Cutter head control method, mowing equipment and storage medium

Abstract

The invention provides a cutterhead control method, mowing equipment and a storage medium. The method comprises the following steps: acquiring working parameters; responding to the received starting instruction, and executing starting early warning operation on a cutterhead in the mowing equipment; after the early warning starting operation is completed, the cutter head is controlled to be started according to the working parameters, so that the mowing equipment executes a mowing task. By means of the method, the problem that a user is injured due to the fact that the user does not know the starting mechanism of the cutterhead and mistakenly starts the cutterhead can be avoided, and therefore safety early warning can be conducted on cutterhead starting.

Description

Technical Field

[0001] The present application relates to the technical field of cutter disc control, and in particular to a cutter disc control method, a lawn mowing device and a storage medium. Background Art

[0002] With the advancement of science and technology and the vigorous development of artificial intelligence technology, the application of mowing equipment in the field of lawn maintenance has greatly improved work efficiency and brought many conveniences to daily life.

[0003] However, behind this convenience there are also hidden safety risks that cannot be ignored: when the user lacks understanding of the starting mechanism of the blade of the mowing equipment, the unconscious starting operation may cause the blade in the mowing equipment to start suddenly, and its high-speed rotating blade may cause serious injury to the user. Summary of the invention

[0004] In view of the above, it is necessary to provide a cutter disc control method, a lawn mowing device and a storage medium, which can solve the technical problem that the sudden start-up of the lawn mowing device may cause harm to the user.

[0005] On the one hand, the present application provides a cutter disc control method, which is applied to mowing equipment, and the method includes: obtaining working parameters, responding to a received start-up instruction, performing a start-up warning operation on the cutter disc in the mowing equipment, and after completing the start-up warning operation, controlling the start of the cutter disc according to the working parameters to enable the mowing equipment to perform a mowing task.

[0006] On the other hand, the present application provides a lawn mowing device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the lawn mowing device implements the blade control method.

[0007] On the other hand, the present application provides a computer-readable storage medium having a computer program stored thereon, and the computer program implements the blade control method when executed by a processor in a lawn mowing device.

[0008] In the blade disc control method of the present embodiment, in response to the received start command, before starting the mowing task, a start warning operation for prompting that the blade disc is about to start is first performed, and then the mowing task is started according to the working parameters. Since the start warning operation can provide the user with clear visual and auditory feedback, letting the user know that the blade disc is about to start working, it can avoid the problem of the user being injured due to the user's lack of understanding of the blade disc's start mechanism and mistakenly starting the blade disc, thereby providing a safety warning for the start of the blade disc. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 Schematic diagram of a lawn mowing device provided in one embodiment of the present application.

[0010] Figure 2 It is a flow chart of a cutter disc control method provided in one embodiment of the present application.

[0011] Figure 3 It is a flowchart of a method for executing a lifting operation provided in one embodiment of the present application.

[0012] Figure 4 It is a structural schematic diagram of a lawn mowing device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0013] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application is described in detail below with reference to the accompanying drawings and specific embodiments.

[0014] It should be noted that in this application, "at least one" means one or more, and "more than one" means two or more than two. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The terms "first", "second", "third", "fourth", etc. (if any) in the specification, claims and drawings of this application are used to distinguish similar objects, rather than to describe a specific order or sequence.

[0015] In the embodiments of the present application, the words "exemplarily" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplarily" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplarily" or "for example" is intended to present related concepts in a specific way.

[0016] The present application provides a cutter disc control method, which can avoid the problem of the user being injured due to the user's misunderstanding of the cutter disc's starting mechanism and mistakenly starting the cutter disc, thereby providing a safety warning for the start of the cutter disc.

[0017] The cutter head control method provided in the embodiment of the present application can be applied to one or more mowing equipment. The mowing equipment can be, for example, a drum mowing equipment, a rotary disc mowing equipment, a wheel mowing equipment, etc. The present application does not limit the type of mowing equipment.

[0018] like Figure 1 , which is a schematic diagram of a lawn mowing device provided in one embodiment of the present application.

