Cutting method of intelligent mowing robot, intelligent mowing robot and medium

Abstract

The invention relates to the technical field of intelligent mobile robots, and discloses a cutting method of an intelligent mowing robot, the intelligent mowing robot and a medium. In the application, the method comprises the following steps: determining a clover region; reciprocating cutting is conducted between the two end points of the dense grass area; wherein the cutter head height is updated every time the cutter head starts from the end point of the dense grass area or reaches the end point, and cutting is carried out on the other end point according to the updated cutter head height; and when the height of the cutter head meets a preset exit condition, cutting operation of the dense grass area is ended. According to the method, the miss-cutting phenomenon of the miss-cutting area is effectively reduced by accurately determining the miss-cutting area and conducting reciprocating cutting, the cutting integrity and uniformity are remarkably improved, a dynamic updating mechanism of the height of the cutter head enables the robot to better adapt to grass with different densities, the cutter head is prevented from being damaged due to too large resistance of the grass, and meanwhile the cutting efficiency is improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of intelligent robots, and in particular to a cutting method of an intelligent lawn mowing robot, an intelligent lawn mowing robot and a medium. Background Art

[0002] Smart mowing robots, also known as mowing robots, smart lawn mowers, etc., are intelligent devices that can complete mowing tasks autonomously and are widely used in home gardens, parks, golf courses and other places. Through the built-in navigation system and cutting device, it usually adopts a bow-shaped cutting mode to mow the grass in the preset working area. In this mode, the smart mowing robot moves along a bow-shaped path, and the blade cuts the grass at a certain height and speed. The bow-shaped cutting mode can ensure uniform cutting of the grass while improving cutting efficiency.

[0003] At present, the method for cutting dense grass areas by smart lawn mowers is usually to stop the blade and give up cutting, that is, when the machine detects that it is in a dense grass area, it stops the blade and restarts it for subsequent cutting after passing the area. However, in actual application, this existing technology has problems such as poor cutting effect, serious grass leakage, low cutting efficiency and low intelligence. Summary of the invention

[0004] The purpose of the implementation mode of the present application is to provide a cutting method of an intelligent lawn mowing robot, an intelligent lawn mowing robot and a medium, so as to improve the serious missed cutting phenomenon of the intelligent lawn mowing robot in dense grass areas when performing planned cutting tasks, improve the cutting efficiency of the robot in dense grass areas, and make the intelligent lawn mowing robot more intelligent when cutting dense grass areas.

[0005] To solve the above technical problems, an embodiment of the present application provides a cutting method for an intelligent lawn mowing robot, wherein the intelligent lawn mowing robot moves along a preset working path, and the method comprises: determining a dense grass area; reciprocating cutting between two end points of the dense grass area; wherein each time starting from or arriving at one of the end points of the dense grass area, the blade disc height is updated, and cutting is performed toward the other end point with the updated blade disc height; when the blade disc height meets the preset exit condition, the cutting operation in the dense grass area is terminated.

[0006] An embodiment of the present application also provides an intelligent lawn mowing robot, which moves along a preset working path, and includes at least a blade disc and a driving mechanism for controlling the lifting and lowering of the blade disc, and also includes a detection module and a cutting module; wherein the detection module is used to determine a dense grass area; the cutting module is used to reciprocate between the two end points of the dense grass area; wherein each time starting from or arriving at an end point of the dense grass area, the blade disc height is updated, and cutting is performed toward the other end point with the updated blade disc height; when the blade disc height meets the preset exit condition, the cutting operation of the dense grass area is terminated.

[0007] The embodiments of the present application further provide a computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the cutting method of the above-mentioned intelligent lawn mowing robot.

[0008] In the present application, the intelligent lawn mowing robot monitors and determines the dense grass area in real time during movement, accurately marks its endpoints, and uses the intelligent update strategy of the blade height during reciprocating cutting between the endpoints to ensure the cutting effect. Compared with the prior art, the present application greatly improves the cutting performance of the intelligent lawn mowing robot in dense grass areas. Specifically, by accurately determining the dense grass area and reciprocating cutting, the phenomenon of missed cutting in the dense grass area is effectively reduced, and the integrity and uniformity of the cutting are significantly improved. In addition, the dynamic update mechanism of the blade height enables the robot to better adapt to grass of different densities, avoids damage to the blade due to excessive grass resistance, and improves cutting efficiency. In general, the present application enhances the adaptability and intelligence of the intelligent lawn mowing robot under complex grass conditions, and provides users with more efficient and high-quality lawn mowing services.

