Mowing control method, intelligent mowing robot, program product and storage medium

Abstract

The invention provides a mowing control method, an intelligent mowing robot, a program product and a storage medium, and belongs to the technical field of mowers, and the mowing control method comprises the steps that when the distance between a machine body and a non-living obstacle or a working area boundary is smaller than or equal to a first preset threshold value, the rotating speed of a mowing head is increased to the pay-off speed V1, and then the mowing head falls back to the mowing rotating speed V2; when the distance between the machine body and the living body obstacle is smaller than or equal to a second preset threshold value, the rotating speed of the grass trimming head is controlled to be reduced below V3; when the distance between the machine body and the living body obstacle is larger than a second preset threshold value, the rotating speed of the grass trimming head is controlled to be increased to the mowing rotating speed V2 from V3, V2 / V1 is larger than 0.5 and smaller than 0.9, and V3 is smaller than or equal to 1000 rpm. According to the mowing control method provided by the invention, the paying-off frequency can be reduced.

Description

Technical Field

[0001] The present disclosure relates to the technical field of lawn mowers, and in particular to a lawn mowing control method, an intelligent lawn mowing robot, a program product, and a storage medium. Background Art

[0002] Traditional smart lawn mowers can often effectively cut the grass in the central area when cutting lawns, but they cannot cut the grass on the sides of the machine body or the grass between obstacles such as wall corners, fences, steps, and trees. This is mainly because the design of traditional smart lawn mowers has certain limitations.

[0003] In related technologies, smart lawn mowers are equipped with auxiliary mowing mechanisms, such as trimming mechanisms, to cut grass along the sides of the machine body. As an important external module of the smart lawn mower, the trimming mechanism is typically used to clean grass in the border area. The trimming mechanism includes a trimming head with an automatic line payout function, which automatically pays out the line each time it is started, thus enabling autonomous trimming. However, this design has some problems and shortcomings in actual use.

[0004] First, the existing initial starting method of the auxiliary mowing mechanism, when the mowing line contacts the high-density vegetation at the edge, causes the instantaneous load to exceed 250%-400% of the rated value due to the delay in the motor torque response, resulting in a high risk of mowing line jamming.

[0005] Secondly, due to safety regulations and obstacle avoidance requirements, smart lawn mowers need to start and stop frequently during operation. This results in the mowing head also starting and stopping frequently, which in turn causes the mowing head to frequently release the line. Frequent line release reduces the lifespan of the mowing head, as each release may cause wear and tear on the internal structure of the mowing head. Furthermore, frequent line release increases the frequency of mowing line replacement, causing inconvenience and affecting the user experience.

[0006] Furthermore, existing mower heads lack precision in line-release control. Since they automatically release the line each time they are started, there's no way to flexibly control the timing of line release based on actual mowing needs and scenarios. This can cause the mower head to release the line even when it shouldn't, resulting in unnecessary waste of resources and increased risk of wear and tear on the mower head.

[0007] Therefore, a technical solution is needed to solve the problem of frequent line release of the mowing head, so as to improve the performance and user experience of the smart lawn mower. Summary of the Invention

[0008] To overcome the problems existing in the related art, this specification provides a mowing control method, an intelligent mowing robot, a program product and a storage medium, which can reduce the number of line releases and the risk of jamming.

[0009] According to a first aspect of the present disclosure, a mowing control method is provided for an intelligent mowing robot. The intelligent mowing robot includes a body and an auxiliary mowing mechanism. The auxiliary mowing mechanism includes a mowing head. The mowing head is provided with a mowing line. The mowing control method includes: When the distance between the machine body and the non-living obstacle or the boundary of the working area is less than or equal to a first preset threshold, the mowing head is started, the rotation speed of the mowing head is increased to the line-releasing speed V1, and then dropped back to the mowing speed V2; The distance between the machine body and the living obstacle is less than or equal to a second preset threshold, and the speed of the mowing head is controlled to be lower than V3 within a preset time; When the distance between the machine body and the living obstacle is greater than the second preset threshold, the rotation speed of the mowing head is controlled to increase from V3 to the mowing speed V2; Among them, 0.5<V2 / V1<0.9, V3≤1000rpm.

[0010] The intelligent mowing robot provided by the present disclosure, when starting the auxiliary mowing mechanism, pre-operates at the pay-out speed V1 to build up a rotational kinetic energy reserve, forming a 50ms-100ms torque compensation window when the mowing line contacts the high-density vegetation at the boundary. The 50ms-100ms window allows the mowing head to respond quickly and increase the torque at the moment of contact with the vegetation, ensuring that the mowing head will not stop due to sudden load. This starting method can solve the technical problem of the traditional constant speed starting method, which causes the mowing line to stall due to the instantaneous load exceeding the rated value by 250%-400% due to the delay in the torque response of the mowing head (usually >200ms). The present disclosure can effectively overcome the stalling phenomenon that is prone to occur during the initial startup of the auxiliary mowing mechanism, and increase the success rate of starting along the edge operation to 99.8%.

[0011] The present disclosure implements intelligent control of mowing line feeding and mowing operations. By monitoring the surrounding environment of the intelligent mowing robot in real time, such as obstacle type and distance, and controlling the start and stop of the mowing head based on this information, if a living obstacle approaches, the mowing head speed is reduced to below V3 within a preset time, thereby preventing the robot from colliding with the obstacle or operating beyond its designated limit. This effectively ensures the safety of living obstacles and enhances the safety and reliability of mowing operations. If the living obstacle moves away, the mowing head speed is increased from V3 to V2, rather than paying out the line (mowing line feeding). This control method eliminates the need for the mowing head to automatically pay out the line upon each start-up. This configuration avoids frequent payouts and reduces wear on the mowing head caused by unnecessary payouts, thereby extending the mowing head's service life and reducing maintenance costs for users. It also reduces mowing line waste, improves resource utilization efficiency, and reduces the frequency of mowing line replacement.

[0012] In addition, the mowing control method provided by the present disclosure can flexibly switch the rotation speed of the string trimmer head according to the working mode required by the auxiliary mowing mechanism. Since independently controlling V1 and V2 cannot effectively achieve the mowing effect and control the wear of the trimming line, dynamically controlling the rotation speed ratio range of 0.5 < V2 / V1 < 0.9 further optimizes the feeding of the trimming line and the performance of the mowing operation. It not only ensures the stability of the trimming line during feeding but also guarantees the efficiency during the mowing operation, achieving a good balance between the two. Specifically, at a relatively high string release rotation speed V1, it ensures that the trimming line can be fed smoothly and steadily, avoiding poor feeding of the trimming line due to too low rotation speed. At a relatively low mowing rotation speed V2, it improves the mowing efficiency, enabling the robot to quickly complete the mowing task.

[0013] Experiments have found that when V2 / V1 = 0.5 (V1 = 8000 rpm, V2 = 4000 rpm), the string release rotation speed is as high as twice the mowing rotation speed, resulting in unnecessary waste. Secondly, although a relatively high string release rotation speed can theoretically release the trimming line quickly, in actual operation, when V2 / V1 = 0.5, due to the excessive speed difference between the two, during the conversion between the mowing operation mode and the string release mode, the released length of the trimming line suddenly drops to 3 cm per time, far lower than the target value of 10 cm per time, leading to the accumulation and entanglement of the trimming line and too long grass root residues, causing the mowing function to fail. This not only affects the mowing effect but may also cause the trimming line to break or jam, further reducing the mowing efficiency.

[0014] When V2 / V1 < 0.5, the mowing rotation speed (V2) is too low (usually < 4000 rpm), resulting in severely insufficient cutting kinetic energy. Experimental data shows that when the grass height ≥ 8 cm, the cutting efficiency < 60%, and the grass root residues are too long (Comparative Examples 9, 10, 11). At the same time, an excessively high string release rotation speed (V1 > 10000 rpm) causes the centrifugal force to exceed the limit, and the string-off rate of the trimming line ≥ 50% (the target value ≤ 1%), with a significant risk of flying line (Comparative Examples 10, 11), presenting serious safety hazards. In addition, when V2 is too low, it is impossible to maintain an effective cutting torque, and the grass clippings accumulate and block the string trimmer head, requiring frequent shutdowns for cleaning, and the operation efficiency drops by more than 50% (Comparative Example 9).

[0015] When 0.5 < V2 / V1 < 0.9, the difference between the pay-off speed (V1) and the mowing speed (V2) is rationally designed, balancing centrifugal force release and cutting efficiency. Experiments show that when V2 / V1 = 0.6-0.85, in mowing mode, the V2 speed (5000rpm-8500rpm) provides sufficient kinetic energy, a cutting efficiency of ≥ 95%, the residual length of grass roots meets the standard, and the grass clippings coverage radius is ≥ 1.5m (Example 4). In addition, this range can avoid flying lines and jams, improve system stability, and extend the life of the mowing head. Overall, this range achieves an efficient, low-energy, and safe closed-loop operation by scientifically matching pay-off and cutting requirements.

[0016] When V2 / V1=0.9 (V1=8000rpm, V2=7200rpm), the winding core jam frequency is ≥5 times / minute, the cutting efficiency drops to 85% (target ≥95%), and the power consumption increases (overload operation) (Comparative Example 8).