[0019] like Figure 1The mowing equipment shown may include components such as a motor, a blade and a controller ( Figure 1 Not shown). The motor may include a motor for driving the cutter disc to rotate and a motor for driving the cutter disc to rise and fall. The cutter disc is a component on which a blade is installed, and is used to realize the mowing operation. The cutter disc may be located at the bottom of the mowing device, and the mowing device may drive the cutter disc to rotate by the motor to drive the blade on the cutter disc to rotate. When the blade rotates at high speed, the lawn can be cut, thereby completing the mowing task. The mowing device drives the cutter disc to rise or fall by the motor, thereby adjusting the mowing height. The controller is the control center of the mowing device, which can be used to receive relevant instructions and relevant data, and control the mowing device to perform corresponding operations according to the received instructions. The controller can also be used to receive signals from sensors on the mowing device, monitor the status of the mowing device, and perform corresponding control.

[0020] In some embodiments of the present application, the controller may be a processor, or the controller may further include a memory to store program codes and various types of data that can be recognized and executed by the device.

[0021] The description of the structure of the lawn mowing equipment in the above content is only an example and is not limited thereto in actual application.

[0022] like Figure 2 , which is a flow chart of a cutter head control method provided by an embodiment of the present application. According to different requirements, the order of each step in the flow chart can be adjusted according to actual requirements, and some steps can be omitted. The method is applied to a lawn mowing device, such as Figure 1 Mowing equipment shown.

[0023] S11, obtaining working parameters.

[0024] In some embodiments of the present application, the working parameters may include various parameters of the mowing equipment for performing the mowing task, such as the rotation direction of the cutter disc, the rotation speed of the cutter disc, the power of the motor for driving the cutter disc to rotate, etc. The above examples of working parameters are only examples and are not limited to these in practical applications.

[0025] In some embodiments of the present application, the mowing device can receive parameter information sent by the user through any terminal device (e.g., a mobile phone) as working parameters. The mowing device can communicate with the mowing device through an application (Application, APP) on the terminal device, and the user can input the parameter information on the application, and the input parameter information is sent to the mowing device through the application.

[0026] In other embodiments, the mowing device may obtain default parameter information in the application program from the terminal device as the working parameter. The above examples of the method for obtaining the working parameter are only examples and are not limited thereto in actual applications.

[0027] S12, in response to the received start instruction, executing a start warning operation for the cutter disc in the mowing equipment.

[0028] In some embodiments of the present application, the lawn mower device can obtain the start instruction through a variety of methods, and the present application does not limit the method for obtaining the start instruction. For example, the user can send the start instruction to the lawn mower device through the corresponding application in the terminal device, or directly input the start instruction through any physical button or virtual control set in the lawn mower device.

[0029] In some embodiments of the present application, before executing the start warning operation, the mowing device can detect whether the mowing device is located in the working area and whether the mowing device is off the ground. If it is detected that the mowing device is located in the working area and is not off the ground, the start warning operation is executed.

[0030] For example, the mowing device may obtain a work map, determine a work area and a regional position of the work area according to the work map, and determine whether the mowing device is located in the work area according to a current position of the mowing device and the regional position.

[0031] Among them, the working area and its regional position are pre-configured in the working map, and the regional position can be the coordinate range of the working area. The current position can be the coordinate or coordinate range of the mowing equipment, and the present application does not limit the algorithm for determining the current position. For example, the mowing equipment can determine the current position using real-time kinematic (RTK). When the current position is within the coordinate range corresponding to the regional position, the mowing equipment can determine that it is within the working area, or, when the current position is not within the coordinate range corresponding to the regional position, the mowing equipment can determine that it is not within the working area.

[0032] Exemplarily, the mowing device may detect the contact between the bottom of the mowing device and the ground through a sensor (eg, a height sensor, etc.), and determine whether the mowing device is off the ground based on a signal sent by the sensor.

[0033] The sensor may be built into the lawn mowing device. When the lawn mowing device is in an off-the-ground state and a non-off-the-ground state, the sensor sends different signals, so the lawn mowing device can determine whether it is in an off-the-ground state through the signal sent by the sensor.

[0034] In some embodiments of the present application, the lawn mowing device performs a start-up warning operation on a cutter disc in the lawn mowing device, including: controlling the cutter disc to perform a lifting operation.

