Control method, mowing equipment, electronic equipment and computer readable storage medium

Abstract

The invention provides a control method, mowing equipment, electronic equipment and a computer readable storage medium. The control method is used for controlling the rotating direction of a cutter head of the mowing equipment. The control method comprises the following steps: controlling the mowing equipment to mow along a mowing path in a working area; determining a target rotation direction of a cutter head when the mowing equipment mows; and the cutter head is controlled to rotate in the target rotation direction, so that grass cut by the cutter head is thrown to a target area located on one side of the mowing equipment, and the target area comprises the area without cutting and / or a cut area in the working area. The mowing equipment comprises a machine body, a cutter head and a controller, the cutter head and the controller are arranged on the machine body, and the controller is used for executing the control method. According to the control method, the cutterhead can be controlled to rotate in the target rotation direction, so that the cut grass is thrown to the target area, redundant grass is prevented from covering the to-be-cut grass in the non-mowing area, the resistance and power consumption of the cutterhead when the cutterhead treats the non-mowing area are reduced, and the mowing effect of the cutterhead is improved.

Description

Technical Field

[0001] The present application relates to the field of control technology, and in particular to a control method, a lawn mowing device, an electronic device, and a computer-readable storage medium. Background Art

[0002] When the existing mowing equipment moves along a specified mowing path, the blade of the mowing equipment keeps rotating to mow the grass. However, during the entire mowing process, the blade rotates in an incorrect direction, and the grass produced after mowing is thrown into the unmowed area in the working area. This will further cause the excess grass to cover the grass to be mowed in the unmowed area, resulting in increased resistance and power consumption of the blade when the mowing equipment subsequently processes the unmowed area. In addition, the grass to be mowed in the unmowed area is covered by the cut grass, which will also affect the mowing effect of the blade. Summary of the invention

[0003] The embodiments of the present application provide a control method, a lawn mowing device, an electronic device, and a computer-readable storage medium, which can solve at least part of the above-mentioned technical problems.

[0004] In a first aspect, the present application provides a control method for controlling the rotation direction of a blade of a mowing device, the control method comprising:

[0005] Controlling the mowing device to mow along a mowing path in a working area;

[0006] Determining a target rotation direction of the blade disc of the mowing device when mowing;

[0007] The cutter disc is controlled to rotate in the target rotation direction so as to throw the grass cut by the cutter disc to a target area located on one side of the mowing device, wherein the target area includes an area that does not need to be cut and / or a cut area in the working area, wherein the area that does not need to be cut is located outside the working area, and the cut area is an area that has been cut while the mowing device passes along the mowing path.

[0008] In a second aspect, the present application provides a lawn mowing device, which includes a body, a blade disc and a controller, wherein the blade disc and the controller are arranged on the body, and the controller is used to execute the steps of the above-mentioned control method.

[0009] In a third aspect, the present application provides an electronic device, including a processor and a memory, wherein the memory stores a computer program, and the processor runs the computer program to execute the steps of the above-mentioned control method.

[0010] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program is invoked by a processor to execute the steps of the above-mentioned control method.

[0011] The present application provides a control method, a mowing device, an electronic device and a computer-readable storage medium. The control method is used to control the rotation direction of a blade of a mowing device, and the control method includes: controlling the mowing device to mow along a mowing path in a working area; determining the target rotation direction of the blade when the mowing device is mowing; controlling the blade to rotate in the target rotation direction to throw the grass cut by the blade to a target area located on one side of the mowing device, wherein the target area includes an area that does not need to be cut and / or a cut area in the working area, wherein the area that does not need to be cut is located outside the working area, and the cut area is the mowed area that the mowing device passes along the mowing path. The mowing device includes a body, a blade and a controller, wherein the blade and the controller are arranged on the body, and the controller is used to execute the above control method. The electronic device includes a processor and a memory, wherein a computer program is stored in the memory, and the processor runs the computer program to execute the above control method. The computer-readable storage medium stores a computer program, and the computer program is called by the processor to execute the above control method. The control method of the present application can determine the target rotation direction and control the cutter disc to rotate in the target rotation direction so as to throw the cut grass to the area that does not need to be cut and / or the cut area, thereby avoiding throwing the grass produced after mowing to the uncut area in the working area, thereby avoiding excess grass covering the grass to be cut in the uncut area, reducing the resistance and power consumption of the cutter disc when processing the uncut area, and further improving the mowing effect of the cutter disc. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0013] Figure 1 Flow chart of a control method in one embodiment of the present application.