[0017] When V2 / V1 exceeds 0.9, speed switching becomes meaningless (payout and mowing modes overlap). The difference between the payout speed (V1) and the mowing speed (V2) is too small, resulting in insufficient centrifugal force to effectively release the mowing line, or ineffective mowing. Experimental data shows that at this point, the payout length drops sharply to below 5cm per stroke (target ≥10cm), or the payout may become stuck or fly. A small speed difference between mowing and payout (ΔV ≤ 1000rpm) leads to severe friction between the winding core and the housing, causing mechanical jams ≥5 times / minute and even leading to mowing line entanglement and accumulation. Furthermore, in mowing mode, the mowing head must continuously operate at high load to maintain the V2 speed, resulting in increased power consumption and a significantly increased risk of triggering overheating protection. Furthermore, due to speed redundancy, cutting efficiency may drop below 85% (target ≥95%), with the grass clippings coverage radius less than 1m, seriously affecting work quality.

[0018] Cutting efficiency, typically expressed as a percentage, represents the ratio of the area of ​​grass blades effectively cut per unit time to the theoretical maximum cuttable area. The theoretical maximum cuttable area refers to the theoretically cuttable area of ​​all grass within the area covered by the cutting line.

[0019] In some exemplary embodiments of the present disclosure, the grass mowing control method further includes: When the distance between the fuselage and the living obstacle is less than or equal to the second preset threshold, the intelligent lawn mowing robot is controlled to run along an arc-shaped avoidance trajectory with the living obstacle as the center and the second preset threshold as the radius, forming an unoperated sector-shaped area with the living obstacle as the center and a radius equal to the second preset threshold.

[0020] In some exemplary embodiments of the present disclosure, the grass mowing control method further includes: After the intelligent mowing robot has finished mowing the grass in the working area except the non-operated sector-shaped area, it is controlled to return to the non-operated sector-shaped area to perform mowing operations.

[0021] In this embodiment, the intelligent lawn mower robot can operate along an arc-shaped avoidance trajectory centered around the living obstacle and with a radius equal to a second preset threshold. This avoidance method ensures that the intelligent lawn mower robot maintains a safe distance when approaching living obstacles, preventing damage to them. This dynamic obstacle avoidance mechanism significantly improves the safety of the intelligent lawn mower robot in complex environments, particularly in areas with children, pets, or other moving objects.

[0022] Secondly, when avoiding living obstacles, the intelligent mower robot follows an arc-shaped trajectory, avoiding complex turns, adjustments, or long pauses around living obstacles, thereby reducing time lost due to obstacle avoidance. Furthermore, after completing mowing tasks in the main working area, the intelligent mower robot can intelligently return to the unused sector to continue working. This efficient path planning significantly improves mowing efficiency and reduces downtime and rework for the intelligent mower robot.

[0023] In some exemplary embodiments of the present disclosure, the distance between the fuselage and the non-living obstacle or the boundary of the working area, and the distance between the fuselage and the living obstacle are detected by a laser radar and / or a vision module.

[0024] In this embodiment, different intelligent lawn mowing robots may be equipped with different devices to achieve ranging and positioning. For example, some intelligent lawn mowing robots use lidar to achieve ranging and positioning; some use vision modules to achieve environmental perception; and some use a combination of lidar and vision modules to achieve environmental sensing.

[0025] In some exemplary embodiments of the present disclosure, the shutdown trigger condition is to define the second preset threshold as S1, S1=v1×t1, v1 is the speed of the living obstacle when approaching the fuselage, and t1 is the time required for the mowing head to reduce the speed from V2 to below V3.

[0026] In this embodiment, the intelligent mowing robot can dynamically adjust its response strategy based on the approach speed of living obstacles. When a living obstacle approaches quickly, the intelligent mowing robot can react more quickly and prematurely stop its mowing head, thereby improving safety. This dynamic shutdown trigger condition based on the approach speed of a living obstacle effectively reduces the risk of potential collisions between the intelligent mowing robot and living obstacles. In particular, when a living obstacle (such as a child or pet) approaches suddenly and quickly, the robot can quickly reduce its rotational speed to below V3 to avoid damage to the living obstacle. Furthermore, this dynamic shutdown trigger condition allows the intelligent mowing robot to minimize unnecessary downtime of the auxiliary mowing mechanism while ensuring safety. When a living obstacle approaches at a slower speed, the intelligent mowing robot can stop its mowing head later, thereby maintaining high mowing efficiency.

[0027] In some exemplary embodiments of the present disclosure, the shutdown trigger condition is to define the second preset threshold as S2, S2=v2×t2, v2 is the speed of the machine body, and t2 is the time required for the mowing head to reduce the speed from V2 to below V3.

[0028] In this embodiment, the intelligent mowing robot can dynamically adjust its response strategy based on its own speed. When the intelligent mowing robot is moving at a higher speed, it can react earlier and stop the mowing operation with its mowing head in advance, thereby improving safety. When the intelligent mowing robot is moving at a slower speed, it can stop the mowing operation with its mowing head slightly later, thereby maintaining high mowing efficiency.

[0029] In some exemplary embodiments of the present disclosure, the shutdown triggering condition is that the second preset threshold is 2.5m.

[0030] In this embodiment, the distance of 2.5m from the machine body is used as the shutdown trigger condition, which can not only stop the mowing head in time to ensure the safety of living obstacles, but also avoid excessive downtime and waste of resources.

[0031] In some exemplary embodiments of the present disclosure, the mowing speed V2 is greater than or equal to 5000 rpm and less than or equal to 10000 rpm.

[0032] In this embodiment, the mowing speed V2 is specified to be greater than or equal to 5000 rpm and less than or equal to 10000 rpm. This range is set based on a comprehensive consideration of experimental data and actual application requirements. Within this speed range, the auxiliary mowing mechanism can achieve efficient and stable mowing operations. The lower speed limit (5000 rpm) ensures that the auxiliary mowing mechanism can still maintain sufficient cutting force to effectively complete the mowing task even in complex terrain or areas with tall grass. The higher upper speed limit (10000 rpm) allows the auxiliary mowing mechanism to operate quickly in open areas or areas with low grass, improving work efficiency. In addition, this speed range also takes into account the durability of mechanical components and energy consumption balance, avoiding increased mechanical wear and energy waste caused by excessively high speeds.

[0033] In some exemplary embodiments of the present disclosure, the mowing rotation speed V2 is 6500 rpm, 7500 rpm or 8000 rpm.

[0034] In this embodiment, experiments revealed that when V2 was 6500 rpm, the robot mower demonstrated excellent cutting efficiency and uniform grass distribution in areas of medium grass height. At 7500 rpm, the robot achieved excellent maneuverability in tall grass areas, with high cutting efficiency and a standard residual length of grass roots. Finally, at 8000 rpm, the robot achieved optimal stability on complex terrain while maintaining a low noise level. These specific speed values ​​not only enhance the robot mower's adaptability and flexibility, but also further optimize its performance, enabling efficient and stable operation under diverse operating conditions while reducing maintenance and operating costs for users.

[0035] According to a second aspect of the present disclosure, there is provided an intelligent lawn mowing robot, comprising a body, an auxiliary mowing mechanism, a memory, a processor, and a computer program stored in the memory and executable on the processor; The auxiliary mowing mechanism includes a mowing head, and the mowing head is provided with a mowing line; When the processor executes the computer program, the steps of the grass mowing control method according to the first aspect are implemented.

[0036] In some exemplary embodiments of the present disclosure, the auxiliary mowing mechanism further includes a connecting portion; The machine body is provided with a quick-connect module, and the auxiliary mowing mechanism and the machine body are detachably connected via the connecting portion and the quick-connect module.

[0037] In this embodiment, the detachable connection mode can realize quick disassembly and installation and plug-and-play between the auxiliary mowing mechanism and the intelligent mowing robot.

[0038] In some exemplary embodiments of the present disclosure, the auxiliary mowing mechanism further includes a driving component, and the driving component drives the mowing head to rotate; The driving component has an upper portion and a lower portion that are arranged opposite to each other in the vertical direction, the connecting portion is connected to the upper portion of the driving component, and the mowing head is connected to the lower portion of the driving component; The connecting portion includes: A connecting shell, comprising a top wall, a bottom opening arranged opposite to the top wall in a vertical direction, and a side wall connected to the top wall; A first connecting terminal is disposed in the connecting housing; The inserting piece is arranged in the side wall of the connecting shell, and the inserting piece extends in the vertical direction.

[0039] In this embodiment, the drive component has upper and lower portions that are vertically opposed to each other. The connecting portion is located at the upper portion of the drive component, while the mowing head is connected to the lower portion of the drive component. The connection housing is designed to include a top wall and a bottom opening that are vertically opposed to each other, through which the auxiliary mowing mechanism can be connected to the machine body. This connection method allows the auxiliary mowing mechanism to be connected to the machine body more easily by leveraging its own gravity. It also facilitates the user to apply force to separate the auxiliary mowing mechanism from the machine body during disassembly, reducing the time and energy consumed by the user when installing and disassembling the auxiliary mowing mechanism.

[0040] Secondly, during the operation of the intelligent mowing robot, factors such as vibration and impact from the machine itself, as well as the centrifugal force generated by the rotating cutter disc, can affect the connection between the auxiliary mowing mechanism and the main body. However, in the present disclosure, because the insert extends vertically, perpendicular to the travel surface, this layout effectively resists these external factors and prevents the connection between the auxiliary mowing mechanism and the main body from loosening. This structural design significantly improves the reliability of the connection, ensuring stable operation of the mowing robot under various operating conditions and reducing failures and maintenance costs caused by loose connections.