[0009] In addition, the determination of the dense grass area specifically includes: when the intelligent mowing robot moves along the working path, after detecting a dense grass signal, raising the height of the blade to a first height and marking the current position as p0; if a dense grass signal is detected again during walking, marking the current position as p1; if no dense grass signal is detected during walking, continuing to walk until reaching the end point of the long side of the bow shape of the working path, marking the end point position as p1; and using p0 and p1 as the first endpoint and the second endpoint of the dense grass area, respectively.

[0010] In addition, the reciprocating cutting between the two end points of the dense grass area includes: cutting from the first end point of the dense grass area along the working path toward the second end point; updating the blade height after reaching the second end point, and then retreating along the working path toward the first end point for cutting; updating the blade height after reaching the first end point, and then cutting along the working path toward the second end point for cutting; so as to form a reciprocating cutting trajectory.

[0011] In addition, the reciprocating cutting between the two end points of the dense grass area also includes: when cutting from the first end point along the working path toward the second end point, after detecting a dense grass signal, the second end point is updated to the current position, the height of the blade is updated, and then the cutting is performed backward along the working path toward the first end point; or, when cutting from the second end point along the working path backward toward the first end point, after detecting a dense grass signal, the first end point is updated to the current position, the height of the blade is updated, and then the cutting is performed along the working path toward the second end point.

[0012] In addition, the method of raising the cutter disc height to the first height after detecting a dense grass signal includes: when a dense grass signal is detected, reducing the walking speed from a preset speed to the first speed and continuing to walk; if a dense grass signal is detected again, raising the cutter disc height to the first height.

[0013] In addition, the preset exit condition includes: when the intelligent mowing robot reaches an end point of the dense grass area, the blade height is a blade height preset by the user; or a dense grass signal is detected when walking at a first speed at the blade height preset by the user.

[0014] In addition, the working path is a bow-shaped route, the intelligent lawn mowing robot moves along the long side of the bow-shaped route, and the dense grass area and the endpoints of the dense grass area are both on the long side of the bow-shaped route.

[0015] In addition, the intelligent lawn mowing robot also includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the cutting method of the intelligent lawn mowing robot as described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0017] Figure 1 is a flow chart of a cutting method of an intelligent lawn mowing robot provided according to an embodiment of the present application;

[0018] Figure 2 is a flow chart of a cutting method of an intelligent lawn mowing robot provided according to another embodiment of the present application;

[0019] Figure 3is a schematic diagram of a cutting path of a dense grass area of ​​an intelligent lawn mowing robot provided according to another embodiment of the present application;

[0020] Figure 4 is a schematic diagram of a cutting path of a dense grass area of ​​an intelligent lawn mowing robot provided according to another embodiment of the present application;

[0021] Figure 5 is a schematic diagram of a cutting path of a dense grass area of ​​an intelligent lawn mowing robot provided according to another embodiment of the present application;

[0022] Figure 6 is a schematic diagram of updating the cutting path of a dense grass area of ​​an intelligent lawn mowing robot provided according to another embodiment of the present application;

[0023] Figure 7 It is a structural schematic diagram of an intelligent lawn mowing robot provided according to another embodiment of the present application. DETAILED DESCRIPTION

[0024] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, each embodiment of the present application will be described in detail below in conjunction with the accompanying drawings. However, it will be appreciated by those skilled in the art that in each embodiment of the present application, many technical details are proposed in order to enable the reader to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed in the present application can also be implemented. The division of the following embodiments is for the convenience of description, and the specific implementation of the present application should not constitute any limitation, and the various embodiments can be combined with each other and referenced to each other without contradiction.

[0025] 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.

