Control method of mower, mower and storage medium

Abstract

The embodiment of the invention provides a control method of a lawn mower, the lawn mower and a storage medium, and the method comprises the steps: obtaining the height change rate of the lawn mower and / or the deflection angle change rate of the lawn mower in the working process of the lawn mower; under the condition that the specified lifting condition is met, a cutting assembly of the mower is controlled to stop working, the specified lifting condition comprises a first lifting condition, and the first lifting condition is that at least one of the condition that the height change rate is larger than or equal to a first change rate threshold value and the deflection angle change rate is larger than or equal to a second change rate threshold value is met. According to the embodiment of the invention, the height change rate and / or the deflection angle change rate of the mower can more accurately represent whether the mower is lifted or not, and the lifting detection of the mower is carried out based on the height change rate and / or the deflection angle change rate of the mower, so that the accuracy of the lifting detection of the mower can be improved; the technical problem that the accuracy of lifting detection is poor in a control method of the mower in the related technology is solved.

Description

Technical Field

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

[0002] When a lawn mower is working, there is a situation where the cutting assembly is exposed to the outside world due to the lawn mower being lifted up. At this time, if the cutting assembly continues to rotate, it will cut the target it touches, and if the power is too large, it will also cause the lawn mower to move or rotate, posing a safety hazard. Therefore, lawn mowers are usually equipped with a lift detection function. When it detects that the lawn mower is lifted up, the cutting assembly will automatically stop rotating.

[0003] In the related art, a laser radar is used as a distance sensor to detect the sensing distance between the laser radar and the surface on which the mower is moving. When the sensing distance is greater than a distance threshold, the mower is judged to be lifted. However, the above-mentioned mower lifting detection method may lead to misjudgment in some special scenarios, causing the cutting assembly to stop rotating unexpectedly, making it impossible to mow normally, and increasing the difficulty of lawn maintenance.

[0004] It can be seen that the control method of the lawn mower in the related art has the problem of poor accuracy of lift detection. Summary of the invention

[0005] The embodiments of the present application provide a control method for a lawn mower, a lawn mower, and a storage medium, so as to at least solve the technical problem that the control method for a lawn mower in the related art has poor accuracy in lift detection.

[0006] According to one aspect of an embodiment of the present application, a method for controlling a lawn mower is provided, comprising: during the operation of the lawn mower, obtaining the height change rate of the lawn mower and / or the deflection angle change rate of the lawn mower; when a specified lifting condition is met, controlling the cutting component of the lawn mower to stop working, wherein the specified lifting condition includes a first lifting condition, and the first lifting condition is: at least one of the height change rate is greater than or equal to a first change rate threshold, and the deflection angle change rate is greater than or equal to a second change rate threshold is met.

[0007] According to another aspect of an embodiment of the present application, a lawn mower is provided, comprising: a laser radar, a control component and a cutting component, wherein the control component is used to continuously determine the height change rate of the laser radar and the deflection angle change rate of the laser radar during the operation of the lawn mower; when a specified lifting condition is met, the cutting component of the lawn mower is controlled to stop working, wherein the specified lifting condition includes a first lifting condition, and the first lifting condition is that at least one of the height change rate is greater than or equal to a first change rate threshold and the deflection angle change rate is greater than or equal to a second change rate threshold is met; the cutting component is used to start or stop working based on the control of the control component.

[0008] 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 of the above method embodiments are implemented.

[0009] According to another aspect of the embodiments of the present application, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps in any one of the above method embodiments when executing the computer program.

[0010] 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.

[0011] In the embodiment of the present application, a method of detecting the lifting of the lawn mower based on the height change rate and / or the deflection angle change rate of the lawn mower is adopted. During the operation of the lawn mower, the height change rate and / or the deflection angle change rate of the lawn mower are obtained. Here, the height change rate and / or the deflection angle change rate can represent the rapid change of the height and / or the deflection angle when the lawn mower is lifted. During the lifting detection, it can meet the detection of the action of lifting from the back of the machine or holding it with both hands, and can distinguish it from the situation of the machine going up and down the slope, thereby improving the accuracy of the lifting detection; and when the specified lifting condition is met, the control The cutting component of the lawn mower stops working, and the designated lifting conditions include a first lifting condition, and the first lifting condition is: at least one of the height change rate is greater than or equal to the first change rate threshold, and the deflection angle change rate is greater than or equal to the second change rate threshold. By setting the designated lifting conditions, not only can the height change rate and / or deflection angle change rate requirements during lifting be determined, but other lifting conditions can also be taken into account to ensure the accuracy of lifting detection, thereby achieving the technical effect of improving the accuracy of lifting detection, and thereby solving the technical problem of poor accuracy of lifting detection in the control method of the lawn mower in the related art. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 is a schematic diagram of an application scenario of an optional control method for a lawn mower according to an embodiment of the present application;

[0013] Figure 2 is a flow chart of an optional control method for a lawn mower according to an embodiment of the present application;

[0014] Figure 3 is a schematic diagram of an optional control method for a lawn mower according to an embodiment of the present application;

[0015] Figure 4 is a schematic diagram of another optional control method for a lawn mower according to an embodiment of the present application;

[0016] Figure 5 is a schematic diagram of another optional control method for a lawn mower according to an embodiment of the present application;

[0017] Figure 6 is a schematic diagram of another optional control method for a lawn mower according to an embodiment of the present application;

[0018] Figure 7 is a structural block diagram of an optional lawn mower according to an embodiment of the present application;

[0019] Figure 8 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

[0020] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only 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 should fall within the scope of protection of the present application.

[0021] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application 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 interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0022] According to one aspect of an embodiment of the present application, a control method for a lawn mower is provided. Optionally, in this embodiment, the control method for a lawn mower can be applied to Figure 1 The hardware environment shown includes a lawn mower 102 and a laser radar 104. Figure 1 As shown, a laser radar 104 is installed on the lawn mower 102 , and the laser radar 104 can obtain the state information (for example, posture information) of the laser radar 104 itself and convert it into the state information of the lawn mower 102 .