[0014] Figure 2 for Figure 1 A further sub-flow chart of step S2.

[0015] Figure 3This is a flow chart of a control method in another embodiment of the present application.

[0016] Figure 4 for Figure 3 A further sub-flow chart of step S4.

[0017] Figure 5 It is a schematic diagram of a case where the trajectory pattern of the mowing path in an embodiment of the present application is a first type of trajectory pattern.

[0018] Figure 6 This is a schematic diagram of a mowing path trajectory pattern of another embodiment of the present application when the trajectory pattern is a first type of trajectory pattern.

[0019] Figure 7 This is a flow chart of a control method in another embodiment of the present application.

[0020] Figure 8 It is a schematic diagram of a mowing path in an embodiment of the present application when the trajectory pattern is a second type of trajectory pattern.

[0021] Fig. 9 This is a schematic diagram of a mowing path having a trajectory pattern of a second type of trajectory pattern in another embodiment of the present application.

[0022] Fig.10 This is a flow chart of a control method in another embodiment of the present application.

[0023] Fig.11 This is a flow chart of a control method in yet another embodiment of the present application.

[0024] Fig.12 It is a schematic block diagram of a lawn mowing device in an embodiment of the present application.

[0025] Fig.13 It is a schematic block diagram of an electronic device in an embodiment of the present application.

[0026] Figure Number:

[0027] Working area-100; mowing path-200; starting point-201; sub-path-202; transition path-203; area not requiring cutting-300; mowing device-400; body-401; blade-402; controller-403; electronic device-500; memory-51; processor-52. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0029] In the description of the embodiments of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper" and "lower" is based on the orientation or positional relationship shown in the accompanying drawings. The term "connection" in this application, unless otherwise specified, mainly refers to a physical structural connection, and may also include meanings such as direct connection or indirect connection when specified. The terms "first" and "second" in the specification and claims of this application and the drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the term "includes" and any variations thereof are intended to cover non-exclusive inclusions.

[0030] See also Figure 1 , Figure 1 Flow chart of a control method in one embodiment of the present application. The control method is used to control the rotation direction of a blade of a mowing device, and the control method includes:

[0031] S1: Controlling the mowing device to mow along a mowing path in a working area;

[0032] S2: determining a target rotation direction of the blade disc of the mowing device when mowing;

[0033] S3: Control the cutter disc to rotate in the target rotation direction so as to throw the grass cut by the cutter disc to a target area located on one side of the mowing device, wherein the target area includes an area that does not need to be cut and / or an already cut area in the working area, wherein the area that does not need to be cut is located outside the working area, and the already cut area is an area that has been mowed by the mowing device along the mowing path.

[0034] Thus, the control method can determine the target rotation direction and control the cutter disc to rotate in the target rotation direction so as to throw the cut grass to the area that does not need to be cut and / or the cut area, thereby avoiding throwing the grass produced after mowing to the uncut area in the working area, thereby avoiding excess grass covering the grass to be cut in the uncut area, reducing the resistance and power consumption of the cutter disc when processing the uncut area, and further improving the mowing effect of the cutter disc.

[0035] In some embodiments, after the user purchases the mowing equipment, the user can remotely control the mowing equipment to walk along the boundary of the area that needs mowing. During the walking process, the mowing equipment will record information of multiple locations it has passed through, determine the working area based on the information of the multiple locations, and plan the mowing path within the working area.