[0035] The lifting operation includes moving to the original height position after rising / falling. The mowing equipment can drive the motor for controlling the lifting of the blade disc to operate, so that the blade disc performs the lifting operation.

[0036] In some embodiments of the present application, other parameters for controlling the lift operation of the cutter disc, such as the lift speed and lift distance of the cutter disc, can be customized, and the present application does not impose any restrictions on this.

[0037] Considering that the blade disc mows the grass by rotating, the raising and lowering operation of the blade disc will hardly cause harm to the user. In this embodiment, the blade disc is controlled to rise / fall and then move to the original height position, which can not only effectively remind the user that the blade disc is about to start, but also ensure the safety of the user.

[0038] In another embodiment of the present application, the mowing equipment performs a start-up warning operation on a cutter disc in the mowing equipment, including: controlling the cutter disc to perform a first rotation operation, wherein the first rotation operation includes rotating at a rotation speed less than a start-up speed, and the start-up speed is the rotation speed of the cutter disc after it is started.

[0039] The rotation speed of the cutter disc can be set with reference to the start-up speed. In order to ensure the safety of the user, the rotation speed of the cutter disc can be set relatively low. For example, if the start-up speed is 2000 rpm, the rotation speed of the cutter disc can be 20 rpm. The mowing device can be operated by driving the motor for controlling the rotation of the cutter disc, so that the cutter disc performs the first rotation operation.

[0040] In some embodiments of the present application, other parameters for controlling the cutter disc to rotate at a speed less than the starting speed, such as the rotation direction of the cutter disc, can be customized, and the present application does not impose any restrictions on this.

[0041] Taking into account that when the cutter disc rotates at a lower speed, the harm caused to the user is small or no harm is caused to the user, in this embodiment, the rotation speed of the cutter disc is set to be relatively low, so that the cutter disc can be controlled to rotate at a lower rotation speed, thereby reducing or avoiding harm to the user while issuing a start-up warning for the cutter disc.

[0042] In another embodiment of the present application, the execution method of the first rotation operation also includes: controlling the cutter disc to rotate alternately along different rotation directions, wherein the rotation angle of the cutter disc is less than the safe rotation angle.

[0043] The rotation direction may include a clockwise direction and a counterclockwise direction. The safe rotation angle may be preset, for example, the safe rotation angle may be 45°. The rotation angle of the cutter disc may be set with reference to the safe rotation angle. In order to ensure the safety of the user, the rotation angle of the cutter disc may be set to be smaller. For example, the rotation angle of the cutter disc may be 2°. The mowing equipment may control the rotation angle of the rotating shaft of the motor driving the cutter disc to rotate, so that the cutter disc rotates alternately in different rotation directions.

[0044] In some embodiments of the present application, other parameters for controlling the blade disc to rotate alternately in different rotation directions, such as the rotation order and rotation speed of the blade disc to rotate alternately in different rotation directions, can be customized, and the present application does not limit this. For example, if the rotation angle of the blade disc is 2°, the mowing device can first control the blade disc to rotate 2° clockwise, and then control it to rotate 2° counterclockwise.

[0045] Considering that the rotation of the cutter disc within a small range will hardly cause harm to the user, and controlling the cutter disc to rotate alternately in different rotation directions can cause the blades on the cutter disc to shake, which is conducive to shaking off debris such as grass and soil between the cutter disc and the blades, in this embodiment, the cutter disc is controlled to rotate in different rotation directions at a rotation angle less than the safe rotation angle, which can not only effectively warn the start of the cutter disc, but also reduce the harm caused to the user, thereby improving the safety of the cutter disc start-up warning. In addition, the slight shaking of the blade can reduce the risk of cutter disc blockage, making the mowing process smoother.

[0046] In another embodiment of the present application, the lawn mowing device performs a start-up warning operation on a cutter disc in the lawn mowing device, including: controlling a motor in the lawn mowing device for driving the cutter disc to rotate to perform a second rotation operation.

[0047] Exemplarily, the execution method of the second rotation operation includes: controlling the rotor of the motor for driving the cutter disc to rotate alternately along different rotation directions. The rotation frequency of the rotor is greater than the vibration excitation frequency of the motor, and the vibration excitation frequency is the rotation frequency that causes the motor for driving the cutter disc to vibrate and emit sound during the alternate rotation. The rotation direction may include clockwise and counterclockwise.

