Operation control method, self-moving mowing equipment and readable storage medium

Abstract

The invention belongs to the technical field of mowing robots, and relates to an operation control method, self-moving mowing equipment and a readable storage medium, the operation control method is applied to the self-moving mowing equipment, and comprises the following steps: controlling the self-moving mowing equipment to perform a first round of mowing operation in a working area according to a first preset height; in the process of the first round of mowing operation, working parameters of the self-moving mowing equipment are detected in real time; in the first round of mowing operation process, when the working parameters meet the abnormal working conditions, area marking operation is carried out according to the positioning position of the self-moving mowing equipment, and at least one marked area is obtained; after the first round of mowing operation is completed in the working area, for at least one marked area, the self-moving mowing equipment is controlled to conduct multi-round mowing operation on the marked area in the mode that the height of a cutter head is lowered to the first preset height round by round from the second preset height, and the second preset height is higher than the first preset height.

Description

Technical Field

[0001] The present application relates to the technical field of lawn mowing robots, and in particular to an operation control method, a self-propelled lawn mowing device and a readable storage medium. Background Art

[0002] The lawn mower robot is an important branch of intelligent mobile robots. It is inspired by the intelligent vacuum cleaner robot, and the research on intelligent mobile robots began as early as the 1960s. The lawn mower robot is an intelligent system that integrates multiple technologies such as dynamic detection, environmental planning, behavioral command control and execution. The lawn mower robot can autonomously complete the work of mowing the lawn without direct human control and operation. It has low power, low noise, exquisite and beautiful appearance, and greatly reduces manual operation. Therefore, more and more families choose to use household lawn mower robots. The height of the cutting disc of the lawn mower robot from the ground supporting the robot is the mowing height. In order to facilitate the adjustment of the cutting disc mowing height, the lawn mower robot is usually equipped with an electric height adjustment mechanism, and the user can set the desired mowing height. Usually, the lawn mower robot can autonomously plan the travel path and complete the mowing operation according to the travel path, such as traveling along a bow-shaped path.

[0003] The actual application scenarios of lawn mowing robots are also very complex, and the types of grass in the lawn are also diverse. The grass in some lawns will grow taller and denser after not being mowed for a long time, forming a dense grass type. Generally, the blade of a lawn mowing robot is located at a lower position for mowing operations. In this state, the blade encounters grass of different thicknesses, heights, and densities (hereinafter referred to as dense grass). The mowing resistance is too large, and it is difficult to mow the grass. At this time, the load of the lawn mowing robot will increase, and it is easy to shut down due to excessive load. In traditional technology, when the load current is greater than the preset threshold, it is determined that the lawn mowing robot has entered the marked area, and the blade is raised to the highest position, and then the blade height is lowered in sequence until the preset blade height is used to complete the operation task in the working area.

[0004] However, in the conventional technology, it is difficult to control the time taken by the mowing robot to adjust the blade to cut the marked area. If the blade is adjusted every time it encounters a marked area, it will affect the time arrangement of the entire working area and affect the working efficiency. Therefore, for a working area with at least two mowing requirements, how to improve the mowing efficiency is something that technicians in this field need to consider. Summary of the invention

[0005] In response to the above technical problems, the present application provides an operation control method, a self-propelled mowing device and a readable storage medium to achieve global cutting and marking of the marked area according to one operation mode, and then cut the dense grass in another operation mode, thereby improving the efficiency of the mowing operation.

[0006] In order to solve the above technical problems, the first aspect of the present application provides an operation control method, which is applied to a self-propelled mowing device, wherein the self-propelled mowing device includes a cutter disc, and the height of the cutter disc relative to the ground is adjustable. The method includes:

[0007] Controlling the self-propelled mowing device to perform a first round of mowing operations at a first preset height within the working area; wherein the first preset height is the height of the cutter disc of the self-propelled mowing device relative to the ground;

[0008] During the first round of mowing operations, the working parameters of the self-propelled mowing equipment are detected in real time;

[0009] During the first round of mowing operation, when the working parameters meet the abnormal working conditions, an area marking operation is performed according to the positioning position of the self-propelled mowing device to obtain at least one marked area;

[0010] After the first mowing operation is completed in the work area, for at least one marked area, perform the following:

[0011] The self-propelled mowing equipment is controlled to perform multiple rounds of mowing operations on the marked area in a manner of starting from a second preset height and gradually lowering the height of the cutter disc to a first preset height, wherein the second preset height is higher than the first preset height.

[0012] In some embodiments, the first round of mowing operation includes controlling the self-propelled mowing device to move globally based on a bow-shaped path, and the operation control method further includes:

[0013] During the first round of mowing, after moving in the first direction and obtaining the marked area, the self-moving mowing device is controlled to turn to the second direction and move to bypass the marked area, and the second direction is parallel to the first direction.

[0014] In some embodiments, the first round of mowing operation further includes, after controlling the self-moving mowing device to move globally based on the bow-shaped path, controlling the self-moving mowing device to perform additional mowing on the surrounding area of ​​the marked area.

[0015] In some implementations of this embodiment, controlling the self-propelled mowing device to perform additional mowing on the surrounding area of ​​the marked area includes:

[0016] The self-propelled mowing device is controlled to perform additional mowing of the surrounding area of ​​the marked area based on a third direction, where the third direction is different from the first direction.