[0023] In this embodiment, the above-mentioned laser radar may include but is not limited to at least one of the following: a mechanical laser radar, a semi-solid laser radar, a solid-state laser radar, a flash laser radar, and a FMCW laser radar.

[0024] The control method of the lawn mower in this embodiment can be executed by the lawn mower 102, or by the lawn mower 102 and the background server. Taking the lawn mower 102 as an example, Figure 2 is a flow chart of an optional control method for a lawn mower according to an embodiment of the present application, such as Figure 2 As shown, the process of the above method includes the following steps:

[0025] S202, obtaining a height change rate and / or a deflection angle change rate of the lawn mower during operation of the lawn mower;

[0026] S204: When the designated lifting condition is met, the cutting assembly of the lawn mower is controlled to stop working.

[0027] The control method of the lawn mower in this embodiment can be applied to the field of intelligent devices and to the scene of lifting detection of the lawn mower. The above-mentioned lawn mower can be an intelligent lawn mower, which refers to: a device that can independently complete lawn mowing work without direct human control and operation. The lawn mower can be equipped with a cutting component (i.e., a blade for cutting), and the cutting component can cut the lawn to complete the mowing task. The above-mentioned cutting component may include but is not limited to at least one of the following: a rotary blade cutting component, a hob cutting component, a reciprocating blade cutting component, a fling blade cutting component and a rope cutting component, etc., and can also be other components that can complete the mowing task. The type of cutting component is not limited in this embodiment. The lawn mower can also be equipped with a sensor for obtaining the posture information of the lawn mower. The above-mentioned sensor may include but is not limited to at least one of the following: a laser radar, an ultrasonic sensor, an infrared sensor, a camera, etc.

[0028] During the operation of the lawn mower, there is a situation where it is lifted up manually. If the lawn mower is lifted up, the cutting parts will be exposed to the outside world, posing a safety hazard. Therefore, most lawn mowers are equipped with a lift detection function. When it is detected that the lawn mower is lifted up, the cutting parts will automatically stop rotating. In the related art, there are many ways to detect whether the lawn mower is lifted up, such as one or more combinations of contact switches, ultrasonic sensors, IMUs (Inertial Measurement Units), and wheel encoders. For example, a laser radar is used to detect whether the lawn mower is lifted up. The laser radar is used as a distance sensor. By detecting the sensing distance between the laser radar and the traveling surface, when the sensing distance is greater than the threshold distance, it is determined that the lawn mower is lifted up.

[0029] However, the lift detection method of the above lawn mower may cause misjudgment in certain special scenarios, and the cutting parts may stop rotating unexpectedly, resulting in failure to mow the lawn when it is actually needed, which increases the difficulty of lawn maintenance. Figure 3 As shown, the shaded part is a narrow strip of depression. When the smart lawn mower crosses the depression as shown in the figure, the lidar will mistakenly judge the bottom of the depression as the moving surface. The sensing distance calculated thereby is greater than the threshold distance, and the lawn mower will mistakenly judge that it is lifted up, and the blade will stop rotating. The above misjudgment will affect the mowing efficiency of the lawn mower.

[0030] In addition, when the laser radar is used as a distance sensor to detect the distance between the laser radar and the traveling surface, in order to improve the detection accuracy, the laser radar needs to be set on the side of the lawn mower facing the traveling surface. In this way, the laser radar cannot obtain the external environment to achieve positioning. The laser radar only has the function of distance detection, and the lawn mower needs to additionally set up a positioning sensor, which increases the overall cost of the lawn mower.

[0031] In order to at least partially solve the above problems, a method of detecting the lifting of the lawn mower based on the height change rate and / or deflection angle change rate of the lawn mower is adopted. The height change rate and / or deflection angle change rate can characterize the rapid change of the height and / or deflection angle when the lawn mower is lifted. During the lifting detection, it can meet the detection of the action of lifting from the back of the machine or holding it with both hands, and can distinguish it from the situations of the machine going up and down slopes, walking across depressions, etc., thereby improving the accuracy of the lifting detection.

[0032] In this embodiment, during the operation of the lawn mower, the height change rate of the lawn mower and / or the deflection angle change rate of the lawn mower are obtained. The method for obtaining the height change rate of the lawn mower may be: using a first sensing device set on the lawn mower to sense the height change rate of the lawn mower, the first sensing device may obtain the posture information of the lawn mower, and then determine the height change rate of the lawn mower based on the acquired posture information, or the first sensing device may be a device that can directly sense the height change rate, and the height change rate of the lawn mower sensed by the first sensing device may be directly obtained. The method for obtaining the deflection angle change rate of the lawn mower may be: using a second sensing device set on the lawn mower to sense the deflection angle change rate of the lawn mower, the second sensing device may obtain the posture information of the lawn mower, and then determine the deflection angle change rate of the lawn mower based on the acquired posture information, or the second sensing device may be a device that can directly sense the deflection angle change rate, and the deflection angle change rate of the lawn mower sensed by the second sensing device may be directly obtained. The first sensing device and the second sensing device may be the same sensing device or different sensing devices.

[0033] The acquired position information of the lawn mower may include position information (x, y, z) of translation in three directions and three posture information (roll angle roll, pitch angle, yaw angle), and then the height change rate of the lawn mower and / or the deflection angle change rate of the lawn mower are calculated through the position information of the lawn mower acquired at different times. Based on the height change rate of the lawn mower and / or the deflection angle change rate of the lawn mower, it can be determined whether the first lifting condition is met, and the first lifting condition is: at least one of the height change rate is greater than or equal to the first change rate threshold, and the deflection angle change rate is greater than or equal to the second change rate threshold. The first change rate threshold and the second change rate threshold can be configured according to actual needs, and can also be adjusted according to actual needs to make the first lifting condition more compatible with the actual lifting scene.

