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

Abstract

The application relates to the field of device control, and provides a control method and device of a mowing device, the mowing device and a storage medium, the method comprising the following steps: determining a preset area for collecting grass clippings according to a moving path of the mowing device for performing a mowing operation; determining a target wind direction of a blowing device according to a relative position relationship between the mowing device and the preset area; controlling the mowing device to perform the mowing operation along the moving path, and controlling the blowing device to blow air towards the target wind direction. The mowed grass clippings are blown to the preset area, so that the grass clippings are concentrated and accumulated in the preset area, the difficulty of subsequent cleaning of the grass clippings is reduced, the mowing device does not need to carry a large amount of grass clippings during movement, and the power consumption of the mowing device is reduced.

Description

Technical Field

[0001] This application relates to the field of equipment control, and more particularly to a control method, apparatus, lawn mowing equipment, and storage medium for lawn mowing equipment. Background Technology

[0002] Lawn mowers typically have a grass collection device to gather the cut grass clippings. When the clippings in the device reach a certain volume, it moves to a preset location to empty them. This means the lawn mower needs to carry a certain amount of clippings during operation, leading to unnecessary power consumption. Furthermore, the need to empty the clippings repeatedly after the device is full increases the operating time. To avoid this situation, a more efficient lawn mower control method is urgently needed. Summary of the Invention

[0003] The main objective of this application is to provide a control method, device, mowing equipment, and storage medium for lawn mowing equipment, with the aim of reducing the energy consumption of lawn mowing equipment.

[0004] In a first aspect, this application provides a control method for a lawn mowing device, the lawn mowing device being equipped with a blower, the control method comprising the following steps:

[0005] Based on the movement path of the mowing equipment performing the mowing operation, a preset area for collecting grass clippings is determined;

[0006] The target wind direction of the blowing device is determined based on the relative positional relationship between the mowing equipment and the preset area;

[0007] The lawn mowing equipment is controlled to perform lawn mowing operations along the moving path, and the blower is controlled to deliver air towards the target wind direction.

[0008] Secondly, this application also provides a control device for a lawn mowing device, the lawn mowing device being equipped with a blower, the control device for the lawn mowing device comprising:

[0009] The preset area determination module is used to determine a preset area for collecting grass clippings based on the movement path of the grass-cutting equipment when performing grass-cutting operations.

[0010] The wind direction determination module is used to determine the target wind direction of the blowing device based on the relative positional relationship between the mowing equipment and the preset area.

[0011] The mobile control module is used to control the mowing equipment to perform mowing operations along the mobile path, and to control the blower to blow air towards the target wind direction, so that the grass clippings generated by the mowing equipment during the mowing operation along the mobile path are moved to the preset area.

[0012] Thirdly, this application also provides a lawn mowing device, which includes 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, it implements the control method of the lawn mowing device as described above.

[0013] Fourthly, this application also provides a computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, it implements the control method for the lawn mowing device as described above.

[0014] This application provides a control method, apparatus, and computer storage medium for lawn mowing equipment. The method involves determining a preset area for collecting grass clippings based on the movement path of the lawn mowing equipment during its mowing operation; determining the target wind direction of a blower based on the relative position of the lawn mowing equipment and the preset area; controlling the lawn mowing equipment to perform mowing operations along the movement path; and controlling the blower to deliver air towards the target wind direction. This directs the cut grass clippings towards the preset area, causing them to accumulate and reducing the difficulty of subsequent clipping removal. Furthermore, it avoids the lawn mowing equipment needing to carry large amounts of grass clippings during movement, thus reducing the power consumption of the lawn mowing equipment. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 A schematic flowchart illustrating a control method for a lawn mowing device according to an embodiment of this application;

[0017] Figure 2 A schematic diagram of a scenario with an arc-shaped path provided in an embodiment of this application;

[0018] Figure 3 A schematic diagram of a scenario with an arc-shaped path provided in an embodiment of this application;

[0019] Figure 4 A schematic diagram of a scenario with an arc-shaped path provided in an embodiment of this application;

[0020] Figure 5 A schematic diagram of a scenario with an arc-shaped path provided in an embodiment of this application;

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

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

[0023] Figure 8 A schematic block diagram of a control device for a lawn mowing equipment provided in an embodiment of this application;

[0024] Figure 9 This is a schematic block diagram of the structure of a lawn mowing device according to an embodiment of this application. Detailed Implementation

[0025] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0026] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0027] This application provides a control method, apparatus, lawn mowing equipment, and computer-readable storage medium for lawn mowing equipment.

