Mowing control method of mower, mower, storage medium and electronic equipment

Abstract

The embodiment of the invention provides a mowing control method of a mowing machine, the mowing machine, a storage medium and electronic equipment, and the method comprises the steps: configuring a cutting device of the mowing machine to have at least two effective cutting heights before a boundary area is cut, or configuring the cutting device of the mowing machine to have at least two effective cutting heights when the boundary area is cut, the cutting height of a cutting device of the mower is adjusted to have at least two effective cutting heights, and the boundary area is a lawn area with the distance from the physical boundary within a specified distance range; and the cutting device is controlled to cut the boundary area so that the effective cutting height of the cutting device can be increased in the first direction, and the first direction is the direction perpendicular to the physical boundary and facing the physical boundary. Through the method, the problem that the mowing efficiency is low due to the fact that the area close to the physical boundary needs to be manually cleaned in the mowing control method of the mowing machine in the related technology is solved, and the effect of improving the mowing efficiency of the mowing machine is achieved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of intelligent devices, and in particular, to a lawn mower mowing control method, a lawn mower, a storage medium, and an electronic device. Background Art

[0002] In the related art, when a lawn mower is mowing the lawn, in order to avoid the cutting device from contacting the boundary (i.e., physical boundary) of the obstacle when approaching a wall, fence, enclosure, guardrail, etc., a certain safety distance needs to be reserved between the cutting device and the boundary of the obstacle during operation. The lawn in the non-working area formed by the above safety distance cannot be cut. In order to ensure the beauty of the lawn, the user needs to trim the uncut area by manual cleaning.

[0003] However, areas close to the physical boundary are often distributed near the periphery, and users need to walk to different locations for cleaning, which is time-consuming and laborious. In addition, areas close to the physical boundary are relatively small in space, which limits users' mowing work and results in low mowing efficiency.

[0004] It can be seen that the mowing control method of the lawn mower in the related art has the problem of low mowing efficiency due to the need to manually clean the area close to the physical boundary. Summary of the invention

[0005] The embodiments of the present application provide a mowing control method for a lawn mower, a lawn mower, a storage medium and an electronic device, so as to at least solve the technical problem of low mowing efficiency caused by the need to manually clean the area near the physical boundary in the mowing control method for a lawn mower in the related art.

[0006] According to one aspect of an embodiment of the present application, a mowing control method for a lawn mower is provided, comprising: before cutting a boundary area, configuring a cutting device of the lawn mower so that it has at least two effective cutting heights, or when cutting the boundary area, adjusting the cutting height of the cutting device of the lawn mower so that it has at least two effective cutting heights, wherein the boundary area is a lawn area whose distance from a physical boundary is within a specified distance range; controlling the cutting device to cut the boundary area so that the effective cutting height of the cutting device increases in a first direction, wherein the first direction is a direction perpendicular to the physical boundary and toward the physical boundary.

[0007] According to another aspect of an embodiment of the present application, a mowing control method for a lawn mower is also provided, comprising: before cutting a boundary area, configuring the cutting device of the lawn mower so that it has at least two effective cutting heights, or when cutting the boundary area, adjusting the cutting height of the cutting device of the lawn mower so that it has at least two effective cutting heights, wherein the boundary area is a lawn area whose distance from the physical boundary is within a specified distance range; controlling the cutting device to cut the boundary area so that the effective cutting height of the cutting device increases in a first direction, wherein, when the lawn mower completes cutting the boundary area, the width of the change area is greater than or equal to 20 mm and less than or equal to 100 mm, and the change area is a lawn area corresponding to other effective cutting heights except the minimum effective cutting height among the at least two effective cutting heights.

[0008] According to another aspect of an embodiment of the present application, a lawn mower is further provided, comprising a control component and a cutting device, wherein the control component is used to configure the cutting device to have at least two effective cutting heights before cutting a boundary area, or to adjust the cutting height of the cutting device to have at least two effective cutting heights when cutting the boundary area, wherein the boundary area is a lawn area whose distance from a physical boundary is within a specified distance range; the cutting device is controlled to cut the boundary area so that the effective cutting height of the cutting device increases in a first direction, wherein the first direction is a direction perpendicular to and toward the physical boundary; the cutting device is used to cut the boundary area according to the configured cutting height.

[0009] According to another aspect of the embodiments of the present application, a computer-readable storage medium is provided, in which a computer program is stored. When the computer program is executed by a processor, the steps in any one of the above method embodiments are implemented.

[0010] According to another aspect of an embodiment of the present application, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any one of the above method embodiments when executing the computer program.

[0011] According to another aspect of the embodiments of the present application, a computer program product or a computer program is provided, the computer program product or the computer program includes computer instructions, the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the steps in any of the above method embodiments.

[0012] In an embodiment of the present application, for a boundary area (a lawn area close to a physical boundary, that is, a lawn area whose distance from the physical boundary is within a specified distance range), by configuring the cutting device of the lawn mower before cutting the boundary area, or by adjusting the cutting height of the cutting device of the lawn mower when cutting the boundary area, the cutting device can form at least two effective cutting heights when cutting the boundary area, and the effective cutting height formed by the cutting device on the boundary area increases in a direction vertically toward the physical boundary, so that a gently rising slope can be cut in the boundary area of ​​the lawn. Even if part of the lawn close to the physical boundary is not cut, the buffer with the slope will not visually appear as an abrupt dividing line, which can improve the aesthetics of the lawn boundary area. There is no need for the user to manually clean the area close to the physical boundary, thereby achieving the technical effect of improving mowing efficiency and enhancing the user experience, thereby solving the technical problem of low mowing efficiency caused by the need to manually clean the area close to the physical boundary in the mowing control method of the lawn mower in the related art. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 is a schematic diagram of an application scenario of an optional lawn mower mowing control method according to an embodiment of the present application;

[0014] Figure 2 is a flow chart of an optional lawn mower mowing control method according to an embodiment of the present application;

[0015] Figure 3 is a schematic diagram of an optional mowing control method of a lawn mower according to an embodiment of the present application;

[0016] Figure 4 is a schematic diagram of another optional lawn mower mowing control method according to an embodiment of the present application;

[0017] Figure 5 is a schematic diagram of another optional lawn mower mowing control method according to an embodiment of the present application;

[0018] Figure 6 is a schematic diagram of another optional lawn mower mowing control method according to an embodiment of the present application;

[0019] Figure 7 is a schematic diagram of another optional lawn mower mowing control method according to an embodiment of the present application;

[0020] Figure 8 is a schematic diagram of another optional lawn mower mowing control method according to an embodiment of the present application;

[0021] Fig. 9is a schematic diagram of another optional lawn mower mowing control method according to an embodiment of the present application;

[0022] Fig.10 is a schematic diagram of another optional lawn mower mowing control method according to an embodiment of the present application;

[0023] Fig.11 is a schematic diagram of another optional lawn mower mowing control method according to an embodiment of the present application;

[0024] Fig.12 is a schematic diagram of another optional lawn mower mowing control method according to an embodiment of the present application;

[0025] Fig.13 is a schematic diagram of another optional lawn mower mowing control method according to an embodiment of the present application;

[0026] Fig.14 is a schematic diagram of another optional lawn mower mowing control method according to an embodiment of the present application;

[0027] Fig.15 is a schematic diagram of another optional lawn mower mowing control method according to an embodiment of the present application;

[0028] Fig.16 is a schematic diagram of another optional lawn mower mowing control method according to an embodiment of the present application;

[0029] Fig.17 is a structural block diagram of an optional lawn mower according to an embodiment of the present application;

[0030] Fig.18 It is a block diagram of a computer system structure of an optional electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0031] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0032] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0033] According to one aspect of an embodiment of the present application, a lawn mower mowing control method is provided. Optionally, in this embodiment, the lawn mower mowing control method can be applied to Figure 1 In the hardware environment shown, the lawn mower 102 and the server 104 are included. Figure 1 As shown, the lawn mower 102 can be an intelligent lawn mower equipped with a cutting device. The server 104 is connected to the lawn mower 102 via a network and can be used to provide services (such as positioning services, etc.) for the lawn mower 102. The user can also use his terminal device to send mowing instructions to the lawn mower 102 via the server 104 or directly to control the lawn mower 102 to mow.

[0034] In this embodiment, the network may include but is not limited to at least one of the following: a wired network, a wireless network. The wired network may include but is not limited to at least one of the following: a wide area network, a metropolitan area network, a local area network, and the wireless network may include but is not limited to at least one of the following: WIFI (Wireless Fidelity), Bluetooth.

[0035] The mowing control method for the lawn mower in this embodiment may be executed by the lawn mower 102 alone, or may be executed by the lawn mower 102 and the server 104 together, wherein the lawn mower 102 executing the mowing control method for the lawn mower in this embodiment may be executed by an application running thereon.

