Control method and device of mowing equipment, mowing equipment and storage medium

Abstract

The invention relates to the field of equipment control, and provides a control method and device for mowing equipment, the mowing equipment and a storage medium, and the method comprises the steps: determining a preset region for collecting grass clippings according to a moving path of the mowing equipment for executing mowing operation; according to the relative position relation between the mowing equipment and the preset area, the target wind direction of the blowing device is determined; and controlling the mowing equipment to execute mowing operation along the moving path, and controlling the air blowing device to supply air towards the target air direction. The mowing device blows the cut grass clippings to the preset area, so that the grass clippings are accumulated in the preset area in a concentrated manner, the difficulty of subsequently cleaning the grass clippings is reduced, the situation that the mowing device needs to carry a large amount of grass clippings in the moving process is avoided, and the electricity consumed by the mowing device is reduced.

Description

Technical Field

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

[0002] A lawn mower is usually provided with a grass collecting device for collecting cut grass clippings. When the grass clippings in the grass collecting device reach a certain volume, the lawn mower moves to a preset position to dump the grass clippings. In this way, the lawn mower needs to carry a certain mass of grass clippings during operation, resulting in unnecessary consumption of the power of the lawn mower. When the grass clippings are full, the lawn mower needs to dump the grass clippings back and forth, which increases the working time of the lawn mower. In order to avoid this situation, a more efficient lawn mower control method is urgently needed. Summary of the invention

[0003] The main purpose of the present application is to provide a control method and device for a lawn mowing device, a lawn mowing device and a storage medium, aiming to reduce the energy consumption of the lawn mowing device.

[0004] In a first aspect, the present application provides a control method for a lawn mowing device, wherein the lawn mowing device is provided with a blowing device, and the control method for the lawn mowing device comprises the following steps:

[0005] Determining a preset area for collecting grass clippings according to a moving path of the mowing equipment during mowing operations;

[0006] Determining a target wind direction of the blowing device according to a relative position relationship between the mowing device and the preset area;

[0007] The mowing equipment is controlled to perform mowing work along the moving path, and the blowing device is controlled to send air toward the target wind direction.

[0008] In a second aspect, the present application further provides a control device for a lawn mowing device, wherein the lawn mowing device is provided with a blowing device, and the control device for the lawn mowing device comprises:

[0009] A preset area determination module, used to determine a preset area for collecting grass clippings according to a moving path of the mowing device during mowing operations;

[0010] A wind direction determination module, used for determining a target wind direction of the blowing device according to a relative position relationship between the mowing device and the preset area;

[0011] The mobile control module is used to control the mowing device to perform mowing operations along the moving path, and control the blowing device to supply air in the target wind direction, so that grass clippings generated during the mowing operations performed by the mowing device along the moving path are moved to the preset area.

[0012] In a third aspect, the present application also provides a lawn mowing device, comprising a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the computer program is executed by the processor, the control method of the lawn mowing device as described above is implemented.

[0013] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the control method of the lawn mowing device as described above is implemented.

[0014] The present application provides a control method and device for mowing equipment, a mowing equipment and a computer storage medium. The present application determines a preset area for collecting grass clippings according to the moving path of the mowing equipment during mowing operations; determines the target wind direction of the blowing device according to the relative position relationship between the mowing equipment and the preset area; controls the mowing equipment to perform mowing operations along the moving path, and controls the blowing device to send air in the target wind direction. The cut grass clippings are blown to the preset area, so that the grass clippings are concentrated and accumulated in the preset area, which reduces the difficulty of cleaning up the grass clippings later, avoids the need for the mowing equipment to carry a large amount of grass clippings during movement, and reduces the power consumption of the mowing equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1 A schematic flow chart of a control method for a lawn mowing device provided in one embodiment of the present application;

[0017] Figure 2 A schematic diagram of a scene of an arched path provided in an embodiment of the present application;

[0018] Figure 3 A schematic diagram of a scene of an arched path provided in an embodiment of the present application;