[0036] See also Figure 2 , Figure 2 for Figure 1 The step of determining the target rotation direction of the blade disc of the mowing device when mowing comprises:

[0037] S21: determining a target side having the target area among two sides of the mowing device in a traveling direction along a mowing path;

[0038] S22: Determine the target rotation direction of the cutter disc according to the target side.

[0039] Thus, the target side is determined in real time during the moving process, and the target rotation direction of the cutter disc is determined according to the target side, so that the cutter disc rotates according to the target rotation direction, which can avoid the grass produced after mowing being thrown into the uncut area in the working area, thereby avoiding excess grass covering the grass to be cut in the uncut area, reducing the resistance and power consumption of the cutter disc when processing the uncut area, and further improving the mowing effect of the cutter disc.

[0040] In some embodiments, the step of determining the target side having the target area on either side of the mowing device in the direction of travel along the mowing path includes:

[0041] At least the current position of the mowing device when mowing is obtained, and the area that does not need to be cut is determined, and the cut area in the current working area is determined according to the current position, and the side where the area that does not need to be cut or the cut area is located in the moving direction of the mowing device is determined according to the current position as the target side.

[0042] Thus, the target side is determined at least according to the current position of the mowing device when mowing, so that the grass produced after mowing is thrown to the target side, thereby avoiding excess grass from covering the grass to be mowed in the unmowed area, reducing the resistance and power consumption of the cutter disc when processing the unmowed area, and further improving the mowing effect of the cutter disc.

[0043] In some embodiments, the current position and heading angle of the mowing device when mowing are obtained, and the area that does not need to be cut is determined, the cut area in the current working area is determined according to the current position, and the side of the area that does not need to be cut or the cut area in the moving direction of the mowing device is determined according to the current position and heading angle as the target side. A certain direction is taken as the positive direction, and the heading angle is the angle of the moving direction of the mowing device relative to the positive direction.

[0044] Specifically, for example, taking the north direction as the positive direction, the heading angle when the lawn mowing device is moving in the north direction is 0°, and the heading angle when the lawn mowing device is moving in the east direction is 90°.

[0045] In some embodiments, an origin may be set in the working area, a rectangular coordinate system may be established with the origin, and the current position of the mowing device when mowing may be determined according to the rectangular coordinate system.

[0046] In some other embodiments, the current position of the mowing device when mowing can be determined based on longitude and latitude.

[0047] In some embodiments, determining the cut area in the current working area according to the current position includes:

[0048] According to the current position of the mowing device when mowing and the starting point of the mowing path, the working area from the starting point to the current position of the mowing device is determined, and the area passed by the mowing device along the mowing path is the cut area.

[0049] Therefore, by determining the cut area in real time, the target side can be determined more accurately, thereby avoiding excess grass from covering the grass to be cut in the uncut area, reducing the resistance and power consumption of the cutter disc when processing the uncut area, and further improving the mowing effect of the cutter disc.

[0050] See also Figure 3 , Figure 3 This is a flow chart of a control method in another embodiment of the present application. Determining the target rotation direction of the blade of the mowing device when mowing includes:

[0051] S4: Determine the target rotation direction according to the trajectory pattern of the mowing path.

[0052] Therefore, the target rotation direction of the cutter disc at each position of the mowing path is determined directly according to the trajectory pattern of the mowing path, so as to control the cutter disc to throw the cut grass to the target area, thereby avoiding excess grass from covering the grass to be cut in the uncut area, reducing the resistance and power consumption of the cutter disc when processing the uncut area, and further improving the mowing effect of the cutter disc.

[0053] In some embodiments, the target rotation direction may be determined according to a trajectory pattern of the mowing path before the mowing device starts the mowing action.