[0036] Taking the lawn mower 102 executing the lawn mowing control method of the present embodiment as an example, Figure 2 is a flow chart of an optional lawn mower mowing control method according to an embodiment of the present application, such as Figure 2 As shown, the process of the above method may include the following steps:

[0037] Step S202, before cutting the boundary area, configuring the cutting device of the lawn mower so that it has at least two effective cutting heights, or when cutting the boundary area, adjusting the cutting height of the cutting device of the lawn mower so that it has at least two effective cutting heights;

[0038] Step S204: Controlling the cutting device to cut the boundary area so that the effective cutting height of the cutting device increases in a first direction, wherein the first direction is a direction perpendicular to the physical boundary and toward the physical boundary.

[0039] The mowing control method of the lawn mower in this embodiment can be applied to the field of intelligent devices, and to the scene where the lawn mower performs mowing work on the lawn area. The above-mentioned lawn mower can be an intelligent lawn mower, which refers to: a device that can autonomously complete lawn mowing work without direct human control and operation. The lawn mower can be equipped with a cutting device (i.e., a cutting mechanism for cutting), and the cutting device can cut the lawn to complete the mowing task. The above-mentioned cutting device may include but is not limited to at least one of the following: a rotary knife cutting device, a roller cutting device, a reciprocating blade cutting device, a fling knife cutting device and a rope cutting device, etc., and can also be other cutting mechanisms that can complete the mowing task. The type of the cutting device is not limited in this embodiment.

[0040] In the related art, when a lawn mower is mowing the lawn and is close to obstacles such as walls, fences, enclosures, and guardrails, in order to avoid contact between the cutting device and the physical boundary, the lawn mower needs to reserve a certain safety distance between the cutting device and the physical boundary during operation. The lawn in the non-working area formed by the above safety distance cannot be cut. In order to ensure the beauty of the lawn, users trim the uncut area by manual cleaning. Due to the large difference between the height of the uncut lawn and the height of the cut lawn, the connection between the non-working area and the working area cleaned by the lawn mower will form an obvious and abrupt dividing line, affecting the beauty of the lawn. For example, Figure 3 As shown, there is a safe area of ​​the lawn near the physical boundary, where the height of the lawn varies greatly and there is a clear dividing line, which affects the appearance of the lawn.

[0041] In order to eliminate the abrupt dividing lines, users usually choose to manually clean the uncut areas. However, the areas close to the physical boundary are often distributed in the area near the periphery, so users need to walk to different locations to clean, which is time-consuming and laborious; in addition, the areas close to the physical boundary are relatively small, which will limit the user's mowing work and low mowing efficiency.

[0042] In addition, if Figure 4As shown, the fence has eaves, which can effectively guide rainwater and prevent it from dripping directly on the wall, thereby reducing moisture damage to the wall. However, for the fence with eaves, the rainwater on the fence will be diverted to the critical area (i.e., the part of the working area adjacent to the non-working area), resulting in an increase in the amount of rainwater accumulated in this part of the lawn, which in turn leads to higher humidity in the lawn in this area. A high humidity environment will increase the risk of pests and diseases, and increase the difficulty of maintaining the lawn in this area.

[0043] Moreover, for the sake of aesthetics and space saving, users often set up low fences, flower beds, stones, etc. close to the physical boundaries. These obstacles (low fences, flower beds, stones) are characterized by low height and narrow width. When mowing in the border area with a single cutting height, the effective cutting height of the cutting device will be lower than the height of the obstacle or flush with the height of the obstacle. The lawn mower will recognize these obstacles and avoid them, resulting in missed cutting. In addition, when cutting in the border area, the lower the effective cutting height of the cutting device, the higher the probability that the cutting components of the cutting device (e.g., blades) will get stuck or touch obstacles that cannot be effectively identified by the lawn mower, such as stones buried in the lawn. This will reduce the service life of the cutting components.

[0044] In order to at least partially solve the above-mentioned problem, in the present embodiment, for the boundary area (the lawn area whose distance to the physical boundary is within the specified distance range), the cutting device of the lawn mower is configured before cutting the boundary area, or when cutting the boundary area, the cutting height of the cutting device of the lawn mower is adjusted, so that the cutting device can form at least two effective cutting heights when cutting the boundary area, and the effective cutting height formed by the cutting device on the boundary area increases in the direction vertically toward the physical boundary, so that a gently rising slope can be cut in the boundary area of ​​the lawn. Even if part of the lawn near the physical boundary is not cut, the buffer with the slope will not appear as an abrupt dividing line visually. Therefore, the user does not need to manually clean the area near the physical boundary, thereby reducing the difficulty of maintaining the lawn near the physical boundary area and improving the mowing efficiency of the lawn mower.

[0045] In addition, for the boundary area, the effective cutting height of the cutting device increases in the first direction. While improving the aesthetics of the lawn boundary area, it can effectively improve the obstacle crossing performance of the lawn mower and reduce the probability of the lawn mower touching hidden obstacles in the lawn, thereby extending the service life of the cutting parts of the cutting device and reducing the probability of missed cutting.

[0046] Here, the boundary area is a lawn area whose distance from the physical boundary is within a specified distance range (i.e., a lawn area close to the physical boundary), and the area length of the boundary area (the area range in the direction parallel to the physical boundary) is determined by the area range of the lawn area or the area range of the boundary area, while the area width of the boundary area (the area range in the direction perpendicular to the physical boundary) is determined by the specified distance range. The specified distance range can be represented by the distance from the physical boundary. For example, the specified distance range can be a range where the distance from the physical boundary is less than or equal to 20 centimeters, and correspondingly, the boundary area refers to an area where the distance from the physical boundary is less than or equal to 20 centimeters. For another example, the specified distance range can be a range where the distance from the physical boundary is less than or equal to 30 centimeters, and correspondingly, the boundary area refers to an area where the distance from the physical boundary is less than or equal to 30 centimeters. In this embodiment, the specified distance range is not limited.

[0047] In this embodiment, the designated distance range can be set based on experience and can be adjusted as needed. Optionally, the designated distance range can be related to all or part of the machine scale of the lawn mower, the cutting accuracy of the cutting device, the original height of the lawn, and the height to which the lawn is mowed. The designated distance range, that is, the boundary area, can be determined based on all or part of the machine scale of the lawn mower, the cutting accuracy of the cutting device, the original height of the lawn, and the height to which the lawn is mowed.

[0048] Taking into account the different types of cutting devices (whether the lateral position is fixed, whether there can be multiple positions allowing simultaneous cutting, etc.), in order to enable the cutting device to form at least two effective cutting heights in the boundary area, as an optional implementation, the cutting device of the lawn mower can be configured before cutting the boundary area so that it has at least two effective cutting heights. The configuration here can be the cutting height of the configured cutting device. If the cutting device itself can form multiple effective cutting heights at a time, all the cutting heights of the cutting device can be configured at one time so that it can form at least two effective cutting heights at one time; if the cutting device itself can only form one effective cutting height at a time, all the cutting heights of the cutting device can also be configured at one time, so that the cutting device can be controlled through a one-time configuration to form at least two effective cutting heights in multiple times.

[0049] As another optional embodiment, in the case where the cutting device itself cannot form multiple effective cutting heights at one time, the multiple effective cutting heights formed at one time cannot meet the cutting requirements, or other cases where the cutting requirements cannot be met by one cutting, the cutting height of the cutting device can be adjusted when cutting the boundary area so that it has at least two effective cutting heights.

[0050] For a lawn mower, it can control the cutting device to cut the boundary area once or multiple times to form at least two effective cutting heights on the boundary area, and the formed effective cutting height increases in a first direction, that is, perpendicular to the physical boundary and in a direction toward the physical boundary. Here, within the boundary area, the boundary area after cutting can be stepped, and the effective cutting heights of different steps are different heights, and the effective cutting height gradually increases along the direction close to the physical boundary.

[0051] An example of the cutting effect of the boundary area formed by the above solution can be as follows: Figure 5 As shown, the lawn at the boundary area can form a smooth transition to avoid forming an abrupt dividing line, which can improve the aesthetics of the lawn and does not require users to perform secondary trimming, thereby improving the user experience.

[0052] For the situation where there is a cornice on the wall, such as Figure 6 As shown, when rainwater flows from the eaves to the critical area, due to the slope of the critical area (the critical area can be the boundary area or the part of the boundary area close to the physical boundary), the rainwater is diverted. Under the action of the slope, the rainwater flows in the direction away from the physical boundary and will not gather in the critical area, thereby avoiding the occurrence of diseases and insect pests in the lawn in the area due to the high humidity in the critical area.