[0019] Figure 4 A schematic diagram of a scene of an arched path provided in an embodiment of the present application;

[0020] Figure 5 A schematic diagram of a scene of an arched path provided in an embodiment of the present application;

[0021] Figure 6 A schematic diagram of a scene of a spiral path provided in an embodiment of the present application;

[0022] Figure 7 A schematic diagram of a scene of a spiral path provided in an embodiment of the present application;

[0023] Figure 8 A schematic block diagram of a control device for a lawn mowing device provided in one embodiment of the present application;

[0024] Fig. 9 The present invention is a block diagram showing the structure of a lawn mowing device according to an embodiment of the present application. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0026] The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may also be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

[0027] Embodiments of the present application provide a control method and device for a lawn mowing device, a lawn mowing device, and a computer-readable storage medium.

[0028] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0029] Please refer to Figure 1 , Figure 1 A flow chart of a control method for a lawn mowing device provided in an embodiment of the present application. The control method for a lawn mowing device can be used in a lawn mowing device. The lawn mowing device applies the control method for a lawn mowing device provided in an embodiment of the present application during the lawn mowing operation to blow the cut grass clippings to a preset area, so that the grass clippings are concentrated and accumulated in the preset area, thereby reducing the difficulty of subsequent cleaning of the grass clippings, and avoiding the need for the lawn mowing device to carry a large amount of grass clippings during movement, thereby reducing the power consumption of the lawn mowing device.

[0030] Specifically, the control method of the lawn mowing equipment provided in the embodiment of the present application can be a working mode of the lawn mowing equipment. For example, when the power of the lawn mowing equipment is low, the lawn mowing operation is performed according to the control method of the lawn mowing equipment provided in the embodiment of the present application, or the user can also manually choose to use the control method of the lawn mowing equipment provided in the embodiment of the present application.

[0031] like Figure 1 As shown, the control method of the lawn mowing equipment includes steps S101 to S103.

[0032] Step S101: determining a preset area for collecting grass clippings according to a moving path of the mowing equipment during mowing operations.

[0033] For example, the mowing device provided in the embodiment of the present application is used to automatically perform mowing operations on the grass. Before performing the mowing operation, the mowing device needs to determine the moving path of the mowing operation. The moving path can be pre-set, for example, the mowing device determines the moving path of this mowing operation based on the previous moving path in the working area, of course, it is not limited to this, and the moving path can also be generated by the mowing device according to the working area, which is not limited here.

[0034] Exemplarily, the preset area is at least a part of the working area used to accumulate grass clippings. The blowing device of the mowing equipment provided in the embodiment of the present application is at least used to blow the cut grass clippings to the preset area to avoid the need for the mowing equipment to carry a large amount of grass clippings during movement. At the same time, due to the concentrated accumulation of grass clippings, the difficulty of subsequent collection of grass clippings by users or other equipment is greatly reduced, thereby improving the efficiency of grass clipping collection.

[0035] In some embodiments, before determining a preset area for collecting grass clippings according to a moving path of the mowing device during the mowing operation, the method further includes:

[0036] Environmental information of an operation area where a mowing operation is to be performed is acquired, and a moving path of the mowing equipment for performing the mowing operation is determined according to the environmental information.

[0037] For example, the mowing device can obtain environmental information of the working area by traversing the working area. For example, during the traversal process, the sensors on the mowing device can detect boundaries and obstacles, so that the mowing device can obtain an environmental map of the working area, and then plan a moving path according to the environmental map. In addition to the environmental map, the environmental information can also include environmental slope, grass height and density, etc. Of course, it is not limited to this. The environmental information can also be actively input by the user, which is not limited here.

[0038] Exemplarily, the mowing device can determine a moving path that is adapted to the environmental information according to a preset path planning algorithm, so as to perform mowing operations in the working area according to the moving path, wherein the path planning algorithm can refer to the records in the relevant technology and will not be described in detail here. For example, if the environmental information indicates that the shape of the working area is circular, a spiral moving path can be used; if the environmental information indicates that the shape of the working area is rectangular, a bow-shaped moving path can be used.