[0017] In some specific embodiments, the first round of mowing operation further includes:

[0018] In the process of controlling the self-propelled mowing device to perform additional mowing on the surrounding area of ​​the marked area based on the third direction, when the working parameters meet the abnormal working conditions, obtaining the positioning position of the self-propelled mowing device;

[0019] If the positioning position is within the range of the marked area, the marked area is reduced based on the positioning position.

[0020] In some embodiments, performing an area marking operation according to the positioning position of the self-propelled mowing device to obtain at least one marked area includes:

[0021] Obtaining the positioning position of the self-mobile mowing device, and using the positioning position as the boundary midpoint of the boundary area;

[0022] Based on the boundary midpoint and the first preset boundary length, a first boundary of the marking area is determined; the first boundary is an edge of the marking area that is perpendicular to the moving direction of the self-propelled lawn mowing device and tangent to the front end of the self-propelled lawn mowing device;

[0023] Based on the first boundary and the preset area range, determining an initial marking area in the moving direction of the self-propelled mowing device;

[0024] If there are at least two initial marking regions that meet the preset merging condition, the at least two initial marking regions are merged into one marking region; if there are not at least two initial marking regions that meet the preset merging condition, the initial marking region is used as the marking region.

[0025] In some implementations of this embodiment, if there are at least two initial marking areas that meet a preset merging condition, merging the at least two initial marking areas into one marking area includes:

[0026] Merge at least two initial marking areas whose minimum boundary distance is less than or equal to a preset distance into one marking area; or,

[0027] The original range of each initial marking area is marked by a grid, and the grid within the original range of each initial marking area is expanded by n grids to obtain the expanded boundary of each initial marking area, and at least two initial marking areas whose minimum expanded boundary distance is less than or equal to a preset distance are merged into one marking area, where n is a positive integer; wherein the minimum boundary distance is the minimum distance between adjacent boundaries of two initial marking areas, and the minimum expanded boundary distance is the minimum distance between adjacent expanded boundaries of two initial marking areas.

[0028] In some embodiments, the step of controlling the self-propelled mowing device to perform multiple rounds of mowing operations on the marked area in a manner of starting from the second preset height and gradually lowering the height of the blade to the first preset height, further includes:

[0029] When the self-propelled mowing device performs multiple rounds of mowing operations on the marked area in a manner of starting from the second preset height and gradually lowering the height of the cutter disc to the first preset height, the working parameters and cutting direction of the self-propelled mowing device are detected in real time;

[0030] If the working parameters meet the abnormal working conditions, the multiple rounds of mowing operations on the marked area in the cutting direction are terminated.

[0031] In some embodiments, the step of controlling the self-propelled mowing device to perform multiple rounds of mowing operations on the marked area by starting from the second preset height and gradually lowering the height of the blade to the first preset height includes:

[0032] The marked area is subjected to multiple rounds of mowing operations in a direction parallel to a preset cutting path; wherein the preset cutting path is a cutting path for the first round of mowing operations.

[0033] In some embodiments, the second preset height is the maximum height to which the cutter disc can be adjusted.

[0034] In some embodiments, the working parameter includes at least one of the rotation speed of the cutter head and the torque of the motor; the situation where the working parameter meets the abnormal working condition includes:

[0035] The torque is greater than a preset value and lasts for a first preset time period, and / or,

[0036] The rotation speed is less than the preset rotation speed threshold and lasts for a second preset time period.

[0037] In some embodiments, the job control method further includes:

[0038] During the first round of mowing, after obtaining the marked area, the height of the cutter disc is adjusted to a third preset height, and the cutter disc is moved through the marked area in the direction of the preset cutting path; the third preset height is the maximum height to which the cutter disc height can be adjusted;

[0039] The height of the cutter head is adjusted to a first preset height, and mowing is performed on the working area according to a preset cutting path.

[0040] A second aspect of the present application provides a self-propelled mowing device, comprising a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the operation control method described above is implemented.

[0041] Optionally, it also includes a positioning device, a mowing component and an adjusting component for adjusting the mowing height of the mowing component; the processor is used to control the positioning device, the mowing component and the adjusting component.

[0042] A third aspect of the present application provides a readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the job control method described above is implemented.

[0043] The present application provides an operation control method, a self-moving mowing device and a readable storage medium, wherein the operation control method is applied to a self-moving mowing device, the self-moving mowing device includes a cutter disc, and the height of the cutter disc relative to the ground is adjustable. The above method includes: controlling the self-moving mowing device to perform a first round of mowing operations at a first preset height in a working area; wherein the first preset height is the height of the cutter disc of the self-moving mowing device relative to the ground; during the first round of mowing operations, real-time detection of working parameters of the self-moving mowing device; during the first round of mowing operations, when the working parameters meet abnormal working conditions, performing an area marking operation according to the positioning position of the self-moving mowing device to obtain at least one marked area; after completing the first round of mowing operations in the working area, for at least one marked area, respectively executing: controlling the self-moving mowing device to perform multiple rounds of mowing operations on the marked area in a manner of starting from a second preset height and lowering the cutter disc height to the first preset height round by round, wherein the second preset height is higher than the first preset height. Therefore, the present application can perform global cutting of the working area according to the first preset height and mark the areas that cannot be cut normally at the first preset height, and then perform multiple rounds of cutting on the marked areas by gradually lowering the blade height from the second preset height, thereby improving the efficiency of the mowing operation.