[0054] See also Figure 4 , Figure 4 for Figure 3 The step S4 is a further sub-flow chart of step S4. The step of determining the target rotation direction according to the trajectory pattern of the mowing path comprises:

[0055] S41: when the trajectory pattern of the mowing path is a first type of trajectory pattern, determining the sub-path currently located by the mowing device as a target mowing sub-path according to the current position of the mowing device when mowing, wherein the mowing path includes a plurality of parallel sub-paths and transition paths connecting adjacent sub-paths, and the plurality of parallel sub-paths are connected end to end through corresponding transition paths to form the first type of trajectory pattern;

[0056] S42: Determine the corresponding target rotation direction according to the target mowing sub-path.

[0057] Thus, when the trajectory pattern of the mowing path is the first type of trajectory pattern, the mowing path is divided into multiple sub-paths, and the sub-path currently located by the mowing device is the target mowing sub-path, and then the corresponding target rotation direction is determined by the target mowing sub-path to control the cutter disc to throw the cut grass to the target area, thereby avoiding excess grass covering the grass to be cut in the uncut area, reducing the resistance and power consumption of the cutter disc when processing the uncut area, and further improving the mowing effect of the cutter disc.

[0058] In some embodiments, determining the corresponding target rotation direction according to the target mowing sub-path includes:

[0059] The target rotation direction corresponding to the target mowing sub-path is determined according to the correspondence between the multiple parallel sub-paths and the target rotation direction.

[0060] Thus, a correspondence between the multiple parallel sub-paths and the target rotation direction is preset, the target mowing sub-path is determined, and the target mowing sub-path is substituted into the correspondence to obtain the corresponding target rotation direction, and then the cutter disc is controlled to rotate in the target rotation direction to throw the cut grass to the target area, which can avoid throwing the grass produced after mowing to the uncut area in the working area, and thus avoid excess grass covering the grass to be cut in the uncut area, thereby reducing the resistance and power consumption of the cutter disc when processing the uncut area, and further improving the mowing effect of the cutter disc.

[0061] In some embodiments, the control method further includes:

[0062] During the mowing process of the mowing device, when the current position of the mowing device is located on the transition path, the output of the driving force for rotating the cutter disc is stopped.

[0063] Thus, when the mowing equipment is in the transition section, the drive of the cutter disc can be stopped to prevent the cutter disc from damaging components within the mowing equipment when the target rotation direction is quickly changed, and after the drive of the cutter disc is stopped, the cutter disc can continue to rotate due to inertia to continue mowing the area passed by the transition path.

[0064] See also Figure 5 and Figure 6 , Figure 5 2 is a schematic diagram of a mowing path 200 in an embodiment of the present application when the trajectory pattern is a first type of trajectory pattern. Figure 6 This is a schematic diagram of another embodiment of the present application in which the trajectory pattern of the mowing path 200 is a first type of trajectory pattern. The mowing path 200 is set in the working area 100, and the area outside the working area 100 is the area 300 that does not need to be cut. The mowing path 200 is in a bow shape with different directions. The mowing path 200 is divided into multiple sub-paths 202 and multiple transition paths 203. The arrow in the figure is the direction of travel of the mowing device.

[0065] Specifically, Figure 5As shown, the mowing device moves eastward from the starting point 201. At this time, the area that does not need to be cut 300 is on the left side of the mowing device. At this time, the target rotation direction is counterclockwise to throw the cut grass to the area that does not need to be cut 300. When the mowing device enters the transition path 203, the drive of the blade disc to rotate is stopped. At this time, the area that does not need to be cut is on the left side of the mowing device. Therefore, the blade disc does not change the target rotation direction due to inertia, and still rotates counterclockwise to throw the cut grass to the area that does not need to be cut 300. When the mowing device reaches When reaching another sub-path 202, the moving direction of the mowing device is westward, and the cut area is located on the right side of the mowing device. At this time, the target rotation direction is clockwise, and the blade disc rotates clockwise to throw the cut grass to the cut area. When the mowing device enters another transition path 203, the blade disc is stopped from rotating. At this time, the area that does not need to be cut is on the right side of the mowing device. Therefore, the blade disc does not change the target rotation direction due to inertia, and still rotates clockwise to throw the cut grass to the area that does not need to be cut 300.