[0039] In some embodiments, the moving path includes an arcuate path, and determining a preset area for collecting grass clippings according to the moving path of the mowing device performing the mowing operation includes:

[0040] In the case that the moving path is the arcuate path, the preset area is determined according to an initial first sub-path of the arcuate path and a second sub-path opposite to the first sub-path.

[0041] Please refer to Figure 2-Figure 5 , Figure 2-Figure 5 A schematic diagram of a scene of an arched path provided in an embodiment of the present application.

[0042] like Figure 2 As shown, when the working area is rectangular, the working area that needs to be mowed can be covered by an arcuate path, and the first sub-path of the mowing equipment is Figure 2 In the path from the lower left corner to the lower right corner below, the area between the first sub-path and the second sub-path is set as a preset area, so that the grass clippings generated by the mowing equipment on the first sub-path and the second sub-path can be accumulated in the same preset area. Compared with setting preset areas for the first sub-path and the second sub-path respectively, this reduces the number of preset areas, thereby reducing the time required for subsequent cleaning of grass clippings and improving the efficiency of cleaning grass clippings. It can be understood that the area between the third sub-path after the second sub-path and the fourth sub-path in the opposite direction of the third sub-path also belongs to the preset area. At this time, the third sub-path and the fourth sub-path are equivalent to the first sub-path and the second sub-path respectively.

[0043] like Figure 3 As shown, if the direction of the first subpath is Figure 3 For the path from the lower right corner to the lower left corner below, the area between the first sub-path and the second sub-path can also be determined as the preset area. Figure 3 , Figure 4 In the direction, the area between the first sub-path and the second sub-path can also be determined as the preset area, which will not be described in detail here.

[0044] In some embodiments, the moving path includes a spiral path, and determining a preset area for collecting grass clippings according to the moving path of the mowing device performing the mowing operation includes:

[0045] When the moving path is the spiral path, the preset area is determined according to the center point of the spiral path.

[0046] Please refer to Figure 6-Figure 7 , Figure 6-Figure 7 A schematic diagram of a spiral path scenario provided in an embodiment of the present application.

[0047] like Figure 6 , Figure 7 As shown, if the shape of the working area is circular or elliptical, a spiral-shaped moving path can be adopted, and the mowing device can move along the spiral from the circumference to the center of the circle, wherein the direction of movement of the mowing device can be clockwise or counterclockwise. In this case, the position where the spiral center of the spiral is located can be used as the preset area. Specifically, a circular area with the spiral center as the center can be used as the preset area, and the diameter of the preset area can be determined according to the size of the working area.

[0048] Step S102: determining a target wind direction of the blowing device according to a relative position relationship between the mowing equipment and the preset area.

[0049] like Figure 2 As shown, in the mowing equipment along Figure 2 During the arc-shaped path movement, the preset area is always located on the left side relative to the mowing device. At this time, the left side of the mowing device can be determined as the target wind direction. Figure 3 As shown, in the mowing equipment along Figure 3 During the arc-shaped path movement of the mowing device, the preset area is always located on the right side relative to the mowing device. At this time, the right side of the mowing device can be determined as the target wind direction. Figure 4 In the process of the mowing device moving along the arcuate path, the right side of the mowing device can be determined as the target wind direction; Figure 5 During the arc-shaped path movement, the left side of the mowing equipment can be determined as the target wind direction.

[0050] like Figure 6 As shown, taking the mowing device moving in the counterclockwise direction as an example, the preset area where the spiral center is located is always located on the left side of the mowing device. At this time, the left side of the mowing device can be determined as the target wind direction; Figure 7 As shown, taking the mowing device moving in a clockwise direction as an example, the preset area where the spiral center is located is always located on the right side of the mowing device. At this time, the right side of the mowing device can be determined as the target wind direction.