[0044] Furthermore, the present application can correct the scope of the marked area from other directions during the process of marking the area to obtain a more accurate marked area, thereby improving the intelligence of the self-propelled mowing equipment and enhancing the user experience.

[0045] Furthermore, the present application lowers the mowing height round by round from the second preset mowing height. When mowing the marked area, if an area that still cannot be processed normally is encountered, the mowing operation can be ended for the current marked area, thereby avoiding staying in the same marked area for a long time, avoiding operation jams, and affecting work efficiency.

[0046] Furthermore, the present application realizes merging qualified adjacent initial marking areas into a large-area marking area, so that a large area can be processed as a whole according to one mowing height, reducing the number or frequency of height adjustments, which can effectively improve work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application. In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments are briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor.

[0048] Figure 1 is a first flow chart of a job control method provided by some embodiments of the present application;

[0049] Figure 2 is a first schematic diagram of a region marking operation provided by some embodiments of the present application;

[0050] Figure 3 is a second schematic diagram of a region marking operation provided by some embodiments of the present application;

[0051] Figure 4 is a schematic diagram of a reduced marking area shown in some embodiments of the present application;

[0052] Figure 5 is a schematic diagram of a region merging operation provided in some embodiments of the present application;

[0053] Figure 6 It is a structural schematic diagram of the self-propelled lawn mowing device provided in the second embodiment of the present application.

[0054] The realization of the purpose, functional features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. The above-mentioned drawings have shown clear embodiments of this application, which will be described in more detail later. These drawings and textual descriptions are not intended to limit the scope of the concept of this application in any way, but to illustrate the concept of this application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0055] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0056] It should be noted that, in this article, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element. Optionally, components, features, and elements with the same name in different embodiments of the present application may have the same meaning or different meanings, and their specific meanings need to be determined by their explanation in the specific embodiment or further combined with the context in the specific embodiment.

[0057] It should be understood that, although the terms first, second, third, etc. may be used to describe various information in this article, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this article, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein can be interpreted as "at the time of..." or "when..." or "in response to determination". Furthermore, as used in this article, the singular forms "one", "one" and "the" are intended to also include plural forms, unless there is an opposite indication in the context. It should be further understood that the terms "comprising", "including" indicate that there are described features, steps, operations, elements, components, projects, kinds, and / or groups, but do not exclude the existence, occurrence or addition of one or more other features, steps, operations, elements, components, projects, kinds, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Thus, “A, B, or C” or “A, B and / or C” means “any of the following: A; B; C; A and B; A and C; B and C; A, B, and C.” An exception to this definition will occur only when a combination of elements, functions, steps, or operations are inherently mutually exclusive in some manner.

[0058] It should be understood that, although the various steps in the flowchart in the embodiment of the present application are displayed in sequence according to the indication of the arrows, these steps are not necessarily performed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and it can be performed in other orders. Moreover, at least a portion of the steps in the figure may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and their execution order is not necessarily performed in sequence, but can be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0059] It should be noted that in this article, step codes such as S311 and S12 are used for the purpose of expressing the corresponding content more clearly and concisely, and do not constitute a substantial limitation on the sequence. When implementing the step, those skilled in the art may execute S11 first and then S12, etc., but these should all be within the scope of protection of this application.

[0060] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0061] In the subsequent description, the suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present application, and have no specific meanings. Therefore, "module", "component" or "unit" can be used in a mixed manner.

[0062] The present application provides a method for controlling a job. Figure 1 is a first flow chart of a job control method provided by some embodiments of the present application, Figure 2 is a first schematic diagram of a region marking operation provided in some embodiments of the present application, Figure 3 is a second schematic diagram of the region marking operation provided by some embodiments of the present application, Figure 4 is a schematic diagram of reducing the marking area shown in some embodiments of the present application, Figure 5 is a schematic diagram of a region merging operation provided in some embodiments of the present application; in order to clearly describe some embodiments of the present application, please refer to Figures 1 to 5 .

[0063] See also Figure 1 Some embodiments of the present application provide an operation control method, which is applied to a self-propelled mowing device, wherein the self-propelled mowing device includes a cutter disc, and the height of the cutter disc relative to the ground is adjustable. The method includes:

[0064] S11: Control the self-propelled mowing device to perform a first round of mowing operations at a first preset height within the working area; wherein the first preset height is the height of a cutter disc of the self-propelled mowing device relative to the ground.

[0065] In this embodiment, the first preset height is a target cutting height set by the user for the working area.

[0066] In this embodiment, the first round of mowing operation includes controlling the self-moving mowing device to move globally based on a bow-shaped path and cutting while moving.

[0067] S12: During the first round of mowing operation, the working parameters of the self-propelled mowing device are detected in real time.

[0068] In this embodiment, the working parameter of the self-propelled mowing device includes at least one of the torque of the motor and the rotation speed of the cutter disc.

[0069] S13: During the first round of mowing operation, when the working parameters meet the abnormal working conditions, an area marking operation is performed according to the positioning position of the self-propelled mowing device to obtain at least one marked area.

[0070] In this embodiment, the working parameters include at least one of the rotational speed of the cutter disc and the torque of the motor; situations in which the working parameters meet abnormal working conditions include: the torque of the motor is greater than a preset value and lasts for a first preset time period, and / or the rotational speed of the cutter disc is less than a preset rotational speed threshold and lasts for a second preset time period.