[0066] As described above, the above operations are repeated to pre-set the correspondence between the multiple parallel sub-paths 202 and the target rotation direction, and the target rotation direction of the blade disc is continuously changed on different sub-paths 202 to throw the cut grass to the uncut area 300 or the cut area. The starting point 201 is set at the other end of the mowing path 200, and the setting of the correspondence between the multiple parallel sub-paths 202 and the target rotation direction is the same as the above operations.

[0067] Specifically, Figure 6As shown, the mowing device moves northward from the starting point 201. At this time, the area that does not need to be cut 300 is on the left side of the mowing device. At this time, the target rotation direction is counterclockwise to throw the cut grass to the area that does not need to be cut 300. When the mowing device enters the transition path 203, the drive of the blade disc to rotate is stopped. At this time, the area that does not need to be cut is on the left side of the mowing device. Therefore, the blade disc does not change the target rotation direction due to inertia, and still rotates counterclockwise to throw the cut grass to the area that does not need to be cut 300. When the mowing device reaches When reaching another sub-path 202, the moving direction of the mowing device is south, and the cut area is located on the right side of the mowing device. At this time, the target rotation direction is clockwise, and the blade disc rotates clockwise to throw the cut grass to the cut area. When the mowing device enters another transition path 203, the blade disc is stopped from rotating. At this time, the area that does not need to be cut is on the right side of the mowing device. Therefore, the blade disc does not change the target rotation direction due to inertia, and still rotates clockwise to throw the cut grass to the area that does not need to be cut 300.

[0068] As described above, the above operations are repeated to pre-set the correspondence between the multiple parallel sub-paths 202 and the target rotation direction, and the target rotation direction of the blade disc is continuously changed on different sub-paths 202 to throw the cut grass to the uncut area 300 or the cut area. The starting point 201 is set at the other end of the mowing path 200, and the setting of the correspondence between the multiple parallel sub-paths 202 and the target rotation direction is the same as the above operations.

[0069] According to the correspondence between the above-mentioned multiple parallel sub-paths 202 and the target rotation direction, the cutter disc continuously changes the target rotation direction, and both side blades on the blade in the cutter disc can be used at the same time, thereby avoiding the single target rotation direction and avoiding the blade only using one side blade of the two side blades to mow the grass, thereby increasing the service life of the blade.

[0070] See also Figure 7 , Figure 7 Flow chart of a control method in another embodiment of the present application. Determining the target rotation direction according to the trajectory pattern of the mowing path includes:

[0071] S43: When the trajectory pattern of the mowing path is a second type trajectory pattern, determining the target rotation direction according to the direction of travel of the mowing device when mowing along the mowing path, wherein the second type trajectory pattern is composed of a plurality of annular patterns.

[0072] Therefore, when the trajectory pattern of the mowing path is the second type of trajectory pattern, the target rotation direction can be directly determined according to the direction of travel of the mowing device when mowing along the mowing path, so as to control the cutter disc to throw the cut grass to the target area, thereby avoiding excess grass covering the grass to be cut in the uncut area, reducing the resistance and power consumption of the cutter disc when processing the uncut area, and further improving the mowing effect of the cutter disc.

[0073] See also Figure 8 and Fig. 9 , Figure 8 2 is a schematic diagram of a mowing path 200 in an embodiment of the present application when the trajectory pattern is a second type of trajectory pattern. Fig. 9 Schematic diagram of another embodiment of the present application in which the trajectory pattern of the mowing path 200 is a second type of trajectory pattern. The mowing path 200 is set in the working area 100, and the area outside the working area 100 is the non-cutting area 300. The trajectory pattern of the mowing path 200 is a second type of trajectory pattern, and the second type of trajectory pattern is a trajectory pattern in which the target rotation direction remains unchanged during the mowing process. Figure 8 and Fig. 9 As shown, the trajectory type of the mowing path 200 is a U-shaped trajectory, and the arrow is the moving direction of the mowing device. The specific steps for determining the target rotation direction are as follows.