[0051] It is understandable that the moving path and target wind direction in the above embodiment are only used as examples. In actual operation, the moving path may also be other paths, for example, part of the moving path is an arcuate path and part is a spiral path. Of course, it is not limited to this and is not limited here. Similarly, if the positional relationship between the mowing device and the preset area changes during the movement of the mowing device along the moving path, the target wind direction of the blowing device also changes accordingly to adapt to the working environment of the mowing device.

[0052] Exemplarily, when there are multiple preset areas in the moving path, the preset area closest to the mowing equipment is determined as the target preset area, and the target wind direction of the blowing device is determined according to the relative position relationship between the mowing equipment and the target preset area.

[0053] In some embodiments, the mowing device further includes a cutter disc, and determining the target wind direction of the blowing device according to the relative position relationship between the mowing device and the preset area includes:

[0054] The target wind direction of the blowing device is determined according to a first relative position relationship between the mowing equipment and the preset area, and a second relative position relationship between the cutter disc and the blowing device.

[0055] For example, the direction of the target wind direction in space is related not only to the preset area but also to the height of the blade disc. It is understandable that since the blowing device needs to act on the grass clippings cut by the blade disc, the height of the target wind direction can be adjusted to make the target wind direction adapt to the height of the blade disc, so as to better blow away the grass clippings cut by the blade disc and dry the grass juice remaining on the blade disc to prevent the grass juice from corroding the blade disc.

[0056] Exemplarily, the target angle of the target wind direction is determined based on a first relative position relationship between the mowing equipment and a preset area, and the target angle of the target wind direction is determined based on a second relative position relationship between the blade disc and the blowing device, thereby determining the direction of the target wind direction in space based on the target angle and the target height.

[0057] In some embodiments, the blowing device is disposed on a side of the cutter disc away from a moving direction of the mowing equipment.

[0058] Exemplarily, the blowing device is arranged at a position adjacent to the cutter disc at the tail of the mowing device, which is away from the moving direction of the mowing device, so that the blowing device can better act on the grass clippings cut by the cutter disc.

[0059] Step S103: Control the mowing equipment to perform mowing operations along the moving path, and control the blowing device to supply air toward the target wind direction.

[0060] Illustratively, while the mowing equipment is performing mowing operations along the moving path, the blowing device continuously supplies air in the target wind direction, thereby blowing grass clippings generated by the mowing equipment during the operation to a preset area, so that the grass clippings are concentrated in the preset area, thereby reducing the workload of subsequent cleaning of the grass clippings.

[0061] For example, after grass clippings accumulate in a preset area, the grass clippings in the preset area can be cleaned manually, or by specific equipment, or the mowing equipment can complete the mowing operation and then perform the cleaning operation in a centralized manner in the working environment, which is not limited here.

[0062] In some embodiments, controlling the blowing device to supply air toward the target wind direction includes:

[0063] According to the relative distance between the preset area and the mowing device, a target air supply parameter for controlling the air blowing device to supply air in the target wind direction is determined, and the air blowing device is driven to perform an air supply operation according to the target air supply parameter, wherein the target air supply parameter at least includes a target wind speed that is positively correlated with the relative distance;

[0064] And / or, based on the moving speed of the mowing equipment, determine the target air supply parameters for controlling the blowing device to supply air toward the target wind direction, and drive the blowing device to perform the air supply operation according to the target air supply parameters, wherein the target air supply parameters at least include a target wind speed that is positively correlated with the moving speed.

[0065] For example, the farther the mowing device is from the preset area, the higher the target wind speed the blowing device needs to blow the grass clippings to the target area. Therefore, the target wind speed varies with the relative distance between the preset area and the mowing device. Figure 6 For example, as the mowing equipment moves along the spiral line and the distance from the preset area becomes smaller and smaller, the target wind speed of the air supplied by the blowing device can be reduced accordingly, thereby preventing the grass clippings from being blown to a position outside the preset area due to excessive wind speed and reducing the energy consumption of the blowing device.