[0041] Furthermore, the first connection terminal provides a direct power connection for the auxiliary mowing mechanism. This eliminates the need for a separate power source for the auxiliary mowing mechanism, simplifying power management for the entire system. This integrated power connection not only improves the integrity and coordination of the intelligent robotic lawn mower system, but also reduces potential risks associated with additional power cables, such as entanglement and damage. This design also enhances the overall appearance of the intelligent lawn mower system, further improving the user experience.

[0042] In some exemplary embodiments of the present disclosure, a mounting slot is provided on the body, the quick-connect module is connected to the mounting slot, and a gap is provided between the quick-connect module and a portion of the slot wall of the mounting slot, the gap forming a slot adapted to fit the insert; The quick-connect module includes a quick-connect body and a second connecting terminal provided on the quick-connect body, wherein the second connecting terminal is adapted to the first connecting terminal.

[0043] In this embodiment, the auxiliary mowing mechanism is detachably connected to a quick-connect module on the main body, enabling quick connection and removal between the external module and the main body of the intelligent mowing robot. Specifically, a plug-in and corresponding slot are provided, which extend vertically and insert into the slot to form a stable mechanical connection. This structural design not only effectively prevents the auxiliary mowing mechanism from loosening due to vibration during operation, but also ensures a secure and stable connection with the main body of the intelligent mowing robot, improving the reliability of the intelligent mower in complex terrain and working environments.

[0044] In some exemplary embodiments of the present disclosure, the number of the inserts is two, the two inserts are arranged along the forward direction, and the two inserts are axially symmetrically distributed about the first plane; The first plane is perpendicular to the advancing direction and passes through the rotation axis of the driving component; The dimension of the insert in the forward direction is greater than or equal to 3 mm and less than or equal to 8 mm.

[0045] In this embodiment, there are two blades, arranged along the forward direction and symmetrically about the first plane. This design optimizes the balance and symmetry of the connection between the auxiliary mowing mechanism and the main body. Because the first plane passes through the rotation axis of the drive component, this symmetrical layout ensures that the auxiliary mowing mechanism maintains a well-balanced state when installed on the main body. Furthermore, during operation, the intelligent mowing robot, especially when navigating uneven terrain or with the cutter disc rotating at high speeds, generates forces and vibrations in various directions. The two blades effectively distribute these forces, preventing loosening or damage to the connection due to excessive force at a single point, and enhancing the stability of the connection between the auxiliary mowing mechanism and the main body.

[0046] It is worth noting that the present disclosure limits the size of the insert in the forward direction (greater than or equal to 3mm and less than or equal to 8mm). Inserts within this numerical range can ensure good fit with the fuselage and achieve reliable mechanical connection without adding unnecessary volume or weight due to excessive size. This helps to optimize the structural design of the entire intelligent lawn mowing robot and improve its portability and operational flexibility.

[0047] In some exemplary embodiments of the present disclosure, the side wall of the connecting housing includes a first side wall and a second side wall that are oppositely arranged, and a third side wall connected to the same side of the first side wall and the second side wall, and the third side wall is connected to the driving component; The insert is connected to the other side of the first side wall and the second side wall, and the insert, the top wall and the side wall of the connecting shell form an open accommodating cavity to accommodate the quick-connect module; The distance between the insert and the third side wall is greater than or equal to 5 mm and less than or equal to 8 mm.

[0048] In this embodiment, the distance between the insert and the third side wall is limited (greater than or equal to 5 mm and less than or equal to 8 mm), ensuring that there is sufficient space inside the connecting shell to fit the body for connection, avoiding problems such as installation difficulties due to a too small distance or loose connections due to an excessive distance.

[0049] In some exemplary embodiments of the present disclosure, the driving component has an upper portion and a lower portion disposed opposite to each other in a vertical direction, the vertical direction being perpendicular to the traveling surface, the connecting portion being connected to the upper portion of the driving component, and the mowing head being connected to the lower portion of the driving component; The connecting portion includes: A connecting body is provided with a slot, wherein the slot extends along the height direction of the fuselage; The first connecting terminal is arranged on the connecting body.

[0050] In some exemplary embodiments of the present disclosure, the quick-connect module includes: A quick-connect housing comprising a bottom wall, a top opening vertically disposed opposite to the bottom wall, and a side wall connected to the bottom wall; a second connecting terminal, disposed in the quick-connect housing, the second connecting terminal being adapted to the first connecting terminal; The inserting piece is arranged in the side wall of the quick-connect housing and is adapted to the slot. The inserting piece extends in a vertical direction.

[0051] In some exemplary embodiments of the present disclosure, the quick-connect housing and the body are integrally formed.

[0052] In some exemplary embodiments of the present disclosure, the grass trimming head includes: The outer shell has a threading hole on its wall, and the mowing line is passed through the threading hole; A winding core is rotatably connected to the housing, and the mowing line can be wound around the winding core; The locking mechanism is configured to be in a locked position when the auxiliary mowing mechanism is in the mowing operation mode, so that the winding core is locked in the housing; and is also configured to switch from the locked position to the unlocked position when the auxiliary mowing mechanism increases from the mowing speed V2 to the line-paying speed V1, so that the housing releases the winding core, the winding core can rotate relative to the housing, and the mowing line wound on the winding core is released and pulled out by the centrifugal force caused by the rotation of the mowing head, thereby allowing the mowing line to be fed.

[0053] In this embodiment, when the auxiliary mowing mechanism increases from the mowing speed V2 to the pay-off speed V1, the locking mechanism switches from the locked position to the unlocked position, allowing the housing to release the winding core. This design not only ensures the stability of the mowing line during mowing operation, but also enables automatic feeding of the mowing line, improving mowing efficiency and user experience. Centrifugal force allows the mowing line to be smoothly pulled out, allowing the mowing line to be fed. This automated feeding mechanism reduces manual intervention and increases the degree of automation in mowing operations.

[0054] In some exemplary embodiments of the present disclosure, the locking mechanism includes a locking pin and an elastic member, wherein the locking pin is at least partially located within the housing and is provided on one side of the winding core in a vertical direction, the vertical direction being perpendicular to the traveling surface, one end of the locking pin is connected to the housing, and the other end abuts against the housing through the elastic member; Wherein, a locking protrusion is provided on a surface of one side of the locking pin close to the winding core, and ratchet teeth are provided on the winding core, and the ratchet teeth have a locking surface; At the mowing speed V2, the locking protrusion and the locking surface of the ratchet teeth are press-engaged under the elastic force of the elastic member, so that the winding core is locked in the housing; At the pay-off speed V1, the locking protrusion is separated from the locking surface of the ratchet teeth under the action of the centrifugal force exerted on the locking pin, so that the housing releases the winding core, the winding core can rotate relative to the housing, and the mowing line wound on the winding core is released and pulled out by the centrifugal force caused by the rotation of the mowing head, thereby allowing the mowing line to be fed.

[0055] In this embodiment, at a mowing speed of V2, the locking protrusion on the locking pin and the locking surface of the ratchet teeth on the winding core are pressed and meshed under the elastic force of the elastic member, ensuring that the winding core is securely locked. Conversely, at the payout speed of V1, the centrifugal force exerted on the locking pin causes it to separate from the locking surface of the ratchet teeth, releasing the winding core. This locking and release mechanism, based on centrifugal and elastic forces, not only enables automatic feeding of the mowing line but also ensures the stability and safety of the winding core at different speeds. By precisely controlling the force balance between the locking pin and the elastic member, accidental breakage or loosening of the mowing line during high-speed rotation can be effectively prevented, extending the service life of the mowing line.

[0056] In some exemplary embodiments of the present disclosure, at the mowing speed V2, the centrifugal force F exerted on the locking pin and the elastic force f exerted on the locking pin by the elastic member satisfy 0.01<F / f<1; At the pay-off speed V1, the centrifugal force F exerted on the locking pin and the elastic force f exerted on the locking pin by the elastic member satisfy 1<F / f<3.

[0057] In some exemplary embodiments of the present disclosure, the locking pin is provided with a long through hole so that the center of gravity of the locking pin shifts when the rotation speed of the mower head changes, thereby changing the contact state between the locking protrusion and the ratchet teeth.

[0058] In this embodiment, a long through-hole is provided in the locking pin, allowing the center of gravity of the locking pin to shift as the mower head's speed changes, thereby altering the contact between the protrusion and the ratchet teeth. This design further enhances the flexibility and adaptability of the locking mechanism, enabling it to respond more quickly to speed changes, ensuring timely advancement and locking of the mowing line.

[0059] According to a third aspect of the present disclosure, a computer program product is provided, comprising a computer program / instruction, wherein when the computer program / instruction is executed by a processor, the steps of the mowing control method according to the first aspect are implemented.

[0060] According to a fourth aspect of the present disclosure, 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 of the mowing control method according to the first aspect are implemented.

[0061] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the specification and, together with the description, serve to explain the principles of the specification.

[0063] Figure 1 It is a schematic structural diagram of an intelligent lawn mower in an exemplary embodiment of the present disclosure.