[0034] The posture information of the lawn mower is explained as follows: First, define the body coordinate system (x a ,y a 、z a ), body coordinate system (x a ,y a 、z a ) and the position information (x, y, z) of the lawn mower are two different coordinate systems. The origin O of the machine coordinate system is taken at the center of mass of the lawn mower. The machine coordinate system is fixed to the lawn mower. a The axis is in the symmetry plane of the mower and is parallel to the design axis of the mower and points to the head of the mower, y a Axis perpendicular to x a axis and points to the right side of the mower (right side when facing the machine head), z a Axis and x a The axis is vertical and points downward on the mower, with a deflection angle of pitch x. a The angle between the axis and the horizontal plane, the roll angle is z a Axis and x a The angle between the vertical plane of the axis, the yaw angle yaw is x a The yaw angle of the axis projected on the horizontal plane.

[0035] In this embodiment, the condition for determining whether the lawn mower is lifted is a designated lifting condition, and the designated lifting condition may include one or more lifting conditions, which may include the aforementioned first lifting condition. In the case where the designated lifting condition only includes the first lifting condition, when the first lifting condition is satisfied, it can be determined that the designated lifting condition is satisfied. In the case where the designated lifting condition also includes other lifting conditions, it can be determined whether each lifting condition is satisfied, and the designated lifting condition is determined to be satisfied only when all lifting conditions included in the execution lifting condition are satisfied.

[0036] Optionally, each lifting condition included in the designated lifting condition may correspond to at least one lifting-related state information of the lawn mower. In addition to the height change rate and the deflection angle change rate, the designated lifting condition may also include lifting conditions corresponding to other states of the lawn mower, for example, the wheels of the lawn mower are spinning idly, at least two tires of the lawn mower are not touching the ground, etc. By setting the designated lifting condition, it is convenient to perform lifting detection on the lawn mower, taking into account different lifting conditions, and meeting different precision requirements for lifting detection of the lawn mower, thereby improving the accuracy of lifting detection.

[0037] When it is determined that the lawn mower meets the specified lifting condition, the cutting assembly can be controlled to stop working. The cutting assembly can be controlled to stop working by disconnecting the power supply to the cutting assembly, and providing a reverse force through a mechanical resistor or other means to quickly stop the cutting assembly. In addition, while controlling the cutting assembly to stop working, at least part of the cutting assembly can be controlled to retract into the lawn mower, which can not only adjust the center of gravity of the lawn mower, but also shorten the lateral area of ​​the lawn mower, making it easier to lift the lawn mower.

[0038] It should be noted that the lawn mower lift detection solution provided in this embodiment can solve the problem of misjudgment that is prone to occur when the smart lawn mower performs lift detection through laser radar in the related technology, effectively avoid false detection, and improve the accuracy of lift detection.

[0039] Through the embodiments provided by the present application, during the operation of the lawn mower, the height change rate of the lawn mower and / or the deflection angle change rate of the lawn mower are obtained; when the specified lifting condition is met, the cutting assembly of the lawn mower is controlled to stop working, wherein the specified lifting condition includes a first lifting condition, and the first lifting condition is: at least one of the height change rate is greater than or equal to the first change rate threshold, and the deflection angle change rate is greater than or equal to the second change rate threshold is met, which solves the technical problem of poor accuracy of lifting detection in the control method of the lawn mower in the related art, improves the accuracy of the lifting detection of the lawn mower, and thus improves the safety of the use of the lawn mower. In an exemplary embodiment, a laser radar is installed on the body of the lawn mower, and the laser radar is fixed on the lawn mower. When the lawn mower moves, the laser radar also moves in the same way, that is, the height change rate of the laser radar is consistent with the height change rate of the lawn mower, and the deflection angle change rate of the laser radar is consistent with the deflection angle change rate of the lawn mower. Therefore, the height change rate of the laser radar can be used to characterize the height change rate of the lawn mower, and the deflection angle change rate of the laser radar can be used to characterize the deflection angle change rate of the lawn mower. Correspondingly, obtaining the height change rate of the lawn mower and / or the deflection angle change rate of the lawn mower includes: determining the height change rate of the laser radar and / or the deflection angle change rate of the laser radar. The first sensing device and the second sensing device can be the same laser radar, or different laser radars.

[0040] LiDAR is a radar system that uses laser beams to detect target position, speed and other characteristic quantities. LiDAR can include laser transmitters, optical receivers, turntables and information processing systems. By emitting laser beams and receiving signals reflected from the target, it can obtain target distance, direction, height, speed and other information after processing. The number and location of LiDARs can be configured as needed. In order to locate the lawn mower, one or more LiDARs are usually installed on the lawn mower. LiDAR is used for lift detection. LiDAR can have both positioning and lift detection functions, and there is no need to install an additional lift detector, which reduces the overall cost of the machine.

[0041] Through this embodiment, the height change rate of the laser radar is used to characterize the height change rate of the lawn mower, and the deflection angle change rate of the laser radar is used to characterize the deflection angle change rate of the lawn mower. The laser radar has the functions of positioning and lift detection, and there is no need to install an additional lift detector, thereby reducing the overall cost of the machine.

[0042] In an exemplary embodiment, determining the altitude change rate and the deflection angle change rate of the laser radar includes: continuously acquiring the radar posture of the laser radar; performing straight-line fitting on the continuously acquired M altitude values ​​of the laser radar to obtain the slope of the fitted first type of straight line; performing straight-line fitting on the continuously acquired deflection angles of the laser radar to obtain the slope of the fitted second type of straight line.

[0043] In this embodiment, a straight line fitting can be performed based on the acquired multiple altitude values ​​(or multiple deflection angles) of the laser radar to fit the change of the altitude (or deflection angle) of the laser radar over time, so that the slope of the fitted straight line can be used to determine the altitude change rate (or deflection angle change rate) of the laser radar. To this end, the radar posture of the laser radar can be continuously acquired, and the radar posture of the laser radar includes at least the altitude value of the laser radar and the deflection angle of the laser radar. The time interval between two adjacent acquisitions of the radar posture of the laser radar can be set and adjusted as needed, for example, 0.1 seconds, 0.2 seconds, 0.3 seconds, etc., to ensure that the slope of the fitted straight line can accurately characterize the altitude change rate or deflection angle change rate of the laser radar.