[0048] The rotation frequency of the rotor may be set with reference to the vibration excitation frequency. For example, if the vibration excitation frequency is 50 Hz, the rotation frequency of the rotor may be 53 Hz.

[0049] In some embodiments of the present application, other parameters for controlling the rotor of the motor used to drive the cutter disc to rotate alternately in different rotation directions, such as the rotation speed in different rotation directions, can be customized, and the present application does not impose any restrictions on this.

[0050] Considering that when the rotation frequency of the rotor is high enough, the motor cannot rotate alternately in the clockwise and counterclockwise directions, but vibrates and makes sounds. Therefore, in this embodiment, by controlling the rotor of the motor used to drive the cutter disc to rotate alternately in the clockwise and counterclockwise directions at a rotation frequency greater than the vibration excitation frequency, the high-frequency vibration characteristics of the motor can be effectively utilized to achieve a safety warning for the start-up of the cutter disc. In other embodiments of the present application, starting the warning operation may include various combinations of the lifting operation, the first rotation operation, and the second rotation operation.

[0051] For example, it is considered that there are certain deficiencies in starting the warning only by directly controlling the cutter disc to perform the first rotation operation or only by controlling the cutter disc to perform the lifting operation. For example, directly controlling the cutter disc to perform the first rotation operation may still cause minor harm to the user, and controlling the cutter disc to perform the lifting operation may not make it clear to the user that the cutter disc is about to rotate for users who are not familiar with the cutter disc starting mechanism. In order to overcome these deficiencies, the start warning of the cutter disc can be implemented by combining the lifting operation and the first rotation operation.

[0052] For example, the cutter disc may be controlled to perform a lifting operation first, and then controlled to rotate at a speed less than the starting speed; or, the cutter disc may be controlled to perform a lifting operation first, and then controlled to rotate in different rotation directions at a rotation angle less than the safe rotation angle.

[0053] In this embodiment, in order to avoid minor injuries to the user caused by directly controlling the knife disc to perform the first rotation operation, the knife disc is first controlled to perform a lifting operation to attract the user's attention. Since the lifting and lowering action of the knife disc will not cause cutting by the blade, it will hardly cause harm to the user and can also serve as an intuitive warning signal. Subsequently, the knife disc is controlled to rotate at a rotation speed less than the starting speed or the knife disc is controlled to rotate in different rotation directions at a rotation angle less than the safe rotation angle. This rotation operation of the knife disc can provide a clear start-up warning signal. This combined warning mechanism can effectively remind users who are not familiar with the knife disc starting mechanism that the knife disc is about to rotate.

[0054] For example, considering that controlling the cutter disc to perform the first rotation operation for a startup warning may still cause minor harm to the user, while controlling the motor used to drive the cutter disc to rotate to perform the second rotation operation and controlling the cutter disc to perform a lifting operation will hardly cause harm to the user, in order to provide a safety warning for the start-up of the cutter disc, the start-up warning for the cutter disc can be implemented by combining the lifting operation and the second rotation operation.

[0055] For example, the rotor of the motor used to drive the cutter disc to rotate can be controlled to rotate alternately in the clockwise and counterclockwise directions at a rotation frequency greater than the vibration excitation frequency, and then the cutter disc is controlled to return to the original height position after performing an ascending operation. Alternatively, the rotor of the motor used to drive the cutter disc to rotate can be controlled to rotate alternately in the clockwise and counterclockwise directions at a rotation frequency greater than the vibration excitation frequency, and then the cutter disc is controlled to return to the original height position after performing a descending operation.

[0056] In this embodiment, the rotor of the motor used to drive the cutter disc to rotate is first controlled to rotate alternately in the clockwise and counterclockwise directions at a rotation frequency greater than the vibration excitation frequency. This operation will cause the motor to vibrate and make a sound, thereby attracting the user's attention and having an early warning effect. Subsequently, the cutter disc is controlled to perform a lifting operation. Since the lifting action of the cutter disc will not cause cutting by the blade, it will hardly cause harm to the user. This combined early warning mechanism can safely remind users who are not familiar with the cutter disc startup mechanism that the cutter disc is about to rotate.