[0074] See also Fig.10 , Fig.10 This is a flow chart of a control method in another embodiment of the present application. When the trajectory pattern of the mowing path is a second type of trajectory pattern, determining the target rotation direction according to the direction of travel of the mowing device when mowing along the mowing path includes:

[0075] S431: When the moving direction is from the outer ring to the inner ring in a clockwise direction, or when the moving direction is from the inner ring to the outer ring in a counterclockwise direction, determine that the target rotation direction is counterclockwise.

[0076] Thus, by determining the target rotation direction according to the traveling direction, the target rotation direction can be determined more directly and accurately. When the traveling direction is from the outer circle to the inner circle in a clockwise direction, or when the traveling direction is from the inner circle to the outer circle in a counterclockwise direction, the left side of the two sides of the traveling direction of the mowing path is always the target area. Therefore, when the cutter disc rotates counterclockwise, the cut grass can be thrown to the target area, thereby avoiding excess grass covering the grass to be cut in the uncut area, reducing the resistance and power consumption of the cutter disc when processing the uncut area, and further improving the mowing effect of the cutter disc.

[0077] See also Fig.11 , Fig.11 This is a flow chart of a control method in another embodiment of the present application. When the trajectory pattern of the mowing path is a second type of trajectory pattern, determining the target rotation direction according to the direction of travel of the mowing device when mowing along the mowing path includes:

[0078] S432: When the moving direction is from the inner circle to the outer circle in a clockwise direction, or when the moving direction is from the outer circle to the inner circle in a counterclockwise direction, determine that the target rotation direction is a clockwise direction.

[0079] Thus, by determining the target rotation direction according to the traveling direction, the target rotation direction can be determined more directly and accurately. When the traveling direction is from the inner circle to the outer circle in a clockwise direction, or when the traveling direction is from the outer circle to the inner circle in a counterclockwise direction, the right side of the two sides of the traveling direction of the mowing path is always the target area. Therefore, when the cutter disc rotates clockwise, the cut grass can be thrown to the target area, thereby avoiding excess grass covering the grass to be cut in the uncut area, reducing the resistance and power consumption of the cutter disc when processing the uncut area, and further improving the mowing effect of the cutter disc.

[0080] Specifically, Figure 8 and Fig. 9 As shown, Figure 8 The direction of movement of the mowing equipment is from the outer circle to the inner circle in a counterclockwise direction. Fig. 9 The moving direction of the mowing device is from the inner circle to the outer circle in a clockwise direction, and the cut area or the area that does not need to be cut is located on the right side of the mowing device in the moving direction. Therefore, the target rotation direction is clockwise to throw the cut grass into the cut area or the area that does not need to be cut.

[0081] It is understandable that the second type of trajectory pattern may also be annular, as long as the mowing device does not need to change the target rotation direction during the mowing process, and the shape of the second type of trajectory pattern is not limited herein.

[0082] In some embodiments, the control method further includes:

[0083] After the mowing device moves along the mowing path to an end point of the mowing path, the mowing device is controlled to move along a boundary of the working area to mow again.

[0084] Thus, after the mowing device completes the first mowing along the mowing path, it can perform a second mowing along the boundary of the working area to prevent missed mowing during the first mowing, thereby better controlling the mowing device to complete the task of mowing in the working area, so that the mowing device can remove more weeds in the working area; and, when the mowing device passes through the transition section, the mowing effect of the cutter disc is reduced due to the cessation of driving the cutter disc to rotate, resulting in missed mowing at the boundary of the working area. By controlling the mowing device to move along the boundary of the working area, the weeds at the boundary of the working area can be supplemented, thereby improving the mowing effect of the cutter disc.

[0085] See also Fig.12 , Fig.12 4 is a schematic block diagram of a mowing device 400 in an embodiment of the present application. The present application also provides a mowing device 400, the mowing device 400 comprising a body 401, a blade disc 402 and a controller 403, the blade disc 402 and the controller 403 are arranged on the body 401, and the controller 403 is used to execute the control method as described above.