[0044] In order to determine the height change rate of the laser radar, a straight line fitting can be performed on the height values ​​of the M laser radars obtained continuously to obtain the slope of the fitted first-class straight line. The above straight line fitting operation can be performed once for each acquisition of the height values ​​of the M laser radars, wherein the height values ​​used in two adjacent straight line fitting operations can be completely different or partially the same. The height change rate is the slope of the first-class straight line, and the height change rate of the laser radar can be obtained once each height fitting operation is performed.

[0045] Here, M is a positive integer greater than or equal to 2, and its value can be set or adjusted as needed, for example, M=5, M=6 or other values. The M value may be related to the speed at which the laser radar outputs radar poses, for example, it may be the number of radar poses output by the laser radar per second, or it may be set according to other conditions.

[0046] The first type of straight line is a fitted straight line corresponding to the height value of the laser radar. Straight line fitting is a common data analysis method used to find a straight line to describe the trend in a data set. There can be one or more ways to fit a straight line. For example, the least squares method can be used to solve the slope and intercept of the straight line. In this embodiment, the specific method of straight line fitting is not limited, as long as it can ensure that the fitted straight line can represent the corresponding height value.

[0047] In order to determine the deflection angle change rate of the laser radar, the deflection angles of N laser radars obtained continuously can be linearly fitted to obtain the slope of the fitted second-type straight line. The above linear fitting operation can be performed once for each deflection angle of N laser radars obtained, wherein the deflection angles used in two adjacent linear fitting operations can be completely different or partially the same. The deflection angle change rate is the slope of the second-type straight line, and the deflection angle change rate of the laser radar can be obtained once each deflection angle fitting operation is performed.

[0048] Here, N is a positive integer greater than or equal to 2, and its value can be set or adjusted as needed, for example, N = 5, N = 6 or other values. The N value can be related to the speed at which the laser radar outputs the radar pose, for example, it can be the number of radar poses output by the laser radar per second, or it can be set according to other conditions. M and N can be the same or different. In order to reduce the consumption of computing resources, M = N, and for every M radar poses output by the laser radar, a height value fitting operation and a deflection angle fitting operation are performed.

[0049] The second type of straight line is a fitted straight line corresponding to the deflection angle of the laser radar. There may be one or more ways to fit a straight line, for example, the least squares method may be used to solve the slope and intercept of the straight line. In this embodiment, the specific method of straight line fitting is not limited, as long as it can ensure that the fitted straight line can represent the corresponding deflection angle.

[0050] Through this embodiment, a straight line is fitted based on multiple altitude values ​​continuously output by the laser radar, and the slope of the fitted straight line is determined as the altitude change rate, which can improve the convenience of determining the altitude change rate; a straight line is fitted based on multiple deflection angles continuously output by the laser radar, and the slope of the fitted straight line is determined as the deflection angle change rate, which can improve the convenience of determining the deflection angle change rate.

[0051] In an exemplary embodiment, M=N, and M and N are positive integers greater than or equal to 5, and the values ​​of M and N can be set according to the number of radar poses output by the laser radar per second or other information. After the number of times the radar pose of the laser radar is obtained exceeds M times, a straight line fitting can be performed. Thereafter, a straight line fitting is performed every K times the radar pose of the laser radar is obtained, and K is a positive integer greater than or equal to 1. Optionally, K is a positive integer less than or equal to M. For the case where K is less than M, the height values ​​or deflection angles used in the two straight line fits are partially the same. For the case where K is greater than or equal to M, the height values ​​or deflection angles used in the two straight line fits are different.

[0052] Through this embodiment, the same radar posture of the lidar is used to perform two fitting operations, which can reduce the consumption of computing resources; the frequency of straight line fitting is adjusted by setting the K value, which can improve the flexibility of straight line fitting control.

[0053] In an exemplary embodiment, the least square method can be used to calculate the slope of the fitted straight line. Correspondingly, the height values ​​of the M laser radars acquired continuously are subjected to straight line fitting to obtain the slope of the fitted first type of straight line, including: dividing the difference between the first reference value and the second reference value by the difference between the third reference value and the fourth parameter value, and determining the result as the slope of the fitted first type of straight line.

[0054] For the M laser radar height values ​​obtained continuously, when performing straight line fitting, the difference obtained by subtracting the second reference value from the first reference value can be divided by the difference obtained by subtracting the fourth reference value from the third reference value, and the slope of the fitted first type of straight line can be determined. Here, the first reference value is the sum of the timestamp corresponding to the laser radar height value and the product of the laser radar height value, the second reference value is the product of the sum of the timestamp corresponding to the laser radar height value and the sum of the laser radar height value, the third reference value is the sum of the squares of the timestamps corresponding to the laser radar height value, and the fourth reference value is the square of the sum of the timestamps corresponding to the laser radar height value.

[0055] It should be noted that when calculating the deflection angle change rate of the lawn mower, the least square method can also be used to calculate the slope of the fitted straight line. The method of calculating the deflection angle change rate of the lawn mower is similar to the method of calculating the height change rate of the lawn mower. It only needs to change the height value to the deflection angle and then calculate in the same way. It will not be repeated here.

[0056] For example, you can record 5 frames of pose data, with the x-axis as the timestamp, and the y-axis as z and pitch (deflection angle), and fit the straight line to find the slope. You can collect 5 frames of pose continuously, and the pose information includes: x, y, z, roll (roll angle), pitch, yaw (yaw angle), information for calculating the z value, and information for calculating the pitch angle. Define the x-axis as the timestamp information, the first ordinate y1 as the z value, and the second ordinate y2 as the pitch angle value. Find the slope based on the 5 collected pose points, and use the data of the 5 points for fitting, that is, find a best fitting straight line so that these points are as close to the straight line as possible. The least squares method can be used to solve the slope and intercept of the straight line in this case.