[0026] In view of the problems that the current cutting methods of intelligent lawn mowers for dense grass areas usually have poor cutting effects, serious grass omissions, low cutting efficiency and low intelligence, the embodiments of the present application provide a cutting method for an intelligent lawn mower robot, which is applied to an intelligent lawn mower robot that usually adopts a bow-shaped cutting mode to perform mowing operations in a preset working area, wherein the cutting method can be deployed inside the intelligent lawn mower robot, such as the detection module and cutting module of the intelligent lawn mower robot, as a driver of the intelligent lawn mower robot, and can also be deployed in other parts except the above modules, such as the processor of the device and the memory connected to the processor in communication, which will not be described one by one here. The cutting method of the intelligent lawn mower robot provided in the embodiments of the present application can at least improve the serious omission of cutting in dense grass areas when the intelligent lawn mower robot performs planned cutting tasks, improve the cutting efficiency of the intelligent lawn mower robot in dense grass areas, and make the intelligent lawn mower robot more intelligent when cutting dense grass areas. Among them, by accurately determining the dense grass area and reciprocating cutting, the phenomenon of missed cutting in the dense grass area is effectively reduced, and the integrity and uniformity of cutting are significantly improved; in addition, the dynamic update mechanism of the blade height enables the intelligent mowing robot to better adapt to grass of different densities, avoiding damage to the blade due to excessive grass resistance, while improving cutting efficiency. In general, the present application enhances the adaptability and intelligence of the intelligent mowing robot under complex grass conditions, and provides users with more efficient and high-quality lawn mowing services. To facilitate understanding of the cutting method of the intelligent mowing robot provided in the embodiments of the present application, it will be explained below in conjunction with its different implementation processes.

[0027] In some embodiments, the flow chart of the cutting method of the intelligent lawn mowing robot is as follows: Figure 1 As shown, the following steps are included:

[0028] Step 101, determine the dense grass area.

[0029] Step 102, reciprocating cutting between the two end points of the dense grass area; wherein, each time starting from or reaching one of the end points of the dense grass area, the height of the cutter disc is updated, and cutting is performed toward the other end point with the updated height of the cutter disc.

[0030] Step 103, when the height of the cutter head meets the preset exit condition, the cutting operation of the dense grass area is ended.

[0031] In this way, by accurately determining the dense grass area and reciprocating cutting, the phenomenon of missed cutting in the dense grass area is effectively reduced, and the integrity and uniformity of cutting are significantly improved; in addition, the dynamic update mechanism of the blade height enables the intelligent mowing robot to better adapt to grass of different densities, avoiding damage to the blade due to excessive grass resistance, while improving cutting efficiency.

[0032] To facilitate better understanding of those skilled in the art Figure 1 The flowchart of the cutting method of the intelligent lawn mowing robot is shown, and its steps will be further described below.

[0033] In some embodiments, see Figure 2 , Figure 3 and Figure 4 , Figure 2 Show the specific implementation process of step 101, Figure 3 and Figure 4 All of them are schematic diagrams of the cutting path of the intelligent lawn mowing robot in the dense grass area. The dense grass area can be determined in step 101 in the following manner:

[0034] Step 201: When the intelligent lawn mowing robot moves along the working path, after detecting a dense grass signal, it raises the height of the blade to a first height, marks the current position as p0, and continues to move.

[0035] Step 202: The dense grass signal is detected again during the walking process, and the location of p1 is determined according to the dense grass signal detection result.

[0036] Step 203: taking p0 and p1 as the first endpoint and the second endpoint of the dense grass area respectively.

[0037] The dense grass area includes a specific cutting path segment. In this embodiment, the dense grass area is the cutting path segment from p0 to p1.

[0038] In step 201, when the intelligent mowing robot moves along the working path, the load of the cutter disc is detected in real time by the dense grass detection module. When the load is greater than a certain threshold, a dense grass signal is reported to the regulation and control module; then, after receiving the dense grass signal, the regulation and control module notifies the cutter disc height adjustment module to raise the cutter disc to a first height, wherein the first height may be the maximum allowable height of the cutter disc, or a processing height for a dense grass area set by a user or the system, or other heights, and at the same time records the current machine posture p0 (such as Figure 3 or Figure 4p0 as shown, which is the endpoint of the dense grass area), and then continue cutting. At this time, the intelligent lawn mowing robot enters the dense grass cutting logic, which means that the intelligent lawn mowing robot has contacted the dense grass area. Among them, the position of the blade height adjustment of the intelligent lawn mowing robot is determined according to the blade setting method of each intelligent lawn mowing robot. Different intelligent lawn mowing robots may have different blade setting methods, so the position of the blade height adjustment will also be different. Specifically, the position of the blade height adjustment can be a free adjustment of the blade height, not subject to fixed scales or gear restrictions; it can also be a blade height with multiple gears, that is, each gear corresponds to a specific blade height. In general, technicians in this field can determine it based on the blade setting method of the intelligent lawn mowing robot, and different setting methods will lead to different blade height adjustment methods and position selections.