[0053] It should be noted that through the above-mentioned boundary area cutting method, a gentle slope can be formed in the boundary area of ​​the lawn, thereby improving the aesthetics of the lawn boundary area without the need for manual secondary trimming, thereby improving the user experience; at the same time, the closer to the physical boundary, the higher the effective cutting height of the cutting device, which can improve the obstacle avoidance effect of the cutting device and avoid the blade of the cutting device touching low obstacles near the physical boundary; in addition, the water conduction performance of the lawn boundary area can also be improved to avoid rainwater gathering in the critical area, thereby reducing the probability of lawn diseases and insect pests and reducing the difficulty of lawn management.

[0054] Through the embodiments provided by the present application, before cutting the boundary area, the cutting device of the lawn mower is configured so that it has at least two effective cutting heights, or when cutting the boundary area, the cutting height of the cutting device of the lawn mower is adjusted so that it has at least two effective cutting heights, wherein the boundary area is a lawn area whose distance from the physical boundary is within a specified distance range; the cutting device is controlled to cut the boundary area so that the effective cutting height of the cutting device increases in a first direction, wherein the first direction is a direction perpendicular to the physical boundary and toward the physical boundary, thereby solving the technical problem of low mowing efficiency caused by the need to manually clean the area close to the physical boundary in the mowing control method of the lawn mower in the related art, thereby improving the mowing efficiency and enhancing the user experience.

[0055] According to another aspect of the embodiment of the present application, a lawn mower mowing control method is provided. Optionally, in this embodiment, the lawn mower mowing control method can be applied to Figure 1 The hardware environment shown has been explained and will not be repeated here.

[0056] The mowing control method for the lawn mower in this embodiment may be executed by the lawn mower 102 alone, or may be executed by the lawn mower 102 and the server 104 together, wherein the lawn mower 102 executing the mowing control method for the lawn mower in this embodiment may be executed by an application running thereon.

[0057] Taking the mowing control method of the mower in this embodiment performed by the mower 102 as an example, the process of the mowing control method of the mower may include the following steps: before cutting the boundary area, configuring the cutting device of the mower so that it has at least two effective cutting heights, or when cutting the boundary area, adjusting the cutting height of the cutting device of the mower so that it has at least two effective cutting heights, wherein the boundary area is a lawn area whose distance from the physical boundary is within a specified distance range; controlling the cutting device to cut the boundary area so that the effective cutting height of the cutting device increases in a first direction, wherein the first direction is a direction perpendicular to the physical boundary and toward the physical boundary.

[0058] The mowing control method of the lawn mower in this embodiment can be applied to the field of smart devices, and to the scene where the lawn mower performs mowing work on the lawn area. Among them, the configuration of the cutting device of the lawn mower so that it has at least two effective cutting heights, or when cutting the boundary area, the cutting height of the cutting device of the lawn mower is adjusted so that it has at least two effective cutting heights, and the control of the cutting device to cut the boundary area are the same or similar to those in the above-mentioned embodiments, and have been explained, so they will not be repeated here.

[0059] In this embodiment, in order to ensure the aesthetics of the lawn and the water-conducting performance of the lawn slope, when the lawn mower completes cutting the boundary area, the width of the changing area is greater than or equal to 20 mm and less than or equal to 100 mm, and the changing area is the lawn area corresponding to the maximum effective cutting height and the minimum effective cutting height, that is, the area where the slope is cut. Here, the larger the width of the changing area, the more lawn areas the rainwater flowing down the eaves can be dispersed to, the better the rainwater drainage effect is, and it is more conducive to the growth of the lawn. The smaller the width of the changing area, the smaller the complexity of cutting and the required workload. In order to take into account both the drainage capacity of rainwater and the convenience of cutting, the width of the changing area can be controlled within 20 mm to 100 mm.

[0060] The changing area is a part of the boundary area, and for the boundary area, it also includes the uncut area adjacent to the physical boundary. The maximum effective cutting height in the changing area can be the same as the height of the uncut area, or the absolute value of the height difference between the maximum effective cutting height in the changing area and the height of the uncut area is less than or set to a height threshold, for example, 1 cm, 2 cm, 3 cm or other values. Optionally, the number of effective cutting heights and the height value of the effective cutting height can be determined based on the range of the height difference between adjacent effective cutting heights (for example, 1.5 cm to 2 cm, 0.5 cm to 1.5 cm, etc., in order to improve the controllability and convenience of cutting, the allowed value of the height difference can be a discrete value, for example, 0.5 cm, 1.5 cm and 2 cm), the area height of the boundary area (i.e., the height of the lawn) and the expected lawn cutting height (which can be the minimum effective cutting height or a certain value greater than the minimum cutting height).

[0061] For example, if the height difference between adjacent effective cutting heights ranges from {0.5 cm, 1 cm, 1.5 cm, 2 cm}, and the expected lawn cutting height is 4 cm, the number of effective cutting heights can be 4 or 5. If the height difference between adjacent effective cutting heights is 1 cm, the number of effective cutting heights is 4, namely: 5 cm, 6 cm, 7 cm, and 8 cm. Here, if the minimum effective cutting height is the expected lawn cutting height, the number of effective cutting heights is 5, namely: 4 cm, 5 cm, 6 cm, 7 cm, and 8 cm.

[0062] Through the embodiments provided by the present application, before cutting the boundary area, the cutting device of the lawn mower is configured so that it has at least two effective cutting heights, or when cutting the boundary area, the cutting height of the cutting device of the lawn mower is adjusted so that it has at least two effective cutting heights, wherein the boundary area is a lawn area whose distance from the physical boundary is within a specified distance range; the cutting device is controlled to cut the boundary area so that the effective cutting height of the cutting device increases in a first direction, wherein the first direction is a direction perpendicular to the physical boundary and toward the physical boundary; wherein, when the lawn mower completes cutting the boundary area, the width of the change area is greater than or equal to 20 mm and less than or equal to 100 mm, and the change area is a lawn area corresponding to other effective cutting heights of at least two effective cutting heights except the minimum effective cutting height, thereby solving the technical problem of low mowing efficiency caused by the need to manually clean the area close to the physical boundary in the mowing control method of the lawn mower in the related art, thereby improving the mowing efficiency and the user experience.

[0063] The width of the changing area will affect the missed mowing area of ​​the lawn. The larger the width of the changing area, the larger the missed mowing area of ​​the lawn. For example, if there is an obstacle A on the lawn, the larger the width of the changing area, the smaller the distance between the changing area and the obstacle A. When the lawn mower is mowing the lawn in the non-border area, the mowing height configured is equal to the minimum effective cutting height in the border area. For example, Figure 7 As shown, Figure 7 The width of the changing area in the scene shown is 100 mm, and the distance between the changing area and obstacle A is less than a specified threshold (the threshold corresponds to the cutting diameter of the cutting device). When the lawn mower passes through the lawn area between the changing area and obstacle A to mow, if it wants to avoid obstacle A while mowing, the slope effect of the changing area will be destroyed. In order to ensure the slope effect of the changing area, the lawn mower will choose not to cut the lawn between the changing area and obstacle A, resulting in missed mowing of the lawn. For another example, Figure 8 As shown, Figure 8 The width of the changing area in the scene shown is 40 mm, and the distance between the changing area and obstacle A is greater than the specified threshold. The lawn mower can mow the lawn area between the changing area and obstacle A without damaging the slope effect of the changing area, so there will be no missed mowing. Therefore, the larger the width of the changing area, the higher the probability of missed mowing of the lawn.

[0064] A cutting test was conducted on a lawn of 400 square meters by selecting different numbers of effective cutting heights. The test objects were 5 random lawns. Except for the width of the changing area, the number of effective cutting heights and other related variables, other variables were kept consistent. Each of the 5 target lawns was cut (different time periods could be selected for cutting to ensure that the growth of the grass was as consistent as possible). The test results are as follows: Fig. 9 As shown. Fig. 9 It can be seen that the larger the width of the changing area is, the larger the area of ​​lawn that is missed from mowing is. When the width of the changing area is greater than 100 mm, as the width of the changing area increases, the rate of increase of the missed mowing area increases significantly. One of the reasons for the significant increase in the missed mowing area is that the placement distance between the obstacle A in the lawn and the physical boundary is not too close. For example, swings, stools, etc., in order to reserve a part of the usable space, will maintain a certain distance from the physical boundary. When the width of the changing area is greater than 100 mm, the probability that the walking space of the lawn mower is affected by the above obstacles will increase significantly.