[0057] For example, assuming that the five coordinate points are (x1, y1), (x2, y2), (x3, y3), (x4, y4), and (x5, y5), the equation of the straight line is y=mx+b, where m is the slope and b is the intercept. The formula for calculating the slope m is shown in formula (1):

[0058]

[0059] Where n is the number of points (n=5 in this example), ∑x i is the sum of all x values, ∑y i is the sum of all y values, ∑x i y i is the sum of the products of the corresponding x and y values, is the sum of the squares of all x values.

[0060] In addition, the formula for calculating the intercept b is shown in formula (2):

[0061]

[0062] After the slope m is calculated, the slope value of the height can be compared with the first change rate threshold, and the slope value of the deflection angle can be compared with the second change rate threshold to determine whether the machine is lifted.

[0063] Through this embodiment, the height change rate and deflection angle change rate of the laser radar can be calculated through straight line fitting to determine whether the lawn mower is lifted.

[0064] In an exemplary embodiment, in order to facilitate the calculation of the height change rate and the deflection angle change rate, the output posture of the laser radar can be converted to the body coordinate system of the lawn mower. Here, the output posture of the laser radar is the posture of the laser radar output in the radar coordinate system. The radar coordinate system is a coordinate system with the radar center of the laser radar at the beginning of the first frame as the coordinate origin, and the body coordinate system is a coordinate system with the mower center of the lawn mower at the beginning of the first frame as the coordinate origin.

[0065] Correspondingly, continuously acquiring the radar pose of the laser radar includes: continuously acquiring the output pose of the laser radar; converting the output pose of the laser radar to the pose in the body coordinate system of the lawn mower, and obtaining the radar pose of the laser radar. Since the process of the laser radar outputting the pose is a continuous process, for example, the pose can be continuously output at a specified frequency, and converting the output pose of the laser radar to the pose in the body coordinate system of the lawn mower is also a continuous process. In order to reduce the occupation of computing resources by the lift detection, the lift detection can be associated with the working state of the cutting component. When the cutting component is in a non-working state, the lift detection function can be turned off. At this time, the height change rate and / or the deflection angle change rate will not be calculated, and the judgment of whether the specified lift condition is met will not be performed. When the cutting component is in a working state, the lift detection function is turned on. At this time, the control method of the lawn mower in this embodiment can be executed.

[0066] For example, Figure 4 As shown in the figure, the coordinate origin of the pose output by the lidar positioning is the center of the radar (i.e., the center of the radar at the beginning of the first frame), and the output pose of the lidar is converted from the coordinate system with the center of the radar as the coordinate origin to the base_link coordinate system of the mower (i.e., the body coordinate system). The output pose of the lidar is usually a 6-degree-of-freedom pose, including position (translation in three directions, i.e., x, y, and z) and attitude (three, i.e., roll, pitch, and yaw). These 6 poses need to be converted from the lidar coordinate system to the base_link coordinate system.

[0067] In order to perform coordinate transformation, the input and output coordinate systems can be defined. Assume that the output pose of the lidar is P LiDAR , including position and posture, the goal is to transform this posture into the base_link coordinate system, and the result is P base_link Assume that the transformation matrix of the laser radar's position relative to the base_link coordinate system is It represents the translation and rotation of the radar coordinate system relative to the base_link coordinate system. Through this transformation, the pose in the radar coordinate system can be converted to the base_link coordinate system. The transformation process can be performed using a homogeneous transformation matrix, as shown in formula (3):

[0068]

[0069] Among them, R is a 3×3 rotation matrix, which describes the rotation from the radar coordinate system to the base_link coordinate system; t is a 3×1 translation vector, which describes the position of the origin of the radar coordinate system in the base_link coordinate system; 0 is a 1×3 zero vector to ensure the correct matrix dimension; 1 is a scalar in homogeneous coordinates.

[0070] The position P output by the laser radar LiDAR Including translation and rotation, usually expressed as a 4×4 homogeneous transformation matrix T LiDAR , it needs to be converted to the base_link coordinate system, which can be done by matrix multiplication, as shown in formula (4):

[0071]

[0072] Among them, T base_link is the position of the LiDAR after it is converted to the base_link coordinate system, T LiDAR is the homogeneous transformation matrix of the lidar output.

[0073] Through this embodiment, by converting the output posture of the laser radar into the body coordinate system, the posture information of the lawn mower itself can be obtained, thereby improving the accuracy of lift detection.

[0074] In an exemplary embodiment, in order to ensure the timeliness of lift detection, the laser radar can output a posture at a specified frequency, and the specified frequency is greater than or equal to 5 Hz. Correspondingly, continuously acquiring the output posture of the laser radar includes: continuously acquiring the posture output by the laser radar at the specified frequency to obtain the output posture of the laser radar.

[0075] The specified frequency is related to the positioning scheme used by the LiDAR. For example, to obtain a stable 5 Hz pose output through LiDAR SLAM (Simultaneous Localization and Mapping), the open source LiDAR positioning scheme fast_lio2 is used to continuously output 5 Hz pose. Other positioning schemes can also be used as long as the specified frequency is greater than or equal to 5 Hz.

[0076] Through this embodiment, the position and posture output by the laser radar at a frequency of not less than 5 Hz is continuously obtained, so that the timeliness of lifting can be guaranteed.

[0077] In an exemplary embodiment, the first change rate threshold and the second change rate threshold can be set and adjusted as needed. When the first change rate threshold and the second change rate threshold are set too low, the lawn mower may misjudge that it is lifted and the cutting assembly stops rotating. The above misjudgment situation will affect the mowing efficiency of the lawn mower. When the first change rate threshold and the second change rate threshold are set too high, the lawn mower may fail to detect that it is lifted, affecting the safety of the lawn mower. To this end, in this embodiment, the first change threshold is set to be greater than or equal to 0.5 m / s; and / or the second change threshold is greater than or equal to 45 degrees / s. The above-mentioned change thresholds can ensure the accuracy and success rate of the lawn mower lift detection.