[0057] The above examples of the combination of the lifting operation, the first rotation operation and the second rotation operation are only examples and are not limited thereto in actual applications.

[0058] In some embodiments of the present application, considering that when the user's hand pinches the blade disc, the resistance to the blade disc will increase, in order to maintain a constant rotation speed of the blade disc, the mowing equipment often adjusts the output power of the motor used to drive the blade disc to rotate. Adjusting the output power of the motor may increase the current of the motor. Based on the principle of the correlation between the increase in resistance and the change in current, in order to avoid injury to the user, during the execution of the start warning operation, the mowing equipment can detect the current of the motor used to drive the blade disc to rotate and determine whether the current is greater than a preset threshold. If the current is greater than the preset threshold, the start warning operation is stopped and the mowing task is terminated.

[0059] Terminating the mowing task may be canceling the execution of the mowing task.

[0060] In some embodiments of the present application, the execution time of starting the warning operation can be customized, and the present application does not limit this. For example, the execution time of starting the warning operation can be 1 second or 2 seconds.

[0061] S13, after completing the start-up warning operation, controlling the cutter disc to start according to the working parameters, so that the mowing equipment performs the mowing task.

[0062] For example, if the working parameters include the rotation direction, rotation speed and position height of the cutter disc, the rotation of the cutter disc can be controlled according to the rotation direction, rotation speed and position height of the cutter disc, thereby achieving mowing.

[0063] In the blade disc control method of the present embodiment, in response to the received start command, before starting the mowing task, a start warning operation for prompting that the blade disc is about to start is first performed, and then the mowing task is started according to the working parameters. Since the start warning operation can provide the user with clear visual and auditory feedback, letting the user know that the blade disc is about to start working, it can avoid the problem of the user being injured due to the user's lack of understanding of the blade disc's start mechanism and mistakenly starting the blade disc, thereby providing a safety warning for the start of the blade disc.

[0064] like Figure 3 FIG. 1 is a flowchart of a method for performing a lifting operation provided in an embodiment of the present application, comprising the following steps: S121, obtaining the current position height, upper limit position height and lower limit position height of the cutter disc.

[0065] In some embodiments of the present application, the current position height is the height of the position where the cutter disc is located, the upper limit position height is the height of the position where the cutter disc can rise, and the lower limit position height is the height of the position where the cutter disc can fall. The upper limit position height and the lower limit position height can be customized, and the present application does not limit this.

[0066] The present application does not limit the method for obtaining the current position height. For example, the mowing device can detect the current position height through a built-in height sensor, so as to obtain the current position height.

[0067] S122, if the current position height is the upper limit position height, the cutter disc is controlled to perform a first lowering and then raising operation according to a preset distance.

[0068] In some embodiments of the present application, the preset distance can be customized, and the present application does not limit this. For example, the preset distance can be 1 cm and 1.5 cm.

[0069] For example, if the preset distance is 1 cm, the mowing device may be controlled to first drop 1 cm, and then return to the original height position by rising 1 cm.

[0070] In this embodiment, when the current position height is the upper limit position height, it means that there is room for the mowing equipment to descend, and the cutter disc can be controlled to perform a descending-then-raising operation. Since the raising and lowering action of the cutter disc will not cause the blade to cut, the user can be safely reminded that the cutter disc is about to start.

[0071] S123, if the current position height is the lower limit position height, the cutter disc is controlled to perform an operation of first raising and then lowering according to a preset distance.

[0072] For example, if the preset distance is 1 cm, the mowing device may be controlled to rise 1 cm first, and then return to the original height position by descending 1 cm.

[0073] In this embodiment, when the current position height is the lower limit position height, it means that there is room for the mowing equipment to rise, and the cutter disc can be controlled to perform an operation of first rising and then falling. Since the lifting and lowering action of the cutter disc will not cause the blade to cut, it can safely remind the user that the cutter disc is about to start.

[0074] S124, if the current position height is between the upper limit position height and the lower limit position height, the cutter disc is controlled to perform a first lowering and then raising operation or a first raising and then lowering operation according to a preset distance.