[0065] In addition, if Fig. 9As shown, the more effective cutting heights there are, the smaller the area of ​​lawn that is missed. One of the reasons is that the effective cutting height gradually increases in the direction close to the physical boundary. The more effective cutting heights there are, the better the obstacle crossing performance of the lawn mower is, thereby reducing the missed lawn cutting area. For example, when the height difference between adjacent effective cutting heights is 10 mm and the expected lawn cutting height is 4 cm, if the number of effective cutting heights is 2, the effective cutting height of the changing area is 5 cm, if the number of effective cutting heights is 3, the effective cutting height of the changing area is 5 cm and 6 cm, if the number of effective cutting heights is 4, the effective cutting height of the changing area is 5 cm, 6 cm and 7 cm, if the number of effective cutting heights is 5, the effective cutting height of the changing area is 5 cm, 6 cm and 7 cm, and if the number of effective cutting heights is 5, the effective cutting height of the changing area is 5 cm, 6 cm, 7 cm and 8 cm. Therefore, when the width of the changing area is the same, the more effective cutting heights there are, the larger the average effective cutting height in the changing area, the better the obstacle crossing performance of the lawn mower when mowing the changing area, and the lower the lawn missed cutting rate.

[0066] In addition, if Fig. 9 As shown, when the area of ​​the changing area is the same and the number of effective cutting heights is the same, the lawn missed mowing area is less when the blade is set to multiple layers than when the blade is set to single layer. One reason is that when mowing lawns in non-border areas, the blades are set to multiple layers than when the blades are set to single layer, lawns with more complex scenes can be cut. For example, when the expected cutting height of the lawn is 4 cm, if there is a 4 cm high obstacle B in the lawn, for a lawn mower with a blade set to 1 layer, the cutting height of the blade is 4 cm. When the lawn mower recognizes obstacle B, it will execute an obstacle avoidance strategy, and uncut lawn will be left around obstacle B; for a lawn mower with a blade set to two layers, the cutting heights of the blades are 4 cm and 5 cm, and the cutting diameter corresponding to the cutting height of 5 cm is greater than the cutting diameter corresponding to the cutting height of 4 cm. When the lawn mower recognizes obstacle B, it will execute an obstacle avoidance strategy to avoid the blade with an effective cutting height of 4 cm from touching the obstacle. When the obstacle avoidance path is the same as the obstacle avoidance path with the blade layer set to 1 layer, the blade with an effective cutting height of 5 cm will trim part of the lawn around obstacle B. Therefore, increasing the number of blade setting layers can reduce the area of ​​missed lawn mowing.

[0067] The width of the changing area will also affect the service life of the blade. The smaller the width of the changing area, the shorter the service life of the blade. Fig.10As shown in the figure, there may be some low obstacles buried in the lawn near the boundary. For example, stones may not be effectively identified by the lawn mower, which may cause the blade to accidentally touch these stones, causing damage to the blade, thereby affecting the service life of the blade. Since the effective cutting height of the changing area is greater than the expected cutting height of the lawn, the blade may pass over some stones in the changing area, thereby reducing the probability of blade damage. Therefore, the larger the width of the changing area, the larger the lawn area corresponding to the effective cutting height higher than the expected cutting height, the lower the probability of the blade touching the stone, and the longer the service life of the blade.

[0068] In order to verify the effect of the width of the changing area on the service life of the blade, a cutting test was conducted on a 400 square meter lawn with different effective cutting heights. The test objects were 5 random lawns. Except for the width of the changing area, the number of effective cutting heights and other related variables, other variables were kept consistent. Each of the 5 target lawns was cut (different time periods can be selected for cutting to ensure that the growth of the grass is as consistent as possible). The test results are as follows: Fig.11 It should be noted that in this test, the number of blades corresponding to each effective cutting height is 3, and the average service life of the blade refers to the average service life of the above 3 blades. The service life of the blade is jointly characterized by indicators such as the number of notches on the blade and the notch area. For the case where the blade is set with multiple layers, the average service life of the blade is calculated using the blade with the lowest effective cutting height. Fig.11 It can be seen that the larger the width of the changing area, the longer the average service life of the blade, and when the width of the changing area is less than 20 mm, as the width of the changing area decreases, the rate of decay of the blade service life increases significantly. One of the reasons for the obvious decay of the blade service life is that the closer to the physical boundary, the greater the probability of the presence of low obstacles such as stones.

[0069] In addition, if Fig.11As shown, the more effective cutting heights there are, the longer the average service life of the blade. One of the reasons is that the effective cutting height gradually increases in the direction close to the physical boundary. The more effective cutting heights there are, the higher the average cutting height of the mower is, and the smaller the probability that the blade accidentally touches obstacles such as stones. For example, when the height difference between adjacent effective cutting heights is 10 mm and the expected lawn cutting height is 4 cm, if the number of effective cutting heights is 2, the effective cutting height of the changing area is 5 cm, if the number of effective cutting heights is 3, the effective cutting height of the changing area is 5 cm and 6 cm, if the number of effective cutting heights is 4, the effective cutting height of the changing area is 5 cm, 6 cm and 7 cm, if the number of effective cutting heights is 5, the effective cutting height of the changing area is 5 cm, 6 cm and 7 cm, and if the number of effective cutting heights is 5, the effective cutting height of the changing area is 5 cm, 6 cm, 7 cm and 8 cm. Therefore, when the width of the changing area is the same, the more effective cutting heights there are, the larger the average effective cutting height in the changing area, the lower the probability that the mower touches low obstacles such as stones when mowing in the changing area, and the longer the service life of the blade.

[0070] In addition, if Fig.11 As shown in the figure, when the area of ​​the changing area is the same and the number of effective cutting heights is the same, the average service life of the blade is longer when the blade is set to multiple layers than when the blade is set to single layer. One reason is that when the blade is set to multiple layers, the blades at the upper layer will share the mowing load of the blades at the lowest layer, resulting in a longer service life of the blades at the lowest layer than when the blade is set to single layer.

[0071] In summary, when the width of the changing area is greater than or equal to 20 mm and less than or equal to 100 mm, the service life of the blade will not decrease too quickly and the missed mowing area will not be too large, thereby ensuring the mowing efficiency of the lawn mower.

[0072] In an exemplary embodiment, at least two effective cutting heights are effective cutting heights of N levels, wherein N is a positive integer greater than or equal to 2, and the effective cutting heights of N levels decrease in order from small to large. In order to be able to cut out a sloped changing area in the boundary area, the number of effective cutting heights (the value of N) should not be too small, and in order to reduce the complexity of area cutting, the number of effective cutting heights should not be too large. For this reason, in this embodiment, N is a positive integer greater than or equal to 2, that is, the number of effective cutting heights is at least 5. Here, the number of effective cutting heights can be set based on experience, and can be 5, 6 or other values, which is not limited in this embodiment.

[0073] Take the number of effective cutting heights as 5 as an example. Fig.12As shown, within the above boundary area, the smart lawn mower has 5 different effective cutting heights when mowing, including the first cutting height, the second cutting height, the third cutting height, the fourth cutting height, and the fifth cutting height along the direction close to the physical boundary, and the first cutting height is greater than the second cutting height, greater than the third cutting height, greater than the fourth cutting height, and greater than the fifth cutting height. The change area is the lawn area corresponding to the first cutting height, the second cutting height, the third cutting height, and the fourth cutting height.

[0074] Through this embodiment, by controlling the cutting device to form at least 5 effective cutting heights in the boundary area, the water conduction performance of the cut lawn slope can be guaranteed and the complexity of regional cutting can be reduced.

[0075] In an exemplary embodiment, in order to improve the convenience of cutting the boundary area, the height difference between the effective cutting heights of two adjacent levels among the N levels of effective cutting heights can be the same. In order to ensure the drainage capacity of the boundary area for rainwater, the height difference between the effective cutting heights of two adjacent levels is less than or equal to 20 mm, for example, 20 mm, 15 mm or other values.

[0076] For example, the effective cutting height of the jth level among the N levels of effective cutting heights is a j , except for the minimum effective cutting height, the height difference a between each effective cutting height and its adjacent, lower cutting height j -a j+1 Less than or equal to 20 mm, j∈{1,...,N-1}.

[0077] Through this embodiment, the height difference between the effective cutting heights d of two adjacent layers is controlled to be less than or equal to 20 mm, so that the water conduction performance of the cut lawn slope can be guaranteed.

[0078] In an exemplary embodiment, among the N levels of effective cutting heights, the height difference between the effective cutting heights of two adjacent levels is greater than or equal to 5 mm and less than or equal to 15 mm.

[0079] Here, controlling the height difference between the effective cutting heights of two adjacent levels between 5 mm and 15 mm can make the cut stepped slope closer to a continuous shape, which not only ensures the slope's performance in guiding rainwater, but also provides a better visual experience and enhances the aesthetics of the slope.

[0080] Optionally, the height difference between the effective cutting heights of two adjacent levels may not be exactly the same. For example, the height difference between the first cutting height and the second cutting height may be 15 mm, the height difference between the second cutting height and the third cutting height may be 13 mm, the height difference between the third cutting height and the fourth cutting height may be 11 mm, and so on, to form a slope with a gradually increasing height increase, which is convenient for diverting rainwater and avoiding splashing of rainwater.