[0078] For example, it is possible to determine whether the machine is lifted by whether the height change rate and deflection angle change rate of the laser radar exceed a threshold. The height change rate and deflection angle change rate can be determined based on the slope. At this time, it is possible to determine whether the machine is lifted by comparing the slope change, that is, comparing the slope value m with the threshold to determine whether the machine is lifted. If it is detected that the z height information changes by more than 0.5 meters in one second or the deflection angle changes by more than 45 degrees in one second, it is considered that the machine may be lifted.

[0079] In order to verify whether the lifting detection scheme in this embodiment can distinguish between the machine being lifted and going up and down a slope, the following test was conducted: the first time the tester lifted the machine by hand, the second and third times the tester lifted the machine with both hands and then put it down. The test results are as follows: Figure 5 As shown. Figure 5It can be seen that the first time the tester lifted the machine by hand, the z-direction rate (i.e., the height change rate) did not change much, but the pitch angle rate (i.e., the deflection angle change rate) changed greatly. When the machine was lifted, the pitch angle rate was positive, and the pitch angle rate gradually increased, reaching a peak value at about 24 seconds, exceeding 45 degrees / second and approaching 60 degrees / second; then, after the tester let go, the machine fell, the pitch angle rate was negative, and the absolute value of the pitch angle rate gradually increased, reaching a peak value at about 30 seconds, approaching -85 degrees / second. Therefore, it can be determined that the lawn mower is lifted based on the pitch angle rate exceeding the corresponding change rate threshold. When the machine is lifted up by both hands for the second and third time, the pitch angular rate does not change much, but the z-direction rate changes greatly. For example, when the lifter lifts the machine with both hands for the second time, the z-direction rate increases to a certain value (greater than 0.5 m / s and close to 1 m / s) and then decreases to zero. Therefore, the z-direction rate gradually increases from zero, and after reaching a peak value, the z-direction rate decreases to zero. When the z-direction rate is zero, the tester completely lifts the machine; then, when the tester puts down the machine, the z-direction rate is negative (this is because the height of the machine decreases when the machine is put down), and the absolute value of the z-direction rate gradually increases from zero. After reaching a peak value (close to -1 m / s), the absolute value of the z-direction rate decreases to zero. When the z-direction rate is zero, the tester completely puts down the machine. Therefore, it can be determined that the lawn mower is lifted based on the z-direction rate exceeding the corresponding change rate threshold. When the lifter lifts the machine with both hands for the third time, the z-direction rate is similar to that when the lifter lifts the machine with both hands for the second time.

[0080] The test results of the machine going up and down the slope are as follows Figure 6 As shown. Figure 6 It can be seen from the change curve that when the machine is going uphill, the z-direction speed is greater than 0, and the maximum does not exceed 0.2 m / s. When the machine is going downhill, the z-direction speed is less than zero (when going downhill, the height of the vehicle body gradually decreases). Although the maximum absolute value of the z-direction speed exceeds 0.3 m / s, it does not reach 0.5 m / s. The pitch angular rate changes greatly when going downhill, and only reaches nearly 28 degrees / second, and does not reach 45 degrees / second. Therefore, neither the z-direction speed nor the pitch angular rate reaches the corresponding change rate threshold, and the machine will not be judged as being lifted in the up and down slope scenarios. It can be seen that the set z-direction speed change rate threshold and the pitch angular rate change rate threshold can accurately distinguish whether the machine is lifted or going up and down slopes.

[0081] It should be noted that the deflection angle change rate referred to in this application refers to the absolute value of the deflection angle change per unit time, that is, the absolute value of the deflection angle rate. Figure 5In the figure, when the tester lifts the machine for the first time, the deflection angular velocity is negative during the descent of the machine, but the deflection angle change rate is the absolute value of the deflection angular velocity, which is positive.

[0082] The height change rate referred to in this application refers to the absolute value of the height change per unit time, that is, the absolute value of the speed in the z direction. For example, Figure 5 In the figure, when the tester lifted the machine for the second time, the speed in the z direction was negative during the descent of the machine, but the height change rate was the absolute value of the speed in the z direction, which was positive.

[0083] The lifting referred to in this application may be: lifting the machine from a low position to a high position, lifting the machine from a high position to a low position, lifting the machine by hand from the back, and lifting the machine by hand from the front.

[0084] Through this embodiment, by setting appropriate height change rate threshold and deflection angle change rate threshold, the accuracy and success rate of lawn mower lift detection can be guaranteed.

[0085] In an exemplary embodiment, in order to improve the accuracy of lift detection, the wheel encoder can be further combined for lift judgment to reduce the probability of misjudgment. If the lawn mower is lifted, its wheels will not rotate or rotate slightly, so a second lift condition related to the wheel encoder can be set, that is, the speed of the wheel encoder is less than or equal to the third threshold value, so as to further determine whether the lawn mower is lifted when the first lift condition is met.

[0086] Correspondingly, the method further includes: when the first lifting condition is satisfied, determining whether the speed of the wheel encoder of the lawn mower is less than or equal to a third threshold; when the speed of the wheel encoder is less than or equal to the third threshold, determining that the specified lifting condition is satisfied. The wheel encoder is a sensor that converts mechanical motion into a digital signal. The sensor detects the mechanical motion during the rotation of the wheel and converts the mechanical motion into two states (0 or 1) of the electrical signal. The digital signal outputted by the sensor can measure and feedback the precise position and speed of the mechanical motion.

[0087] For example, the wheel not turning can be combined to assist in determining whether the machine is really lifted. The lifting trigger information of the IO (Input / Output) port can be received to assist in determining whether the machine is lifted. When the machine is lifted, the wheel does not turn, and it is determined whether the speed of the wheel encoder is close to 0. If so, it can further prove that the machine is indeed lifted.