[0066] For example, the faster the mowing device moves, the more grass clippings the mowing device produces per unit time, and the blowing device needs a higher target wind speed to blow the grass clippings to the target area. Therefore, the target wind speed is positively correlated with the moving speed of the mowing device.

[0067] Exemplarily, the target air supply parameter may also be determined by other factors, such as the lushness of the grass, which is not limited here.

[0068] The control method of the mowing equipment provided in the above embodiment determines a preset area for collecting grass clippings according to the moving path of the mowing equipment during the mowing operation; determines the target wind direction of the blowing device according to the relative position relationship between the mowing equipment and the preset area; controls the mowing equipment to perform the mowing operation along the moving path, and controls the blowing device to send air in the target wind direction. The cut grass clippings are blown to the preset area, so that the grass clippings are concentrated and accumulated in the preset area, which reduces the difficulty of cleaning up the grass clippings later, avoids the need for the mowing equipment to carry a large amount of grass clippings during the movement, and reduces the power consumption of the mowing equipment.

[0069] See also Figure 3 , Figure 3 1 is a schematic diagram of a control device for a lawn mowing device provided in an embodiment of the present application. The control device for the lawn mowing device can be configured in the lawn mowing device to execute the aforementioned control method for the lawn mowing device.

[0070] like Figure 3 As shown, the control device of the mowing equipment includes: a preset area determination module 110, a wind direction determination module 120, and a movement control module 130.

[0071] A preset area determination module 110 is used to determine a preset area for collecting grass clippings according to a moving path of the mowing device during mowing operations;

[0072] A wind direction determination module 120, configured to determine a target wind direction of the blowing device according to a relative position relationship between the mowing device and the preset area;

[0073] The movement control module 130 is used to control the mowing device to perform mowing operations along the movement path, and control the blowing device to supply air in the target wind direction, so that grass clippings generated during the mowing operation of the mowing device along the movement path are moved to the preset area.

[0074] In some embodiments, the moving path includes an arcuate path, and the preset area determination module 110, in the process of determining the preset area for collecting grass clippings according to the moving path of the mowing device performing the mowing operation, is used to:

[0075] In the case that the moving path is the arcuate path, the preset area is determined according to an initial first sub-path of the arcuate path and a second sub-path opposite to the first sub-path.

[0076] In some embodiments, the moving path includes a spiral path, and the preset area determination module 110, in the process of determining the preset area for collecting grass clippings according to the moving path of the mowing device performing the mowing operation, is used to:

[0077] When the moving path is the spiral path, the preset area is determined according to the center point of the spiral path.

[0078] In some embodiments, before determining the preset area for collecting grass clippings according to the moving path of the mowing device during the mowing operation, the control device of the mowing device is configured to:

[0079] Environmental information of an operation area where a mowing operation is to be performed is acquired, and a moving path of the mowing equipment for performing the mowing operation is determined according to the environmental information.

[0080] In some embodiments, the mowing device further includes a cutter disc, and the wind direction determination module 120, in the process of determining the target wind direction of the blowing device according to the relative position relationship between the mowing device and the preset area, is used to:

[0081] The target wind direction of the blowing device is determined according to a first relative position relationship between the mowing equipment and the preset area, and a second relative position relationship between the cutter disc and the blowing device.

[0082] In some embodiments, the movement control module 130, in the process of controlling the blowing device to deliver air toward the target wind direction, is used to:

[0083] According to the relative distance between the preset area and the mowing device, a target air supply parameter for controlling the air blowing device to supply air in the target wind direction is determined, and the air blowing device is driven to perform an air supply operation according to the target air supply parameter, wherein the target air supply parameter at least includes a target wind speed that is positively correlated with the relative distance;

[0084] And / or, based on the moving speed of the mowing equipment, determine the target air supply parameters for controlling the blowing device to supply air toward the target wind direction, and drive the blowing device to perform the air supply operation according to the target air supply parameters, wherein the target air supply parameters at least include a target wind speed that is positively correlated with the moving speed.