[0064] Figure 2 It is a schematic diagram of the three-dimensional structure of the auxiliary mowing mechanism in an exemplary embodiment of the present disclosure.

[0065] Figure 3 It is a schematic diagram of the three-dimensional structure of the auxiliary mowing mechanism in an exemplary embodiment of the present disclosure from another angle.

[0066] Figure 4 yes Figure 2 Right view of the auxiliary mowing mechanism.

[0067] Figure 5 yes Figure 2 Bottom view of the auxiliary mowing mechanism.

[0068] Figure 6 It is a schematic diagram of the three-dimensional structure of the intelligent lawn mowing robot body and the quick-connect module in an exemplary embodiment of the present disclosure.

[0069] Figure 7 It is a schematic diagram of the three-dimensional structure of the quick-connect module in an exemplary embodiment of the present disclosure.

[0070] Figure 8 It is a schematic diagram of the structure of a grass trimmer head in an exemplary embodiment of the present disclosure.

[0071] Figure 9 It is a schematic diagram of the explosion of a grass trimmer head in an exemplary embodiment of the present disclosure.

[0072] Figure 10 It is a schematic diagram of the locking mechanism structure in an exemplary embodiment of the present disclosure.

[0073] Figure 11 Schematic diagram of the locking mechanism and winding core structure in an exemplary embodiment of the present disclosure.

[0074] Figure 12 It is a schematic diagram of the winding core structure in an exemplary embodiment of the present disclosure.

[0075] Figure 13 FIG. 1 is a flow chart of a mowing control method in an exemplary embodiment of the present disclosure.

[0076] Figure 14 FIG. 4 is a flow chart of a grass mowing control method in another exemplary embodiment of the present disclosure.

[0077] Description of Reference Numerals 110 - protective cover; 120 - mowing head; 121 - housing; 1211 - upper housing; 11a - connecting shaft; 11b - threading hole; 1212 - lower housing; 130 - mowing line; 122 - winding core; 1221 - inner ratchet teeth; 21a - locking surface; 1222 - outer ratchet teeth; 22a - arc surface; 123 - locking mechanism; 1231 - elastic member; 1232 - locking pin; 32a - locking protrusion; 32b - long through hole; 200 - driving component; Z - vertical direction; Y - forward direction Towards; 300-connecting part; 310-connecting shell; 311-top wall; 312-first side wall; 313-second side wall; 314-third side wall; 320-first connecting terminal; 330-plug; 331-first plug; 332-second plug; 400-body; 410-mounting slot; 411-slot; 412-first slot wall; 413-second slot wall; 414-third slot wall; 415-slot bottom; 500-quick-connect module; 510-quick-connect body; 520-second connecting terminal. DETAILED DESCRIPTION

[0078] Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete and will fully convey the concepts of the example embodiments to those skilled in the art. Like reference numerals in the figures represent identical or similar structures, and thus their detailed descriptions will be omitted. Furthermore, the figures are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale.

[0079] Although relative terms such as "upper" and "lower" are used in this specification to describe the relationship of one illustrated component to another, these terms are used herein for convenience only, such as in accordance with the orientation of the illustrations in the accompanying drawings. It will be understood that if the illustrated device were flipped upside down, the component described as "upper" would become the component "lower." When a structure is referred to as "on" another structure, this may mean that the structure is integrally formed with the other structure, that the structure is "directly" disposed on the other structure, or that the structure is "indirectly" disposed on the other structure via the other structure.

[0080] The terms "a", "an", "the", "said" and "at least one" are used to indicate the presence of one or more elements / components / etc.; the terms "including" and "having" are used to express open-ended inclusion and mean that additional elements / components / etc. may be present in addition to the listed elements / components / etc.; the terms "first", "second" and "third" etc. are used only as labels and are not intended to limit the quantity of their objects.

[0081] In this disclosure, terms such as "perpendicular" and "equal" refer to perpendicularity and equality within the tolerance range of manufacturing process errors, not absolute perpendicularity and equality. Manufacturing process errors can be within ±10% or ±5%. For example, if the height direction of the fuselage is perpendicular to the forward direction, it can be understood that the angle between the height direction of the fuselage and the forward direction can be 90°±5°.

[0082] In related technology, a smart lawn mower is equipped with a trimming mechanism to cut grass in border areas. The trimming mechanism includes a trimming head, which releases a cutting line, causing the cutting line to rotate at a certain speed to cut the grass in the border area. This type of trimming head has an automatic line payout function, that is, it automatically pays out the line every time it is started. This frequent line payout design can lead to redundant line payout in certain scenarios, increasing the frequency of users changing cutting lines and affecting the user experience. Moreover, frequent line payout will also wear out the trimming head, reducing its service life.

[0083] Based on this, Figure 1 and Figure 8 、 Figure 13 As shown, embodiments of the present disclosure provide a mowing control method for an intelligent mowing robot, including a body 400 and an auxiliary mowing mechanism. The intelligent mowing robot is capable of moving along a travel surface along a forward direction Y, which may be, but is not limited to, the ground. The auxiliary mowing mechanism includes a mowing head 120, which is capable of cutting grass in the side areas. The mowing head 120 can adapt to different scene requirements. When line payout is not required, it does not perform line payout, reducing the number of times the mowing head 120 needs to pay out line, thereby improving the lifespan of the mowing head 120 and enhancing the user experience.

[0084] The mowing control method provided by the present disclosure will be described in detail below with reference to the accompanying drawings: like Figure 1 and Figure 8 、 Figure 13 As shown, the intelligent lawn mowing robot (hereinafter referred to as lawn mower) includes a body 400 and an auxiliary lawn mowing mechanism. The auxiliary lawn mowing mechanism includes a mowing head 120 , and the mowing head 120 is provided with a mowing line 130 .

[0085] Mowing control methods include: In step S100 , when the distance between the body 400 and the non-living obstacle or the boundary of the working area is less than or equal to a first preset threshold, the rotation speed of the mowing head 120 is increased to the line-releasing speed V1 and then returned to the mowing speed V2.

[0086] In step S200 , the distance between the body 400 and the living obstacle is less than or equal to a second preset threshold, and the speed of the mowing head 120 is controlled to be reduced to below V3 within a preset time.

[0087] In step S300 , when the distance between the body 400 and the living obstacle is greater than a second preset threshold, the rotation speed of the mowing head 120 is controlled to increase from V3 to the mowing speed V2 .

[0088] The lawn mower provided by the present disclosure, when activating the auxiliary mowing mechanism, pre-operates at the pay-out speed V1 to build up a rotational kinetic energy reserve, creating a 50ms-100ms torque compensation window when the mowing line 130 contacts high-density vegetation at the edge. This 50ms-100ms window allows the mowing head 120 to respond quickly and increase torque the moment it contacts the vegetation, ensuring that the mowing head 120 does not stop due to sudden load. This starting method can solve the technical problem of traditional constant-speed starting methods, where the mowing line 130 stalls due to a torque response delay (typically >200ms) in the mowing head 1220, resulting in a momentary load exceeding 250%-400% of the rated value. The present disclosure can effectively overcome the stalling phenomenon that is prone to occur during the initial startup of the auxiliary mowing mechanism, increasing the success rate of starting along the edge to 99.8%.

[0089] The present disclosure implements intelligent control of the mowing line 130 feed and mowing operation. By monitoring the surrounding environment of the intelligent mowing robot in real time, such as obstacle type and distance, and controlling the start and stop of the mowing head 120 based on this information, if a living obstacle approaches, the mowing head 120's rotation speed is reduced to below V3 within a preset time, thereby preventing the robot from colliding with the obstacle or operating beyond its designated boundary. This effectively ensures the safety of living obstacles and enhances the safety and reliability of the mowing operation. If the living obstacle moves away, the mowing head 120's rotation speed is increased from V3 to the mowing speed V2, rather than paying out the line (mowing line feed). This control method eliminates the need for the mowing head 120 to automatically pay out the line upon each startup. This configuration avoids frequent payout of the mowing head 120, reduces wear on the mowing head 120 caused by unnecessary payout, and thus extends the mowing head 120's service life and reduces maintenance costs for the user. At the same time, the waste of the mowing line 130 is reduced, the resource utilization efficiency is improved, and the frequency of the user replacing the mowing line 130 is reduced.

[0090] In addition, the mowing control method provided by the present disclosure can flexibly switch the rotation speed of the grass trimmer head 120 according to the working mode required by the auxiliary mowing mechanism. Since separately controlling V1 and V2 cannot effectively achieve the mowing effect and control the wear of the mowing line, the rotation speed ratio range of 0.5 < V2 / V1 < 0.9 is dynamically controlled, further optimizing the feeding of the mowing line 130 and the performance of the mowing operation. This not only ensures the stability of the mowing line 130 during feeding but also ensures the efficiency during the mowing operation, achieving a good balance between the two. Specifically, the higher wire feeding speed V1 ensures that the mowing line 130 can feed smoothly and steadily, avoiding poor feeding of the mowing line 130 due to too low speed; while the lower mowing speed V2 improves the mowing efficiency, enabling the robot to quickly complete the mowing task.

[0091] In the present disclosure, the relative position relationship between the fuselage 400 and the obstacle or the boundary of the working area can be detected by the lidar and / or the vision module, specifically including information such as the distance and angle between the obstacle and the boundary of the working area. The obstacles can include living obstacles and non-living obstacles. The non-living obstacles can include walls, fences, trees, flower beds, steps, stones, vehicles, water pipes, trash cans, etc., but are not limited thereto. The living obstacles can include pets, children, adults, poultry, etc., but are not limited thereto.