[0081] Through this embodiment, the height difference between the effective cutting heights of two adjacent levels is controlled between 5 mm and 15 mm, which can ensure the water conduction performance of the cut lawn slope and improve the visual experience of the cut lawn slope (the curvature is softer).

[0082] In an exemplary embodiment, each effective cutting height has a corresponding cutting area, and different effective cutting heights correspond to different cutting areas. In order to ensure the aesthetics of the stepped slope cut out and the performance of the slope in guiding rainwater, except for the lowest effective cutting height, the area width of the cutting area corresponding to the remaining effective cutting heights should not be too large. For this reason, in this embodiment, the area width of the cutting area configured for the effective cutting height of the jth level among the N levels of effective cutting heights is b. j , where j∈{1,...,N-1}, b j ≤20 mm, that is, except for the minimum effective cutting height, the area widths corresponding to the remaining effective cutting heights are all less than or equal to 20 mm.

[0083] Taking five different levels of effective cutting heights as an example, except for the fifth cutting height, the area widths of the cutting areas corresponding to the remaining cutting heights are all less than or equal to 20 mm, for example, 16 mm, 18 mm or 20 mm. Here, the area widths corresponding to different effective cutting heights can be the same or different.

[0084] Through this embodiment, except for the lowest effective cutting height, the width of the cutting area corresponding to the other effective cutting heights is controlled within 20 mm, which can ensure the water conduction performance of the cut lawn slope and the aesthetics of the cut lawn slope.

[0085] In an exemplary embodiment, in order to improve the water conduction performance of the lawn slope, the ratio of the area width corresponding to an effective cutting height to the height difference between the effective cutting height and the adjacent lower effective cutting height should not be too large or too small. In this embodiment, it can be controlled between 0.7 and 1.4, that is, 0.7≤b j / (a j -a j+1 )≤1.4.

[0086] Here, the value range of j is j∈{1,...,N-1}. For example, taking 5 different effective cutting heights as an example, j∈{1,2,3,4}, that is, the ratio of the area width of the cutting area corresponding to the first cutting height, the second cutting height, the third cutting height and the fourth cutting height to the height difference between the area width and the adjacent, lower cutting height is between 0.7 and 1.4. Optionally, except for the minimum effective cutting height, the remaining effective cutting heights can be controlled to satisfy: 0.7≤b j / (a j -a j+1 )≤1 to ensure better water conduction performance.

[0087] For example, the height difference between two adjacent cutting heights (a j -a j+1 ) is less than or equal to 2 cm, the width b of the cutting area corresponding to the first cutting height, the second cutting height, the third cutting height and the fourth cutting height j Less than or equal to 2 cm, where a and b satisfy the following relationship: 0.7≤b j / (a j -a j+1 )≤1.4. In order to ensure better water conduction performance, a and b satisfy the following relationship: 0.7≤b j / (a j -a j+1 )≤1.

[0088] Through this embodiment, the ratio of the area width corresponding to an effective cutting height and the height difference between the effective cutting height and an adjacent lower effective cutting height is controlled between 0.7 and 1.4, which can improve the water conduction performance of the cut lawn slope.

[0089] In an exemplary embodiment, in order to prevent the cutting device from contacting the physical boundary, a non-working area can be reserved in the boundary area close to the physical boundary, that is, the uncut lawn area (that is, the uncut area) in the boundary area, and the width of the area should not be too narrow. In order to improve the completeness of lawn cutting, the width of the uncut area should not be too wide. For this reason, in this embodiment, when the lawn mower completes cutting of the boundary area, the width of the uncut lawn area in the boundary area is greater than or equal to 40 mm and less than or equal to 150 mm, that is, the width of the uncut area is controlled between 40 mm and 150 mm.

[0090] Optionally, the width of the uncut lawn area within the boundary area can be set based on experience, for example, 60 mm, 80 mm, or a value that meets the above width requirements, which is not limited in this embodiment.

[0091] Through this embodiment, the width of the uncut lawn area in the boundary area is controlled between 40 mm and 150 mm, which can take into account both the safety and integrity of lawn cutting.

[0092] In an exemplary embodiment, for different lawn mowers, there may be one or more control modes for the cutting device thereof. In the case where the lateral position of the cutting device relative to the lawn mower is fixed (the lateral position of the cutting device relative to the lawn mower is fixed and does not move laterally), when cutting the boundary area, the cutting height of the cutting device of the lawn mower is adjusted so that it has at least two effective cutting heights, including: when cutting the boundary area, each effective cutting height of the at least two effective cutting heights is used in turn to adjust the cutting height of the cutting device so that it has at least two effective cutting heights.

[0093] Here, each cutting of the lawn mower can form an effective cutting height, and each effective cutting height can be formed by cutting the boundary area once or multiple times. In order to improve the convenience of regional cutting, when cutting the boundary area, each effective cutting height is used in turn to adjust the cutting height of the cutting device. The order of using the effective cutting height can be from high to low or from low to high, which is not limited in this embodiment.

[0094] Correspondingly, after adjusting the cutting height of the cutting device according to each effective cutting height, controlling the cutting device to cut the boundary area includes: controlling the lawn mower to move along the walking path corresponding to each effective cutting height, so that the cutting device cuts the boundary area according to the configured cutting height. Here, since the lateral position of the cutting device relative to the lawn mower is fixed, and the cutting area corresponding to each effective cutting height has a certain width, and the effective cutting height increases in a direction perpendicular to the physical boundary and toward the physical boundary, at least two effective cutting heights correspond to at least two walking paths, and the walking paths corresponding to different effective cutting heights in the at least two effective cutting heights are all different, and the height value of the effective cutting height in the at least two effective cutting heights is negatively correlated with the distance between the corresponding walking path and the physical boundary.

[0095] Optionally, in order to ensure that the area width of the cutting area corresponding to each effective cutting height meets expectations, the distance between two adjacent walking paths in at least two walking paths is equal to the area width of the cutting area configured for the effective cutting height corresponding to the previous walking path in the two adjacent walking paths.

[0096] As an optional embodiment, when controlling the cutting device to cut the boundary area, the walking direction of the lawn mower can be fixed, and the moving directions of the lawn mower on different walking paths of at least two walking paths are the same. In this way, there is no need to consider the difference in the control of the cutting device when cutting along walking paths in different directions, which can improve the convenience of controlling the cutting device.

[0097] Take 5 different levels of effective cutting height as an example, for example Fig.13 As shown, the first cutting height to the fifth cutting height correspond to the first walking path to the fifth walking path respectively, and the moving direction of the lawn mower on each walking path is the same. In the boundary area, the intelligent lawn mower mows the lawn in the order of the first walking path, the second walking path, the third walking path, the fourth walking path, and the fifth walking path. The effective cutting height of the first walking path is configured as the first cutting height, the effective cutting height of the second walking path is configured as the second cutting height, the effective cutting height of the third walking path is configured as the third cutting height, the effective cutting height of the fourth walking path is configured as the fourth cutting height, and the effective cutting height of the fifth walking path is configured as the fifth cutting height. The distance between adjacent walking paths is configured as b j , the height difference between adjacent cutting heights is configured as (a j -a j+1 ).

[0098] As another optional embodiment, when the cutting device is located at the transverse center of the lawn mower, when the cutting device is controlled to cut the border area, the lawn mower can perform reciprocating cutting, that is, it can continuously cut during the reciprocating movement. In this case, the movement directions of the lawn mower on different walking paths in at least two walking paths are the same or opposite, and the movement directions of the lawn mower on adjacent walking paths are opposite. In this way, the lawn mower does not need to return to one side of the border area to continue the cutting task, thereby improving the mowing efficiency.

[0099] Take 5 different levels of effective cutting height as an example, for example Fig.14As shown, the first cutting height to the fifth cutting height correspond to the first walking path to the fifth walking path respectively, and the moving directions of the lawn mower on adjacent walking paths are opposite. In the boundary area, the intelligent lawn mower mows the lawn in the order of the first walking path, the second walking path, the third walking path, the fourth walking path, and the fifth walking path. The effective cutting height of the first walking path is configured as the first cutting height, the effective cutting height of the second walking path is configured as the second cutting height, the effective cutting height of the third walking path is configured as the third cutting height, the effective cutting height of the fourth walking path is configured as the fourth cutting height, and the effective cutting height of the fifth walking path is configured as the fifth cutting height. The distance between adjacent walking paths is configured as b j , the height difference between adjacent cutting heights is configured as (a j -a j+1 ).

[0100] Optionally, in this embodiment, the walking path corresponding to each effective cutting height is parallel to the length direction of the physical boundary. Here, using the physical boundary as a reference for the walking control of the lawn mower can ensure that the cut lawn steps are parallel to the length direction of the physical boundary, thereby improving the aesthetics of the cut lawn slope and the convenience of mowing control.