[0039] In step 201, after adjusting the height of the blade, the robot will continue to detect the dense grass signal when walking in the dense grass area. In step 202, the robot will determine the marking position of p1 based on whether the dense grass signal is detected. Please continue to refer to Figure 3 and Figure 4 There are two ways to determine: Method 1: If the dense grass signal is detected again during walking, the current position is marked as p1 (i.e. Figure 3 or, in method 2, if no dense grass signal is detected during walking, continue walking until reaching the end of the long side of the bow shape of the working path, and mark the end position as p1 (i.e. Figure 4 point "p1" shown).

[0040] Step 202 is the key strategy of the intelligent mowing robot when operating in a dense grass area, with the aim of more effectively handling dense grass and improving cutting effect and efficiency. For both Method 1 and Method 2, both enter the dense grass cutting logic in step 202, and after the blade is adjusted to the highest gear, the response strategy is executed when the dense grass signal is received again. Regardless of whether the robot chooses to slow down, it will choose to execute one of Method 1 and Method 2 based on whether it still receives a dense grass signal, ensuring that the intelligent mowing robot can flexibly adjust the cutting method according to the persistence of the dense grass signal.

[0041] For method one, it can be implemented as follows: when the smart lawn mowing robot encounters a dense grass area after lifting the blade, it will first slow down. However, if it receives a dense grass signal again after slowing down, it means that the current cutting situation is more complicated and the cutting demand cannot be met by just slowing down. In order to protect the blade of the smart lawn mowing robot, it will give up cutting forward at this time. The regulation and control module of the smart lawn mowing robot notifies the blade height adjustment module to adjust the blade height to the middle position between the current gear and the gear set by the user. In this application, the binary method is used to adjust the blade height. If there is no gear in the middle, it is rounded down. The specific adjustment process can be to directly adjust the height, or to first control the smart lawn mowing robot to stop moving, then retreat a certain distance, stop walking, and adjust the blade height. In this way, by adjusting to the middle gear, the resistance to the blade can be reduced while ensuring the cutting effect, thereby optimizing the cutting process. While adjusting the blade height, the current machine posture p1 (i.e. Figure 3 The "p1" point shown in the figure marks the position of the smart mowing robot at this time. Subsequent cutting operations will use this as the starting point or end point to ensure that the smart mowing robot can accurately re-cut the dense grass area and ensure the continuity and accuracy of the cutting path; then the current bow-shaped long side path is cut backward from the p1 position (to the p0 position). In this way, the backward cutting from p1 to p0 can perform a second cutting on the area that may not have been completely cut before, further improving the cutting quality of the dense grass area. During the backward cutting process, the smart mowing robot will continue to detect dense grass signals, and continue to adjust the cutting speed and blade height according to the signal conditions to adapt to the complex conditions of the dense grass area, until it reaches the p0 position (i.e., the end point of the dense grass area) and completes a cutting task.

[0042] For the second method, it can be implemented as follows: when the intelligent lawn mowing robot detects the dense grass signal in the dense grass area and increases the blade height, it continues to cut at the default walking speed to avoid wasting too much time in areas where the grass conditions are not so complicated. At the same time, in the subsequent normal cutting process, when the intelligent lawn mowing robot maintains the default cutting speed until it reaches the end of the current bow-shaped long side, the regulation and control module notifies the blade height adjustment module to adjust the blade height. The blade height is adjusted to the middle position between the current gear and the user-set gear by the binary method (rounded down if there is no middle gear). In this way, a more suitable blade height can be found between the current cutting situation and the user's expectations to prepare for subsequent cutting. In addition, while adjusting the blade height, record the current machine posture as p1 (such as Figure 4 The "p1" shown in the figure is used as the endpoint of the dense grass area. After recording p1, the dense grass area is determined. Then the intelligent mowing robot starts to cut backward on the current bow-shaped long side path from the p1 position and continues cutting to the previously marked p0 position. At this time, one cutting in the dense grass area is completed, ensuring that the grass in the dense grass area is fully cut, reducing missed cutting, and improving the overall cutting quality of the lawn.