[0092] The working area refers to the area where the lawn mower needs to complete the mowing operation. When the lidar and / or the vision module recognizes that the distance between the fuselage 400 and the non-living obstacle or the working area reaches the first preset threshold, a start signal is output to the auxiliary mowing mechanism, so that the auxiliary mowing mechanism first increases the rotation speed of the grass trimmer head 120 to the wire feeding speed V1 and then drops back to the mowing speed V2 for mowing operation.

[0093] When the lidar and / or the vision module recognizes that the distance between the fuselage 400 and the living obstacle reaches the second preset threshold, the rotation speed of the grass trimmer head 120 is controlled to drop below V3 within the preset time. The preset time can be set according to the structure of the grass trimmer head 120, etc., such as 2s, 3s, 4s, etc., but is not limited thereto.

[0094] When the lidar and / or the vision module recognizes that the distance between the fuselage 400 and the living obstacle is greater than the second preset threshold, the rotation speed of the grass trimmer head 120 is controlled to increase from V3 to the mowing speed V2 for mowing operation.

[0095] Optionally, different lawn mowers may be equipped with different lidars and / or vision modules. For example, some lawn mowers use lidar to achieve ranging and positioning; some use vision modules to perceive the environment; some use the combination of lidar and vision modules to sense the environment.

[0096] Specifically, a laser radar can typically scan and construct a spatial model of obstacles in real time by emitting infrared light pulses, enabling accurate identification of lawn boundaries and obstacles such as flower beds, trees, and pets. The lawn mower can use the laser radar's ranging method to activate the auxiliary mowing mechanism to cut along the edge when it senses that the body 400 is approaching a non-living obstacle or that the boundary of the working area reaches a first preset threshold. When it senses that the body 400 is approaching a living obstacle less than or equal to a second preset threshold, the speed of the mowing head 120 is reduced to below V3. When it senses that the distance between the body 400 and the living obstacle is greater than the second preset threshold, the rotation speed of the mowing head 120 is restored to the mowing speed V2 to continue mowing.

[0097] The vision module typically includes an image sensor to identify the appearance of obstacles, such as lawn color and texture, distinguishing lawns from non-lawn areas such as flower beds and gravel paths, and human height to distinguish adults from children. The vision module can also use a camera to capture moving obstacles such as pets, children, or low objects such as toys and water pipes. Leveraging the visual perception capabilities of the vision module, the lawn mower can activate an auxiliary mowing mechanism to perform edge cutting when it senses that the body 400 is approaching a non-living obstacle or the boundary of the work area is less than or equal to a first preset threshold. When it senses that the body 400 is approaching a living obstacle less than or equal to a second preset threshold, the rotation speed of the mowing head 120 is reduced to below V3. When it senses that the distance between the body 400 and the living obstacle is greater than the second preset threshold, the rotation speed of the mowing head 120 is restored to the mowing speed V2 to resume mowing.

[0098] In some lawn mowers, the vision module can also be used in combination with lidar to enhance the robustness of perception of dynamic environments and improve the lawn mower's ability to adapt to environmental conditions such as light changes such as shade or weather conditions such as morning fog.

[0099] In some embodiments of the present disclosure, the first preset threshold can be adjusted according to the width of the body 400, the type of non-living obstacles, and the boundary of the working area to ensure the mowing effect near non-living obstacles and near the boundary of the working area; the first preset threshold can generally be set to any value or value range within the range of 100mm-200mm, for example, it can be specifically set to 110mm, 120mm, 130mm, 140mm, 150mm, 160mm, 170mm, 180mm, 190mm, 200mm, and any two of the above value intervals.

[0100] In some embodiments of the present disclosure, the second preset threshold is defined as S1, S1=v1×t1, v1 is the speed of the living obstacle when approaching the body 400, and t1 is the time required for the mowing head 120 to reduce the mowing speed from V2 to below V3.

[0101] When the laser radar and / or vision module detects that a living obstacle such as a human body or an animal enters a cylindrical monitoring area with the center of the fuselage 400 as the origin and a radius of a second preset threshold, the rotation speed of the mowing head 120 is immediately controlled to be reduced to below V3, where a human body includes an adult or child with a height of ≥50 cm in an upright state, and an animal includes a pet dog, cat and small and medium-sized wild animal with a body length of ≥30 cm, but does not include insects with a body length of less than 10 cm; when the living obstacle exits the monitoring area, the rotation speed of the mowing head 120 is controlled to be accelerated from V3 to the mowing speed V2.

[0102] For example, when a person approaches the machine body 400 at a speed of 1 m / s, and the time required for the mowing head 120 to decrease from the mowing speed V2 to below V3 is 2 s, the second preset threshold is 2 m.

[0103] In other embodiments of the present disclosure, the second preset threshold is defined as S2, S2=v2×t2, v2 is the speed of the body 400, and t2 is the time required for the mowing head 120 to reduce the mowing speed from V2 to below V3.

[0104] For example, if the intelligent lawn mower travels at a speed of 0.1 m / s and the time required for the mowing head 120 to decrease from a mowing speed V2 to a speed below V3 is 2 s, then the second preset threshold is 20 cm; or if the intelligent lawn mower travels at a speed of 1 m / s and the time required for the mowing head 120 to decrease from a mowing speed V2 to a speed below V3 is 2 s, then the second preset threshold is 2 m.

[0105] In some other embodiments of the present disclosure, the second preset threshold is 2.5 meters. For example, when the laser radar and / or vision module senses that a living obstacle is 2 meters away from the fuselage 400, the speed of the mowing head 120 is controlled to be reduced to below V3; or when the laser radar and / or vision module senses that a living obstacle is 1.5 meters away from the fuselage 400, the speed of the mowing head 120 is controlled to be reduced to below V3; or when the laser radar and / or vision module senses that a living obstacle is 50 centimeters away from the fuselage 400, the speed of the mowing head 120 is controlled to be reduced to below V3.

[0106] Furthermore, the auxiliary mowing mechanism may include a driving component 200 for driving the mowing head 120 to rotate.

[0107] In some embodiments of the present disclosure, step S100 may include receiving signals from a laser radar and / or vision module (e.g., a laser radar, a vision module, etc.), which contain relative position information (e.g., distance) between obstacles (e.g., humans, animals, fences, etc.) and the machine body 400. Comparing the input environmental perception signal with a first preset threshold value, and outputting a high-level signal when the input signal is less than or equal to the first preset threshold value, receiving the high-level signal and outputting a start signal based on it. Simultaneously, a speed control signal is output according to a preset speed control logic. The start signal can control the power supply of the driver component 200 via a relay or MOSFET, activating the auxiliary mowing mechanism, while the speed control signal is used to control the rotation speed of the mowing head 120. For example, during the initial startup, the rotation speed of the mowing head 120 can be controlled to instantly increase to the pay-out speed V1 to overcome potential resistance during startup, and then return to the mowing speed V2 for stable mowing operation.

[0108] In some embodiments of the present disclosure, step S200 may include receiving signals from a laser radar and / or vision module (e.g., a laser radar, a vision module, etc.), which contain relative position information (e.g., distance) between obstacles (e.g., humans, animals, fences, etc.) and the machine body 400. Comparing the input environmental perception signal with a second preset threshold value, and outputting a high-level signal when the input signal is less than or equal to the second preset threshold value. This output signal is received and processed according to preset control logic, implementing complex logic control and signal processing. Subsequently, the speed of the mowing head 120 is reduced to below V3 by controlling the drive component 200.

[0109] Step S300 may include receiving signals from a laser radar and / or vision module (e.g., a laser radar, a vision module, etc.), which contain information about the relative position (e.g., distance) of obstacles (e.g., humans, animals, fences, etc.) with respect to the machine body 400. The input environmental perception signal is compared with a second preset threshold. When the input signal exceeds the second preset threshold, a low-level signal is output. This output signal is received and processed according to preset control logic, implementing complex logic control and signal processing. The drive unit 200 is then controlled to increase the rotational speed of the mowing head 120 from V3 to the mowing speed V2.

[0110] like Figure 14 As shown, in some embodiments of the present disclosure, the mowing control method further includes: Step S400: When the distance between the body 400 and the living obstacle is less than or equal to a second preset threshold, the intelligent lawn mower robot is controlled to move along an arc-shaped avoidance trajectory with the living obstacle as the center and the second preset threshold as the radius, thereby forming an unoperated sector-shaped area with the living obstacle as the center and the radius equal to the second preset threshold. Step S500: Control the intelligent mowing robot to finish mowing the grass in the working area except the non-operated sector-shaped area, and then return to the non-operated sector-shaped area to perform mowing operations.

[0111] Specifically, step S400 includes: the laser radar and / or vision module detecting that the distance between the machine body 400 and the living obstacle is less than or equal to a second preset threshold, and outputting this detection information. Upon receiving this detection information, a preset obstacle avoidance algorithm is used to calculate an arc-shaped avoidance trajectory with the living obstacle as the center and the second preset threshold as the radius. A control signal is then output to control the direction and speed of the lawn mower, causing it to move along the calculated arc-shaped trajectory, thereby forming an unused sector-shaped area centered on the living obstacle.