[0101] Through this embodiment, when the lateral position of the cutting device relative to the lawn mower is fixed, the cutting height of the cutting device is adjusted in turn using each effective cutting height, and the lawn mower is controlled to perform regional cutting along the corresponding walking path, thereby ensuring the accuracy and convenience of regional cutting.

[0102] In an exemplary embodiment, adjusting the cutting height of the cutting device by sequentially using each of at least two effective cutting heights includes: sequentially using each effective cutting height to adjust the cutting height of the cutting device in descending order of the effective cutting heights.

[0103] In this embodiment, the cutting height of the cutting device can be adjusted in order of effective cutting heights from high to low using each effective cutting height. Taking 5 different levels of effective cutting heights as an example, the cutting height of the cutting device can be adjusted in order from the first cutting height to the fifth cutting height. In the above manner, when performing regional cutting according to the latter effective cutting height, since the regional cutting has been performed according to the previous effective cutting height, the height required to be cut is smaller and easier to control than that of direct cutting, thereby improving the accuracy and convenience of regional cutting.

[0104] Through this embodiment, the cutting height of the cutting device is adjusted in sequence according to each effective cutting height from high to low, thereby improving the accuracy and convenience of regional cutting.

[0105] In an exemplary embodiment, in the case where the lateral position of the cutting device relative to the lawn mower is adjustable (the lateral position of the cutting device relative to the lawn mower is adjustable and can be moved laterally), similar to the above-mentioned embodiment, when cutting the border area, the cutting height of the cutting device of the lawn mower is adjusted so that it has at least two effective cutting heights, including: sequentially using each of the at least two effective cutting heights to adjust the cutting height of the cutting device so that it has at least two effective cutting heights. In addition, the lateral position of the cutting device can also be adjusted to a lateral position corresponding to each effective cutting height to meet the width requirements of the cutting area corresponding to each effective cutting height.

[0106] Correspondingly, controlling the cutting device to cut the border area includes: controlling the lawn mower to reciprocate in different directions or repeatedly move in the same direction along the same walking path, so that the cutting device cuts the border area according to the configured cutting height. Here, the cutting area corresponding to each effective cutting height has a certain width, and the effective cutting height increases in a direction perpendicular to the physical boundary and toward the physical boundary. Since the lateral position of the cutting device relative to the lawn mower is adjustable, the cutting width requirement can be met by adjusting the lateral position of the cutting device relative to the lawn mower, so at least two effective cutting heights can correspond to the same walking path. Similar to the aforementioned embodiment, the lawn mower can reciprocate in different directions along the same walking path, or can repeatedly move in the same direction.

[0107] Optionally, in order to ensure that the area width of the cutting area corresponding to each effective cutting height meets the expected requirements, at least two effective cutting heights correspond to at least two lateral positions of the cutting device, and the lateral distance between two adjacent lateral positions of at least two lateral positions is equal to the area width of the cutting area configured for the effective cutting height corresponding to the previous lateral position of the two adjacent lateral positions.

[0108] Optionally, in this embodiment, the same walking path is parallel to the length direction of the physical boundary. Here, using the physical boundary as a reference for the walking control of the lawn mower can ensure that the cut lawn steps are parallel to the length direction of the physical boundary, thereby improving the aesthetics of the cut lawn slope and the convenience of mowing control.

[0109] Take 5 different levels of effective cutting height as an example, Fig.15As shown, the cutting device has different cutting positions relative to the lateral position of the lawn mower, which may include: a first cutting position, a second cutting position, a third cutting position, a fourth cutting position and a fifth cutting position. When cutting the boundary area, the first cutting position is closest to the physical boundary, and the fifth cutting position is farthest from the physical boundary. The spacing between different cutting positions is configured as b j .

[0110] The lawn mower cuts five times along the same walking path in the border area, and different cutting heights are configured in the border area through height adjustment and lateral adjustment of the cutting device. Here, the five cuttings of the lawn mower can be returning to the starting point after walking and adjusting the height and lateral position of the cutting device before cutting again, that is, repeated movement in the same direction; or it can be turning around on the spot and adjusting the height and lateral position of the cutting device before walking back and forth to cut, that is, reciprocating movement.

[0111] Through this embodiment, when the lateral position of the cutting device relative to the lawn mower is adjustable, the cutting height of the cutting device is adjusted in turn using each effective cutting height, and the lawn mower is controlled to perform regional cutting along the same walking path, thereby ensuring the accuracy and convenience of regional cutting.

[0112] In an exemplary embodiment, adjusting the cutting height of the cutting device by sequentially using each of at least two effective cutting heights includes: sequentially using each effective cutting height to adjust the cutting height of the cutting device in descending order of the effective cutting heights.

[0113] In this embodiment, the cutting height of the cutting device can be adjusted in order of effective cutting heights from high to low using each effective cutting height. Taking 5 different levels of effective cutting heights as an example, the cutting height of the cutting device can be adjusted in order from the first cutting height to the fifth cutting height. In the above manner, when performing regional cutting according to the latter effective cutting height, since the regional cutting has been performed according to the previous effective cutting height, the height required to be cut is smaller and easier to control than that of direct cutting, thereby improving the accuracy and convenience of regional cutting.

[0114] For example, the first cutting height is greater than the second cutting height, greater than the third cutting height, greater than the fourth cutting height, and greater than the fifth cutting height, and the lawn mower mows in the order of the first cutting height, the second cutting height, the third cutting height, the fourth cutting height, and the fifth cutting height. Specifically, in the first cutting position, the lawn mower is configured to the first cutting height, in the second cutting position, the lawn mower is configured to the second cutting height, in the third cutting position, the lawn mower is configured to the third cutting height, in the fourth cutting position, the lawn mower is configured to the fourth cutting height, and in the fifth cutting position, the lawn mower is configured to the fifth cutting height, and the height difference between adjacent cutting heights is configured as (a j -a j+1 ).

[0115] Through this embodiment, the cutting height of the cutting device is adjusted in sequence according to each effective cutting height from high to low, thereby improving the accuracy and convenience of regional cutting.

[0116] In an exemplary embodiment, the cutting device includes at least two layers of blades, and the height difference between two adjacent layers of blades in the at least two layers of blades corresponds to the height difference between two adjacent effective cutting heights in the at least two effective cutting heights. In this case, multiple effective cutting heights can be cut at one time. Therefore, before cutting the boundary area, the cutting device of the lawn mower is configured to have at least two effective cutting heights, including: adjusting the cutting heights of the at least two layers of blades according to the at least two effective cutting heights so that they have at least two effective cutting heights. In addition, the lateral positions of different layers to the blades can also be configured to meet the width requirements of the cutting area corresponding to each effective cutting height.

[0117] Correspondingly, controlling the cutting device to cut the border area includes: controlling the lawn mower to move along a designated walking path so that at least two layers of blades cut the border area according to the configured cutting height. Here, the cutting area corresponding to each effective cutting height has a certain width, and the effective cutting height increases in a direction perpendicular to the physical boundary and toward the physical boundary. Since at least two effective cutting heights can be cut simultaneously by two layers of blades, the cutting of the border area can be completed by cutting the border area in one pass. Optionally, in order to improve the cutting effect, the lawn mower can be controlled to move back and forth or repeatedly along the designated walking path.

[0118] Optionally, in order to simplify the cutting process and ensure that the cutting effect meets expectations, no other cutting structure for cutting the boundary area is set between the cutting device and the physical boundary. Through the above design, the cutting effect of the cutting device will not be covered by other cutting devices.

[0119] Optionally, in order to ensure that the area width of the cutting area corresponding to each effective cutting height meets the expectations, the lateral distance between two adjacent layers of blades is equal to the area width of the cutting area configured for the previous effective cutting height of the two adjacent effective cutting heights corresponding to the two adjacent layers of blades.

[0120] Optionally, in this embodiment, the designated walking path is parallel to the length direction of the physical boundary. Here, the physical boundary is used as a reference for the walking control of the lawn mower, which can ensure that the cut lawn steps are parallel to the length direction of the physical boundary, thereby improving the aesthetics of the cut lawn slope and the convenience of mowing control.

[0121] Taking 5 different levels of effective cutting height as an example, the cutting device is set as a multi-layer blade, and the cutting device is configured as an effective cutting device at the boundary area, that is, the cutting effect of the cutting device will not be covered by other cutting devices. Fig.16 As shown, the cutting device includes multiple layers of blades, including a first cutting blade, a second cutting blade, a third cutting blade, a fourth cutting blade and a fifth cutting blade from top to bottom. The cutting radius formed by the cutting blades decreases in sequence along the direction from the first cutting blade to the fifth cutting blade. The height difference between adjacent cutting blades is (a j -a j+1 ). The lateral distance between two adjacent layers of blades is b j .