[0085] It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and modules and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0086] The method and apparatus of the present application can be used in many general or special computing system environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronic devices, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, etc. The present application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application can also be practiced in distributed computing environments, in which tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0087] Exemplarily, the above method and apparatus may be implemented in the form of a computer program. The computer program may be implemented in Figure 4 The mowing equipment shown is running.

[0088] See also Figure 4 , Figure 4 A schematic block diagram of the structure of a lawn mowing device provided in an embodiment of the present application.

[0089] like Figure 4 As shown, the lawn mowing device includes a processor, a memory and a network interface connected via a system bus, wherein the memory may include a storage medium and an internal memory.

[0090] The storage medium can store an operating system and a computer program. The computer program includes program instructions, and when the program instructions are executed, the processor can execute any control method of the lawn mowing device.

[0091] The processor is used to provide computing and control capabilities to support the operation of the entire mowing equipment.

[0092] The internal memory provides an environment for the operation of the computer program in the storage medium. When the computer program is executed by the processor, the processor can execute any control method of the lawn mowing device.

[0093] The network interface is used for network communication, such as sending assigned tasks, etc. Those skilled in the art will understand that Figure 4 The structure shown in the figure is merely a block diagram of a partial structure related to the present application scheme, and does not constitute a limitation on the lawn mowing equipment to which the present application scheme is applied. The specific lawn mowing equipment may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0094] It should be understood that the processor may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0095] In one embodiment, the processor is used to run a computer program stored in the memory to implement the following steps:

[0096] Determining a preset area for collecting grass clippings according to a moving path of the mowing equipment during mowing operations;

[0097] Determining a target wind direction of the blowing device according to a relative position relationship between the mowing device and the preset area;

[0098] The mowing equipment is controlled to perform mowing work along the moving path, and the blowing device is controlled to send air toward the target wind direction.

[0099] In one embodiment, the moving path includes an arcuate path, and the processor, in the process of determining the preset area for collecting grass clippings according to the moving path of the mowing device performing the mowing operation, is used to implement:

[0100] In the case that the moving path is the arcuate path, the preset area is determined according to an initial first sub-path of the arcuate path and a second sub-path opposite to the first sub-path.

[0101] In one embodiment, the moving path includes a spiral path, and the processor, in the process of determining the preset area for collecting grass clippings according to the moving path of the mowing device performing the mowing operation, is used to implement:

[0102] When the moving path is the spiral path, the preset area is determined according to the center point of the spiral path.

[0103] In one embodiment, before determining the preset area for collecting grass clippings according to the moving path of the mowing device during the mowing operation, the processor is configured to:

[0104] Environmental information of an operation area where a mowing operation is to be performed is acquired, and a moving path of the mowing equipment for performing the mowing operation is determined according to the environmental information.

[0105] In one embodiment, the mowing device further includes a cutter disc, and the processor, in the process of determining the target wind direction of the blowing device according to the relative position relationship between the mowing device and the preset area, is used to implement:

[0106] The target wind direction of the blowing device is determined according to a first relative position relationship between the mowing equipment and the preset area, and a second relative position relationship between the cutter disc and the blowing device.

[0107] In one embodiment, the processor, in the process of controlling the blowing device to supply air toward the target wind direction, is used to implement:

[0108] According to the relative distance between the preset area and the mowing device, a target air supply parameter for controlling the air blowing device to supply air in the target wind direction is determined, and the air blowing device is driven to perform an air supply operation according to the target air supply parameter, wherein the target air supply parameter at least includes a target wind speed that is positively correlated with the relative distance;

[0109] And / or, based on the moving speed of the mowing equipment, determine the target air supply parameters for controlling the blowing device to supply air toward the target wind direction, and drive the blowing device to perform the air supply operation according to the target air supply parameters, wherein the target air supply parameters at least include a target wind speed that is positively correlated with the moving speed.