[0075] For example, if the preset distance is 1 cm, the mowing device can be controlled to rise 1 cm first, and then return to the original height position by falling 1 cm, or the mowing device can be controlled to fall 1 cm first, and then return to the original height position by rising 1 cm. The execution of the first-fall-then-rise operation or the first-rise-then-fall operation can be random or specified by the user, and this application does not limit this.

[0076] In this embodiment, when the height is between the upper limit position and the lower limit position, it means that the mowing equipment has space to rise and fall at the same time, and the cutter disc can be controlled to perform a first-fall-then-rise operation or a first-rise-then-fall operation. Since the lifting and lowering action of the cutter disc will not cause the blade to cut, the user can be safely reminded that the cutter disc is about to start.

[0077] like Figure 4 , which is a schematic diagram of the structure of a lawn mowing device provided by an embodiment of the present application. Figure 4 In the embodiment, the mowing device 10 includes a body, a memory 101, a processor 102, a power supply 103, a sensor 104, an operating mechanism 105, a communication module 106, a positioning module 107, a driving wheel 108 and a bus 109 arranged on the body. The processor 102 is coupled to the memory 101, the power supply 103, the sensor 104, the operating mechanism 105, the communication module 106, the positioning module 107 and the driving wheel 108 through the bus 109.

[0078] The memory 101 may include one or more random access memories (RAM) and one or more non-volatile memories (NVM). The random access memory can be directly read and written by the processor 102, and can be used to store executable programs (such as machine instructions) of the operating system or other running programs, and can also be used to store user and application data. The random access memory may include static random-access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), etc.

[0079] The non-volatile memory may also store executable programs and user and application data, etc., and may be pre-loaded into the random access memory for direct reading and writing by the processor 102. The non-volatile memory may include a disk storage device and a flash memory.

[0080] The memory 101 is used to store one or more computer programs. The one or more computer programs are configured to be executed by the processor 102. The one or more computer programs include a plurality of instructions, and when the plurality of instructions are executed by the processor 103, the cutter disc control method executed on the mowing device 10 can be implemented.

[0081] In other embodiments, the mowing device 10 further includes an external memory interface for connecting to an external memory to expand the storage capacity of the mowing device 10 .

[0082] The processor 102 may include one or more processing units, for example, the processor 102 may include an application processor (AP), a modem processor, a graphics processor (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Different processing units may be independent devices or integrated into one or more processors.

[0083] The processor 102 provides computing and control capabilities. For example, the processor 102 is used to execute a computer program stored in the memory 101 to implement the above-mentioned cutter head control method.

[0084] The power source 103 is used to power the lawn mowing device. In some embodiments of the present application, the power source 103 may include any one or more power supply devices such as a battery, a fuel generator, a solar power generation module, a wind power generation module, etc.

[0085] The sensor 104 is used to obtain information for the mowing device 10, such as obtaining environmental information and movement information of the mowing device 10. In some embodiments of the present application, the sensor 104 may include one or more sensors such as a laser radar, a camera, an infrared sensor, and an encoder.

[0086] The operating mechanism 105 is used to perform corresponding operating tasks, such as mowing. In some embodiments of the present application, the operating mechanism 105 may include a motor, a transmission mechanism, a cutter disc, a grass collecting box and other mechanisms. In some embodiments of the present application, the motor can drive the cutter disc to rotate through the transmission mechanism to achieve the mowing function. The motor can also control the movement of the blade to adjust the mowing height and mowing area. The grass collecting box can be used to collect fallen leaves and cut grass.

[0087] The communication module 106 is used to realize the communication between the mowing device and other devices. In one embodiment of the present application, the communication module 106 can exchange data with other devices based on wired communication and / or wireless communication. The above wireless communication can include one or more combinations of communication modes such as Bluetooth communication, Wi-Fi communication, and Near Field Communication (NFC).

[0088] The positioning module 107 is used to determine the position of the mowing device. In some embodiments of the present application, the positioning module 107 may include one or more positioning modules of the type of global positioning system (GPS), inertial navigation system, real-time kinematic (RTK) carrier phase differential system, etc.

[0089] The driving wheel 108 is used to enable the mowing device to move. In some embodiments of the present application, the driving wheel 108 can realize the movement function of the mowing device according to the control of the processor 102. In some embodiments of the present application, the driving wheel 108 may include a left driving wheel and a right driving wheel.