[0112] In some embodiments of the present disclosure, the mowing control method further includes: In step S600 , after the mowing head 120 of the intelligent mowing robot has traveled a preset distance for mowing, the mowing head 120 is fed at a line-feeding speed V1 , where 0.5<V2 / V1<0.9 is defined.

[0113] In step S700 , after the mowing line of the mowing head 120 is fed for a preset time, the rotation speed of the mowing head 120 is switched to the mowing speed V2 to perform the mowing operation.

[0114] In some embodiments of the present disclosure, step S600 may include: the intelligent mowing robot outputs a payout signal after the mowing head 120 travels a preset distance during mowing. The robot receives the payout signal, selects and outputs a payout speed V1, and generates a drive signal with an adjustable duty cycle based on the payout speed V1, driving the mowing head to feed the mowing line at the payout speed V1.

[0115] In some embodiments of the present disclosure, a multiplexer may receive a payout signal and select a payout speed V1 for output based on the signal. A PWM modulation module may then receive the payout speed V1 and generate a drive signal with an adjustable duty cycle based on the signal. The specific drive signal may be output to the drive component 200 to switch the auxiliary mowing mechanism from mowing to feeding the mowing line 130.

[0116] Specifically, when the auxiliary mowing mechanism needs to advance the mowing line 130, the multiplexer receives this signal, selects the payout speed V1, and transmits it to the PWM modulation module. Based on the value of V1, the PWM modulation module generates a drive signal with an adjustable duty cycle and outputs this signal to the drive component 200. This adjustable duty cycle drive signal controls the drive component 200 to operate at a higher speed, ensuring smooth and stable feed of the mowing line 130 and preventing feed problems caused by low speeds.

[0117] In some embodiments of the present disclosure, step S700 may include: after the mowing head 120 advances the mowing line 130 for a second preset time, outputting a mowing signal; receiving the mowing signal, selecting and outputting a mowing speed V2; receiving the mowing speed V2, and generating a drive signal with an adjustable duty cycle based on the signal to drive the mowing head to perform a mowing operation at the mowing speed V2.

[0118] In some embodiments of the present disclosure, a multiplexer may receive a mowing signal and select a mowing speed V2 for output based on the signal. A PWM modulation module may then receive the mowing speed V2 and generate a drive signal with an adjustable duty cycle based on the signal. The specific drive signal may be output to the drive component 200 to enable the auxiliary mowing mechanism to switch from feeding the mowing line 130 to mowing operations.

[0119] Specifically, when the auxiliary mowing mechanism needs to begin mowing, the multiplexer receives this signal and selects a mowing speed V2, which it passes to the PWM modulation module. Based on the value of V2, the PWM modulation module adjusts the duty cycle of the drive signal, causing the drive component 200 to operate at a lower speed. This improves mowing efficiency and enables the mower to complete its mowing task quickly.

[0120] The multiplexer can switch signal paths in nanoseconds, and combined with the dynamic adjustment capability of PWM, it can achieve a speed switching delay of less than 0.1 seconds. This means that in actual operation, the auxiliary mowing mechanism can switch from one operating mode to another in a very short time without any noticeable pause or transition delay. This fast switching capability greatly improves the efficiency and response speed of the lawn mower, enabling it to respond more flexibly to different mowing scenarios and needs. For example, when it is necessary to feed the mowing line 130, the mower can quickly switch from the mowing operation mode to the mowing line 130 feeding mode to adjust the length of the mowing line 130 to ensure the mowing effect; and after the mowing line 130 is fed, it can immediately return to the mowing operation mode and continue to mow efficiently.

[0121] The specific structure of the auxiliary mowing mechanism is described in detail below with reference to the accompanying drawings: like Figures 2 to 8 As shown, the auxiliary mowing mechanism includes a trimming head 120, which is provided with a mowing line 130. The auxiliary mowing mechanism also includes a drive component 200, which may include a motor. The trimming head 120 is connected to an output shaft of the motor, which extends along the height of the machine body 400. The motor can provide driving force to the trimming head 120, driving the trimming head 120 to rotate.

[0122] In some embodiments of the present disclosure, Figures 2 to 7As shown, the auxiliary mowing mechanism further includes a connecting portion 300 ; the body 400 is provided with a quick-connect module 500 , and the auxiliary mowing mechanism and the body 400 are detachably connected via the connecting portion 300 and the quick-connect module 500 .

[0123] The auxiliary mowing mechanism connects to the main body of the mower via a connector 300 and a quick-connect module 500, establishing both a communication and electrical connection. The drive unit 200 receives power and control signals from the main body of the mower to start and stop the mower. This auxiliary mowing mechanism offers quick installation and removal, enabling plug-and-play operation.

[0124] The driving component 200 has an upper part and a lower part arranged relatively to each other in the height direction Z of the fuselage 400. The height direction Z of the fuselage 400 is perpendicular to the traveling surface. The connecting part 300 is connected to the upper part of the driving component 200, and the grass trimming head 120 is connected to the lower part of the driving component 200.

[0125] In some embodiments of the present disclosure, Figure 2 and Figure 3 As shown, the connection portion 300 includes a connection housing 310, a first connection terminal 320, and an insert 330. The connection housing 310 includes a top wall 311, a bottom opening disposed opposite the top wall 311 in the height direction Z of the body 400, and side walls connected to the top wall 311. The connection housing 310 is a hollow structure having at least a bottom opening. The connection housing 310 can be a generally rectangular parallelepiped structure.

[0126] The first connection terminal 320 is disposed within the connection housing 310. The first connection terminal 320 is used to establish a communication connection and / or an electrical connection with the main body of the intelligent lawn mower. Optionally, the first connection terminal 320 is disposed within the top wall 311. The first connection terminal 320 may include a power interface, a communication interface, and a fault communication interface. The number of different types of interfaces may be multiple, such as two power interfaces, two communication interfaces, and one fault communication interface, and this disclosure does not limit this.

[0127] The inserting piece 330 is disposed in the side wall of the connecting housing 310 and extends along the height direction Z of the fuselage 400. The inserting piece 330 can be substantially a rectangular strip.

[0128] like Figure 6 and Figure 7 As shown, the housing 400 has a mounting slot 410, into which the quick-connect module 500 is connected. A gap exists between the quick-connect module 500 and a portion of the wall of the mounting slot 410, forming a slot 411 that is compatible with the insert 330. The quick-connect module 500 includes a quick-connect body 510 and a second connection terminal 520 disposed therein. The second connection terminal 520 is compatible with the first connection terminal 320.

[0129] Specifically, there are two inserts 330 , which are arranged along the forward direction Y, the forward direction Y is parallel to the traveling surface, and the two inserts 330 are axially symmetrically distributed about the first plane.

[0130] The first plane is perpendicular to the advancing direction Y and passes through the rotation axis of the driving component 200. Figure 4 As shown, the dimension D1 of the insert 330 in the forward direction Y is greater than or equal to 3 mm and less than or equal to 8 mm. Specifically, the dimension D1 of the insert 330 in the forward direction Y can be 3 mm, 3.5 mm, 4 mm, 4.5 mm, 5 mm, 5.5 mm, 6 mm, 6.5 mm, 7 mm, 7.5 mm, or 8 mm, but is not limited thereto. It should be noted that the dimensions of different parts of the insert 330 in the forward direction Y can be the same or different, but must all be within the range of 3 mm to 8 mm.

[0131] In some embodiments of the present disclosure, Figure 2 and Figure 3 As shown, the sidewalls of the connecting housing 310 include a first sidewall 312 and a second sidewall 313 that are disposed opposite each other, and a third sidewall 314 connected to the same side of the first sidewall 312 and the second sidewall 313. The third sidewall 314 is connected to the driving component 200, that is, the connecting portion 300 is connected to the driving component 200 via the third sidewall 314. Optionally, the connecting portion 300 can be connected to the area near the upper portion of the sidewall of the driving component 200. The top wall 311 of the connecting portion 300 can be flush with the upper end surface of the driving component 200.

[0132] Furthermore, the connecting housing 310 also has a side opening. There are two tabs 330: a first tab 331 and a second tab 332. The first tab 331 and the second tab 332 are connected to the other side of the first side wall 312 and the second side wall 313, respectively. That is, both the first tab 331 and the second tab 332 are disposed opposite the third side wall 314. A gap is formed between the first tab 331 and the second tab 332, forming the side opening of the connecting housing 310. Thus, the first tab 331, the second tab 332, the first side wall 312, the second side wall 313, the third side wall 314, and the top wall 311 form an open accommodating chamber that can be used to accommodate the quick-connect module 500, thereby completing the detachable connection between the auxiliary mowing mechanism and the main body of the lawn mower.

[0133] Optionally, the inserting piece 330 is integrally formed with the connecting housing 310. The first connecting terminal 320 is connected to the connection between the top wall 311 and the third side wall 314. The top wall 311 protrudes from an edge of the first inserting piece 331 and the second inserting piece 332 away from the third side wall 314.

[0134] In some embodiments of the present disclosure, Figure 5 As shown, the distance D2 between the insert 330 and the third sidewall 314 is greater than or equal to 5 mm and less than or equal to 10 mm. Specifically, the distance between the two can be 5 mm, 5.5 mm, 6 mm, 6.5 mm, 7 mm, 7.5 mm, 8 mm, 8.5 mm, 9 mm, 9.5 mm, or 10 mm, but is not limited thereto. It should be noted that the distances between different parts of the insert 330 and the third sidewall 314 can be equal or different, but must be within the range of 5 mm to 10 mm.