[0071] In this embodiment, an area marking operation is performed according to the positioning position of the self-moving lawn mowing device to obtain at least one marked area, including: obtaining the positioning position of the self-moving lawn mowing device and using the positioning position as the boundary midpoint of the boundary area; based on the boundary midpoint, the moving direction of the self-moving lawn mowing device, and the preset area range, determining the marked area in the moving direction of the self-moving lawn mowing device.

[0072] In some implementations of the present embodiment, a marking area is determined in the moving direction of the self-moving lawn mowing device based on the midpoint of the boundary, the moving direction of the self-moving lawn mowing device, and a preset area range, including: determining a first boundary of the marking area based on the midpoint of the boundary and a first preset boundary length; the first boundary is an edge on the marking area that is perpendicular to the moving direction of the self-moving lawn mowing device and tangent to the front end of the self-moving lawn mowing device; determining the marking area in the moving direction of the self-moving lawn mowing device based on the first boundary and the preset area range.

[0073] In some implementations of this embodiment, if the rotation speed of the cutter disc is less than or equal to 55% of the preset rotation speed and lasts for a second preset time, the working parameter is considered abnormal. Figure 2As shown, when the self-propelled mowing device E1 performs mowing operations on the working area at a first preset height in the working area, when it is detected that the rotation speed of the blade is less than 55% of the preset rotation speed and lasts for a second preset time, the current position will be determined by a positioning device (such as RTK) in the self-propelled mowing device and marked as a boundary point of the marked area, and as the midpoint C1 of a boundary, and the area is marked according to the midpoint C1 and the preset area range to obtain a marked area R1.

[0074] In some other implementations of this embodiment, if the torque of the motor is greater than 90 and lasts for a first preset time, it is considered that the operating parameter is abnormal. In this implementation, the first preset time may be 5s. Figure 2 As shown, when the self-propelled mowing device E1 performs mowing operations on the working area at a first preset height in the working area, when it is detected that the torque is greater than 90 and 5s, the first position will be determined by the positioning device (such as RTK) in the self-propelled mowing device and marked as the boundary point of the marking area, and as the midpoint C1 of a boundary, and the area is marked according to the midpoint C1 and the preset area marking range to obtain the first marking area R1.

[0075] In this embodiment, the positioning position is the position of the positioning device on the self-mobile lawn mowing device, and may also be the position of the self-mobile lawn mowing device based on the positional relationship between the positioning device and the self-mobile lawn mowing device. For example, the positioning device may be installed directly above the self-mobile lawn mowing device, and based on the positioning coordinates of the positioning device and the horizontal positional relationship between the positioning device and the front end of the self-mobile lawn mowing device, the positioning position of the front end of the self-mobile lawn mowing device is determined as the positioning position of the self-mobile lawn mowing device. It should be understood that the current position determined by the positioning device may be the position of other parts, such as the middle position of the self-mobile lawn mowing device, the position of the end of the self-mobile lawn mowing device, etc., in addition to the position of the front end of the self-mobile lawn mowing device.

[0076] S14: After completing the first round of mowing in the working area, for at least one marked area, respectively execute: controlling the self-moving mowing equipment to perform multiple rounds of mowing on the marked area in a manner of starting from a second preset height and lowering the height of the blade to the first preset height round by round, wherein the second preset height is higher than the first preset height.

[0077] In this embodiment, the second preset height is the maximum height to which the cutter disc can be adjusted.

[0078] In other embodiments, the second preset height may be a height preset by a user, and the second preset height is higher than the first preset height.

[0079] In some implementations of this embodiment, multiple rounds of mowing operations are performed on multiple unoperated marked areas by gradually lowering the height of the cutter disc from the second preset height until the height is lowered to the first preset height, then the mowing operation on the current marked area is terminated, and the current marked area is marked as an operated area, and the self-propelled mowing device is controlled to repeat the above multiple rounds of mowing operations on other marked areas, wherein the working height of the cutter disc can be adjusted according to the preset adjustment height of each round. The preset adjustment height of each round can be no less than 3 mm, such as 3 mm, 4 mm, 5 mm, 6 mm, 7 mm, etc.

[0080] In this embodiment, the step of controlling the self-moving mowing equipment to perform multiple rounds of mowing operations on the marked area in a manner of starting from a second preset height and lowering the blade height to the first preset height round by round may include: performing multiple rounds of mowing operations on the marked area in a direction parallel to or the same as a preset cutting path; wherein the preset cutting path is the cutting path of the first round of mowing operations.

[0081] The above-mentioned operation control method can perform global cutting of the working area according to the first preset height and mark the areas that cannot be cut normally at the first preset height, and then perform multiple rounds of cutting on the marked areas by gradually lowering the blade height from the second preset height, thereby improving the efficiency of the mowing operation.

[0082] In some embodiments, the first round of mowing operations includes controlling the self-propelled mowing equipment to perform global movement based on a zigzag path.

[0083] In some implementations of this embodiment, during the first round of mowing operations, after moving in a first direction and obtaining a marked area, the self-mobile mowing device is controlled to turn to a second direction and move to bypass the marked area, and the second direction is parallel to the first direction.

[0084] In some other implementations of this embodiment, during the first round of mowing operation, after moving in the first direction and obtaining the marked area, the cutter disc of the self-moving mowing device is controlled to be raised to a third preset height, and after the self-moving mowing device is controlled to move in the first direction through the marked area, the cutter disc of the self-moving mowing device is controlled to be lowered to the first preset height and continue to perform the first round of mowing operation in the direction of the preset cutting path. The third preset height is the height of the cutter disc relative to the ground. In one specific implementation, the third preset height may be the highest height at which the cutter disc height can be adjusted. In another specific implementation, the third preset height may be a height that is preset to be higher than the first preset height.