[0122] According to this embodiment, by arranging multiple layers of blades in the cutting device, it is possible to complete the cutting of the boundary area by walking on the designated driving path once, thereby improving the efficiency of mowing.

[0123] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course it can also be implemented 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 can be essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a terminal device to execute the method described in each embodiment of the present application, and the above storage medium can be ROM (Read-Only Memory, read-only memory) / RAM (Random Access Memory, random access memory), a disk or an optical disk, etc., and the above terminal device can be a mobile phone, a computer, a server or a network device, etc.

[0124] According to another aspect of the embodiments of the present application, a lawn mower is also provided, which can be used to implement the lawn mowing control method of the lawn mower provided in the above embodiments, which has been described and will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0125] Fig.17 is a structural block diagram of an optional lawn mower according to an embodiment of the present application, such as Fig.17 As shown in , the lawn mower includes: a control component 1702 and a cutting device 1704.

[0126] The control component 1702 is used to configure the cutting device to have at least two effective cutting heights before cutting the border area, or to adjust the cutting height of the cutting device to have at least two effective cutting heights when cutting the border area, wherein the border area is a lawn area whose distance from the physical boundary is within a specified distance range; and to control the cutting device to cut the border area so that the effective cutting height of the cutting device increases in a first direction, wherein the first direction is a direction perpendicular to the physical boundary and toward the physical boundary. Optionally, the control component 1702 can be used to execute step S202 and step S204 in the above embodiment.

[0127] The cutting device 1704 is used to cut the boundary area according to the configured cutting height.

[0128] Through the embodiments provided by the present application, before cutting the boundary area, the cutting device of the lawn mower is configured so that it has at least two effective cutting heights, or when cutting the boundary area, the cutting height of the cutting device of the lawn mower is adjusted so that it has at least two effective cutting heights, wherein the boundary area is a lawn area whose distance from the physical boundary is within a specified distance range; the cutting device is controlled to cut the boundary area so that the effective cutting height of the cutting device increases in a first direction, wherein the first direction is a direction perpendicular to the physical boundary and toward the physical boundary, thereby solving the technical problem of low mowing efficiency caused by the need to manually clean the area close to the physical boundary in the mowing control method of the lawn mower in the related art, thereby improving the mowing efficiency and enhancing the user experience.

[0129] In an exemplary embodiment, when the lawn mower completes cutting the boundary area, the width of the change area is greater than or equal to 20 mm and less than or equal to 100 mm, and the change area is a lawn area corresponding to the maximum effective cutting height and the minimum effective cutting height.

[0130] In an exemplary embodiment, at least two effective cutting heights are effective cutting heights of N levels, wherein N is a positive integer greater than or equal to 5, and the effective cutting heights of the N levels decrease in order from small to large number of levels.

[0131] In an exemplary embodiment, among the N levels of effective cutting heights, the height difference between the effective cutting heights of two adjacent levels is less than or equal to 20 mm.

[0132] In an exemplary embodiment, among the N levels of effective cutting heights, the height difference between the effective cutting heights of two adjacent levels is greater than or equal to 5 mm and less than or equal to 15 mm.

[0133] In an exemplary embodiment, the area width of the cutting area configured for the j-th effective cutting height of the N-level effective cutting heights is b. j , where j∈{1,...,N-1}, b j ≤20 mm.

[0134] In an exemplary embodiment, the effective cutting height of the jth level among the N levels of effective cutting heights is a j , where 0.7≤b j / (a j -a j+1 )≤1.4.

[0135] In an exemplary embodiment, when the lawn mower completes cutting of the boundary area, the width of the uncut lawn area in the boundary area is greater than or equal to 40 mm and less than or equal to 150 mm.

[0136] In an exemplary embodiment, the control component 1702 is also used to adjust the cutting height of the cutting device in turn using each of at least two effective cutting heights when cutting the boundary area, so that it has at least two effective cutting heights, when the lateral position of the cutting device relative to the lawn mower is fixed; control the lawn mower to move along a walking path corresponding to each effective cutting height so that the cutting device cuts the boundary area according to the configured cutting height, the walking paths corresponding to different effective cutting heights of the at least two effective cutting heights are different, and the height value of the at least two effective cutting heights is negatively correlated with the distance between the corresponding walking path and the physical boundary.

[0137] In an exemplary embodiment, the control component 1702 is also used to adjust the cutting height of the cutting device by using each effective cutting height in sequence from high to low effective cutting heights.

[0138] In an exemplary embodiment, at least two effective cutting heights correspond to at least two walking paths, and the distance between two adjacent walking paths of the at least two walking paths is equal to the area width of the cutting area configured for the effective cutting height corresponding to the previous walking path of the two adjacent walking paths.

[0139] In an exemplary embodiment, at least two effective cutting heights correspond to at least two travel paths, and the moving directions of the lawn mower on different travel paths of the at least two travel paths are the same.

[0140] In an exemplary embodiment, at least two effective cutting heights correspond to at least two walking paths, and when the cutting device is located at the lateral center position of the mower, the moving directions of the mower on different walking paths of the at least two walking paths are the same or opposite, and the moving directions of the mower on adjacent walking paths are opposite.

[0141] In an exemplary embodiment, the travel path corresponding to each effective cutting height is parallel to the length direction of the physical boundary.

[0142] In an exemplary embodiment, the control component 1702 is also used to adjust the cutting height of the cutting device in turn using each of at least two effective cutting heights when the lateral position of the cutting device relative to the lawn mower is adjustable, so that it has at least two effective cutting heights, and adjust the lateral position of the cutting device to a lateral position corresponding to each effective cutting height; control the lawn mower to reciprocate in different directions or repeatedly move in the same direction along the same walking path, so that the cutting device cuts the boundary area according to the configured cutting height.

[0143] In an exemplary embodiment, the control component 1702 is also used to adjust the cutting height of the cutting device by using each effective cutting height in sequence from high to low effective cutting heights.

[0144] In an exemplary embodiment, at least two effective cutting heights correspond to at least two lateral positions of the cutting device, and the lateral distance between two adjacent ones of the at least two lateral positions is equal to the area width of the cutting area configured for the effective cutting height corresponding to the previous one of the two adjacent lateral positions.

[0145] In an exemplary embodiment, the same walking path is parallel to the length direction of the physical boundary.

[0146] In an exemplary embodiment, the cutting device includes at least two layers of blades, and the height difference between two adjacent layers of blades in the at least two layers of blades corresponds to the height difference between two adjacent effective cutting heights in the at least two effective cutting heights. The control component 1702 is also used to adjust the cutting heights of the at least two layers of blades according to the at least two effective cutting heights, so that the at least two effective cutting heights are provided; and control the lawn mower to move along a designated walking path so that the at least two layers of blades cut the boundary area according to the configured cutting heights.

[0147] In an exemplary embodiment, no other cutting structure for cutting the boundary area is arranged between the cutting device and the physical boundary.

[0148] In an exemplary embodiment, the lateral distance between two adjacent layers of blades is equal to the area width of the cutting area configured for the previous effective cutting height of two adjacent effective cutting heights corresponding to the two adjacent layers of blades.

[0149] In an exemplary embodiment, the designated walking path is parallel to the length direction of the physical boundary.

[0150] It should be noted that the above modules can be implemented by software or hardware. For the latter, it can be implemented in the following ways, but not limited to: the above modules are all located in the same processor; or the above modules are located in different processors in any combination.

[0151] According to another aspect of the embodiments of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored program, wherein the steps of any of the above method embodiments are executed when the program is run.

[0152] In an exemplary embodiment, the computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as a USB flash drive, a ROM, a RAM, a mobile hard disk, a magnetic disk, or an optical disk.

[0153] According to another aspect of the embodiments of the present application, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor is configured to execute the steps in any of the above method embodiments through the computer program. In an exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0154] For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary implementation modes, and this embodiment will not be described in detail herein.

[0155] According to another aspect of the embodiment of the present application, a computer program product is also provided, which includes a computer program / instruction, and the computer program / instruction contains a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 1809, and / or installed from the removable medium 1811. When the computer program is executed by the central processing unit 1801, various functions provided by the embodiment of the present application are executed. The above-mentioned serial numbers of the embodiments of the present application are only for description and do not represent the advantages and disadvantages of the embodiments.

[0156] Fig.18 The computer system structure block diagram of the electronic device used to implement the embodiment of the present application is schematically shown. Fig.18 As shown, the computer system 1800 includes a CPU (Central Processing Unit) 1801, which can perform various appropriate actions and processes according to the program stored in the ROM 1802 or the program loaded from the storage part 1808 to the RAM 1803. Various programs and data required for system operation are also stored in the random access memory 1803. The central processing unit 1801, the read-only memory 1802 and the random access memory 1803 are connected to each other through a bus 1804. An I / O (Input / Output) interface 1805 is also connected to the bus 1804.