[0135] In some other embodiments of the present disclosure, the connection portion includes a connection body and a first connection terminal. The connection body is provided with a slot (not shown) extending along the height direction of the body. The first connection terminal is provided on the connection body.

[0136] The quick-connect module includes a quick-connect housing and an insert. The quick-connect housing includes a bottom wall, a top opening vertically opposed to the bottom wall, and sidewalls connected to the bottom wall. The quick-connect housing can be integrally formed with the body. A second connection terminal is disposed within the quick-connect housing and mates with the first connection terminal. The insert is disposed within the sidewall of the quick-connect housing and mates with the slot, extending along the vertical direction Z.

[0137] like Figure 8 As shown, in some embodiments of the present disclosure, the auxiliary mowing mechanism further includes a protective cover 110 , which is provided on the mowing head 120 .

[0138] like Figure 9 As shown, the mowing head 120 includes a housing 121, a winding core 122, and a locking mechanism 123. The housing 121 has a threading hole 11b formed in the wall thereof, through which the mowing line 130 is threaded. The winding core 122 is rotatably connected to the housing 121, and the mowing line 130 can be wound around the winding core 122. The locking mechanism 123 is configured to be in a locked position when the auxiliary mowing mechanism is in a mowing operation mode, so that the winding core 122 is locked in the housing 121 and the winding core 122 cannot rotate relative to the housing 121; and is also configured to switch from the locked position to the unlocked position when the auxiliary mowing mechanism is increased from the mowing speed V2 to the line-paying speed V1, so that the housing 121 releases the winding core 122, the winding core 122 can rotate relative to the housing 121, and the mowing line 130 wound on the winding core 122 is released and pulled out by the centrifugal force caused by the rotation of the mowing head 120, thereby allowing the mowing line 130 to be fed.

[0139] The housing 121 may include an upper housing 1211 and a lower housing 1212 that are interconnected. The upper housing 1211 and the lower housing 1212 may be detachably connected by means of a snap-fit, threaded connection, or the like, to facilitate replacement of the winding core 122. The housing 121 may be connected to the output shaft of the drive component 200. When the drive component 200, such as a motor, is in operation, the drive component 200 may drive the housing 121 to rotate. When the locking mechanism 123 is in the locked state, the winding core 122 is locked in the housing 121 and cannot rotate relative to the housing 121. In this case, when the drive component 200 is in operation, the housing 121 and the winding core 122 rotate synchronously, thereby driving the mowing line 130 extending from the housing 121 to rotate and complete the mowing operation. When the locking mechanism 123 is in the unlocked state, the housing 121 releases the winding core 122, the winding core 122 is able to rotate relative to the housing 121, and the mowing line 130 wound on the winding core 122 is released and pulled out by the centrifugal force caused by the rotation of the mowing head 120, thereby allowing the mowing line 130 to be fed.

[0140] In some embodiments of the present disclosure, the locking mechanism 123 includes a locking pin 1232 and an elastic member 1231. The locking pin 1232 is at least partially located within the housing 121 and is disposed on one side of the winding core 122 in the height direction Z of the body 400. One end of the locking pin 1232 is connected to the housing 121, and the other end abuts against the housing 121 via the elastic member 1231. Optionally, a through hole is defined in the housing 121, and one end of the locking pin 1232 is inserted into the through hole. Pressing the end of the locking pin 1232 can remove the locking pin 1232 from the housing 121.

[0141] like Figures 10 to 12 As shown, the locking pin 1232 has a locking protrusion 32a on one side of the surface near the winding core 122. The winding core 122 is provided with ratchet teeth, each having a locking surface 21a. At a mowing speed V2, the locking protrusion 32a and the locking surface 21a of the ratchet teeth are press-engaged under the elastic force of the elastic member 1231, locking the winding core 122 in the housing 121. At a payout speed V1, the locking protrusion 32a disengages from the locking surface 21a of the ratchet teeth due to the centrifugal force exerted on the locking pin 1232, releasing the winding core 122 from the housing 121. The winding core 122 can rotate relative to the housing 121, and the mowing line 130 wound around the winding core 122 is released and pulled out by the centrifugal force caused by the rotation of the trimmer head 120, allowing the mowing line 130 to be fed.

[0142] Furthermore, if Figure 11As shown, at the mowing speed V2, the centrifugal force F exerted on the locking pin 1232 and the elastic force f exerted on the locking pin 1232 by the elastic member 1231 satisfy 0.01 < F / f < 1. At the line-paying speed V1, the centrifugal force F exerted on the locking pin 1232 and the elastic force f exerted on the locking pin 1232 by the elastic member 1231 satisfy 1 < F / f < 3.

[0143] The locking pin 1232 is provided with an elongated through-hole 32b. This allows the center of gravity of the locking pin 1232 to shift when the speed of the trimmer head 120 changes, thereby changing the contact between the locking protrusion 32a and the ratchet teeth. The upper housing 1211 is provided with a connecting shaft 11a, which is coaxial with the rotation axis of the drive component 200. The connecting shaft 11a extends through the elongated through-hole 32b.

[0144] Specifically, the ratchet teeth include outer ratchet teeth 1222 and inner ratchet teeth 1221. At a mowing speed V2, the locking projection 32a and the locking surface 21a of the inner ratchet teeth 1221 are press-engaged under the elastic force of the elastic member 1231, locking the winding core 122 in the housing 121. At a pay-out speed V1, the locking projection 32a, due to the centrifugal force exerted on the locking pin 1232, separates from the locking surface 21a of the inner ratchet teeth 1221 and then contacts the arcuate surface 22a of the outer ratchet teeth 1222, releasing the winding core 122 from the housing 121. The winding core 122 is then able to rotate relative to the housing 121, and the mowing line 130 wound around the winding core 122 is released and pulled out by the centrifugal force caused by the rotation of the trimmer head 120, allowing the mowing line 130 to be fed.

[0145] In the present disclosure, the mowing speed V2 and the line-releasing speed V1 satisfy 0.5<V2 / V1<0.9. The present disclosure conducted experiments at different mowing speeds and line-releasing speeds, and the experimental data of the embodiment are shown in Table 1, and the experimental data of the comparative example are shown in Table 2: Table 1 Table 2 Experiments found that when V2 / V1 = 0.5 (V1 = 8000 rpm, V2 = 4000 rpm), the payout speed was twice as fast as the mowing speed, resulting in unnecessary waste. Secondly, while a higher payout speed theoretically allows for faster line release, in practice, when V2 / V1 = 0.5, perhaps due to the significant speed difference between the two, the line release length plummeted to 3 cm / time during the transition between mowing and payout modes, far below the target value of 10 cm / time. This caused the line to accumulate and tangle, leaving excessively long grass roots, and rendering the mowing function ineffective. This not only affected the mowing effect but could also cause the line to break or become stuck, further reducing mowing efficiency.

[0146] When V2 / V1 is less than 0.5, the mowing speed (V2) is too low (usually <4000rpm), resulting in a serious lack of cutting kinetic energy. Experimental data show that when the grass height is ≥8cm, the cutting efficiency is less than 60%, and the grass roots remain too long (Comparative Examples 9, 10, and 11). At the same time, an excessively high pay-off speed (V1>10000rpm) causes the centrifugal force to exceed the limit, the mowing line derailment rate is ≥50% (target value ≤1%), and the risk of flying lines is significant (Comparative Examples 10 and 11), posing a serious safety hazard. In addition, the drive components cannot maintain effective cutting torque when V2 is too low, and grass clippings accumulate and clog the mowing head, requiring frequent shutdowns for cleaning, and operating efficiency drops by more than 50% (Comparative Example 9).

[0147] When 0.5 < V2 / V1 < 0.9, the difference between the pay-off speed (V1) and the mowing speed (V2) is rationally designed, balancing centrifugal force release and cutting efficiency. Experiments show that when V2 / V1 = 0.6-0.85, in mowing mode, the V2 speed (5000rpm-8500rpm) provides sufficient kinetic energy, a cutting efficiency of ≥ 95%, the residual length of grass roots meets the standard, and the grass clippings coverage radius is ≥ 1.5m (Example 4). In addition, this range can avoid flying lines and jams, improve system stability, and extend the life of the mowing head. Overall, this range achieves an efficient, low-energy, and safe closed-loop operation by scientifically matching pay-off and cutting requirements.

[0148] When V2 / V1=0.9 (V1=8000rpm, V2=7200rpm), the winding core jam frequency is ≥5 times / minute, the cutting efficiency drops to 85% (target ≥95%), and the power consumption of the drive components increases (overload operation) (Comparative Example 8).