[0043] In some embodiments, the blade disc height is raised to the first height after a dense grass signal is detected in step 201, and the implementation process may also be as follows: when a dense grass signal is detected, the walking speed is reduced from the preset speed to the first speed, and walking continues; if a dense grass signal is detected again, the blade disc height is raised to the first height.

[0044] Specifically, when the regulation and control module receives a dense grass signal, it means that the density of grass in the current area of ​​the intelligent mowing robot is relatively high. At this time, it is preferred to reduce the walking speed because dense grass will bring greater resistance to the cutting of the cutter disc. If the original speed is maintained, the cutter disc may not be able to fully cut the weeds, resulting in incomplete cutting and leaking grass; and the high-speed running cutter disc will be under excessive pressure under the high resistance of dense grass, accelerating the wear of the cutter disc, and may even damage the cutter disc and motor and other components. Therefore, reducing the walking speed can give the cutter disc more time and power to cut dense grass, ensure the cutting effect, and reduce the burden on the cutter disc and related components. A short buffer time and / or distance is provided in this application to observe the cutting situation of the dense grass area after reducing the speed. In other words, if the dense grass signal is no longer received after walking for a period of time, it means that after reducing the speed, the cutter disc can effectively cut the weeds, and the resistance of the grass in this area to the cutter disc is already within an acceptable range. At this time, restoring the default walking speed can improve the overall mowing efficiency.

[0045] After deceleration, the present application determines the marking position of p1 according to whether a dense grass signal is detected as described in step 202, and determines the position of p1 by method one or method two. For details, please refer to the above records and will not be repeated here.

[0046] Among them, controlling the intelligent lawn mowing robot to reduce its walking speed can be controlling the intelligent lawn mowing robot to reduce its walking speed in a uniform deceleration manner, such as reducing the speed from 0.4m / s to 0.15m / s. In this way, the uniform deceleration method allows the motion state of the intelligent lawn mowing robot to transition smoothly, reduces shaking and deviation that may be caused by sudden speed changes, and ensures the stability of the intelligent lawn mowing robot when operating in dense grass areas.

[0047] In the above steps, the intelligent mowing robot mows along a bow-shaped path, where the robot starts from one boundary, goes along a straight line to the opposite boundary, and then turns back, forming a shape similar to a "bow", see Figure 3 or Figure 4The moving path shown in . This process is repeated until the entire area is covered. The adjacent straight moving paths of the bow-shaped path are parallel to each other and are equally spaced. The interval width is usually set according to the visual range parameters or body width of the mowing robot. For example, if the interval is set to the width of the robot's blade, seamless coverage can be achieved to avoid missed or repeated mowing. After completing each straight path, the robot will turn and mow the next straight path in the opposite direction to the previous one. This alternating direction method helps to improve coverage efficiency. Among them, the long side of the bow-shaped path refers to the longer path in the bow-shaped path where the robot moves in a straight line; in the absence of obstacles, the length of the long side can be consistent with the side length of the preset area. If there is an obstacle in the area, the length of the long side will be adjusted according to the location of the obstacle to avoid the obstacle. The control module involved in the above steps is a mowing control module, which is responsible for controlling the mowing operation of the mowing robot, including starting, stopping, speed, blade height adjustment, etc. By controlling the mowing motor, travel motor and the drive mechanism that controls the lifting of the blade, it realizes the functions of mowing, moving and mowing at a certain height.

[0048] In some embodiments, step 102 can be implemented as follows: when moving from the first endpoint along the working path toward the second endpoint for cutting, after a dense grass signal is detected, the second endpoint is updated to the current position, the blade height is updated, and then the working path is retreated toward the first endpoint for cutting; or, when moving from the second endpoint along the working path backward toward the first endpoint for cutting, after a dense grass signal is detected, the first endpoint is updated to the current position, the blade height is updated, and then the working path is retreated toward the second endpoint for cutting.

[0049] Among them, the intelligent lawn mowing robot starts from the first end point of the dense grass area, and performs cutting operations along the preset working path to the second end point. When reaching the second end point, the blade disc height will be updated. Updating the blade disc height in this application is to adjust the blade disc height to the middle gear between the current gear and the gear set by the user, or from the middle height between the current height and the height set by the user. After updating the blade disc height, the intelligent lawn mowing robot cuts again along the working path to the other end point, and repeats this cycle to form a reciprocating cutting trajectory. This reciprocating cutting method can cut the dense grass area multiple times, reduce the situation of missed cutting, and improve the quality of lawn mowing.