[0028] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0029] Please refer to Figure 1 , Figure 1 This is a flowchart illustrating a control method for a lawn mowing device provided in an embodiment of this application. This control method can be used in lawn mowing equipment. During the mowing operation, the control method provided in this embodiment blows the cut grass clippings towards a preset area, causing the clippings to accumulate there. This reduces the difficulty of subsequent clipping removal and avoids the need for the mowing equipment to carry large amounts of clippings during movement, thus reducing the power consumption of the mowing equipment.

[0030] Specifically, the control method for the lawn mowing equipment provided in this application embodiment can be a working mode of the lawn mowing equipment. For example, when the lawn mowing equipment has low power, the lawn mowing operation can be performed according to the control method for the lawn mowing equipment provided in this application embodiment. Alternatively, the user can manually select to use the control method for the lawn mowing equipment provided in this application embodiment.

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

[0032] Step S101: Determine a preset area for collecting grass clippings based on the movement path of the grass-cutting equipment performing the grass-cutting operation.

[0033] For example, the lawn mowing device provided in this application embodiment is used to automatically perform lawn mowing operations on grass. Before performing lawn mowing operations, the lawn mowing device needs to determine the movement path for the lawn mowing operation. The movement path can be preset, for example, the lawn mowing device can determine the movement path for this lawn mowing operation based on the movement path of the lawn mowing device in the previous work area. Of course, it is not limited to this. The movement path can also be generated by the lawn mowing device based on the current work area. This is not limited here.

[0034] For example, the preset area is at least a part of the working area used for accumulating grass clippings. The blowing device of the mowing equipment provided in this application embodiment is at least used to blow the cut grass clippings to the preset area, so as to avoid the need for the mowing equipment to carry a large amount of grass clippings during the movement. At the same time, since the grass clippings are concentrated and accumulated, the difficulty of collecting the grass clippings by the user or other equipment is greatly reduced, thus improving the efficiency of grass clipping collection.

[0035] In some embodiments, the method further includes, before determining a preset area for collecting grass clippings based on the movement path of the mowing equipment performing the mowing operation:

[0036] Obtain environmental information of the work area to be mowed, and determine the movement path of the mowing equipment to perform the mowing operation based on the environmental information.

[0037] For example, a lawnmower can acquire environmental information about its work area by traversing the area. This includes boundary and obstacle detection via sensors on the lawnmower during the traversal, allowing it to obtain an environmental map of the work area. Based on this map, the lawnmower can then plan its movement path. In addition to the environmental map, environmental information may also include slope, grass height, and density. However, this is not a limitation; environmental information can also be actively input by the user.

[0038] For example, the lawn mowing device can determine a movement path adapted to environmental information based on a preset path planning algorithm, and then perform lawn mowing operations in the work area according to the movement path. The path planning algorithm can be found in related art and will not be described in detail here. For instance, if the environmental information indicates that the work area is circular, a spiral-shaped movement path can be used; if the environmental information indicates that the work area is rectangular, a bow-shaped movement path can be used.

[0039] In some embodiments, the movement path includes an arc-shaped path, and determining a preset area for collecting grass clippings based on the movement path of the mowing equipment performing the mowing operation includes:

[0040] When the movement path is the bow-shaped path, the preset area is determined based on the initial first sub-path of the bow-shaped path and the second sub-path that is opposite in direction to the first sub-path.

[0041] Please refer to Figures 2-5 , Figures 2-5 This is a schematic diagram of a scenario with an arc-shaped path provided in an embodiment of this application.