[0085] In some other implementations of this embodiment, during the first round of mowing operations, after moving based on the first direction and obtaining a marked area, the blade disc of the self-mobile mowing equipment is controlled to stop cutting, and after the self-mobile mowing equipment is controlled to move in the direction of a preset cutting path through the marked area, the blade disc of the self-mobile mowing equipment is controlled to start cutting, and the self-mobile mowing equipment is controlled to continue to perform the first round of mowing operations in the direction of the preset cutting path.

[0086] In this embodiment, the preset cutting path may be a manually set cutting path, or may be a path automatically planned and stored by the self-propelled mowing device during the first operation.

[0087] In some embodiments, the first round of mowing operation further includes, after controlling the self-moving mowing device to move globally based on the bow-shaped path, controlling the self-moving mowing device to perform additional mowing on the surrounding area of ​​the marked area.

[0088] In some implementations of this embodiment, controlling the self-propelled mowing device to perform additional mowing on the surrounding area of ​​the marked area includes: controlling the self-propelled mowing device to perform additional mowing on the surrounding area of ​​the marked area based on a third direction, where the third direction is different from the first direction.

[0089] In some embodiments, the first round of mowing operations also includes: in the process of controlling the self-moving mowing equipment based on a third direction to perform supplementary mowing on the surrounding area of ​​the marked area, when the working parameters meet abnormal working conditions, obtaining the positioning position of the self-moving mowing equipment; if the positioning position is within the range of the marked area, reducing the marked area based on the positioning position.

[0090] In this embodiment, the working parameters include at least one of the rotational speed and torque; the situations where the working parameters meet abnormal working conditions include: the torque is greater than a preset value and lasts for a first preset time period, and / or the rotational speed of the cutter disc is less than a preset rotational speed threshold and lasts for a second preset time period.

[0091] The above-mentioned operation control method can correct the scope of the marked area from other directions during the process of marking the area to obtain a more accurate marked area, thereby improving the intelligence of the self-propelled mowing equipment and enhancing the user experience.

[0092] In other embodiments, after marking the marked area during the first round of mowing operations on the working area at a first preset height, the self-propelled mowing device will adjust the direction or angle of movement to better identify the actual range of the marked area, and thus will perform regular or irregular path adjustments based on the initial mowing path and the marked area; when subsequently performing multiple rounds of mowing operations on at least one marked area by lowering the blade height round by round from a second preset height, the self-propelled mowing device can be guided to perform mowing operations according to a preset cutting path or in a direction parallel to the preset cutting path, thereby making the operating path of the working area regular and beautiful, thereby enhancing the user experience.

[0093] In some embodiments, in some embodiments, an area marking operation is performed according to the positioning position of the self-moving lawn mowing device to obtain at least one marking area, including: obtaining the positioning position of the self-moving lawn mowing device, and using the positioning position as the boundary midpoint of the boundary area; determining the first boundary of the marking area based on the boundary midpoint and the first preset boundary length; the first boundary is the edge of the marking area that is perpendicular to the moving direction of the self-moving lawn mowing device and tangent to the front end of the self-moving lawn mowing device; based on the first boundary and the preset area range, determining the initial marking area in the moving direction of the self-moving lawn mowing device; if there are at least two initial marking areas that meet the preset merging conditions, merging the at least two initial marking areas into one marking area; if there are not at least two initial marking areas that meet the preset merging conditions, using the initial marking area as the marking area.

[0094] In some implementations of this embodiment, if there are at least two initial marking areas that meet a preset merging condition, merging the at least two initial marking areas into one marking area includes:

[0095] Merge at least two initial marking areas whose minimum boundary distance is less than or equal to a preset distance into one marking area; or,

[0096] The original range of each initial marking area is marked by a grid, and the grid within the original range of each initial marking area is expanded by n grids to obtain the expanded boundary of each initial marking area, and at least two initial marking areas whose minimum expanded boundary distance is less than or equal to a preset distance are merged into one marking area, where n is a positive integer; wherein the minimum boundary distance is the minimum distance between adjacent boundaries of two initial marking areas, and the minimum expanded boundary distance is the minimum distance between adjacent expanded boundaries of two initial marking areas.

[0097] In some implementations of this embodiment, the marking area may include at least two initial marking areas, and the marking area may be an area after the at least two initial marking areas are merged, or may be an area generated based on the shapes of the at least two initial marking areas.

[0098] In some embodiments, Figure 3 As shown, when the self-moving mowing device E1 performs mowing operations on the working area at a first preset height in the working area, when it is detected that the rotation speed of the blade disc is less than 55% of the preset rotation speed and continues for a second preset time, the current position is determined by the positioning device (such as RTK) in the self-moving mowing device and marked as a boundary point of the marking area, and as the midpoint C1 of a boundary, and the area is marked according to the midpoint C1 and the preset area range to obtain the initial marking area R1. When the self-moving mowing device E1 performs mowing operations on the working area at a first preset height in the working area, when it is detected that the rotation speed of the blade disc is less than 55% of the preset rotation speed and continues for a second preset time, the current position is determined by the positioning device (such as RTK) in the self-moving mowing device and marked as a boundary point of the marking area, and as the midpoint C2 of a boundary, and the area is marked according to the midpoint C2 and the preset area range to obtain the initial marking area R2. If the minimum boundary distance between the initial marking area R1 and the initial marking area R2 is less than or equal to the preset distance, the initial marking area R1 and the initial marking area R2 are merged into one marking area A1.