[0157] The following components are connected to the I / O interface 1805: an input section 1806 including a keyboard, a mouse, etc.; an output section 1807 including a CRT (Cathode Ray Tube), an LCD (Liquid Crystal Display), etc., and a speaker, etc.; a storage section 1808 including a hard disk, etc.; and a communication section 1809 including a network interface card such as a LAN card, a modem, etc. The communication section 1809 performs communication processing via a network such as the Internet. A drive 1810 is also connected to the input / output interface 1805 as needed. A removable medium 1811, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1810 as needed so that a computer program read therefrom is installed into the storage section 1808 as needed.

[0158] In particular, according to an embodiment of the present application, the process described in each method flow chart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer readable medium, and the computer program contains a program code for executing the method shown in the flow chart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 1809, and / or installed from the removable medium 1811. When the computer program is executed by the central processor 1801, various functions defined in the system of the present application are executed.

[0159] It should be noted that Fig.18 The computer system 1800 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0160] Obviously, those skilled in the art should understand that the above modules or steps of the present application can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order from that herein, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present application is not limited to any specific combination of hardware and software.

[0161] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the principles of the present application shall be included in the protection scope of the present application.

Claims

1. A lawn mower mowing control method, characterized in that: include: Before cutting the boundary area, configuring the cutting device of the lawn mower to have at least two effective cutting heights, or when cutting the boundary area, adjusting the cutting height of the cutting device of the lawn mower to have at least two effective cutting heights, wherein the boundary area is a lawn area whose distance from the physical boundary is within a specified distance range; The cutting device is controlled to cut the boundary area so that the effective cutting height of the cutting device increases in a first direction, wherein the first direction is a direction perpendicular to the physical boundary and toward the physical boundary.

2. A lawn mower mowing control method, characterized in that: include: Before cutting the boundary area, configuring the cutting device of the lawn mower to have at least two effective cutting heights, or when cutting the boundary area, adjusting the cutting height of the cutting device of the lawn mower to have at least two effective cutting heights, wherein the boundary area is a lawn area whose distance from the physical boundary is within a specified distance range; Controlling the cutting device to cut the boundary area so that the effective cutting height of the cutting device increases in a first direction, wherein the first direction is a direction perpendicular to the physical boundary and toward the physical boundary; Among them, when the lawn mower completes cutting the boundary area, the width of the change area is greater than or equal to 20 mm and less than or equal to 100 mm, and the change area is the lawn area corresponding to the other effective cutting heights except the minimum effective cutting height among the at least two effective cutting heights.

3. The method according to claim 1 or 2, characterized in that: The at least two effective cutting heights are effective cutting heights of N levels, wherein N is a positive integer greater than or equal to 5, and the effective cutting heights of the N levels decrease in order from small to large number of levels.

4. The method according to claim 3, characterized in that Among the N levels of effective cutting heights, the height difference between the effective cutting heights of two adjacent levels is less than or equal to 20 mm.

5. The method according to claim 4, characterized in that Among the N levels of effective cutting heights, the height difference between the effective cutting heights of two adjacent levels is greater than or equal to 5 mm and less than or equal to 15 mm.

6. The method according to claim 3, characterized in that The area width of the cutting area configured for the effective cutting height of the jth level among the N levels of effective cutting heights is b j , where j∈{1,...,N-1}, b j ≤20 mm.

7. The method according to claim 6, characterized in that The effective cutting height of the jth level among the N levels of effective cutting heights is a j , where 0.7≤b j / (a j -a j+1 )≤1.

4.

8. The method according to claim 6, characterized in that When the lawn mower completes cutting of the boundary area, the width of the uncut lawn area in the boundary area is greater than or equal to 40 mm and less than or equal to 150 mm.

9. The method according to any one of claims 1 to 8, characterized in that The adjusting the cutting height of the cutting device of the lawn mower to have at least two effective cutting heights when cutting the boundary area comprises: when the lateral position of the cutting device relative to the lawn mower is fixed, when cutting the boundary area, sequentially adjusting the cutting height of the cutting device using each of the at least two effective cutting heights to have the at least two effective cutting heights; The controlling the cutting device to cut the boundary area includes: controlling the lawn mower to move along a walking path corresponding to each effective cutting height, so that the cutting device cuts the boundary area according to the configured cutting height, wherein the walking paths corresponding to different effective cutting heights among the at least two effective cutting heights are all different, and the height value of the effective cutting height among the at least two effective cutting heights is negatively correlated with the distance between the corresponding walking path and the physical boundary.

10. The method according to claim 9, characterized in that The step of sequentially using each of the at least two effective cutting heights to adjust the cutting height of the cutting device comprises: The cutting height of the cutting device is adjusted by using each effective cutting height in sequence from high to low.

11. The method according to claim 9, characterized in that The at least two effective cutting heights correspond to at least two walking paths, and the distance between two adjacent walking paths of the at least two walking paths is equal to the area width of the cutting area configured for the effective cutting height corresponding to the previous walking path of the two adjacent walking paths.

12. The method according to claim 9, characterized in that The at least two effective cutting heights correspond to at least two walking paths, and the moving directions of the lawn mower on different walking paths of the at least two walking paths are the same.

13. The method according to claim 9, characterized in that The at least two effective cutting heights correspond to at least two walking paths. When the cutting device is located at the lateral center position of the lawn mower, the moving directions of the lawn mower on different walking paths of the at least two walking paths are the same or opposite, and the moving directions of the lawn mower on adjacent walking paths are opposite.

14. The method according to claim 9, characterized in that The walking paths corresponding to each effective cutting height are parallel to the length direction of the physical boundary.

15. The method according to any one of claims 1 to 8, characterized in that When cutting the border area, adjusting the cutting height of the cutting device of the lawn mower so that it has at least two effective cutting heights comprises: when the lateral position of the cutting device relative to the lawn mower is adjustable, sequentially adjusting the cutting height of the cutting device using each of the at least two effective cutting heights so that it has the at least two effective cutting heights, and adjusting the lateral position of the cutting device to a lateral position corresponding to each of the effective cutting heights; The controlling the cutting device to cut the boundary area includes: controlling the lawn mower to reciprocate in different directions or repeatedly move in the same direction along the same walking path, so that the cutting device cuts the boundary area according to the configured cutting height.

16. The method according to claim 15, characterized in that The step of sequentially using each of the at least two effective cutting heights to adjust the cutting height of the cutting device comprises: The cutting height of the cutting device is adjusted by using each effective cutting height in sequence from high to low.

17. The method according to claim 15, characterized in that The at least two effective cutting heights correspond to at least two lateral positions of the cutting device, and the lateral distance between two adjacent lateral positions of the at least two lateral positions is equal to the area width of the cutting area configured for the effective cutting height corresponding to the previous lateral position of the two adjacent lateral positions.

18. The method according to claim 15, characterized in that The same walking path is parallel to the length direction of the physical boundary.

19. The method according to any one of claims 1 to 8, characterized in that The cutting device comprises at least two layers of blades, and the height difference between two adjacent layers of blades in the at least two layers of blades corresponds one to one to the height difference between two adjacent effective cutting heights in the at least two effective cutting heights; Before cutting the boundary area, configuring the cutting device of the lawn mower to have at least two effective cutting heights includes: adjusting the cutting heights of the at least two layers of blades according to the at least two effective cutting heights to have the at least two effective cutting heights; The controlling the cutting device to cut the boundary area includes: controlling the lawn mower to move along a designated walking path so that the at least two layers of blades cut the boundary area according to the configured cutting height.

20. The method according to claim 19, characterized in that No other cutting structure for cutting the boundary area is arranged between the cutting device and the physical boundary.

21. The method according to claim 19, characterized in that The lateral distance between the two adjacent layers of blades is equal to the area width of the cutting area configured for the previous effective cutting height of two adjacent effective cutting heights corresponding to the two adjacent layers of blades.

22. The method according to claim 19, characterized in that The designated walking path is parallel to the length direction of the physical boundary.

23. A lawn mower, characterized in that: The lawn mower comprises a control component and a cutting device, wherein: The control component is used to configure the cutting device to have at least two effective cutting heights before cutting the border area, or to adjust the cutting height of the cutting device to have at least two effective cutting heights when cutting the border area, wherein the border area is a lawn area whose distance from the physical border is within a specified distance range; control the cutting device to cut the border area so that the effective cutting height of the cutting device increases in a first direction, wherein the first direction is a direction perpendicular to the physical border and toward the physical border; The cutting device is used to cut the boundary area according to a configured cutting height.

24. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein the program executes the method of any one of claims 1 to 22 when executed.

25. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the method according to any one of claims 1 to 22 is implemented.

26. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to execute the method according to any one of claims 1 to 22 through the computer program.

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