[0050] In addition, the mowing robots described in the above steps and methods all move backward from the second end point to the first end point, which can improve cutting efficiency, reduce the number of turns, maintain a stable cutting speed, and complete the operation faster. At the same time, the robot determines whether the mowing area has completed the operation through sensors and navigation systems, and the compacted lawn may affect the sensor's detection of the height and density of the grass. Directly retreating can effectively avoid repeated grass compaction at the end point, especially at the end point, thereby improving the robot's judgment accuracy on the mowing effect. In addition, this cutting method can also improve safety, reduce collision risks, protect the robot itself, reduce tool wear, simplify the mechanical structure, and thus reduce maintenance costs.

[0051] The process of cutting between the two endpoints of the dense grass area is as follows Figure 5 shown.

[0052] The intelligent mowing robot can continuously cut from the first end point to the second end point or from the second end point to the first end point, (i.e. Figure 5 In the process of reciprocating cutting between the two end points, the intelligent mowing robot will continuously detect the dense grass signal.

[0053] Here, we take the example of cutting from p1 to p0. When a dense grass signal is detected, the walking speed will be reduced. After the speed reduction, if the dense grass signal is no longer received, it means that the grass density in the current area has been reduced to the extent that the intelligent mowing robot can perform normal cutting at the default walking speed. At this time, the intelligent mowing robot resumes the default walking speed to continue mowing. However, if the intelligent mowing robot continues to cut at the default walking speed, it will continue to detect dense grass signals. The intelligent mowing robot continues to cut at the default walking speed until it cuts to the previously marked p0 position. The p0 position is a key position determined in the previous operation, which may be related to the starting or specific position of the dense grass area. When the p0 position is reached, the control module (the module responsible for planning and controlling the operation of the intelligent mowing robot) will notify the blade height adjustment module to adjust the blade height to the middle gear between the current gear and the gear set by the user. The binary method is used for adjustment here. If there is no suitable gear in the middle, it is rounded down. In this way, the height of the blade is optimized to achieve a better cutting effect, which not only ensures that the lawn is mowed to a suitable height, but also reduces unnecessary wear of the blade. After adjusting the height of the blade, the intelligent mowing robot starts cutting the current long side of the bow-shaped path from position p0 to position p1. p1 and p0 together determine the dense grass area that needs to be focused on, that is, the specific cutting path segment. By continuously cutting back and forth from p0 to p1, the consistency and beauty of the lawn are ensured.

[0054] When the smart mowing robot cuts between the two endpoints of the dense grass area, it will also update the two endpoints of the dense grass area, such as Figure 6 shown.

[0055] When the intelligent lawn mowing robot receives a dense grass signal during operation, it will first reduce its walking speed. If after reducing the speed, a continuous dense grass signal is still detected, that is, the dense grass signal is detected again, this indicates that the grass density in the current area is large, and the cutting task cannot be effectively completed by reducing the speed alone, so it gives up moving forward to cut the dense grass. At this time, the regulation and control system will control the blade height adjustment module to adjust the blade height to the middle gear between the current gear and the gear set by the user. The binary search method is used here to determine the middle gear. If there is no middle gear between the current gear and the gear set by the user, the lower gear is rounded down.

[0056] While adjusting the blade height, the intelligent mowing robot will update the current machine posture to the new endpoint. If the intelligent mowing robot cuts from p0 to p1 at this time, the current machine posture will be updated to p1. Similarly, if the intelligent mowing robot cuts from p1 to p0 at this time, the current machine posture will be updated to p0.

[0057] The position of the intelligent mowing robot when it decides to adopt a new cutting strategy is recorded. By updating the current position to p0 or p1, it can be ensured that the subsequent cutting operation is based on the latest starting point of the dense grass area, so that the dense grass area can be processed more accurately. After completing the adjustment of the blade height and updating the endpoint position of the dense grass area, the intelligent mowing robot will start from the p1 position to the p0 position on the current bow-shaped long side path, or start from the p0 position to the p1 position, that is, the intelligent mowing robot cuts from one end point of the dense grass area to the other end point. In this way, the intelligent mowing robot reciprocates between p0 and p1 along the bow-shaped long side path, and can process the dense grass area in a targeted manner. In this process, the intelligent mowing robot will continue to detect dense grass signals, and further adjust parameters such as cutting speed and blade height according to the signal conditions to ensure efficient and accurate cutting.