[0110] It should be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0111] It should also be understood that the term "and / or" used in the specification of this application and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, including these combinations. It should be noted that, in this article, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "including a..." does not exclude the presence of other identical elements in the process, method, article or system including the element.

[0112] The serial numbers of the embodiments of the present application are for description only and do not represent the advantages and disadvantages of the embodiments. The above description is only a specific implementation mode of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A control method for a lawn mowing device, characterized in that: The mowing equipment is provided with a blowing device, and the method comprises: Determining a preset area for collecting grass clippings according to a moving path of the mowing equipment during mowing operations; Determining a target wind direction of the blowing device according to a relative position relationship between the mowing device and the preset area; The mowing equipment is controlled to perform mowing work along the moving path, and the blowing device is controlled to send air toward the target wind direction.

2. The control method of the lawn mowing equipment according to claim 1, characterized in that: The moving path includes an arcuate path, and the determining of a preset area for collecting grass clippings according to the moving path of the mowing device for performing the mowing operation includes: In the case that the moving path is the arcuate path, the preset area is determined according to an initial first sub-path of the arcuate path and a second sub-path opposite to the first sub-path.

3. The control method of the lawn mowing equipment according to claim 1, characterized in that: The moving path includes a spiral path, and the determining of a preset area for collecting grass clippings according to the moving path of the mowing device performing the mowing operation includes: When the moving path is the spiral path, the preset area is determined according to the center point of the spiral path.

4. The control method of the lawn mowing equipment according to claim 1, characterized in that: Before determining a preset area for collecting grass clippings according to a moving path of the mowing device during mowing, the method further includes: Environmental information of an operation area where a mowing operation is to be performed is acquired, and a moving path of the mowing equipment for performing the mowing operation is determined according to the environmental information.

5. The control method of the lawn mowing equipment according to claim 1, characterized in that: The mowing device further includes a cutter disc, and determining the target wind direction of the blowing device according to the relative position relationship between the mowing device and the preset area includes: The target wind direction of the blowing device is determined according to a first relative position relationship between the mowing equipment and the preset area, and a second relative position relationship between the cutter disc and the blowing device.

6. The control method of the lawn mowing equipment according to claim 5, characterized in that: The blowing device is arranged on a side of the cutter disc away from the moving direction of the mowing equipment.

7. The control method of the lawn mowing equipment according to claim 1, characterized in that: The controlling the blowing device to supply air toward the target wind direction comprises: According to the relative distance between the preset area and the mowing device, a target air supply parameter for controlling the air blowing device to supply air in the target wind direction is determined, and the air blowing device is driven to perform an air supply operation according to the target air supply parameter, wherein the target air supply parameter at least includes a target wind speed that is positively correlated with the relative distance; And / or, based on the moving speed of the mowing equipment, determine the target air supply parameters for controlling the blowing device to supply air toward the target wind direction, and drive the blowing device to perform the air supply operation according to the target air supply parameters, wherein the target air supply parameters at least include a target wind speed that is positively correlated with the moving speed.

8. A control device for mowing equipment, characterized in that: The mowing device is provided with a blowing device, and the control device of the mowing device comprises: A preset area determination module, used to determine a preset area for collecting grass clippings according to a moving path of the mowing device during mowing operations; A wind direction determination module, used for determining a target wind direction of the blowing device according to a relative position relationship between the mowing device and the preset area; The mobile control module is used to control the mowing device to perform mowing operations along the moving path, and control the blowing device to supply air in the target wind direction, so that grass clippings generated during the mowing operations performed by the mowing device along the moving path are moved to the preset area.

9. A lawn mowing device, characterized in that: The lawn mowing device comprises a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the computer program is executed by the processor, the steps of the lawn mowing device control method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein when the computer program is executed by a processor, the steps of the control method of the lawn mowing device according to any one of claims 1 to 7 are implemented.

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