[0042] like Figure 2 As shown, when the work area is rectangular, the area to be mowed can be covered using an arc-shaped path. The first sub-path of the mowing equipment is... Figure 2 The path below, moving from the bottom left to the bottom right, sets the area between the first and second sub-paths as a preset area. This allows grass clippings generated by the mowing equipment on both the first and second sub-paths to accumulate in the same preset area. Compared to setting separate preset areas for the first and second sub-paths, this reduces the number of preset areas, thus reducing the time required for subsequent clipping cleanup and improving efficiency. It's understandable that the area between the third sub-path after the second sub-path and the fourth sub-path (moving in the opposite direction) also falls under the preset area; in this case, the third and fourth sub-paths are equivalent to the first and second sub-paths, respectively.

[0043] like Figure 3 As shown, if the direction of the first sub-path is Figure 3 The path below, moving from the bottom right corner to the bottom left corner, can also have the area between the first and second sub-paths defined as the preset area. Similarly, if the direction of the arc-shaped path is... Figure 3 , Figure 4 The direction in the middle can also be defined by the area between the first sub-path and the second sub-path as a preset area, which will not be elaborated here.

[0044] In some embodiments, the movement path includes a spiral path, and determining a preset area for collecting grass clippings based on the movement path of the mowing equipment performing the mowing operation includes:

[0045] When the movement path is the spiral path, the preset area is determined based on the center point of the spiral path.

[0046] Please refer to Figures 6-7 , Figures 6-7 This is a schematic diagram of a spiral path scenario provided in an embodiment of this application.

[0047] like Figure 6 , Figure 7 As shown, if the work area is circular or elliptical, a spiral-shaped movement path can be used. The mowing equipment can move along the spiral from the circumference to the center, and the direction of movement can be clockwise or counterclockwise. In this case, the location of the spiral's center can be used as a preset area. Specifically, a circular area centered on the spiral's center can be used as the preset area, and the diameter of the preset area can be determined based on the size of the work area.

[0048] Step S102: Determine the target wind direction of the blower based on the relative positional relationship between the mowing equipment and the preset area.

[0049] like Figure 2 As shown, along the lawn mower equipment Figure 2 During the arc-shaped movement, the preset area remains to the left of the mower, allowing the left side of the mower to be identified as the target wind direction. Similarly, as... Figure 3 As shown, along the lawn mower equipment Figure 3 During the arc-shaped movement of the mower, the preset area remains to the right relative to the mower; therefore, the right side of the mower can be defined as the target wind direction. Similarly, as the mower moves along... Figure 4 During the movement of the lawnmower along its arc-shaped path, the right side of the lawnmower can be identified as the target wind direction; as the lawnmower moves along... Figure 5 During the movement along the arc-shaped path, the left side of the mowing equipment can be identified as the target wind direction.

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

[0051] It is understood that the movement path and target wind direction in the above embodiments are only illustrative examples. In actual operation, the movement path can also be other paths, such as part of the movement path being an arc path and part being a spiral path, and of course, it is not limited to these, and is not limited here. Similarly, if the positional relationship between the lawn mower and the preset area changes during the movement of the lawn mower along the movement path, the target wind direction of the blowing device will also change accordingly to adapt to the working environment of the lawn mower.

[0052] For example, when there are multiple preset areas in the movement path, the preset area closest to the mowing device is determined as the target preset area, and the target wind direction of the blower is determined according to the relative positional relationship between the mowing device and the target preset area.

[0053] In some embodiments, the mowing equipment further includes a blade disc, and determining the target wind direction of the blower based on the relative positional relationship between the mowing equipment and the preset area includes:

[0054] The target wind direction of the blower is determined based on the first relative positional relationship between the mowing equipment and the preset area, and the second relative positional relationship between the cutter head and the blower.

[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 cutter head. Understandably, since the blowing device needs to act on the grass clippings cut by the cutter head, the height of the target wind direction can be adjusted to match the height of the cutter head, so as to better blow away the grass clippings cut by the cutter head, while drying the grass juice remaining on the cutter head and preventing the grass juice from corroding the cutter head.

[0056] For example, the target angle of the target wind direction is determined based on the first relative positional relationship between the mowing equipment and the preset area, and the target angle of the target wind direction is determined based on the second relative positional relationship between the cutter head and the blower, 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 located on the side of the cutter head away from the direction of movement of the mowing equipment.