[0058] In some embodiments, the exit condition in step 103 may be: when the intelligent mowing robot reaches an end point of the dense grass area, the blade height is the blade height preset by the user; or a dense grass signal is detected when the intelligent mowing robot walks at a first speed at the blade height preset by the user.

[0059] Specifically, whenever the intelligent mowing robot runs to the endpoint p0 or p1, or when the dense grass signal is still detected after the walking speed is reduced between p0 and p1, the height of the cutter disc needs to be reduced using the method specified in step 102. This is because when the intelligent mowing robot reaches the endpoint, the height of the grass in the current dense grass area does not reach the cutting height expected by the user, so the height of the cutter disc needs to be further reduced to enhance the ability to cut dense grass.

[0060] When the intelligent mowing robot reaches p0 or p1, if the gear of the machine's cutting disc is equal to the gear set by the user, this means that after multiple adjustments and cutting, the height of the grass in the current dense grass area has reached the height setting expected by the user, and the grass situation at the current endpoint position has also been effectively processed, so it can be judged that the dense grass cutting is completed; or, in another case, when the machine runs to p0 or p1 at the gear height set by the user in the dense grass cutting logic, it still receives a dense grass signal after reducing the speed. This shows that at the disc height set by the user, even if the speed is reduced, the dense grass cannot be effectively processed, but because the gear height set by the user has been reached, it can be considered that the dense grass cutting has been completed as much as possible under the current conditions, so it is also judged that the dense grass cutting is completed.

[0061] Once it is determined that the dense grass cutting is completed, the intelligent mowing robot will exit the dense grass cutting logic, then turn off the blade, walk to the end of the current bow-shaped long side, and then turn on the blade to start normal cutting of the next bow-shaped long side in the manner of step 101. This means that the intelligent mowing robot will return to the normal cutting mode and cut according to the preset path and parameters until the dense grass signal is detected again, and enter the next round of dense grass cutting processing flow.

[0062] In some embodiments, the preset speed and the first speed in the present application may be set as follows: the preset speed is the walking speed preset by the user, and the first speed is less than the preset speed.

[0063] Another embodiment of the present application relates to an intelligent lawn mowing robot. Figure 7 As shown, it at least includes a cutter disc and a driving mechanism for controlling the lifting of the cutter disc, and also includes a detection module and a cutting module; wherein the detection module is used to determine the dense grass area; the cutting module is used to reciprocate cutting between the two end points of the dense grass area; wherein each time starting from or arriving at an end point of the dense grass area, the cutter disc height is updated according to the dichotomy method, and cutting is performed toward the other end point with the updated cutter disc height; when the cutter disc height meets the preset exit condition, the cutting operation of the dense grass area is terminated, and walking along the working path continues.

[0064] In some embodiments, the intelligent lawn mowing robot further includes at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the cutting method of the above-mentioned intelligent lawn mowing robot.

[0065] Among them, the detection module, the cutting module, the memory and the processor are connected in a bus manner, and the bus may include any number of interconnected buses and bridges, and the bus connects various circuits of one or more processors and memories together. The bus can also connect various other circuits such as peripheral devices, voltage regulators and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be one element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices on a transmission medium. The data processed by the processor is transmitted on a wireless medium via an antenna, and further, the antenna also receives data and transmits the data to the processor.

[0066] The processor is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. Memory can be used to store data used by the processor when performing operations.

[0067] It is not difficult to find that this embodiment is an embodiment of the device corresponding to the relevant embodiment of the above-mentioned cutting method, and this embodiment can be implemented in conjunction with the relevant embodiment of the above-mentioned cutting method. The relevant technical details mentioned in the relevant embodiment of the above-mentioned cutting method are still valid in this embodiment, and in order to reduce repetition, they are not repeated here. Accordingly, the relevant technical details mentioned in this embodiment can also be applied in the relevant embodiment of the above-mentioned cutting method.

[0068] It is worth mentioning that all modules involved in this embodiment are logic modules. In practical applications, a logic unit can be a physical unit, a part of a physical unit, or a combination of multiple physical units. In addition, in order to highlight the innovative part of this application, this embodiment does not introduce units that are not closely related to solving the technical problems proposed by this application, but this does not mean that there are no other units in this embodiment.