[0088] Through this embodiment, after the first lifting condition is met, whether the lawn mower is lifted is further confirmed in combination with the speed of the wheel encoder, which can reduce the probability of misjudgment and improve the accuracy of lawn mower lifting detection.

[0089] In an exemplary embodiment, the third threshold value can be set and adjusted as needed. When the third threshold value is set too low, the lawn mower may fail to determine that it is lifted, affecting the safety of the lawn mower. When the third threshold value is set too high, the lawn mower may misjudge that it is lifted and the cutting assembly stops rotating. The above misjudgment situation will affect the mowing efficiency of the lawn mower. For this reason, in this embodiment, the third change threshold value is set to be less than or equal to 0.05m / s. This threshold value can ensure the accuracy and success rate of the lawn mower lift detection.

[0090] Through this embodiment, by setting a suitable speed threshold of the wheel encoder, the accuracy and success rate of the lawn mower lift detection can be guaranteed.

[0091] In an exemplary embodiment, a laser radar is disposed on the upper end surface of the body of the lawn mower, and the laser radar is also used to locate the lawn mower.

[0092] Through this embodiment, by setting the laser radar on the upper end surface of the fuselage, compared with setting the laser radar on the lower part of the fuselage, the fuselage of the lawn mower will not block the field of view of the laser radar, and the positioning performance of the laser radar will not be affected by the blockage. By setting a laser radar, the functions of lift detection and positioning can be realized at the same time, the number of sensors used is reduced, the cost of the whole machine is reduced, and the failure rate of the machine is reduced.

[0093] 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 is 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.

[0094] According to another aspect of the embodiments of the present application, a lawn mower is also provided, which can be used to implement the 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.

[0095] Figure 7 is a structural block diagram of an optional lawn mower according to an embodiment of the present application, such as Figure 7 As shown in FIG. 7 , the lawn mower includes: a control component 702 and a cutting component 704 . The control component 702 is electrically connected to the laser radar and the cutting component 704 .

[0096] The control component 702 is used to continuously determine the height change rate of the laser radar and the deflection angle change rate of the laser radar during the operation of the lawn mower; when the specified lifting condition is met, the cutting component of the lawn mower is controlled to stop working, wherein the specified lifting condition includes a first lifting condition, and the first lifting condition is that at least one of the height change rate is greater than or equal to the first change rate threshold and the deflection angle change rate is greater than or equal to the second change rate threshold is met. Optionally, the control component 802 can be used to execute step S202 and step S204 in the above embodiment.

[0097] The cutting component 704 is used to start or stop the work based on the control of the control component.

[0098] Through the embodiments provided by the present application, during the operation of the lawn mower, the height change rate of the lawn mower and / or the deflection angle change rate of the lawn mower are obtained; when a specified lifting condition is met, the cutting assembly of the lawn mower is controlled to stop working, wherein the specified lifting condition includes a first lifting condition, and the first lifting condition is: at least one of the height change rate is greater than or equal to a first change rate threshold, and the deflection angle change rate is greater than or equal to a second change rate threshold is met, for Figure 3 In the working scenario shown, there will be no misjudgment when the embodiment provided by the present application is used, which solves the technical problem of poor accuracy of lift detection in the control method of the lawn mower in the related art, improves the accuracy of lift detection of the lawn mower, and thus improves the safety of the use of the lawn mower. In an exemplary embodiment, a laser radar is installed on the body of the lawn mower. The control component 702 is also used to determine the height change rate of the laser radar and / or the deflection angle change rate of the laser radar; wherein the height change rate of the laser radar is used to characterize the height change rate of the lawn mower, and the deflection angle change rate of the laser radar is used to characterize the deflection angle change rate of the lawn mower.

[0099] In an exemplary embodiment, the control component 702 is also used to continuously obtain the radar posture of the laser radar, wherein the radar posture of the laser radar includes the altitude value of the laser radar and the deflection angle of the laser radar; perform straight line fitting on the M altitude values ​​of the laser radars obtained continuously to obtain the slope of the fitted first type of straight line, wherein M is a positive integer greater than or equal to 2, and the altitude change rate is the slope of the first type of straight line; the second operation module is used to perform straight line fitting on the deflection angles of the N laser radars obtained continuously to obtain the slope of the fitted second type of straight line, wherein N is a positive integer greater than or equal to 2, and the deflection angle change rate is the slope of the second type of straight line.

[0100] In an exemplary embodiment, M=N, and M and N are positive integers greater than or equal to 5. After the number of times the radar pose of the lidar is obtained exceeds M times, a straight line fitting is performed every K times the radar pose of the lidar is obtained, where K is a positive integer greater than or equal to 1.

[0101] In an exemplary embodiment, the control component 702 is also used to determine the slope of the fitted first type of straight line by dividing the difference between the first reference value and the second reference value by the difference between the third reference value and the fourth parameter value, wherein the first reference value is the sum of the products of the timestamp corresponding to the height value of the laser radar and the height value of the laser radar, the second reference value is the product of the sum of the timestamp corresponding to the height value of the laser radar and the sum of the height value of the laser radar, the third reference value is the sum of the squares of the timestamps corresponding to the height value of the laser radar, and the fourth reference value is the square of the sum of the timestamps corresponding to the height value of the laser radar.

[0102] In an exemplary embodiment, the control component 702 is also used to continuously obtain the output pose of the laser radar, wherein the output pose of the laser radar is the pose of the laser radar output in the radar coordinate system, and the radar coordinate system is a coordinate system with the radar center of the laser radar at the beginning of the first frame as the coordinate origin; the output pose of the laser radar is converted to the pose in the body coordinate system of the lawn mower to obtain the radar pose of the laser radar, wherein the body coordinate system is a coordinate system with the lawn mower center of the lawn mower at the beginning of the first frame as the coordinate origin.