[0086] Thus, the controller 403 executes the control method as described above to control the cutter disc 402 to rotate in the target rotation direction so as to throw the cut grass to the area 300 that does not need to be cut and / or the cut area, thereby avoiding the grass produced after mowing from being thrown to the uncut area in the working area 100, thereby avoiding excess grass from covering the grass to be cut in the uncut area, reducing the resistance and power consumption of the cutter disc 402 when processing the uncut area, and further improving the mowing effect of the cutter disc 402.

[0087] The blade disc 402 is disposed on the chassis of the body 401 , and the blade disc 402 is provided with one or more blades for mowing.

[0088] As mentioned above, the operations performed by the mowing device 400 correspond to the steps in the methods in the aforementioned embodiments. For more specific operations performed by the mowing device 400, reference may be made to the steps in the methods in the aforementioned embodiments.

[0089] See also Fig.13 , Fig.13 Schematic block diagram of an electronic device 500 in an embodiment of the present application. The present application also provides an electronic device 500, the electronic device 500 comprises a processor 52 and a memory 51, the memory 51 stores a computer program, the processor 52 runs the computer program to execute the control method as described above.

[0090] Thus, the processor 52 executes the control method as described above to control the cutter disc 402 to rotate in the target rotation direction so as to throw the cut grass to the area 300 that does not need to be cut and / or the cut area, thereby avoiding the grass produced after mowing from being thrown to the uncut area in the working area 100, thereby avoiding excess grass from covering the grass to be cut in the uncut area, reducing the resistance and power consumption of the cutter disc 402 when processing the uncut area, and further improving the mowing effect of the cutter disc 402.

[0091] Wherein, the processor 52 may be a central processing unit (CPU), a general processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. The memory 51 may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. For example, it may be, but is not limited to, a flash drive, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc. The processor 52 is connected to the memory 51.

[0092] The present application also provides a computer-readable storage medium, in which a computer program is stored. The computer program is called by the processor 52 to execute the control method as described above.

[0093] Thus, the computer program is called by the processor 52 to execute the control method as described above, so as to control the cutter disc 402 to rotate in the target rotation direction, so as to throw the cut grass to the uncut area 300 and / or the cut area, thereby avoiding the grass produced after mowing from being thrown to the uncut area in the working area 100, thereby avoiding excess grass from covering the grass to be cut in the uncut area, reducing the resistance and power consumption of the cutter disc 402 when processing the uncut area, and further improving the mowing effect of the cutter disc 402.

[0094] The computer storage medium of the embodiment of the present application can adopt any combination of one or more computer-readable media. Computer-readable media can be computer-readable signal media or computer-readable storage media. Computer-readable storage media can be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above. More specific examples (non-exhaustive lists) of computer-readable storage media include: electrical connections with one or more wires, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this document, computer-readable storage media can be any tangible medium containing or storing programs, which can be used by instruction execution systems, devices or devices or used in combination with them.

[0095] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0096] The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0097] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as C or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer or may be connected to an external computer (e.g., via the Internet using an Internet service provider) through any type of network, including a local area network (LAN) or a wide area network (WAN).

[0098] The above description is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application; in the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A control method for controlling the rotation direction of a blade of a mowing device, characterized in that: The control method comprises: Controlling the mowing device to mow along a mowing path in a working area; Determining a target rotation direction of the blade disc of the mowing device when mowing; The cutter disc is controlled to rotate in the target rotation direction so as to throw the grass cut by the cutter disc to a target area located on one side of the mowing device, wherein the target area includes an area that does not need to be cut and / or a cut area in the working area, wherein the area that does not need to be cut is located outside the working area, and the cut area is an area that has been cut while the mowing device passes along the mowing path.