[0099] In some implementations of this example, see Figure 5 , if the distance between the adjacent area boundaries of the initial marking area A1 and the initial marking area A2 is less than the body width of the self-propelled lawn mower (for example, 0.35m, 0.5m, etc.), the initial marking area A1 and the initial marking area A2 are merged into one marking area A12. For another example, if the initial marking area A1 expands outward by n grids, and the initial marking area A2 expands outward by n grids, and the expansion range of the initial marking area A1 overlaps or is connected with the expansion range of the initial marking area A2, the initial marking area A1 and the initial marking area A2 are merged into one marking area A12. Among them, n grids correspond to half the body width of the self-propelled lawn mower.

[0100] In this embodiment, at least two initial marking areas meeting the preset merging conditions are merged into one marking area, which can reduce the missed grass between the marking areas, ensure the cleanliness and accuracy of the mowing operation, and improve the user experience. In addition, in this embodiment, multiple adjacent initial marking areas can be merged into a large area of ​​marking area, so that a large area can be processed as a whole according to one mowing height, reducing the number or frequency of height adjustment, which can effectively improve the operation efficiency.

[0101] In some embodiments, the step of controlling the self-moving mowing equipment to perform multiple rounds of mowing operations on the marked area in a manner starting from a second preset height and lowering the height of the blade disc to the first preset height round by round also includes: when the self-moving mowing equipment performs multiple rounds of mowing operations on the marked area in a manner starting from the second preset height and lowering the height of the blade disc to the first preset height round by round, the working parameters and cutting direction of the self-moving mowing equipment are detected in real time; if the working parameters meet abnormal working conditions, the multiple rounds of mowing operations on the marked area in the cutting direction are terminated.

[0102] In some implementations of this embodiment, if the working parameters meet the abnormal working conditions, after finishing multiple rounds of mowing operations on the marked area in the cutting direction, the above-mentioned operation control method may further include: marking the current marked area as an inoperable area.

[0103] In this embodiment, the working parameters include at least one of the rotational speed and torque; the situations where the working parameters meet abnormal working conditions include: the torque is greater than a preset value and lasts for a first preset time period, and / or the rotational speed of the cutter disc is less than a preset rotational speed threshold and lasts for a second preset time period.

[0104] In some embodiments, the first round of mowing operation further includes: in the process of controlling the self-propelled mowing device to mow the surrounding area of ​​the marked area based on the third direction, when the working parameters meet the abnormal working conditions, obtaining the positioning position of the self-propelled mowing device; if the positioning position is within the range of the marked area, reducing the marked area based on the positioning position. For example, see Figure 4 After obtaining the marked area A1, the self-propelled mowing device can still be controlled to adjust the moving angle or moving direction according to the first preset height to perform mowing operations in the marked area A1 (i.e., the marked marked area A1 can be ignored). When the working parameters meet the abnormal working conditions, the current position is determined by the positioning device (such as RTK) in the self-propelled mowing device to mark and obtain the second marked point T1, and when the second marked point T1 is within the range of the marked area, the marked area A1 or the marked area is reduced based on the second marked point T1. The third direction can be parallel to the first direction.

[0105] In some implementations of this embodiment, in the process of controlling the self-moving mowing device to perform additional mowing on the surrounding area of ​​the marked area based on the third direction, when the working parameters meet the abnormal working conditions, the positioning position of the self-moving mowing device is obtained as the second marking point. The positioning position when the above-mentioned marked area is generated is the first marking point. If the first marking point and the second marking point are on the same bow, the above-mentioned marked area is expanded based on the second marking point, or a new marked area is generated based on the second marking point and the preset area range.

[0106] The present application also provides a self-propelled mowing device, Figure 6 is a structural schematic diagram of the self-moving mowing device provided by the present application. In order to clearly describe the self-moving mowing device 1, please refer to Figure 6 .

[0107] The second embodiment of the present application provides a self-propelled mowing device 1, including a memory A201 and a processor A101, wherein the memory A201 stores a computer program, and when the computer program is executed by the processor, the operation control method described in some embodiments is implemented.

[0108] Optionally, the self-propelled mowing device 1 provided in this embodiment may include at least one processor A101 and at least one memory A201. Optionally, the at least one processor A101 may be referred to as a processing unit A1, and the at least one memory A201 may be referred to as a storage unit A2. Optionally, the storage unit A2 stores a computer program A6, and when the computer program A6 is executed by the processing unit A1, the self-propelled mowing device 1 provided in this embodiment implements the steps of the interaction method described in some embodiments or the second embodiment, for example, Figure 1 The step S11 shown in the figure: execute movement control to perform mowing operations at a first preset height in the working area, and perform area marking operations to obtain at least one marked area; step S12: control the self-propelled mowing equipment to complete the mowing operation at the first preset height on the non-marked area in the working area, and control the self-propelled mowing equipment to perform multiple rounds of mowing operations on at least one marked area in a manner of lowering the blade height from a second preset height round by round, wherein the second preset height is higher than the first preset height.

[0109] Optionally, the self-propelled mowing device 1 provided in this embodiment may include a plurality of memories A201 (referred to as storage units A2 for short).