[0103] In an exemplary embodiment, the control component 702 is also used to continuously obtain the posture output by the laser radar at a specified frequency to obtain the output posture of the laser radar, wherein the specified frequency is greater than or equal to 5 Hz.

[0104] In an exemplary embodiment, the first change rate threshold is greater than or equal to 0.5 m / s; and / or the second change rate threshold is greater than or equal to 45 degrees / s.

[0105] In an exemplary embodiment, the control component 702 is also used to determine whether the speed of the wheel encoder of the lawn mower is less than or equal to a third threshold when the first lifting condition is met, wherein the specified lifting condition also includes a second lifting condition, and the second lifting condition is that the speed of the wheel encoder is less than or equal to the third threshold.

[0106] In an exemplary embodiment, the third threshold is less than or equal to 0.05 m / s.

[0107] 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.

[0108] 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.

[0109] 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.

[0110] According to another aspect of the embodiments 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 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 comprise 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.

[0111] 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.

[0112] 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 809, and / or installed from the removable medium 811. When the computer program is executed by the central processing unit 801, the 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.

[0113] Figure 8The computer system structure block diagram of the electronic device used to implement the embodiment of the present application is schematically shown. Figure 8 As shown, the computer system 800 includes a CPU (Central Processing Unit) 801, which can perform various appropriate actions and processes according to the program stored in the ROM 802 or the program loaded from the storage part 808 to the RAM 803. In the random access memory 803, various programs and data required for system operation are also stored. The central processing unit 801, the read-only memory 802 and the random access memory 803 are connected to each other through a bus 804. An I / O (Input / Output) interface 805 is also connected to the bus 804.

[0114] The following components are connected to the I / O interface 805: an input section 806 including a keyboard, a mouse, etc.; an output section 807 including a CRT (Cathode RayTube), an LCD (Liquid Crystal Display), etc., and a speaker, etc.; a storage section 808 including a hard disk, etc.; and a communication section 809 including a network interface card such as a LAN card, a modem, etc. The communication section 809 performs communication processing via a network such as the Internet. A drive 810 is also connected to the input / output interface 805 as needed. A removable medium 811, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 810 as needed so that a computer program read therefrom is installed into the storage section 808 as needed.

[0115] 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 809, and / or installed from the removable medium 811. When the computer program is executed by the central processor 801, various functions defined in the system of the present application are executed.

[0116] It should be noted that Figure 8 The computer system 800 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.

[0117] 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.

[0118] 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 method for controlling a lawn mower, characterized in that: include: During the operation of the lawn mower, obtaining a height change rate of the lawn mower and / or a deflection angle change rate of the lawn mower; When a specified lifting condition is met, the cutting component of the lawn mower is controlled to stop working, wherein the specified lifting condition includes a first lifting condition, and the first lifting condition is: at least one of the height change rate is greater than or equal to a first change rate threshold, and the deflection angle change rate is greater than or equal to a second change rate threshold is met.

2. The control method of the lawn mower according to claim 1, characterized in that: A laser radar is installed on the body of the lawn mower; Acquiring the height change rate of the lawn mower and / or the deflection angle change rate of the lawn mower comprises: Determine the rate of change of the altitude of the laser radar and / or the rate of change of the deflection angle of the laser radar; The height change rate of the laser radar is used to characterize the height change rate of the lawn mower, and the deflection angle change rate of the laser radar is used to characterize the deflection angle change rate of the lawn mower.

3. The method according to claim 2, characterized in that Determining the altitude change rate of the laser radar and / or the deflection angle change rate of the laser radar includes: Continuously acquiring the radar posture of the laser radar, wherein the radar posture of the laser radar includes a height value of the laser radar and a deflection angle of the laser radar; Performing straight line fitting on M continuously acquired height values ​​of the laser radar to obtain the slope of the fitted first type of straight line, wherein M is a positive integer greater than or equal to 2, and the height change rate is the slope of the first type of straight line; A straight line fitting is performed on the N continuously acquired yaw angles of the laser radar to obtain the slope of the fitted second type of straight line, wherein N is a positive integer greater than or equal to 2, and the rate of change of the deflection angle is the slope of the second type of straight line.

4. The method according to claim 3, characterized in that M=N, and M and N are positive integers greater than or equal to 5. After the number of times the radar pose of the laser radar is obtained exceeds M times, a straight line fitting is performed every K times the radar pose of the laser radar is obtained, where K is a positive integer greater than or equal to 1.

5. The method according to any one of claims 1 to 4, characterized in that The first change rate threshold is greater than or equal to 0.5 m / s; and / or the second change rate threshold is greater than or equal to 45 degrees / s.

6. The method according to any one of claims 1 to 4, characterized in that The method further comprises: When the first lifting condition is met, it is determined whether the speed of the wheel encoder of the lawn mower is less than or equal to a third threshold, wherein the specified lifting condition also includes a second lifting condition, and the second lifting condition is that the speed of the wheel encoder is less than or equal to the third threshold.

7. The method according to claim 6, characterized in that The third threshold is less than or equal to 0.05 m / s.

8. The method according to claim 6, characterized in that The laser radar is arranged on the upper end surface of the body of the lawn mower, and the laser radar is also used to locate the lawn mower.

9. A lawn mower, characterized in that: The lawn mower comprises: a laser radar, a control component and a cutting component, wherein the laser radar is electrically connected to the laser radar and the cutting component, wherein: The control component is used to continuously determine the height change rate of the laser radar and the deflection angle change rate of the laser radar during the operation of the lawn mower; and control the cutting component of the lawn mower to stop working when a specified lifting condition is met, wherein the specified lifting condition includes a first lifting condition, and the first lifting condition is that at least one of the height change rate is greater than or equal to a first change rate threshold and the deflection angle change rate is greater than or equal to a second change rate threshold is met; The cutting component is used to start or stop working based on the control of the control component.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program implements the steps of any one of the methods of claims 1 to 8 when executed by a processor.

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