[0058] For example, on the side away from the direction of movement of the mower, i.e. the tail of the mower, the blower is positioned adjacent to the cutter head at the tail of the mower, so that the blower can better act on the grass clippings cut by the cutter head.

[0059] Step S103: Control the mowing equipment to perform mowing operations along the moving path, and control the blower to deliver air towards the target wind direction.

[0060] For example, during the mowing operation of the mowing equipment along the moving path, the blowing device continuously blows air in the target wind direction, thereby blowing the grass clippings generated by the mowing equipment during the operation to a preset area, so that the grass clippings are concentrated and accumulated in the preset area, reducing the workload of subsequent grass clipping cleanup.

[0061] For example, after the grass clippings accumulate in a preset area, the grass clippings in the preset area can be cleaned manually, or the grass clippings can be cleaned using specific equipment, or the cleaning operation can be carried out in a concentrated manner in the working environment after the grass cutting equipment has completed the grass cutting operation. There are no limitations here.

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

[0063] Based on the relative distance between the preset area and the mowing equipment, a target air delivery parameter is determined to control the blower to deliver air towards the target wind direction, and the blower is driven to perform air delivery operation according to the target air delivery parameter, wherein the target air delivery parameter includes at least a target wind speed that is positively correlated with the relative distance;

[0064] And / or, based on the moving speed of the lawn mower, determine the target air delivery parameters for controlling the blower to deliver air towards the target wind direction, and drive the blower to perform air delivery operation based on the target air delivery parameters, wherein the target air delivery parameters include at least a target wind speed that is positively correlated with the moving speed.

[0065] For example, the greater the distance between the lawnmower and the preset area, the higher the target wind speed required by the blower to blow the grass clippings to the target area. Therefore, the magnitude of the target wind speed varies with the relative distance between the preset area and the lawnmower. Figure 6 For example, as the mowing equipment moves along the spiral, the distance to the preset area becomes smaller and smaller. The target wind speed of the blower can be reduced accordingly, thereby preventing the grass clippings from being blown outside the preset area by excessive wind speed and reducing the energy consumption of the blower.

[0066] For example, the higher the moving speed of the lawn mower, the more grass clippings it produces per unit time. Therefore, the blower needs a higher target wind speed to blow the grass clippings to the target area. Thus, the target wind speed is positively correlated with the moving speed of the lawn mower.

[0067] For example, the target air supply parameters can also be determined by other factors, such as the lushness of the grass, which are not limited here.

[0068] The control method for the lawn mowing equipment provided in the above embodiments determines a preset area for collecting grass clippings based on the movement path of the lawn mowing equipment during its mowing operation; determines the target wind direction of the blowing device based on the relative positional relationship between the lawn mowing equipment and the preset area; controls the lawn mowing equipment to perform mowing operations along the movement path; and controls the blowing device to deliver air towards the target wind direction. This blows the cut grass clippings towards the preset area, causing them to accumulate there, reducing the difficulty of subsequent grass clipping cleanup, and avoiding the need for the lawn mowing equipment to carry large amounts of grass clippings during movement, thus reducing the power consumption of the lawn mowing equipment.

[0069] Please see Figure 3 , Figure 3 This is a schematic diagram of a control device for a lawn mowing device according to an embodiment of this application. The control 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 lawn mowing equipment includes: a preset area determination module 110, a wind direction determination module 120, and a movement control module 130.

[0071] The preset area determination module 110 is used to determine a preset area for collecting grass clippings based on the movement path of the grass-cutting equipment performing the grass-cutting operation.

[0072] The wind direction determination module 120 is used to determine the target wind direction of the blowing device based on the relative positional relationship between the mowing equipment and the preset area.

[0073] The mobile control module 130 is used to control the mowing equipment to perform mowing operations along the mobile path, and to control the blower to blow air towards the target wind direction, so that the grass clippings generated by the mowing equipment during the mowing operation along the mobile path are moved to the preset area.

[0074] In some embodiments, the movement path includes an arc-shaped path, and the preset area determination module 110, in the process of determining a preset area for collecting grass clippings according to the movement path of the lawnmower performing the mowing operation, is used to:

[0075] When the movement path is the bow-shaped path, the preset area is determined based on the initial first sub-path of the bow-shaped path and the second sub-path that is opposite in direction to the first sub-path.

