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer program is stored that can be loaded by a processor and executed as described in any one of claims 1 to 7.

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