[0110] Optionally, the storage unit A2 may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Optionally, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM); the magnetic surface memory may be a disk memory or a tape memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM, SyncLink Dynamic Random Access Memory), and direct RAM bus random access memory (DRRAM, Direct Rambus Random Access Memory).The storage unit A2 described in the embodiments of the present application is intended to include but is not limited to these and any other suitable types of memories.

[0111] Optionally, the self-propelled mowing device 1 further comprises a bus connecting different components (eg, the processor A101 and the memory A201, the positioning device A3, etc.) In one embodiment, the positioning device A3 may be an RTK positioning device.

[0112] Optionally, the self-propelled mowing device 1 in this embodiment may further include a communication interface (eg, I / O interface A4), which may be used to communicate with an external device.

[0113] Optionally, the self-propelled mowing device 1 provided in this embodiment may further include a mowing component A7 and an adjusting component A5 thereof.

[0114] Optionally, the processor may be used to control the positioning device A3, the mowing component A7 and the adjustment component A5.

[0115] The self-propelled mowing device 1 provided in the second embodiment of the present application includes a memory A101 and a processor A201, and the processor A101 is used to execute the computer program A6 stored in the memory A201 to implement the steps of the operation control method described in some embodiments. Therefore, the self-propelled mowing device 1 provided in this embodiment can perform global cutting and mark the marked area according to the first preset height, and then perform multiple rounds of cutting on the dense grass by lowering the blade height from the second preset height round by round, thereby improving the efficiency of the mowing operation.

[0116] A third aspect of the present application provides a readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the job control method described above is implemented.

[0117] The second embodiment of the present application further provides a computer-readable storage medium, which stores a computer program A6. When the computer program A6 is executed by the processor A101, the steps of the job control method described in some embodiments are implemented, for example, Figure 1The step S11 shown in the figure is: controlling the self-moving mowing device to perform a first round of mowing operations at a first preset height in the working area; wherein the first preset height is the height of the blade of the self-moving mowing device relative to the ground; step S12: during the first round of mowing operations, real-time detection of the working parameters of the self-moving mowing device; step S13: during the first round of mowing operations, when the working parameters meet abnormal working conditions, performing an area marking operation according to the positioning position of the self-moving mowing device to obtain at least one marked area; step S14: after completing the first round of mowing operations in the working area, for at least one marked area, respectively executing: controlling the self-moving mowing device to perform multiple rounds of mowing operations on the marked area in a manner of starting from a second preset height and lowering the blade height to the first preset height round by round, wherein the second preset height is higher than the first preset height.

[0118] Optionally, the computer-readable storage medium provided by this embodiment may include any entity or device, recording medium that can carry computer program code, such as ROM, RAM, magnetic disk, optical disk, flash memory, etc.

[0119] When the computer program A6 stored in the computer-readable storage medium provided in the second embodiment of the present application is executed by the processor A101, it can enable the self-moving mowing device 1 to perform a first round of cutting operation at a first preset height and mark the marked area, and then perform multiple rounds of cutting on the marked area by gradually lowering the blade height from a second preset height, thereby improving the efficiency of the mowing operation.

[0120] Optionally, in the embodiments of the mobile terminal and computer-readable storage medium provided in the present application, all technical features of the embodiments of the above-mentioned interaction method are included, and the expanded and explained contents of the specification are basically the same as those of the embodiments of the above-mentioned interaction method, and will not be repeated here.

[0121] An embodiment of the present application also provides a chip, including a memory and a processor, the memory is used to store a computer program, and the processor is used to call and run the computer program from the memory, so that a device equipped with the chip executes the methods in various possible implementation modes as described above.

[0122] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0123] The steps in the method of the embodiment of the present application can be adjusted in order, combined and deleted according to actual needs.

[0124] The units in the device of the embodiment of the present application can be merged, divided and deleted according to actual needs.

[0125] In the present application, the same or similar terminology concepts, technical solutions and / or application scenario descriptions are generally described in detail only the first time they appear. When they appear again later, they are generally not repeated for the sake of brevity. When understanding the technical solutions and other contents of the present application, for the same or similar terminology concepts, technical solutions and / or application scenario descriptions that are not described in detail later, reference can be made to the previous related detailed descriptions.

[0126] In the present application, 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.

[0127] The various technical features of the technical solution of the present application can be arbitrarily combined. In order to make the description concise, not all possible combinations of the various technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of the present application.

[0128] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as above, and includes a number of instructions for enabling the self-moving mowing device to execute the method of each embodiment of the present application.

[0129] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loading and executing computer program instructions on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server, a data center, etc. that contains one or more available media integrated. The available medium can be a magnetic medium, (e.g., a floppy disk, a storage disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state storage disk Solid State Disk (SSD)), etc.

[0130] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for controlling an operation, applied to a self-propelled mowing device, characterized in that: The self-propelled mowing device comprises a cutter disc, the height of the cutter disc relative to the ground is adjustable, and the method comprises: Controlling the self-propelled mowing device to perform a first round of mowing operations at a first preset height within the working area; wherein the first preset height is the height of the blade of the self-propelled mowing device relative to the ground; During the first round of mowing operation, real-time detection of working parameters of the self-propelled mowing device; During the first round of mowing operation, when the working parameter meets the abnormal working condition, an area marking operation is performed according to the positioning position of the self-propelled mowing device to obtain at least one marked area; After the first round of mowing operation is completed on the working area, the at least one marked area is respectively executed: The self-propelled mowing equipment is controlled to perform multiple rounds of mowing operations on the marked area in a manner of starting from a second preset height and lowering the height of the cutter disc to the first preset height round by round, wherein the second preset height is higher than the first preset height.