2. The control method according to claim 1, characterized in that: Determining the target rotation direction of the blade disc of the mowing equipment when mowing includes: determining a target side having the target area among two sides in a traveling direction of the mowing equipment along a mowing path; A target rotation direction of the cutter disc is determined according to the target side.

3. The control method according to claim 2, characterized in that: The step of determining a target side having the target area among two sides along a moving direction of the mowing device along a mowing path comprises: At least the current position of the mowing device when mowing is obtained, and the area that does not need to be cut is determined, and the cut area in the current working area is determined according to the current position, and the side where the area that does not need to be cut or the cut area is located in the moving direction of the mowing device is determined according to the current position as the target side.

4. The control method according to claim 3, characterized in that: The step of determining the cut area in the current working area according to the current position includes: According to the current position of the mowing device when mowing and the starting point of the mowing path, the working area from the starting point to the current position of the mowing device is determined, and the area passed by the mowing device along the mowing path is the cut area.

5. The control method according to claim 1, characterized in that: Determining the target rotation direction of the blade disc of the mowing equipment when mowing includes: The target rotation direction is determined according to the trajectory pattern of the mowing path.

6. The control method according to claim 5, characterized in that: The step of determining the target rotation direction according to the trajectory pattern of the mowing path includes: When the trajectory pattern of the mowing path is a first type of trajectory pattern, the sub-path currently located by the mowing device is determined as a target mowing sub-path according to the current position of the mowing device when mowing, wherein the mowing path includes a plurality of parallel sub-paths and transition paths connecting adjacent sub-paths, and the plurality of parallel sub-paths are connected end to end through corresponding transition paths to form the first type of trajectory pattern; The corresponding target rotation direction is determined according to the target mowing sub-path.

7. The control method according to claim 6, characterized in that: The determining the corresponding target rotation direction according to the target mowing sub-path includes: The target rotation direction corresponding to the target mowing sub-path is determined according to the correspondence between the multiple parallel sub-paths and the target rotation direction.

8. The control method according to claim 6, characterized in that: The control method further comprises: During the mowing process of the mowing device, when the current position of the mowing device is located on the transition path, the output of the driving force for rotating the cutter disc is stopped.

9. The control method according to claim 5, characterized in that: The step of determining the target rotation direction according to the trajectory pattern of the mowing path includes: When the trajectory pattern of the mowing path is a second type trajectory pattern, the target rotation direction is determined according to the direction of travel of the mowing device when mowing along the mowing path, wherein the second type trajectory pattern is composed of a plurality of annular patterns.

10. The control method according to claim 9, characterized in that: When the trajectory pattern of the mowing path is a second type of trajectory pattern, determining the target rotation direction according to the direction of travel of the mowing device when mowing along the mowing path includes: When the moving direction is from the outer ring to the inner ring in a clockwise direction, or when the moving direction is from the inner ring to the outer ring in a counterclockwise direction, the target rotation direction is determined to be the counterclockwise direction.

11. The control method according to claim 9, characterized in that: When the trajectory pattern of the mowing path is a second type of trajectory pattern, determining the target rotation direction according to the direction of travel of the mowing device when mowing along the mowing path includes: When the moving direction is from the inner ring to the outer ring in a clockwise direction, or when the moving direction is from the outer ring to the inner ring in a counterclockwise direction, the target rotation direction is determined to be the clockwise direction.

12. The control method according to claim 1, characterized in that: The control method further comprises: After the mowing device moves along the mowing path to an end point of the mowing path, the mowing device is controlled to move along a boundary of the working area to mow again.

13. A lawn mowing device, characterized in that: The mowing equipment comprises a body, a blade disc and a controller, wherein the blade disc and the controller are arranged on the body, and the controller is used to execute the control method according to any one of claims 1 to 12.

14. An electronic device, characterized in that: The invention comprises a processor and a memory, wherein the memory stores a computer program, and the processor runs the computer program to execute the control method according to any one of claims 1 to 12.

15. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program is called by a processor to execute the control method according to any one of claims 1 to 12.

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