[0090] The bus 109 is at least used to provide a channel for mutual communication among the memory 101 , the processor 102 , the power supply 103 , the sensor 104 , the operating mechanism 105 , the communication module 106 , the positioning module 107 , and the driving wheel 108 in the mowing device 10 .

[0091] In other embodiments of the present application, the mowing device 10 may further include an anti-collision part and a steering assembly. The anti-collision part may be used to prevent the driving wheel 108 from colliding with obstacles in front of the mowing device. The steering assembly may be used to adjust the driving wheel 108 to a driving direction.

[0092] It is understood that the structure illustrated in the embodiment of the present application does not constitute a specific limitation on the mowing device 10. In other embodiments of the present application, the mowing device 10 may include more or fewer components than shown in the figure, or combine some components, or separate some components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0093] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. The computer program includes program instructions. The method implemented when the program instructions are executed can refer to the methods in the above-mentioned embodiments of the present application.

[0094] The computer-readable storage medium may be the internal memory of the mowing device described in the above embodiment, for example, the hard disk or memory of the mowing device. The computer-readable storage medium may also be an external storage device of the mowing device, for example, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc., provided on the mowing device.

[0095] In some embodiments, the computer-readable storage medium may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function, etc.; the data storage area may store data created according to the use of the mowing equipment, etc.

[0096] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0097] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0098] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A cutter head control method, applied to a lawn mowing device, characterized in that: The method comprises: Get working parameters; In response to the received start instruction, executing a start warning operation on a cutter disc in the mowing device; After the start-up warning operation is completed, the cutter disc is controlled to start according to the working parameters so that the mowing equipment performs the mowing task.

2. The cutter head control method according to claim 1, characterized in that: The execution of the start-up warning operation of the cutter disc in the mowing equipment includes: Controlling the cutter disc to perform a lifting operation, wherein the lifting operation includes rising / falling and then moving to an original height position; and / or Controlling the cutter disc to perform a first rotation operation, wherein the first rotation operation includes rotating at a rotation speed less than a start-up speed, the start-up speed being the rotation speed of the cutter disc after it is started; and / or A motor in the mowing device for driving the cutter disc to rotate is controlled to perform a second rotation operation.

3. The cutter head control method according to claim 2, characterized in that: The controlling the cutter disc to perform a lifting operation comprises: Obtaining the current position height, upper limit position height and lower limit position height of the cutter disc; If the current position height is the upper limit position height, the cutter disc is controlled to perform a first lowering and then raising operation according to a preset distance; If the current position height is the lower limit position height, the cutter disc is controlled to perform an operation of first raising and then lowering according to the preset distance; If the current position height is between the upper limit position height and the lower limit position height, the cutter disc is controlled to perform a first lowering and then raising operation or a first raising and then lowering operation according to the preset distance.

4. The cutter head control method according to claim 2, characterized in that: The controlling the cutter disc to perform a first rotation operation further comprises: The cutter disc is controlled to rotate alternately along different rotation directions, wherein the rotation angle of the cutter disc is smaller than a safe rotation angle.

5. The cutter head control method according to claim 4, characterized in that: The safety rotation angle is 45°.

6. The cutter head control method according to claim 2, characterized in that: The controlling the motor in the mowing device for driving the blade disc to rotate to perform a second rotation operation comprises: The rotor of the motor is controlled to rotate alternately along different rotation directions, wherein the rotation frequency of the rotor is greater than the vibration excitation frequency of the motor, and the vibration excitation frequency is the rotation frequency that causes the motor to vibrate and emit sound during the alternate rotation.

7. The cutter head control method according to claim 2, characterized in that: The method further comprises: During the execution of the start-up warning operation, if it is detected that the current of the motor is greater than a preset threshold, the start-up warning operation is stopped and the mowing task is terminated.

8. The cutter head control method according to claim 1, characterized in that: The method further comprises: If it is detected that the mowing equipment is located in the working area and is not off the ground, the start warning operation is performed.

9. A lawn mowing device, characterized in that: The mowing device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the mowing device implements the blade control method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor in the lawn mowing device, the cutter head control method according to any one of claims 1 to 8 is implemented.

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