[0069] Another embodiment of the present application relates to a computer-readable storage medium storing a computer program, which implements the above method embodiment when executed by a processor.

[0070] That is, those skilled in the art can understand that all or part of the steps in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a program, and the program is stored in a storage medium, including several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor to execute all or part of the steps of each embodiment method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0071] Those skilled in the art will appreciate that the above-mentioned embodiments are specific examples for implementing the present application, and in actual applications, various changes may be made thereto in form and detail without departing from the spirit and scope of the present application.

Claims

1. A cutting method for an intelligent lawn mowing robot, characterized in that: The intelligent lawn mowing robot moves along a preset working path, and the method comprises: Identify areas of dense grass; Cutting back and forth between two end points of the dense grass area; each time starting from or reaching one of the end points of the dense grass area, updating the height of the cutter disc, and performing cutting toward the other end point with the updated height of the cutter disc; When the height of the cutter disc meets the preset exit condition, the cutting operation in the dense grass area is terminated.

2. The cutting method of the intelligent lawn mowing robot according to claim 1, characterized in that: Determining the dense grass area specifically includes: When the intelligent mowing robot moves along the working path, after detecting a dense grass signal, the height of the cutter disc is raised to a first height, and the current position is marked as p0; If a dense grass signal is detected again during walking, the current position is marked as p1; if no dense grass signal is detected during walking, the walking continues until the end of the bow-shaped long side of the working path is reached, and the end position is marked as p1; p0 and p1 are respectively used as the first endpoint and the second endpoint of the dense grass area.

3. The cutting method of the intelligent lawn mowing robot according to claim 2, characterized in that: The reciprocating cutting between the two end points of the dense grass area includes: Cutting is performed from a first end point of the dense grass area along the working path toward a second end point; After reaching the second end point, the height of the cutter head is updated, and then the cutter head moves backward along the working path toward the first end point for cutting; To form a reciprocating cutting trajectory.

4. The cutting method of the intelligent lawn mowing robot according to claim 3, characterized in that: The reciprocating cutting between the two end points of the dense grass area also includes: When cutting from the first end point along the working path to the second end point, after detecting a dense grass signal, the second end point is updated to the current position, the height of the cutter disc is updated, and then the cutting is performed backward along the working path to the first end point; or, When moving backward from the second end point along the working path toward the first end point for cutting, after detecting a dense grass signal, the first end point is updated to the current position, the blade height is updated, and then cutting is performed along the working path toward the second end point.

5. The cutting method of the intelligent lawn mowing robot according to claim 2, characterized in that: The step of raising the height of the cutter disc to a first height after detecting a dense grass signal comprises: When a dense grass signal is detected, the walking speed is reduced from the preset speed to the first speed and the walking continues; if a dense grass signal is detected again, the height of the cutter disc is raised to the first height.

6. The cutting method of the intelligent lawn mowing robot according to claim 1, characterized in that: The preset exit conditions include: When the intelligent lawn mowing robot reaches an end point of the dense grass area, the blade height is the blade height preset by the user; or a dense grass signal is detected when the intelligent lawn mowing robot walks at a first speed at the blade height preset by the user.

7. The cutting method of the intelligent lawn mowing robot according to any one of claims 1 to 6, characterized in that: The working path is a bow-shaped route, and the intelligent lawn mowing robot moves along the long side of the bow-shaped route. The dense grass area and the endpoints of the dense grass area are both on the long side of the bow-shaped route.

8. An intelligent lawn mowing robot, which moves along a preset working path, comprises at least a cutter disc and a driving mechanism for controlling the rise and fall of the cutter disc, characterized in that: It also includes a detection module and a cutting module; wherein, The detection module is used to determine the dense grass area; The cutting module is used for reciprocating cutting between the two end points of the dense grass area; wherein, each time starting from or reaching an end point of the dense grass area, the blade disc height is updated, and cutting is performed toward the other end point with the updated blade disc height; when the blade disc height meets the preset exit condition, the cutting operation of the dense grass area is terminated.

9. The intelligent lawn mowing robot according to claim 8, characterized in that: The intelligent lawn mowing robot also includes: at least one processor; and, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the cutting method of the intelligent lawn mowing robot according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the cutting method of the intelligent lawn mowing robot according to any one of claims 1 to 7 is implemented.

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