2. The operation control method according to claim 1, characterized in that: The first round of mowing operation includes controlling the self-propelled mowing device to move globally based on a bow-shaped path, and the operation control method also includes: During the first round of mowing, after moving in a first direction and obtaining the marked area, the self-moving mowing device is controlled to turn to a second direction and move to bypass the marked area, wherein the second direction is parallel to the first direction.

3. The operation control method according to claim 2, characterized in that: The first round of mowing operation further includes, after controlling the self-moving mowing device to move globally based on the bow-shaped path, controlling the self-moving mowing device to perform additional mowing on the surrounding area of ​​the marked area.

4. The operation control method according to claim 3, characterized in that: Controlling the self-propelled mowing device to perform additional mowing on the surrounding area of ​​the marked area includes: The self-propelled mowing device is controlled to perform additional mowing of an area surrounding the marked area based on a third direction, the third direction being different from the first direction.

5. The operation control method according to claim 4, characterized in that: The first round of mowing operations also includes: In the process of controlling the self-propelled mowing device to perform additional mowing on the surrounding area of ​​the marked area based on the third direction, when the working parameter meets the abnormal working condition, obtaining the positioning position of the self-propelled mowing device; If the positioning position is within the range of the marking area, the marking area is reduced based on the positioning position.

6. The operation control method according to claim 1, characterized in that: The performing of an area marking operation according to the positioning position of the self-propelled mowing device to obtain at least one marked area includes: Obtaining the positioning position of the self-propelled mowing device, and using the positioning position as the boundary midpoint of the boundary area; Based on the midpoint of the boundary and the first preset boundary length, determining a first boundary of the marking area; the first boundary is an edge of the marking area that is perpendicular to the moving direction of the self-propelled lawn mowing device and tangent to the front end of the self-propelled lawn mowing device; Based on the first boundary and the preset area range, determining an initial marking area in the moving direction of the self-propelled mowing device; If there are at least two initial marking regions that meet the preset merging condition, the at least two initial marking regions are merged into one marking region; if there are not at least two initial marking regions that meet the preset merging condition, the initial marking region is used as the marking region.

7. The operation control method according to claim 6, characterized in that: If there are at least two of the initial marking areas that meet the preset merging condition, merging the at least two initial marking areas into one marking area includes: Merge at least two of the initial marking areas whose minimum boundary distance is less than or equal to a preset distance into one marking area; or, The original range of each initial marking area is marked by a grid, and the grid within the original range of each initial marking area is expanded by n grids to obtain the expanded boundary of each initial marking area, and at least two initial marking areas whose minimum expanded boundary distance is less than or equal to a preset distance are merged into one marking area, where n is a positive integer; wherein the minimum boundary distance is the minimum distance between adjacent boundaries between two initial marking areas, and the minimum expanded boundary distance is the minimum distance between adjacent expanded boundaries between two initial marking areas.

8. The operation control method according to claim 1, characterized in that: The step of controlling the self-propelled mowing device to perform multiple rounds of mowing operations on the marked area in a manner of starting from a second preset height and gradually lowering the height of the cutter disc to the first preset height includes: When the self-propelled mowing device performs multiple rounds of mowing operations on the marked area in a manner of starting from the second preset height and gradually lowering the height of the cutter disc to the first preset height, the working parameters and cutting direction of the self-propelled mowing device are detected in real time; If the working parameters meet the abnormal working conditions, the multiple rounds of mowing operations on the marked area in the cutting direction are terminated.

9. The operation control method according to claim 1, characterized in that: The step of controlling the self-propelled mowing equipment to perform multiple rounds of mowing operations on the marked area in a manner of starting from a second preset height and gradually lowering the height of the cutter disc to the first preset height includes: The multiple rounds of mowing operations are performed on the marked area in a direction parallel to a preset cutting path; wherein the preset cutting path is the cutting path of the first round of mowing operations.

10. The operation control method according to claim 1, characterized in that: The second preset height is the maximum height to which the cutter disc can be adjusted.

11. The operation control method according to any one of claims 1, 5 or 8, characterized in that: The working parameter includes at least one of the rotation speed of the cutter head and the torque of the motor; The situation where the working parameters meet abnormal working conditions includes: The torque is greater than a preset value and lasts for a first preset time period, and / or, The rotation speed is less than a preset rotation speed threshold and lasts for a second preset time period.

12. The operation control method according to claim 1, characterized in that: The operation control method further includes: During the first round of mowing, after obtaining the marked area, the height of the cutter disc is adjusted to a third preset height, and the cutter disc is moved through the marked area in the direction of the preset cutting path; the third preset height is the maximum height to which the cutter disc height can be adjusted; The height of the cutter disc is adjusted to the first preset height, and mowing operations are performed on the working area according to a preset cutting path.

13. A self-propelled mowing device, characterized in that: The method comprises a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the job control method according to any one of claims 1 to 12 is implemented.

14. The self-propelled mowing device according to claim 13, characterized in that It also includes a positioning device, a mowing assembly, and an adjustment assembly for adjusting the mowing height of the mowing assembly; The processor is used to control the positioning device, the mowing component and the adjusting component.

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