[0149] When V2 / V1 exceeds 0.9, speed switching becomes meaningless (payout and mowing modes overlap). The difference between the payout speed (V1) and the mowing speed (V2) is too small, resulting in insufficient centrifugal force to effectively release the mowing line, or ineffective mowing. Experimental data shows that at this point, the payout length drops sharply to below 5cm per stroke (target ≥10cm), or the payout may become stuck or fly. A small speed difference between mowing and payout (ΔV ≤ 1000rpm) leads to severe friction between the winding core and the housing, causing mechanical jams ≥5 times / minute and even leading to mowing line entanglement and accumulation. Furthermore, in mowing mode, the drive components must continuously operate at high load to maintain the V2 speed, resulting in increased power consumption and a significantly increased risk of triggering overheating protection. Furthermore, due to speed redundancy, cutting efficiency may drop below 85% (target ≥95%), with the grass clippings coverage radius less than 1m, seriously affecting work quality.

[0150] Cutting efficiency, typically expressed as a percentage, represents the ratio of the area of ​​grass blades effectively cut per unit time to the theoretical maximum cuttable area. The theoretical maximum cuttable area refers to the theoretically cuttable area of ​​all grass within the area covered by the cutting line.

[0151] More detailed data tests on Example 3, Comparative Example 1 and Comparative Example 9 are shown in Table 3: Table 3 In some embodiments of the present disclosure, the mowing speed V2 is greater than or equal to 5000 rpm and less than or equal to 10000 rpm. Specifically, the mowing speed V2 may be 5000 rpm, 5500 rpm, 6000 rpm, 6500 rpm, 7000 rpm, 7500 rpm, 8000 rpm, 8500 rpm, 9000 rpm, 9500 rpm, or 10000 rpm, but is not limited thereto. Furthermore, the mowing speed V2 is 6500 rpm, 7500 rpm, or 8000 rpm. At this speed, mowing efficiency and uniformity are high, resulting in a good mowing effect.

[0152] The present disclosure also provides an intelligent lawn mowing robot, comprising a body 400, an auxiliary mowing mechanism, a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the lawn mowing control method described in any of the above embodiments are implemented. The specific structures of the body 400 and the auxiliary mowing mechanism can be found above and are not described in detail here.

[0153] The present disclosure also provides a computer-readable storage medium, which includes a stored program, wherein the program executes the steps of any of the above method embodiments when running.

[0154] 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.

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

[0156] It should be noted that although the steps of the method for forming the structure of the present disclosure are described in a specific order in the accompanying drawings, this does not require or imply that the steps must be performed in this specific order, or that all steps must be performed to achieve the desired results. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps.

[0157] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, with the true scope and spirit of the present disclosure being indicated by the appended claims.

Claims

1. A mowing control method for an intelligent mowing robot, wherein the intelligent mowing robot comprises a body and an auxiliary mowing mechanism, wherein the auxiliary mowing mechanism comprises a mowing head, and the mowing head is provided with a mowing line, wherein: The mowing control method comprises: When the distance between the machine body and the non-living obstacle or the boundary of the working area is less than or equal to a first preset threshold, the mowing head is started, the rotation speed of the mowing head is increased to the line-releasing speed V1, and then dropped back to the mowing speed V2; The distance between the machine body and the living obstacle is less than or equal to a second preset threshold, and the speed of the mowing head is controlled to be lower than V3 within a preset time; When the distance between the machine body and the living obstacle is greater than the second preset threshold, the rotation speed of the mowing head is controlled to increase from V3 to the mowing speed V2; Among them, 0.5<V2 / V1<0.9, V3≤1000rpm.

2. The mowing control method according to claim 1, characterized in that: The mowing control method further comprises: When the distance between the fuselage and the living obstacle is less than or equal to the second preset threshold, the intelligent lawn mowing robot is controlled to run along an arc-shaped avoidance trajectory with the living obstacle as the center and the second preset threshold as the radius, forming an unoperated sector-shaped area with the living obstacle as the center and a radius equal to the second preset threshold.

3. The mowing control method according to claim 2, characterized in that: The mowing control method further comprises: After the intelligent mowing robot has finished mowing the grass in the working area except the non-operated sector-shaped area, it is controlled to return to the non-operated sector-shaped area to perform mowing operations.

4. The mowing control method according to claim 1, wherein: The distance between the fuselage and the non-living obstacle or the boundary of the working area is detected by a laser radar and / or a vision module, and the distance between the fuselage and the living obstacle is detected.

5. The mowing control method according to claim 1, characterized in that: The second preset threshold is defined as S1, S1=v1×t1, v1 is the speed of the living obstacle when approaching the fuselage, and t1 is the time required for the mowing head to reduce the mowing speed from V2 to below V3.

6. The mowing control method according to claim 1, wherein: The second preset threshold is defined as S2, S2=v2×t2, v2 is the speed of the machine body, and t2 is the time required for the mowing head to reduce the speed from V2 to below V3.

7. The mowing control method according to claim 1, characterized in that: The second preset threshold is 2.5m.

8. The mowing control method according to claim 1, characterized in that: The mowing speed V2 is greater than or equal to 5000 rpm and less than or equal to 10000 rpm.

9. The grass mowing control method according to claim 1, wherein: The mowing rotation speed V2 is 6500 rpm, 7500 rpm or 8000 rpm.

10. An intelligent lawn mowing robot capable of walking in a forward direction on a traveling surface, characterized in that: The utility model comprises a machine body, an auxiliary mowing mechanism, a memory, a processor, and a computer program stored in the memory and executable on the processor; The auxiliary mowing mechanism includes a mowing head, and the mowing head is provided with a mowing line; When the processor executes the computer program, the steps of the grass mowing control method according to any one of claims 1 to 9 are implemented.

11. The intelligent lawn mowing robot according to claim 10, characterized in that: The auxiliary mowing mechanism further includes a connecting portion; The machine body is provided with a quick-connect module, and the auxiliary mowing mechanism and the machine body are detachably connected via the connecting portion and the quick-connect module.

12. The intelligent lawn mowing robot according to claim 11, characterized in that: The auxiliary mowing mechanism further includes a driving component, which drives the mowing head to rotate; The driving component has an upper portion and a lower portion that are arranged opposite to each other in the vertical direction, the connecting portion is connected to the upper portion of the driving component, and the mowing head is connected to the lower portion of the driving component; The connecting portion includes: A connecting shell, comprising a top wall, a bottom opening arranged opposite to the top wall in a vertical direction, and a side wall connected to the top wall; A first connecting terminal is disposed in the connecting housing; The inserting piece is arranged in the side wall of the connecting shell, and the inserting piece extends in the vertical direction.

13. The intelligent lawn mowing robot according to claim 12, characterized in that: The body is provided with a mounting slot, the quick-connect module is connected to the mounting slot, and a gap is formed between the quick-connect module and a portion of the slot wall of the mounting slot, the gap forming a slot adapted for the insert; The quick-connect module includes a quick-connect body and a second connecting terminal provided on the quick-connect body, wherein the second connecting terminal is adapted to the first connecting terminal.

14. The intelligent lawn mowing robot according to claim 12, characterized in that: There are two inserts, the two inserts are arranged along the forward direction, and the two inserts are axially symmetrically distributed about the first plane; The first plane is perpendicular to the advancing direction and passes through the rotation axis of the driving component; The dimension of the insert in the forward direction is greater than or equal to 3 mm and less than or equal to 8 mm.

15. The intelligent lawn mowing robot according to claim 12, characterized in that: The side wall of the connecting housing includes a first side wall and a second side wall that are opposite to each other, and a third side wall connected to the same side of the first side wall and the second side wall, wherein the third side wall is connected to the driving component; The insert is connected to the other side of the first side wall and the second side wall, and the insert, the top wall and the side wall of the connecting shell form an open accommodating cavity to accommodate the quick-connect module; The distance between the insert and the third side wall is greater than or equal to 5 mm and less than or equal to 8 mm.

16. The intelligent lawn mowing robot according to claim 12, characterized in that: The driving component has an upper portion and a lower portion that are arranged opposite to each other in the vertical direction, the connecting portion is connected to the upper portion of the driving component, and the mowing head is connected to the lower portion of the driving component; The connecting portion includes: A connecting body is provided with a slot, wherein the slot extends along the height direction of the fuselage; The first connecting terminal is arranged on the connecting body.

17. The intelligent lawn mowing robot according to claim 16, characterized in that: The quick-connect module includes: A quick-connect housing comprising a bottom wall, a top opening vertically disposed opposite to the bottom wall, and a side wall connected to the bottom wall; a second connecting terminal, disposed in the quick-connect housing, the second connecting terminal being adapted to the first connecting terminal; The inserting piece is arranged in the side wall of the quick-connect housing and is adapted to the slot. The inserting piece extends in a vertical direction.

18. The intelligent lawn mowing robot according to claim 10, characterized in that: The mowing head comprises: The outer shell has a threading hole on its wall, and the mowing line is passed through the threading hole; A winding core is rotatably connected to the housing, and the mowing line can be wound around the winding core; The locking mechanism is configured to be in a locked position when the auxiliary mowing mechanism is in the mowing operation mode, so that the winding core is locked in the housing; and is also configured to switch from the locked position to the unlocked position when the auxiliary mowing mechanism increases from the mowing speed V2 to the line-paying speed V1, so that the housing releases the winding core, the winding core can rotate relative to the housing, and the mowing line wound on the winding core is released and pulled out by the centrifugal force caused by the rotation of the mowing head, thereby allowing the mowing line to be fed.

19. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the steps of the grass mowing control method according to any one of claims 1 to 9 are implemented.

20. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, wherein when the computer program is executed by a processor, the steps of the grass mowing control method according to any one of claims 1 to 9 are implemented.

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