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

[0077] When the movement path is the spiral path, the preset area is determined based on the center point of the spiral path.

[0078] In some embodiments, before determining the preset area for collecting grass clippings according to the movement path of the lawnmower performing the mowing operation, the control device of the lawnmower is used to:

[0079] Obtain environmental information of the work area to be mowed, and determine the movement path of the mowing equipment to perform the mowing operation based on the environmental information.

[0080] In some embodiments, the mowing equipment further includes a blade disc, and the wind direction determination module 120, in the process of determining the target wind direction of the blowing device based on the relative positional relationship between the mowing equipment and the preset area, is used for:

[0081] The target wind direction of the blower is determined based on the first relative positional relationship between the mowing equipment and the preset area, and the second relative positional relationship between the cutter head and the blower.

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

[0083] Based on the relative distance between the preset area and the mowing equipment, a target air delivery parameter is determined to control the blower to deliver air towards the target wind direction, and the blower is driven to perform air delivery operation according to the target air delivery parameter, wherein the target air delivery parameter includes at least a target wind speed that is positively correlated with the relative distance;

[0084] And / or, based on the moving speed of the lawn mower, determine the target air delivery parameters for controlling the blower to deliver air towards the target wind direction, and drive the blower to perform air delivery operation based on the target air delivery parameters, wherein the target air delivery parameters include at least a target wind speed that is positively correlated with the moving speed.

[0085] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the above-described apparatus and its modules and units can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0086] The methods and apparatus of this application can be used in a wide variety of general-purpose or special-purpose computing system environments or configurations. Examples include: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics devices, network PCs, minicomputers, mainframe computers, and distributed computing environments including any of the above systems or devices. This 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. This application can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0087] For example, the above-described method and apparatus can be implemented as a computer program, which can be used in, for example... Figure 4 The lawnmower is running as shown.

[0088] Please see Figure 4 , Figure 4 This is a schematic block diagram of a lawn mowing device provided in an embodiment of this 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 internal memory.

[0090] The storage medium may store the operating system and computer programs. The computer programs include program instructions that, when executed, cause the processor to perform any control method for the lawnmower.

[0091] The processor provides computing and control capabilities to support the operation of the entire lawnmower.

[0092] Internal memory provides an environment for the execution of computer programs stored in the storage medium. When these computer programs are executed by the processor, the processor can perform any control method for the lawnmower.

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

[0094] It should be understood that the processor can be a Central Processing Unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among these, a general-purpose processor can be a microprocessor or any conventional processor.

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

[0096] Based on the movement path of the mowing equipment performing the mowing operation, a preset area for collecting grass clippings is determined;

[0097] The target wind direction of the blowing device is determined based on the relative positional relationship between the mowing equipment and the preset area;

[0098] The lawn mowing equipment is controlled to perform lawn mowing operations along the moving path, and the blower is controlled to deliver air towards the target wind direction.

[0099] In one embodiment, the movement path includes an arc-shaped path, and the processor, in implementing the movement path for performing the mowing operation according to the mowing device and determining a preset area for collecting grass clippings, is configured to:

[0100] When the movement path is the bow-shaped path, the preset area is determined based on the initial first sub-path of the bow-shaped path and the second sub-path that is opposite in direction to the first sub-path.

[0101] In one embodiment, the movement path includes a spiral path, and the processor, in implementing the movement path for performing the mowing operation according to the mowing device and determining a preset area for collecting grass clippings, is configured to:

[0102] When the movement path is the spiral path, the preset area is determined based on the center point of the spiral path.

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

[0104] Obtain environmental information of the work area to be mowed, and determine the movement path of the mowing equipment to perform the mowing operation based on the environmental information.

[0105] In one embodiment, the lawn mowing device further includes a blade disc, and the processor, in the process of determining the target wind direction of the blower based on the relative positional relationship between the lawn mowing device and the preset area, is configured to:

[0106] The target wind direction of the blower is determined based on the first relative positional relationship between the mowing equipment and the preset area, and the second relative positional relationship between the cutter head and the blower.

[0107] In one embodiment, the processor, in the process of controlling the blowing device to deliver air towards the target wind direction, is configured to:

[0108] Based on the relative distance between the preset area and the mowing equipment, a target air delivery parameter is determined to control the blower to deliver air towards the target wind direction, and the blower is driven to perform air delivery operation according to the target air delivery parameter, wherein the target air delivery parameter includes at least a target wind speed that is positively correlated with the relative distance;

[0109] And / or, based on the moving speed of the lawn mower, determine the target air delivery parameters for controlling the blower to deliver air towards the target wind direction, and drive the blower to perform air delivery operation based on the target air delivery parameters, wherein the target air delivery parameters include at least a target wind speed that is positively correlated with the moving speed.

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

[0111] It should also be understood that the term "and / or" as used in this specification and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes such combinations. It should be noted that, herein, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0112] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The above descriptions are merely specific implementations of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method of a mowing device, characterized by, The mowing device 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 device performing a mowing operation; determining a target wind direction of the blowing device according to a relative positional relationship between the mowing device and the preset area; controlling the mowing device to perform a mowing operation along the moving path and controlling the blowing device to blow air towards the target wind direction.

2. The control method of the mowing apparatus according to claim 1, characterized by, The moving path comprises an arcuate path, and the determining of the preset area for collecting grass clippings according to the moving path of the mowing device performing a mowing operation comprises: in the case where the moving path is the arcuate path, determining the preset area according to a first sub-path at the beginning of the arcuate path and a second sub-path opposite to the first sub-path in direction.

3. The control method of the mowing apparatus according to claim 1, characterized by, The moving path comprises a spiral path, and the determining of the preset area for collecting grass clippings according to the moving path of the mowing device performing a mowing operation comprises: in the case where the moving path is the spiral path, determining the preset area according to a center point of the spiral path.

4. The control method of the mowing apparatus according to claim 1, characterized by, The method further comprises, before the determining of the preset area for collecting grass clippings according to the moving path of the mowing device performing a mowing operation: obtaining environmental information of a work area to be subjected to a mowing operation, and determining the moving path of the mowing device performing a mowing operation according to the environmental information.

5. The control method of the mowing apparatus according to claim 1, characterized by, The mowing device further comprises a cutter head, and the determining of the target wind direction of the blowing device according to the relative positional relationship between the mowing device and the preset area comprises: determining the target wind direction of the blowing device according to a first relative positional relationship between the mowing device and the preset area and a second relative positional relationship between the cutter head and the blowing device.

6. The control method of the mowing apparatus according to claim 5, characterized by The blowing device is arranged on a side of the cutter head away from a moving direction of the mowing device.

7. The control method of the mowing apparatus according to claim 1, characterized by, The controlling of the blowing device to blow air towards the target wind direction comprises: determining a target blowing parameter for controlling the blowing device to blow air towards the target wind direction according to a relative distance between the preset area and the mowing device, and driving the blowing device to perform a blowing operation according to the target blowing parameter, wherein the target blowing parameter at least comprises a target wind speed positively correlated with the relative distance; and / or determining a target blowing parameter for controlling the blowing device to blow air towards the target wind direction according to a moving speed of the mowing device, and driving the blowing device to perform a blowing operation according to the target blowing parameter, wherein the target blowing parameter at least comprises a target wind speed positively correlated with the moving speed.

8. A control device of a mowing apparatus, characterized by comprising: The mowing device is provided with a blowing device, and the control device of the mowing device comprises: a preset area determining module configured to determine a preset area for collecting grass clippings according to a moving path of the mowing device performing a mowing operation; a wind direction determining module configured to determine a target wind direction of the blowing device according to a relative positional relationship between the mowing device and the preset area; The mobile control module is configured to control the mower to perform the mowing operation along the moving path and control the air blowing device to blow air towards the target direction, so that the grass clippings generated during the mowing operation of the mower along the moving path are moved to the preset area.

9. A grass cutting apparatus characterised in that, The mower comprises a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein the computer program, when executed by the processor, implements the steps of the control method of the mower according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, wherein the computer program, when executed by the processor, implements the steps of the control method of the mower according to any one of claims 1 to 7.

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